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https://bitbucket.org/librepilot/librepilot.git
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LP-109 video: cleanup camera calibration plugin
This commit is contained in:
Philippe Renon
parent
ba29f527fa
commit
d78472b59c
@ -9,7 +9,7 @@ include(../utils/utils.pri)
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include(gstreamer_dependencies.pri)
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gstreamer_plugins:include(plugins/plugins.pro)
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include(plugins/plugins.pro)
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HEADERS += \
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gst_global.h \
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@ -1,7 +1,5 @@
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/* GStreamer
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* Copyright (C) <1999> Erik Walthinsen <omega@cse.ogi.edu>
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* Library <2002> Ronald Bultje <rbultje@ronald.bitfreak.net>
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* Copyright (C) 2007 David A. Schleef <ds@schleef.org>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Library General Public
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@ -1,5 +1,5 @@
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/* GStreamer
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* Copyright (C) <2011> Wim Taymans <wim.taymans@gmail.com>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Library General Public
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@ -1,7 +1,5 @@
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/* GStreamer
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* Copyright (C) <1999> Erik Walthinsen <omega@cse.ogi.edu>
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* Library <2002> Ronald Bultje <rbultje@ronald.bitfreak.net>
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* Copyright (C) 2007 David A. Schleef <ds@schleef.org>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Library General Public
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@ -1,5 +1,5 @@
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/* GStreamer
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* Copyright (C) <2011> Wim Taymans <wim.taymans@gmail.com>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Library General Public
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@ -1,10 +1,6 @@
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/*
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* GStreamer
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* Copyright (C) 2005 Thomas Vander Stichele <thomas@apestaart.org>
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* Copyright (C) 2005 Ronald S. Bultje <rbultje@ronald.bitfreak.net>
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* Copyright (C) 2008 Michael Sheldon <mike@mikeasoft.com>
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* Copyright (C) 2011 Stefan Sauer <ensonic@users.sf.net>
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* Copyright (C) 2014 Robert Jobbagy <jobbagy.robert@gmail.com>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the "Software"),
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@ -48,28 +44,7 @@
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/**
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* SECTION:element-cameracalibration
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*
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* Performs face detection on videos and images.
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* If you have high cpu load you need to use videoscale with capsfilter and reduce the video resolution.
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*
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* The image is scaled down multiple times using the GstCameraCalibration::scale-factor
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* until the size is <= GstCameraCalibration::min-size-width or
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* GstCameraCalibration::min-size-height.
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*
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* <refsect2>
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* <title>Example launch line</title>
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* |[
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* gst-launch-1.0 autovideosrc ! decodebin ! colorspace ! cameracalibration ! videoconvert ! xvimagesink
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* ]| Detect and show faces
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* |[
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* gst-launch-1.0 autovideosrc ! video/x-raw,width=320,height=240 ! videoconvert ! cameracalibration min-size-width=60 min-size-height=60 ! colorspace ! xvimagesink
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* ]| Detect large faces on a smaller image
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*
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* </refsect2>
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*/
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/* FIXME: development version of OpenCV has CV_HAAR_FIND_BIGGEST_OBJECT which
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* we might want to use if available
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* see https://code.ros.org/svn/opencv/trunk/opencv/modules/objdetect/src/haar.cpp
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* Performs fcamera calibration.
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*/
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#ifdef HAVE_CONFIG_H
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@ -1,10 +1,6 @@
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/*
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* GStreamer
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* Copyright (C) 2005 Thomas Vander Stichele <thomas@apestaart.org>
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* Copyright (C) 2005 Ronald S. Bultje <rbultje@ronald.bitfreak.net>
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* Copyright (C) 2008 Michael Sheldon <mike@mikeasoft.com>
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* Copyright (C) 2011 Stefan Sauer <ensonic@users.sf.net>
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* Copyright (C) 2011 Robert Jobbagy <jobbagy.robert@gmail.com>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the "Software"),
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@ -1,10 +1,6 @@
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/*
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* GStreamer
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* Copyright (C) 2005 Thomas Vander Stichele <thomas@apestaart.org>
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* Copyright (C) 2005 Ronald S. Bultje <rbultje@ronald.bitfreak.net>
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* Copyright (C) 2008 Michael Sheldon <mike@mikeasoft.com>
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* Copyright (C) 2011 Stefan Sauer <ensonic@users.sf.net>
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* Copyright (C) 2014 Robert Jobbagy <jobbagy.robert@gmail.com>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the "Software"),
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@ -48,28 +44,8 @@
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/**
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* SECTION:element-cameraundistort
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*
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* Performs face detection on videos and images.
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* If you have high cpu load you need to use videoscale with capsfilter and reduce the video resolution.
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* Performs camera distortion correction.
