From f38e144ce12d2b1d5411302937f5de75a5f1a82d Mon Sep 17 00:00:00 2001
From: Tae-Young Chung <ty83.chung@samsung.com>
Date: Thu, 7 Oct 2021 14:27:48 +0900
Subject: [PATCH] Add Initialize()

Initialize() creates cv::StereoSGBM as a smart pointer and
initializes some parameters for DFS.
It only supports MODE_SGBM_3WAY.

Signed-off-by: Tae-Young Chung <ty83.chung@samsung.com>
---
 CMakeLists.txt           |  2 +-
 src/dfs_opencv.cpp       | 40 +++++++++++++++++++++++++++++++++++++++-
 src/dfs_opencv_private.h | 25 +++++++++++++++++++++++++
 3 files changed, 65 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9233dd5..18ff0f6 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 calib3d imgproc)
+find_package(OpenCV REQUIRED core calib3d imgproc)
 if(NOT OpenCV_FOUND)
 	message(SEND_ERROR "OpenCV NOT FOUND")
 	return()
diff --git a/src/dfs_opencv.cpp b/src/dfs_opencv.cpp
index 37a8b14..9289c79 100644
--- a/src/dfs_opencv.cpp
+++ b/src/dfs_opencv.cpp
@@ -19,7 +19,18 @@
 
 namespace DfsAdaptationImpl
 {
-	DfsOCV::DfsOCV()
+	DfsOCV::DfsOCV() :
+		mDfsOcv(nullptr),
+		mTextureThreshold(0.0),
+		mAggregationWindowWidth(3),
+		mAggregationWindowHeight(3),
+		mMaxSpeckleSize(0),
+		mNumDisparities(179),
+		mBlockSize(5),
+		mMinDisparity(32),
+		mP1(24*3),
+		mP2(96*3),
+		mPreFilterCap(63)
 	{
 		LOGI("ENTER");
 		LOGI("LEAVE");
@@ -31,6 +42,33 @@ namespace DfsAdaptationImpl
 		LOGI("LEAVE");
 	}
 
+	void DfsOCV::Initialize(double textureThreshold,
+						size_t aggregationWindowWidth,
+						size_t aggregationWindowHeight,
+						size_t maxSpeckleSize)
+	{
+		mTextureThreshold = textureThreshold;
+		mAggregationWindowWidth = aggregationWindowWidth;
+		mAggregationWindowHeight = aggregationWindowHeight;
+		mMaxSpeckleSize = maxSpeckleSize;
+
+		mDfsOcv = cv::StereoSGBM::create(1, mNumDisparities, mBlockSize);
+
+		this->SetParameters();
+	}
+
+	void DfsOCV::SetParameters()
+	{
+		mDfsOcv->setMinDisaprity(mMinDisparity);
+		mDfsOcv->setNumDisaprities(mNumDisparities);
+		mDfsOcv->setBlockSize(mBlockSize);
+		mDfsOcv->setP1(mP1 * mBlockSize * mBlockSize);
+		mDfsOcv->setP2(mP2 * mBlockSize * mBlockSize);
+		mDfsOcv->setPreFilterCap(mPreFilterCap);
+
+		mDfsOcv->setMode(cv::StereoSGBM::MODE_SGBM_3WAY);
+	}
+
 	extern "C"
 	{
 		class IDfsAdaptation *AdaptorInit(void)
diff --git a/src/dfs_opencv_private.h b/src/dfs_opencv_private.h
index bcdb171..afbad5e 100644
--- a/src/dfs_opencv_private.h
+++ b/src/dfs_opencv_private.h
@@ -19,6 +19,10 @@
 
 #include <dfs_adaptation.h>
 
+#include <opencv2/core.hpp>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/imgproc.hpp>
+
 /**
 * @file dfs_opencv_private.h
 * @brief This file contains the DfsAdaptorOCV class which
@@ -37,9 +41,30 @@ namespace DfsAdaptationImpl
 {
 	class DfsOCV : public IDfsAdaptation
 	{
+	private:
+		cv::Ptr<cv::StereoSGBM> mDfsOcv;
+
+		double mTextureThreshold;
+		size_t mAggregationWindowWidth;
+		size_t mAggregationWindowHeight;
+		size_t mMaxSpeckleSize;
+		size_t mNumDisparities;
+		size_t mBlockSize;
+		size_t mMinDisparity;
+		size_t mP1;
+		size_t mP2;
+		size_t mPreFilterCap;
+
+		void SetParameters();
 	public:
 		DfsOCV();
 		~DfsOCV();
+
+		void Initialize(double textureThreshold,
+						size_t aggregationWindowWidth,
+						size_t aggregationWindowHeight,
+						size_t maxSpeckleSize) override;
+
 	};
 }
 
-- 
2.34.1