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/*
* Copyright (c) 2022 Samsung Electronics Co., Ltd All Rights Reserved
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <cstddef>
#include <exception>
#include <new>
#include "Mv3d.h"
#include "mv_3d.h"
#include "mv_common.h"
#include "mv_feature_key.h"
#include "mv_private.h"
using namespace mediavision::mv3d;
static const char *main_feature_keys[] = { "http://tizen.org/feature/vision.3d" };
static const char *sub_feature_keys[] = { "http://tizen.org/feature/vision.3d.depth",
"http://tizen.org/feature/vision.3d.pointcloud" };
static inline bool mv_3d_all_check_system_info_feature_supported()
{
return mv_check_feature_key(main_feature_keys, 1, false) && mv_check_feature_key(sub_feature_keys, 2, true);
}
int mv_3d_create(mv_3d_h *mv3d)
{
MEDIA_VISION_SUPPORT_CHECK(mv_3d_all_check_system_info_feature_supported());
MEDIA_VISION_NULL_ARG_CHECK(mv3d);
MEDIA_VISION_FUNCTION_ENTER();
try {
(*mv3d) = static_cast<mv_3d_h>(new Mv3d());
} catch (const std::exception &e) {
LOGE("Failed to create mv3d handle with %s", e.what());
return MEDIA_VISION_ERROR_OUT_OF_MEMORY;
}
MEDIA_VISION_FUNCTION_LEAVE();
return MEDIA_VISION_ERROR_NONE;
}
int mv_3d_destroy(mv_3d_h mv3d)
{
MEDIA_VISION_SUPPORT_CHECK(mv_3d_all_check_system_info_feature_supported());
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_FUNCTION_ENTER();
delete static_cast<Mv3d *>(mv3d);
MEDIA_VISION_FUNCTION_LEAVE();
return MEDIA_VISION_ERROR_NONE;
}
int mv3dSetDepthParameters(mv_3d_h mv3d, mv_engine_config_h engine_config)
{
MEDIA_VISION_FUNCTION_ENTER();
auto pMv3d = static_cast<Mv3d *>(mv3d);
pMv3d->SetParameters(127.5, // threshold
3, // aggregation window width
3, // aggregation window height
0 // speckleSize
);
MEDIA_VISION_FUNCTION_LEAVE();
return MEDIA_VISION_ERROR_NONE;
}
int mv_3d_configure(mv_3d_h mv3d, mv_engine_config_h engine_config)
{
MEDIA_VISION_SUPPORT_CHECK(mv_3d_all_check_system_info_feature_supported());
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_INSTANCE_CHECK(engine_config);
MEDIA_VISION_FUNCTION_ENTER();
int mode = MV_3D_DEPTH_MODE_NONE;
int ret = mv_engine_config_get_int_attribute(engine_config, MV_3D_DEPTH_MODE, &mode);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get depth mode");
return ret;
}
ret = mv3dSetDepthParameters(mv3d, engine_config);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to set dfs parameters");
return ret;
}
int depthWidth, depthHeight, minDisp, maxDisp;
ret = mv_engine_config_get_int_attribute(engine_config, MV_3D_DEPTH_WIDTH, &depthWidth);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get depth width");
return ret;
}
ret = mv_engine_config_get_int_attribute(engine_config, MV_3D_DEPTH_HEIGHT, &depthHeight);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get depth height");
return ret;
}
if (depthWidth <= 0 || depthHeight <= 0) {
LOGE("Invalid depth resolution %d x %d", depthWidth, depthHeight);
return MEDIA_VISION_ERROR_INVALID_PARAMETER;
}
ret = mv_engine_config_get_int_attribute(engine_config, MV_3D_DEPTH_MIN_DISPARITY, &minDisp);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get min disparity");
return ret;
}
ret = mv_engine_config_get_int_attribute(engine_config, MV_3D_DEPTH_MAX_DISPARITY, &maxDisp);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get max disparity");
return ret;
}
double samplingRatio;
ret = mv_engine_config_get_double_attribute(engine_config, MV_3D_POINTCLOUD_SAMPLING_RATIO, &samplingRatio);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get stereo configuration file path");
return ret;
}
int outlierRemovalPoints;
ret = mv_engine_config_get_int_attribute(engine_config, MV_3D_POINTCLOUD_OUTLIER_REMOVAL_POINTS,
&outlierRemovalPoints);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get stereo configuration file path");
return ret;
}
double outlierRemovalRadius;
ret = mv_engine_config_get_double_attribute(engine_config, MV_3D_POINTCLOUD_OUTLIER_REMOVAL_RADIUS,
&outlierRemovalRadius);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get stereo configuration file path");
return ret;
}
char *stereoConfigFilePath = NULL;
ret = mv_engine_config_get_string_attribute(engine_config, MV_3D_DEPTH_STEREO_CONFIG_FILE_PATH,