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*
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* The image is scaled down multiple times using the GstCameraCalibration::scale-factor
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* until the size is <= GstCameraCalibration::min-size-width or
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* GstCameraCalibration::min-size-height.
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*
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* <refsect2>
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* <title>Example launch line</title>
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* |[
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* gst-launch-1.0 autovideosrc ! decodebin ! colorspace ! cameraundistort ! videoconvert ! xvimagesink
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* ]| Detect and show faces
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* |[
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* gst-launch-1.0 autovideosrc ! video/x-raw,width=320,height=240 ! videoconvert ! cameraundistort min-size-width=60 min-size-height=60 ! colorspace ! xvimagesink
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* ]| Detect large faces on a smaller image
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*
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* </refsect2>
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*/
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/* FIXME: development version of OpenCV has CV_HAAR_FIND_BIGGEST_OBJECT which
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* we might want to use if available
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* see https://code.ros.org/svn/opencv/trunk/opencv/modules/objdetect/src/haar.cpp
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*/
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#ifdef HAVE_CONFIG_H
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@ -174,7 +150,7 @@ gst_camera_undistort_class_init (GstCameraUndistortClass * klass)
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g_object_class_install_property (gobject_class, PROP_ALPHA,
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g_param_spec_float ("alpha", "Pixels",
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"Pixels bla bla...",
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"Show all pixels (1), only valid ones (0) or something in between",
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0.0, 1.0, DEFAULT_ALPHA,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
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@ -1,10 +1,6 @@
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/*
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* GStreamer
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* Copyright (C) 2005 Thomas Vander Stichele <thomas@apestaart.org>
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* Copyright (C) 2005 Ronald S. Bultje <rbultje@ronald.bitfreak.net>
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* Copyright (C) 2008 Michael Sheldon <mike@mikeasoft.com>
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* Copyright (C) 2011 Stefan Sauer <ensonic@users.sf.net>
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* Copyright (C) 2011 Robert Jobbagy <jobbagy.robert@gmail.com>
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* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the "Software"),
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@ -51,7 +47,6 @@
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#include <gst/gst.h>
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#include <gst/opencv/gstopencvvideofilter.h>
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//#include "gstopencvvideofilter.h"
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#include <opencv2/core.hpp>
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@ -1,178 +0,0 @@
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/* GStreamer
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* Copyright (C) <2010> Thiago Santos <thiago.sousa.santos@collabora.co.uk>
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*
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* gstopencvutils.c: miscellaneous utility functions
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Library General Public
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* License as published by the Free Software Foundation; either
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* version 2 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Library General Public License for more details.
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*
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* You should have received a copy of the GNU Library General Public
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* License along with this library; if not, write to the
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* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
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* Boston, MA 02110-1301, USA.
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include "gstopencvutils.h"
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#include <opencv2/core/core_c.h>
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/*
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The various opencv image containers or headers store the following information:
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- number of channels (usually 1, 3 or 4)
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- depth (8, 16, 32, 64...); all channels have the same depth.
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The channel layout (BGR vs RGB) is not stored...
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This gives us the following list of supported image formats:
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CV_8UC1, CV_8UC2, CV_8UC3, CV_8UC4
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CV_8SC1, CV_8SC2, CV_8SC3, CV_8SC4
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CV_16UC1, CV_16UC2, CV_16UC3, CV_16UC4
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CV_16SC1, CV_16SC2, CV_16SC3, CV_16SC4
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CV_32SC1, CV_32SC2, CV_32SC3, CV_32SC4
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CV_32FC1, CV_32FC2, CV_32FC3, CV_32FC4
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CV_64FC1, CV_64FC2, CV_64FC3, CV_64FC4
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Where the first part of the format name is the depth followed by a digit
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representing the number of channels.
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Note that opencv supports more that 4 channels.
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The opencv algorithms don't all support all the image types.
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For example findChessboardCorners() supports only 8 bits formats
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(gray scale and color).
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And, typically, this algorithm will convert the image to gray scale before
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proceeding. It will do so with something like this:
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cvtColor(srcImg, destImg, CV_BGR2GRAY);
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The conversion will work on any BGR format (BGR, BGRA, BGRx).
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The extra channel(s) will be ignored.
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It will also produce a result for any RGB format.
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The result will be "wrong" to the human eye and might affect some algorithms
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(not findChessboardCorners() afaik...).
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This is due to how RGB gets converted to gray where each color has a
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different weight.
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Another example is the 2D rendering API.
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It work with RGB but the colors will be wrong.
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Likewise other layouts like xBGR and ABGR formats will probably misbehave
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with most algorithms.
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The bad thing is that it is not possible to change the "default" BGR format.
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Safest is to not assume that RGB will work and always convert to BGR.
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That said, the current opencv gstreamer elements all accept BGR and RGB caps !
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Some have restrictions but if a format is supported then both BGR and RGB
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layouts will be supported.
