From 0a065966caf76167ac1062be09703e9e8d40712a Mon Sep 17 00:00:00 2001
From: Tae-Young Chung <ty83.chung@samsung.com>
Date: Thu, 22 Sep 2022 13:20:23 +0900
Subject: [PATCH] Implement getLeftData() and getRightData()

[Version] 1.0.10-0
[Issue type] update

Change-Id: Ifdf656a3ce87c195a34984109a63b5afbdec85a4
Signed-off-by: Tae-Young Chung <ty83.chung@samsung.com>
---
 packaging/dfs-opencv.spec |  4 ++--
 src/dfs_opencv.cpp        | 52 +++++++++++++++++++++++++++++++++++++----------
 src/dfs_opencv_private.h  |  6 ++++++
 3 files changed, 49 insertions(+), 13 deletions(-)

diff --git a/packaging/dfs-opencv.spec b/packaging/dfs-opencv.spec
index 00fd471..4bf2a32 100644
--- a/packaging/dfs-opencv.spec
+++ b/packaging/dfs-opencv.spec
@@ -1,7 +1,7 @@
 Name:       dfs-opencv
 Summary:    OpenCV based Depth-from-Stereo implementation
-Version:    1.0.9
-Release:    1
+Version:    1.0.10
+Release:    0
 Group:      Multimedia/Libraries
 License:    Apache-2.0
 Source0:    %{name}-%{version}.tar.gz
diff --git a/src/dfs_opencv.cpp b/src/dfs_opencv.cpp
index dc77b84..046283c 100644
--- a/src/dfs_opencv.cpp
+++ b/src/dfs_opencv.cpp
@@ -374,24 +374,24 @@ namespace DfsAdaptationImpl
 			throw std::runtime_error("base and extra should be the type");
 		}
 
-		cv::Mat rBaseMat, rExtraMat, dispMat, dispFiltMat;
+		cv::Mat dispMat, dispFiltMat;
 
 		// with remap
 		if (mIsStereoCalibrated) {
-			cv::remap(baseMat, rBaseMat, mBaseReMap[0], mBaseReMap[1], cv::INTER_LINEAR);
-			cv::remap(extraMat, rExtraMat, mExtraReMap[0], mExtraReMap[1], cv::INTER_LINEAR);
+			cv::remap(baseMat, mBaseMat, mBaseReMap[0], mBaseReMap[1], cv::INTER_LINEAR);
+			cv::remap(extraMat, mExtraMat, mExtraReMap[0], mExtraReMap[1], cv::INTER_LINEAR);
 		} else {
-			rBaseMat = baseMat;
-			rExtraMat = extraMat;
+			mBaseMat = baseMat;
+			mExtraMat = extraMat;
 		}
 
 
 		cv::Mat srcBaseMat, srcExtraMat;
-		cv::resize(rBaseMat, srcBaseMat,
+		cv::resize(mBaseMat, srcBaseMat,
 					cv::Size(),
 					1.0/static_cast<double>((1<<mDownScale)),
 					1.0/static_cast<double>((1<<mDownScale)));
-		cv::resize(rExtraMat, srcExtraMat,
+		cv::resize(mExtraMat, srcExtraMat,
 					cv::Size(),
 					1.0/static_cast<double>((1<<mDownScale)),
 					1.0/static_cast<double>((1<<mDownScale)));
@@ -426,10 +426,10 @@ namespace DfsAdaptationImpl
 					0.0);
 					dispMatExtra = tmp * static_cast<double>(1<<mDownScale);
 				}
-				mDfsPostOcv->filter(dispMat, rBaseMat, dispFiltMat,
+				mDfsPostOcv->filter(dispMat, mBaseMat, dispFiltMat,
 									dispMatExtra,
-									cv::Rect(0,0,rBaseMat.cols, rBaseMat.rows),
-									rExtraMat);
+									cv::Rect(0, 0, mBaseMat.cols, mBaseMat.rows),
+									mExtraMat);
 			} else {
 				LOGI("left : %s", results[0].get() ? "true" : "false");
 				if (mDownScale) {
@@ -440,7 +440,7 @@ namespace DfsAdaptationImpl
 					static_cast<double>(1<<mDownScale));
 					dispMat = tmp * static_cast<double>(1<<mDownScale);
 				}
-				mDfsPostOcv->filter(dispMat, rBaseMat, dispFiltMat);
+				mDfsPostOcv->filter(dispMat, mBaseMat, dispFiltMat);
 			}
 			dispFiltMat.convertTo(mDispMat, CV_32F, mDispShiftInv);
 		} else {
@@ -471,6 +471,18 @@ namespace DfsAdaptationImpl
 		mDepthData.height = mDepthMat.rows;
 		mDepthData.stride = mDepthMat.elemSize() *  mDepthMat.cols;
 
+		mBaseData.data = mBaseMat.ptr<unsigned char>();
+		mBaseData.type = mBaseMat.channels() > 1 ? DFS_DATA_TYPE_UINT8C3 : DFS_DATA_TYPE_UINT8C1;
+		mBaseData.width = mBaseMat.cols;
+		mBaseData.height = mBaseMat.rows;
+		mBaseData.stride = mBaseMat.elemSize() *  mBaseMat.cols;
+
+		mExtraData.data = mExtraMat.ptr<unsigned char>();
+		mExtraData.type = mExtraMat.channels() > 1 ? DFS_DATA_TYPE_UINT8C3 : DFS_DATA_TYPE_UINT8C1;
+		mExtraData.width = mExtraMat.cols;
+		mExtraData.height = mExtraMat.rows;
+		mExtraData.stride = mExtraMat.elemSize() *  mExtraMat.cols;
+
 		LOGI("LEAVE");
 	}
 
@@ -483,6 +495,24 @@ namespace DfsAdaptationImpl
 		LOGI("LEAVE");
 	}
 
+	DfsData& DfsOCV::getLeftData()
+	{
+		LOGI("ENTER");
+
+		return mBaseData;
+
+		LOGI("LEAVE");
+	}
+
+	DfsData& DfsOCV::getRightData()
+	{
+		LOGI("ENTER");
+
+		return mExtraData;
+
+		LOGI("LEAVE");
+	}
+
 	extern "C"
 	{
 		class IDfsAdaptation *AdaptorInit(void)
diff --git a/src/dfs_opencv_private.h b/src/dfs_opencv_private.h
index 4e8ebf3..34e1b28 100644
--- a/src/dfs_opencv_private.h
+++ b/src/dfs_opencv_private.h
@@ -93,11 +93,15 @@ namespace DfsAdaptationImpl
 		static constexpr float mDispShiftInv = 1.0f/16.f;
 
 
+		cv::Mat mBaseMat;
+		cv::Mat mExtraMat;
 		cv::Mat mDispMat;
 		cv::Mat mDepthMat;
 		cv::Mat mDisp2DepthMat;
 		cv::Mat mDispOffsetMat;
 		DfsOutputData mDepthData;
+		DfsData mBaseData;
+		DfsData mExtraData;
 
 		StereoParam mStereoParam;
 		bool mIsStereoCalibrated;
@@ -137,6 +141,8 @@ namespace DfsAdaptationImpl
 		void run(DfsInputData& input) override;
 
 		DfsOutputData& getOutputData() override;
+		DfsData& getLeftData() override;
+		DfsData& getRightData() override;
 
 	};
 }
-- 
2.7.4