From: Tae-Young Chung <ty83.chung@samsung.com>
Date: Thu, 16 Jun 2022 05:19:11 +0000 (+0900)
Subject: Change output type from 32float to unsigned 16bit integer
X-Git-Tag: submit/tizen/20220701.002357~1^2~1
X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=8c9bc2cf0a6c2c3fac0d9e481d5a0e5125206b9e;p=platform%2Fcore%2Fmultimedia%2Fdfs-opencv.git

Change output type from 32float to unsigned 16bit integer

The output is now real depth range, distance, not disparity.

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

diff --git a/packaging/dfs-opencv.spec b/packaging/dfs-opencv.spec
index cc4594e..121f409 100644
--- a/packaging/dfs-opencv.spec
+++ b/packaging/dfs-opencv.spec
@@ -1,6 +1,6 @@
 Name:       dfs-opencv
 Summary:    OpenCV based Depth-from-Stereo implementation
-Version:    1.0.4
+Version:    1.0.5
 Release:    0
 Group:      Multimedia/Libraries
 License:    Apache-2.0
diff --git a/src/dfs_opencv.cpp b/src/dfs_opencv.cpp
index b6b2faf..d72f0b2 100644
--- a/src/dfs_opencv.cpp
+++ b/src/dfs_opencv.cpp
@@ -36,6 +36,7 @@ namespace DfsAdaptationImpl
 		mP2(96*1),
 		mPreFilterCap(63),
 		mDispMat(),
+		mDepthMat(),
 		mDepthData(),
 		mStereoParam(),
 		mIsStereoCalibrated(false),
@@ -83,6 +84,15 @@ namespace DfsAdaptationImpl
 			fs["STEREO_TRANSLATION"] >> mStereoParam.translation;
 			fs["STEREO_ROTATION"] >> mStereoParam.rotation;
 
+			if (!fs["STEREO_DOFFSET"].empty()) {
+				mStereoParam.dispOffset = static_cast<float>(fs["STEREO_DOFFSET"]);
+				LOGI("%f", mStereoParam.dispOffset);
+			}
+
+			mDisp2DepthMat = cv::Mat(mImageSize, CV_32F, mStereoParam.baceCamera.intrinsic.at<double>(0,0) *
+														 mStereoParam.translation.at<double>(0));
+			mDispOffsetMat = cv::Mat(mImageSize, CV_32F, mStereoParam.dispOffset);
+
 		} catch (const std::exception& e) {
 			LOGE("Failed to read calibration data %s", e.what());
 			throw std::ios_base::failure("calibration");
@@ -449,11 +459,18 @@ namespace DfsAdaptationImpl
 			}
 		}
 
-		mDepthData.data = mDispMat.ptr<float>();
-		mDepthData.type = DFS_DATA_TYPE_FLOAT32C1;
-		mDepthData.width = mDispMat.cols;
-		mDepthData.height = mDispMat.rows;
-		mDepthData.stride = mDispMat.elemSize() *  mDispMat.cols;
+		/* calculate real depth from instrinsic */
+		// mDisp2DeptMat = fx * baseline
+		// depth = fx * baseline / (disparity + offset)
+		// convert depth from 32F to 16U
+		cv::Mat deptF = mDisp2DepthMat.mul(1.0/(mDispMat + mDispOffsetMat));
+		deptF.convertTo(mDepthMat, CV_16U);
+
+		mDepthData.data = mDepthMat.ptr<unsigned short>();
+		mDepthData.type = DFS_DATA_TYPE_UINT16C1;
+		mDepthData.width = mDepthMat.cols;
+		mDepthData.height = mDepthMat.rows;
+		mDepthData.stride = mDepthMat.elemSize() *  mDepthMat.cols;
 
 		mDepthData.pointCloudData = nullptr;
 		mDepthData.pointCloudSize = 0;
diff --git a/src/dfs_opencv_private.h b/src/dfs_opencv_private.h
index 3c3082f..e6da346 100644
--- a/src/dfs_opencv_private.h
+++ b/src/dfs_opencv_private.h
@@ -65,11 +65,13 @@ namespace DfsAdaptationImpl
 
 		cv::Mat translation;
 		cv::Mat rotation;
+		float dispOffset;
 
 		_StereoParam()
 		{
 			translation = cv::Mat(cv::Size(1,3), CV_32FC1);
 			rotation = cv::Mat(cv::Size(1,3), CV_32FC1);
+			dispOffset = 0.f;
 		}
 	} StereoParam;
 
@@ -92,6 +94,9 @@ namespace DfsAdaptationImpl
 
 
 		cv::Mat mDispMat;
+		cv::Mat mDepthMat;
+		cv::Mat mDisp2DepthMat;
+		cv::Mat mDispOffsetMat;
 		DfsData mDepthData;
 
 		StereoParam mStereoParam;