From edf820c5804b72b4f018b4a5f8d24a4a9e86167d Mon Sep 17 00:00:00 2001
From: Joao Carreira <jfmcarreira@gmail.com>
Date: Sat, 17 May 2014 19:06:21 +0100
Subject: [PATCH] Initial code to measure disparity using OpenCV

---
 source/lib/PlaYUVerFrame.cpp      | 8 ++++----
 source/modules/DisparityCVVar.cpp | 9 ++++-----
 2 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/source/lib/PlaYUVerFrame.cpp b/source/lib/PlaYUVerFrame.cpp
index 32f5c72..fb7e2eb 100755
--- a/source/lib/PlaYUVerFrame.cpp
+++ b/source/lib/PlaYUVerFrame.cpp
@@ -516,11 +516,11 @@ cv::Mat PlaYUVerFrame::getCvMat()
   if( m_iPixelFormat != GRAY )
   {
     FrametoRGB8();
-    memcpy( opencvFrame.data, m_pcRGBPelInterlaced, getBytesPerFrame() * sizeof(Pel) );
+    memcpy( opencvFrame.data, m_pcRGBPelInterlaced, m_uiWidth * m_uiHeight * 3 * sizeof(Pel) );
   }
   else
   {
-    memcpy( opencvFrame.data, &( m_pppcInputPel[LUMA][0][0] ), getBytesPerFrame() * sizeof(Pel) );
+    memcpy( opencvFrame.data, &( m_pppcInputPel[LUMA][0][0] ), m_uiWidth * m_uiHeight * sizeof(Pel) );
   }
   return opencvFrame;
 }
@@ -555,7 +555,7 @@ Void PlaYUVerFrame::copyFrom( cv::Mat* opencvFrame )
     Pel* pInputPelU = m_pppcInputPel[CHROMA_U][0];
     Pel* pInputPelV = m_pppcInputPel[CHROMA_V][0];
     Pel* pcRGBPelInterlaced = m_pcRGBPelInterlaced;
-    memcpy( pcRGBPelInterlaced, opencvFrame->data, getBytesPerFrame() * sizeof(Pel) );
+    memcpy( pcRGBPelInterlaced, opencvFrame->data, m_uiWidth * m_uiHeight * 3 * sizeof(Pel) );
     for( UInt i = 0; i < m_uiHeight * m_uiWidth; i++ )
     {
       *pInputPelY++ = *pcRGBPelInterlaced++;
@@ -566,7 +566,7 @@ Void PlaYUVerFrame::copyFrom( cv::Mat* opencvFrame )
   }
   else
   {
-    memcpy( m_pppcInputPel[LUMA][0], opencvFrame->data, getBytesPerFrame() * sizeof(Pel) );
+    memcpy( m_pppcInputPel[LUMA][0], opencvFrame->data, m_uiWidth * m_uiHeight * sizeof(Pel) );
   }
 }
 #endif
diff --git a/source/modules/DisparityCVVar.cpp b/source/modules/DisparityCVVar.cpp
index 1d1c105..cb062e6 100644
--- a/source/modules/DisparityCVVar.cpp
+++ b/source/modules/DisparityCVVar.cpp
@@ -65,13 +65,12 @@ Void DisparityCVVar::create( PlaYUVerFrame* InputFrame )
 
 PlaYUVerFrame* DisparityCVVar::process( PlaYUVerFrame* InputLeft, PlaYUVerFrame* InputRight )
 {
-//  cv::Mat leftImage = InputLeft->getCvMat();
-//  cv::Mat rightImage = InputRight->getCvMat();
+  cv::Mat leftImage = InputLeft->getCvMat();
+  cv::Mat rightImage = InputRight->getCvMat();
   cv::Mat disparityImage, disparityImage8;
 
-//  m_cStereoVar(leftImage,rightImage,disparityImage);
-//  disparityImage.convertTo(disparityImage8,CV_8U);
-  disparityImage8 = InputLeft->getCvMat();
+  m_cStereoVar(leftImage,rightImage,disparityImage);
+  disparityImage.convertTo(disparityImage8,CV_8U);
 
   m_pcDisparityFrame->copyFrom(&disparityImage8);
   return m_pcDisparityFrame;