From: Tae-Young Chung <ty83.chung@samsung.com>
Date: Thu, 21 Oct 2021 08:19:35 +0000 (+0900)
Subject: Add WLS filter
X-Git-Tag: submit/tizen/20220701.002357~1^2~18
X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=e906291d649c3ab0a7e17e53a17b9036ab66af5f;p=platform%2Fcore%2Fmultimedia%2Fdfs-opencv.git

Add WLS filter

WLS filter provides two approaches. One is to use a left color.
Another is to use a left and a right images after getting disparity
at the right.

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

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 18ff0f6..a651c96 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,7 +17,7 @@ FOREACH(flag ${${fw_name}_CFLAGS})
     SET(EXTRA_CXXFLAGS "${EXTRA_CXXFLAGS} ${flag}")
 ENDFOREACH(flag)
 
-find_package(OpenCV REQUIRED core calib3d imgproc)
+find_package(OpenCV REQUIRED core calib3d imgproc ximgproc)
 if(NOT OpenCV_FOUND)
 	message(SEND_ERROR "OpenCV NOT FOUND")
 	return()
diff --git a/src/dfs_opencv.cpp b/src/dfs_opencv.cpp
index ee87a3b..916fea4 100644
--- a/src/dfs_opencv.cpp
+++ b/src/dfs_opencv.cpp
@@ -26,6 +26,7 @@ namespace DfsAdaptationImpl
 {
 	DfsOCV::DfsOCV() :
 		mDfsOcv(nullptr),
+		mDfsPostOcv(nullptr),
 		mDfsParam(),
 		mNumDisparities(179),
 		mBlockSize(5),
@@ -171,6 +172,17 @@ namespace DfsAdaptationImpl
 			throw e;
 		}
 
+#if 0
+		mDfsPostOcv = cv::ximgproc::createDisparityWLSFilterGeneric(false);
+		mDfsPostOcv->setDepthDiscontinuityRadius(static_cast<int>(ceil(0.5*mBlockSize)));
+#else
+		mDfsPostOcv = cv::ximgproc::createDisparityWLSFilter(mDfsOcv);
+		mDfsOcvExtra = cv::ximgproc::createRightMatcher(mDfsOcv);
+		mDfsPostOcv->setLRCthresh(24.0);
+#endif
+		mDfsPostOcv->setSigmaColor(10.0);
+		mDfsPostOcv->setLambda(8000);
+
 		LOGI("LEAVE");
 	}
 
@@ -234,14 +246,29 @@ namespace DfsAdaptationImpl
 			throw std::runtime_error("base and extra should be the type");
 		}
 
-		cv::Mat rBaseMat, rExtraMat, dispMat;
+		cv::Mat rBaseMat, rExtraMat, dispMat, dispFiltMat;
 
 		// with remap
 		cv::remap(baseMat, rBaseMat, mBaseReMap[0], mBaseReMap[1], cv::INTER_LINEAR);
 		cv::remap(extraMat, rExtraMat, mExtraReMap[0], mExtraReMap[1], cv::INTER_LINEAR);
 
 		mDfsOcv->compute(rBaseMat, rExtraMat, dispMat);
-		dispMat.convertTo(mDispMat, CV_8UC1, 1.0/16.0);
+		if (mDfsPostOcv) {
+			if (mDfsOcvExtra) {
+				cv::Mat dispMatExtra;
+				mDfsOcvExtra->compute(rExtraMat, rBaseMat, dispMatExtra);
+
+				mDfsPostOcv->filter(dispMat, rBaseMat, dispFiltMat,
+									dispMatExtra,
+									cv::Rect(0,0,rBaseMat.cols, rBaseMat.rows),
+									rExtraMat);
+			} else {
+				mDfsPostOcv->filter(dispMat, rBaseMat, dispFiltMat);
+			}
+			dispFiltMat.convertTo(mDispMat, CV_8UC1, 1.0/16.0);
+		} else {
+			dispMat.convertTo(mDispMat, CV_8UC1, 1.0/16.0);
+		}
 
 		mDepthData.data = mDispMat.ptr<unsigned char>();
 		mDepthData.type = DFS_DATA_TYPE_UINT8;
diff --git a/src/dfs_opencv_private.h b/src/dfs_opencv_private.h
index 3e71d87..d47adac 100644
--- a/src/dfs_opencv_private.h
+++ b/src/dfs_opencv_private.h
@@ -23,6 +23,8 @@
 #include <opencv2/core.hpp>
 #include <opencv2/calib3d.hpp>
 #include <opencv2/imgproc.hpp>
+#include <opencv2/ximgproc.hpp>
+#include <opencv2/ximgproc/disparity_filter.hpp>
 
 /**
 * @file dfs_opencv_private.h
@@ -69,6 +71,8 @@ namespace DfsAdaptationImpl
 	{
 	private:
 		cv::Ptr<cv::StereoSGBM> mDfsOcv;
+		cv::Ptr<cv::StereoMatcher> mDfsOcvExtra;
+		cv::Ptr<cv::ximgproc::DisparityWLSFilter> mDfsPostOcv;
 
 		DfsParameter mDfsParam;
 		size_t mNumDisparities;