implement Run() and GetDepthData()

Signed-off-by: Tae-Young Chung <ty83.chung@samsung.com>

diff --git a/src/dfs_opencv.cpp b/src/dfs_opencv.cpp
index 2db17d6db85af02b2d4aea071f9e7e8e6b462fb2..0d6bd10117434d80fa59b021b0b121091fb33296 100644 (file)
--- a/src/dfs_opencv.cpp
+++ b/src/dfs_opencv.cpp
@@ -21,13 +21,15 @@ namespace DfsAdaptationImpl
 {
        DfsOCV::DfsOCV() :
                mDfsOcv(nullptr),
-               mDepthParam(),
+               mDfsParam(),
                mNumDisparities(179),
                mBlockSize(5),
                mMinDisparity(32),
                mP1(24*3),
                mP2(96*3),
-               mPreFilterCap(63)
+               mPreFilterCap(63),
+               mDispMat(),
+               mDepthData()
        {
                LOGI("ENTER");
                LOGI("LEAVE");
@@ -39,11 +41,11 @@ namespace DfsAdaptationImpl
                LOGI("LEAVE");
        }
 
-       void DfsOCV::Initialize(DepthParameter& param)
+       void DfsOCV::Initialize(DfsParameter& param)
        {
                LOGI("ENTER");
 
-               mDepthParam = param;
+               mDfsParam = param;
 
                mDfsOcv = cv::StereoSGBM::create(1, mNumDisparities, mBlockSize);
 
@@ -66,6 +68,65 @@ namespace DfsAdaptationImpl
                LOGI("LEAVE");
        }
 
+       int DfsOCV::ConvertDfsDataTypeToCV(int type)
+       {
+               LOGI("LEAVE");
+               switch (type) {
+               case DFS_DATA_TYPE_UINT8:
+                       return CV_8UC1;
+               default:
+                       LOGE("Invalide type");
+               }
+
+               return -1;
+
+               LOGI("ENTER");
+       }
+       void DfsOCV::Run(DfsData& base, DfsData& extra)
+       {
+               LOGI("ENTER");
+
+               if (!base.data || !extra.data) {
+                       throw std::runtime_error("invalid data pointer");
+               }
+
+               int baseCvType = ConvertDfsDataTypeToCV(base.type);
+               int extraCvType = ConvertDfsDataTypeToCV(base.type);
+               if (baseCvType < 0 || extraCvType < 0) {
+                       throw std::runtime_error("invalid data type");
+               }
+
+               cv::Mat baseMat(cv::Size(base.width, base.height), baseCvType, base.data);
+               cv::Mat extraMat(cv::Size(extra.width, extra.height), extraCvType, extra.data);
+
+               if (baseMat.size() != extraMat.size()) {
+                       throw std::runtime_error("base and extra should be the same size");
+               }
+
+               if (baseMat.type() != extraMat.type()) {
+                       throw std::runtime_error("base and extra should be the type");
+               }
+
+               mDfsOcv->compute(baseMat, extraMat, mDispMat);
+
+               mDepthData.data = mDispMat.data;
+               mDepthData.type = DFS_DATA_TYPE_UINT8;
+               mDepthData.width = mDispMat.cols;
+               mDepthData.height = mDispMat.rows;
+               mDepthData.stride = mDispMat.elemSize();
+
+               LOGI("LEAVE");
+       }
+
+       DfsData& DfsOCV::GetDepthData()
+       {
+               LOGI("ENTER");
+
+               return mDepthData;
+
+               LOGI("LEAVE");
+       }
+
        extern "C"
        {
                class IDfsAdaptation *AdaptorInit(void)

diff --git a/src/dfs_opencv_private.h b/src/dfs_opencv_private.h
index ea394e6c0a17e9e4358c192771bf3b3a8c5f0207..fba50456c7b43fbb28c72de4d14cc06c125ff44a 100644 (file)
--- a/src/dfs_opencv_private.h
+++ b/src/dfs_opencv_private.h
@@ -45,7 +45,7 @@ namespace DfsAdaptationImpl
        private:
                cv::Ptr<cv::StereoSGBM> mDfsOcv;
 
-               DepthParameter mDepthParam;
+               DfsParameter mDfsParam;
                size_t mNumDisparities;
                size_t mBlockSize;
                size_t mMinDisparity;
@@ -53,12 +53,19 @@ namespace DfsAdaptationImpl
                size_t mP2;
                size_t mPreFilterCap;
 
+               cv::Mat mDispMat;
+               DfsData mDepthData;
+
                void SetParameters();
+               int  ConvertDfsDataTypeToCV(int type);
        public:
                DfsOCV();
                ~DfsOCV();
 
-               void Initialize(DepthParameter& param) override;
+               void Initialize(DfsParameter& param) override;
+               void Run(DfsData& base, DfsData& extra) override;
+
+               DfsData& GetDepthData() override;
 
        };
 }