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*/
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gboolean
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gst_opencv_parse_iplimage_params_from_caps (GstCaps * caps, gint * width,
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gint * height, gint * ipldepth, gint * channels, GError ** err)
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{
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GstVideoInfo info;
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GstVideoFormat format;
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int cv_type;
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gchar *caps_str;
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if (!gst_video_info_from_caps (&info, caps)) {
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caps_str = gst_caps_to_string (caps);
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GST_ERROR ("Failed to get video info from caps %s", caps_str);
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g_set_error (err, GST_CORE_ERROR, GST_CORE_ERROR_NEGOTIATION,
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"Failed to get video info from caps %s", caps_str);
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g_free (caps_str);
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return FALSE;
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}
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format = GST_VIDEO_INFO_FORMAT (&info);
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if (!gst_opencv_cv_image_type_from_video_format (format, &cv_type, err)) {
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return FALSE;
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}
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*width = GST_VIDEO_INFO_WIDTH (&info);
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*height = GST_VIDEO_INFO_HEIGHT (&info);
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*ipldepth = cvIplDepth (cv_type);
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*channels = CV_MAT_CN (cv_type);
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return TRUE;
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}
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gboolean
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gst_opencv_cv_image_type_from_video_format (GstVideoFormat format,
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int * cv_type, GError ** err)
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{
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const gchar *format_str;
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switch (format) {
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case GST_VIDEO_FORMAT_GRAY8:
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*cv_type = CV_8UC1;
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break;
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case GST_VIDEO_FORMAT_RGB:
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case GST_VIDEO_FORMAT_BGR:
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*cv_type = CV_8UC3;
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break;
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case GST_VIDEO_FORMAT_RGBx:
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case GST_VIDEO_FORMAT_xRGB:
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case GST_VIDEO_FORMAT_BGRx:
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case GST_VIDEO_FORMAT_xBGR:
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case GST_VIDEO_FORMAT_RGBA:
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case GST_VIDEO_FORMAT_ARGB:
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case GST_VIDEO_FORMAT_BGRA:
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case GST_VIDEO_FORMAT_ABGR:
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*cv_type = CV_8UC4;
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break;
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case GST_VIDEO_FORMAT_GRAY16_LE:
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case GST_VIDEO_FORMAT_GRAY16_BE:
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*cv_type = CV_16UC1;
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break;
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default:
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format_str = gst_video_format_to_string (format);
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g_set_error (err, GST_CORE_ERROR, GST_CORE_ERROR_NEGOTIATION,
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"Unsupported video format %s", format_str);
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return FALSE;
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}
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return TRUE;
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}
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GstCaps *
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gst_opencv_caps_from_cv_image_type (int cv_type)
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{
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GstCaps *c = gst_caps_new_empty ();
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switch (cv_type) {
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case CV_8UC1:
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("GRAY8")));
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break;
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case CV_8UC3:
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("RGB")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("BGR")));
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break;
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case CV_8UC4:
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("RGBx")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("xRGB")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("BGRx")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("xBGR")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("RGBA")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("ARGB")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("BGRA")));
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gst_caps_append (c, gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("ABGR")));
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break;
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case CV_16UC1:
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gst_caps_append (c,
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gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("GRAY16_LE")));
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gst_caps_append (c,
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gst_caps_from_string (GST_VIDEO_CAPS_MAKE ("GRAY16_BE")));
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break;
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}
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return c;
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}
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@ -1,46 +0,0 @@
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/* GStreamer
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* Copyright (C) <2010> Thiago Santos <thiago.sousa.santos@collabora.co.uk>
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*
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* gstopencvutils.h: miscellaneous utility functions
|
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*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Library General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library 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
|
||||
* Library General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Library General Public
|
||||
* License along with this library; if not, write to the
|
||||
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
|
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* Boston, MA 02110-1301, USA.
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*/
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#ifndef __GST_OPENCV_UTILS__
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#define __GST_OPENCV_UTILS__
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <gst/gst.h>
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#include <gst/video/video.h>
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G_BEGIN_DECLS
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gboolean gst_opencv_parse_iplimage_params_from_caps
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(GstCaps * caps, gint * width, gint * height, gint * depth,
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gint * channels, GError ** err);
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gboolean
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gst_opencv_cv_image_type_from_video_format (GstVideoFormat format,
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int * cv_type, GError ** err);
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GstCaps * gst_opencv_caps_from_cv_image_type (int cv_type);
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G_END_DECLS
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#endif /* __GST_OPENCV_UTILS__ */
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@ -1,289 +0,0 @@
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/*
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* GStreamer
|
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* Copyright (C) 2010 Thiago Santos <thiago.sousa.santos@collabora.co.uk>
|
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*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a
|
||||
* copy of this software and associated documentation files (the "Software"),
|
||||
* to deal in the Software without restriction, including without limitation
|
||||
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
|
||||
* and/or sell copies of the Software, and to permit persons to whom the
|
||||
* Software is furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
|
||||
* DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* Alternatively, the contents of this file may be used under the
|
||||
* GNU Lesser General Public License Version 2.1 (the "LGPL"), in
|
||||
* which case the following provisions apply instead of the ones
|
||||
* mentioned above:
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Library General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library 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
|
||||
* Library General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Library General Public
|
||||
* License along with this library; if not, write to the
|
||||
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
|
||||
* Boston, MA 02110-1301, USA.
