src/dfs_opencv.cpp

   1 /**
   2  * Copyright (c) 2019 Samsung Electronics Co., Ltd All Rights Reserved
   3  *
   4  * Licensed under the Apache License, Version 2.0 (the "License");
   5  * you may not use this file except in compliance with the License.
   6  * You may obtain a copy of the License at
   7  *
   8  * http://www.apache.org/licenses/LICENSE-2.0
   9  *
  10  * Unless required by applicable law or agreed to in writing, software
  11  * distributed under the License is distributed on an "AS IS" BASIS,
  12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  13  * See the License for the specific language governing permissions and
  14  * limitations under the License.
  15  */
  16
  17 #include "dfs_opencv_private.h"
  18 #include <dlog.h>
  19
  20 namespace DfsAdaptationImpl
  21 {
  22         DfsOCV::DfsOCV() :
  23                 mDfsOcv(nullptr),
  24                 mTextureThreshold(0.0),
  25                 mAggregationWindowWidth(3),
  26                 mAggregationWindowHeight(3),
  27                 mMaxSpeckleSize(0),
  28                 mNumDisparities(179),
  29                 mBlockSize(5),
  30                 mMinDisparity(32),
  31                 mP1(24*3),
  32                 mP2(96*3),
  33                 mPreFilterCap(63)
  34         {
  35                 LOGI("ENTER");
  36                 LOGI("LEAVE");
  37         }
  38
  39         DfsOCV::~DfsOCV()
  40         {
  41                 LOGI("ENTER");
  42                 LOGI("LEAVE");
  43         }
  44
  45         void DfsOCV::Initialize(double textureThreshold,
  46                                                 size_t aggregationWindowWidth,
  47                                                 size_t aggregationWindowHeight,
  48                                                 size_t maxSpeckleSize)
  49         {
  50                 LOGI("ENTER");
  51
  52                 mTextureThreshold = textureThreshold;
  53                 mAggregationWindowWidth = aggregationWindowWidth;
  54                 mAggregationWindowHeight = aggregationWindowHeight;
  55                 mMaxSpeckleSize = maxSpeckleSize;
  56
  57                 mDfsOcv = cv::StereoSGBM::create(1, mNumDisparities, mBlockSize);
  58
  59                 this->SetParameters();
  60                 LOGI("LEAVE");
  61         }
  62
  63         void DfsOCV::SetParameters()
  64         {
  65                 LOGI("ENTER");
  66
  67                 mDfsOcv->setMinDisparity(mMinDisparity);
  68                 mDfsOcv->setNumDisparities(mNumDisparities);
  69                 mDfsOcv->setBlockSize(mBlockSize);
  70                 mDfsOcv->setP1(mP1 * mBlockSize * mBlockSize);
  71                 mDfsOcv->setP2(mP2 * mBlockSize * mBlockSize);
  72                 mDfsOcv->setPreFilterCap(mPreFilterCap);
  73
  74                 mDfsOcv->setMode(cv::StereoSGBM::MODE_SGBM_3WAY);
  75                 LOGI("LEAVE");
  76         }
  77
  78         extern "C"
  79         {
  80                 class IDfsAdaptation *AdaptorInit(void)
  81                 {
  82                         //InferenceTFLite *engine = new InferenceTFLite();
  83                         DfsOCV *adaptor = new DfsOCV();
  84                         return adaptor;
  85                 }
  86
  87                 void AdaptorDestroy(class IDfsAdaptation *adaptor)
  88                 {
  89                         delete adaptor;
  90                 }
  91         }
  92 }