/*    This file is a part of plaYUVer project
 *    Copyright (C) 2014  by Luis Lucas      (luisfrlucas@gmail.com)
 *                           Joao Carreira   (jfmcarreira@gmail.com)
 *
 *    This program is free software; you can redistribute it and/or modify
 *    it under the terms of the GNU General Public License as published by
 *    the Free Software Foundation; either version 2 of the License, or
 *    (at your option) any later version.
 *
 *    This program is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *    GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License along
 *   with this program; if not, write to the Free Software Foundation, Inc.,
 *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 */

/**
 * \file     DisparityStereoVar.cpp
 * \brief    Measure the disparity between two images using the Stereo Var method (OpenCV)
 */

#include <cstdio>

#include "DisparityStereoVar.h"

namespace plaYUVer
{

DisparityStereoVar::DisparityStereoVar()
{
  /* Module Definition */
  m_iModuleType = FRAME_PROCESSING_MODULE;
  m_pchModuleCategory = "Disparity";
  m_pchModuleName = "StereoVar";
  m_pchModuleTooltip = "Measure the disparity between two images using the Stereo Var method (OpenCV)";
  m_uiNumberOfFrames = MODULE_REQUIRES_TWO_FRAMES;
  m_uiModuleRequirements = MODULE_REQUIRES_NEW_WINDOW;
  m_bApplyWhilePlaying = !APPLY_WHILE_PLAYING;

  m_pcDisparityFrame = NULL;
  m_cStereoVar.levels = 3;                                 // ignored with USE_AUTO_PARAMS
  m_cStereoVar.pyrScale = 0.5;                             // ignored with USE_AUTO_PARAMS
  m_cStereoVar.nIt = 25;

  m_cStereoVar.maxDisp = 0;
  m_cStereoVar.poly_n = 3;
  m_cStereoVar.poly_sigma = 0.0;
  m_cStereoVar.fi = 15.0f;
  m_cStereoVar.lambda = 0.03f;
  m_cStereoVar.penalization = m_cStereoVar.PENALIZATION_TICHONOV;            // ignored with USE_AUTO_PARAMS
  m_cStereoVar.cycle = m_cStereoVar.CYCLE_V;                                 // ignored with USE_AUTO_PARAMS
  m_cStereoVar.flags = m_cStereoVar.USE_SMART_ID | m_cStereoVar.USE_AUTO_PARAMS | m_cStereoVar.USE_INITIAL_DISPARITY | m_cStereoVar.USE_MEDIAN_FILTERING;
}

Void DisparityStereoVar::create( PlaYUVerFrame* InputFrame )
{
  m_pcDisparityFrame = new PlaYUVerFrame( InputFrame->getWidth(), InputFrame->getHeight(), PlaYUVerFrame::GRAY );
  m_cStereoVar.minDisp = -( ( ( InputFrame->getWidth() / 8 ) + 15 ) & -16 );
}

PlaYUVerFrame* DisparityStereoVar::process( PlaYUVerFrame* InputLeft, PlaYUVerFrame* InputRight )
{
  cv::Mat* leftImage;
  InputLeft->getCvMat( (Void**)&leftImage );
  cv::Mat* rightImage;
  InputRight->getCvMat( (Void**)&rightImage );
  cv::Mat disparityImage, disparityImage8;

  m_cStereoVar(*leftImage,*rightImage,disparityImage);
  disparityImage.convertTo(disparityImage8,CV_8U);

  m_pcDisparityFrame->fromCvMat( (Void*)&disparityImage8);
  return m_pcDisparityFrame;
}

Void DisparityStereoVar::destroy()
{
  if( m_pcDisparityFrame )
    delete m_pcDisparityFrame;
  m_pcDisparityFrame = NULL;
}

}  // NAMESPACE