&stereoConfigFilePath);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get stereo configuration file path");
return ret;
}
char *pointcloudOutputFilePath = NULL;
ret = mv_engine_config_get_string_attribute(engine_config, MV_3D_POINTCLOUD_OUTPUT_FILE_PATH,
&pointcloudOutputFilePath);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to get stereo configuration file path");
free(stereoConfigFilePath);
return ret;
}
auto pMv3d = static_cast<Mv3d *>(mv3d);
ret = pMv3d->Configure(mode, static_cast<unsigned int>(depthWidth), static_cast<unsigned int>(depthHeight), minDisp,
maxDisp, samplingRatio, outlierRemovalPoints, outlierRemovalRadius, stereoConfigFilePath,
pointcloudOutputFilePath);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to configure Depth");
}
free(pointcloudOutputFilePath);
pointcloudOutputFilePath = NULL;
free(stereoConfigFilePath);
stereoConfigFilePath = NULL;
MEDIA_VISION_FUNCTION_LEAVE();
return ret;
}
int mv_3d_set_depth_cb(mv_3d_h mv3d, mv_3d_depth_cb depth_cb, void *user_data)
{
MEDIA_VISION_SUPPORT_CHECK(mv_check_feature_key(main_feature_keys, 1, false) &&
mv_check_feature_key(sub_feature_keys, 1, false));
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_NULL_ARG_CHECK(depth_cb);
MEDIA_VISION_FUNCTION_ENTER();
auto pMv3d = static_cast<Mv3d *>(mv3d);
pMv3d->SetDepthCallback(depth_cb, user_data);
MEDIA_VISION_FUNCTION_LEAVE();
return MEDIA_VISION_ERROR_NONE;
}
// LCOV_EXCL_START
int mv_3d_set_pointcloud_cb(mv_3d_h mv3d, mv_3d_pointcloud_cb pointcloud_cb, void *user_data)
{
MEDIA_VISION_SUPPORT_CHECK(mv_check_feature_key(main_feature_keys, 1, false) &&
mv_check_feature_key(&sub_feature_keys[1], 1, false));
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_NULL_ARG_CHECK(pointcloud_cb);
MEDIA_VISION_FUNCTION_ENTER();
auto pMv3d = static_cast<Mv3d *>(mv3d);
int ret = pMv3d->SetPointcloudCallback(pointcloud_cb, user_data);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to run depth");
return ret;
}
MEDIA_VISION_FUNCTION_LEAVE();
return MEDIA_VISION_ERROR_NONE;
}
// LCOV_EXCL_STOP
int mv_3d_prepare(mv_3d_h mv3d)
{
MEDIA_VISION_SUPPORT_CHECK(mv_3d_all_check_system_info_feature_supported());
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_FUNCTION_ENTER();
auto pMv3d = static_cast<Mv3d *>(mv3d);
int ret = pMv3d->Prepare();
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to prepare depth");
return ret;
}
MEDIA_VISION_FUNCTION_LEAVE();
return ret;
}
int mv_3d_run(mv_3d_h mv3d, mv_source_h source, mv_source_h source_extra, mv_source_h color)
{
MEDIA_VISION_SUPPORT_CHECK(mv_3d_all_check_system_info_feature_supported());
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_INSTANCE_CHECK(source);
MEDIA_VISION_FUNCTION_ENTER();
auto pMv3d = static_cast<Mv3d *>(mv3d);
int ret = pMv3d->Run(source, source_extra);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to run depth");
return ret;
}
MEDIA_VISION_FUNCTION_LEAVE();
return ret;
}
int mv_3d_run_async(mv_3d_h mv3d, mv_source_h source, mv_source_h source_extra, mv_source_h color)
{
MEDIA_VISION_SUPPORT_CHECK(mv_3d_all_check_system_info_feature_supported());
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_INSTANCE_CHECK(source);
MEDIA_VISION_FUNCTION_ENTER();
auto pMv3d = static_cast<Mv3d *>(mv3d);
int ret = pMv3d->RunAsync(source, source_extra);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to run depth");
return ret;
}
MEDIA_VISION_FUNCTION_LEAVE();
return ret;
}
// LCOV_EXCL_START
int mv_3d_pointcloud_write_file(mv_3d_h mv3d, mv_3d_pointcloud_h pointcloud, mv_3d_pointcloud_type_e type,
char *filename)
{
MEDIA_VISION_SUPPORT_CHECK(mv_check_feature_key(main_feature_keys, 1, false) &&
mv_check_feature_key(&sub_feature_keys[1], 1, false));
MEDIA_VISION_INSTANCE_CHECK(mv3d);
MEDIA_VISION_INSTANCE_CHECK(pointcloud);
MEDIA_VISION_FUNCTION_ENTER();
auto pMv3d = static_cast<Mv3d *>(mv3d);
int ret = pMv3d->WritePointcloudFile(pointcloud, type, filename);
if (ret != MEDIA_VISION_ERROR_NONE) {
LOGE("Failed to write pointcloud file");
return ret;
}
MEDIA_VISION_FUNCTION_LEAVE();
return ret;
}
// LCOV_EXCL_STOP
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