#ifndef KERNELPARAMS_H
#define KERNELPARAMS_H

#include <QObject>
#include <QDebug>
#include <QByteArray>
#include <QList>
#include <math.h>

#define ARRAY_SIZE(X)   X.length()
#define DYN_CNTR_CONST_PIECE_NO 256U

#define MIN_OUTPUT_LEVEL 3U
#define MAX_OUTPUT_LEVEL 252U
#define MAX_LOG_INPUT_LEVEL 24*2048

#define MIN_LOG_INPUT_DEFAULT 6U
#define MAX_LOG_INPUT_DEFAULT 21
#define GAIN_DEFAULT 4
#define CONTRAST_NUM_DEFAULT 1U

#define EPSILSON  1.401298E-45f

struct DynamicContrastParameters
{
    float gain;
    float min_output_level;
    float max_output_level;
    QList<float> const_piecewise_x;
    QList<float> const_piecewise_y;
    float max_log_input_level;
    float app_min_log_input_level;
    float app_max_log_input_level;
};

struct scanConversionParameters
{
    quint32 pixelXNo;
    quint32 pixelZNo;
    quint32 gridX_size;
    quint32 gridZ_size;
    float dx;
    float dz;
    QList<float> gridX;
    QList<float> gridZ;
    QList<QList<float>> queryX;
    QList<QList<float>> queryZ;
};

struct scanConversionMatrix
{
    float a11;
    float a12;
    float b11;
    float b12;
    float b21;
    float b22;
    float c11;
    float c12;
    float dx;
    float dz;
};

float linear_interpolate (float output, QList<float> x, QList<float> y, quint32 num);

float DynamicContrast(float input, DynamicContrastParameters &params);

QPair<qint32, qint32> readScanConversionIndex(float x, float z, scanConversionParameters &params);

float scanConversionFmaCalc(scanConversionMatrix &field);

#endif // KERNELPARAMS_H