src/dfs_opencv_private.h

   1 /**
   2  * Copyright (c) 2021 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 #ifndef __DFS_OPENCV_PRIVATE_H__
  18 #define __DFS_OPENCV_PRIVATE_H__
  19
  20 #include <dfs_adaptation.h>
  21 #include <dfs_parameter.h>
  22
  23 #include <opencv2/core.hpp>
  24 #include <opencv2/calib3d.hpp>
  25 #include <opencv2/imgproc.hpp>
  26
  27 /**
  28 * @file dfs_opencv_private.h
  29 * @brief This file contains the DfsAdaptorOCV class which
  30 *        provides OpenCV based depth functionality
  31 */
  32
  33 #ifdef LOG_TAG
  34 #undef LOG_TAG
  35 #endif
  36
  37 #define LOG_TAG "DFS_ADAPTATION_OCV"
  38
  39 using namespace DfsAdaptation;
  40
  41 namespace DfsAdaptationImpl
  42 {
  43         typedef struct _CameraParam {
  44                 cv::Mat intrinsic;
  45                 cv::Mat distCoeffs;
  46
  47                 _CameraParam()
  48                 {
  49                         intrinsic = cv::Mat(cv::Size(3,3), CV_32FC1);
  50                         distCoeffs = cv::Mat(cv::Size(1,5), CV_32FC1);
  51                 }
  52         } CameraParam;
  53
  54         typedef struct _StereoParam {
  55                 CameraParam baceCamera;
  56                 CameraParam extraCamera;
  57
  58                 cv::Mat translation;
  59                 cv::Mat rotation;
  60
  61                 _StereoParam()
  62                 {
  63                         translation = cv::Mat(cv::Size(1,3), CV_32FC1);
  64                         rotation = cv::Mat(cv::Size(1,3), CV_32FC1);
  65                 }
  66         } StereoParam;
  67
  68         class DfsOCV : public IDfsAdaptation
  69         {
  70         private:
  71                 cv::Ptr<cv::StereoSGBM> mDfsOcv;
  72
  73                 DfsParameter mDfsParam;
  74                 size_t mNumDisparities;
  75                 size_t mBlockSize;
  76                 size_t mMinDisparity;
  77                 size_t mP1;
  78                 size_t mP2;
  79                 size_t mPreFilterCap;
  80
  81                 cv::Mat mDispMat;
  82                 DfsData mDepthData;
  83
  84                 std::string mCalibFilePath;
  85                 StereoParam mStereoParam;
  86                 bool mIsStereoCalibrated;
  87                 bool mUpdateStereoCalibration;
  88
  89                 cv::Size mImageSize;
  90                 cv::Mat mBaseReMap[2];
  91                 cv::Mat mExtraReMap[2];
  92
  93                 void SetParameters();
  94                 int  ConvertDfsDataTypeToCV(int type);
  95                 void InitializeStereoCalibration();
  96                 void InitRectifyMap();
  97
  98         public:
  99                 DfsOCV();
 100                 ~DfsOCV();
 101
 102                 void Initialize(DfsParameter& param) override;
 103                 void Run(DfsData& base, DfsData& extra) override;
 104
 105                 DfsData& GetDepthData() override;
 106
 107         };
 108 }
 109
 110 #endif /* __DFS_OPENCV_PRIVATE_H__ */