|
||||
*/
|
||||
|
||||
/* TODO opencv can do scaling for some cases */
|
||||
|
||||
#ifdef HAVE_CONFIG_H
|
||||
# include <config.h>
|
||||
#endif
|
||||
|
||||
#include "gstopencvvideofilter.h"
|
||||
#include "gstopencvutils.h"
|
||||
|
||||
#include <opencv2/core/core_c.h>
|
||||
|
||||
GST_DEBUG_CATEGORY_STATIC (gst_opencv_video_filter_debug);
|
||||
#define GST_CAT_DEFAULT gst_opencv_video_filter_debug
|
||||
|
||||
/* Filter signals and args */
|
||||
enum
|
||||
{
|
||||
/* FILL ME */
|
||||
LAST_SIGNAL
|
||||
};
|
||||
|
||||
enum
|
||||
{
|
||||
PROP_0
|
||||
};
|
||||
|
||||
static GstElementClass *parent_class = NULL;
|
||||
|
||||
static void gst_opencv_video_filter_class_init (GstOpencvVideoFilterClass *
|
||||
klass);
|
||||
static void gst_opencv_video_filter_init (GstOpencvVideoFilter * cv_filter,
|
||||
GstOpencvVideoFilterClass * klass);
|
||||
|
||||
static gboolean gst_opencv_video_filter_set_info (GstVideoFilter * vfilter,
|
||||
GstCaps * incaps, GstVideoInfo * in_info,
|
||||
GstCaps * outcaps, GstVideoInfo * out_info);
|
||||
static GstFlowReturn gst_opencv_video_filter_transform_frame_ip (
|
||||
GstVideoFilter * vfilter, GstVideoFrame * frame);
|
||||
static GstFlowReturn gst_opencv_video_filter_transform_frame (
|
||||
GstVideoFilter * vfilter,
|
||||
GstVideoFrame * inframe, GstVideoFrame * outframe);
|
||||
|
||||
static void gst_opencv_video_filter_set_property (GObject * object,
|
||||
guint prop_id, const GValue * value, GParamSpec * pspec);
|
||||
static void gst_opencv_video_filter_get_property (GObject * object,
|
||||
guint prop_id, GValue * value, GParamSpec * pspec);
|
||||
|
||||
GType
|
||||
gst_opencv_video_filter_get_type (void)
|
||||
{
|
||||
static volatile gsize opencv_video_filter_type = 0;
|
||||
|
||||
if (g_once_init_enter (&opencv_video_filter_type)) {
|
||||
GType _type;
|
||||
static const GTypeInfo opencv_video_filter_info = {
|
||||
sizeof (GstOpencvVideoFilterClass),
|
||||
NULL,
|
||||
NULL,
|
||||
(GClassInitFunc) gst_opencv_video_filter_class_init,
|
||||
NULL,
|
||||
NULL,
|
||||
sizeof (GstOpencvVideoFilter),
|
||||
0,
|
||||
(GInstanceInitFunc) gst_opencv_video_filter_init,
|
||||
};
|
||||
|
||||
_type = g_type_register_static (GST_TYPE_VIDEO_FILTER,
|
||||
"GstOpencvVideoFilter", &opencv_video_filter_info,
|
||||
G_TYPE_FLAG_ABSTRACT);
|
||||
g_once_init_leave (&opencv_video_filter_type, _type);
|
||||
}
|
||||
return opencv_video_filter_type;
|
||||
}
|
||||
|
||||
/* Clean up */
|
||||
static void
|
||||
gst_opencv_video_filter_finalize (GObject * obj)
|
||||
{
|
||||
GstOpencvVideoFilter *cv_filter = GST_OPENCV_VIDEO_FILTER (obj);
|
||||
|
||||
if (cv_filter->cvImage)
|
||||
cvReleaseImage (&cv_filter->cvImage);
|
||||
if (cv_filter->out_cvImage)
|
||||
cvReleaseImage (&cv_filter->out_cvImage);
|
||||
|
||||
G_OBJECT_CLASS (parent_class)->finalize (obj);
|
||||
}
|
||||
|
||||
static void
|
||||
gst_opencv_video_filter_class_init (GstOpencvVideoFilterClass * klass)
|
||||
{
|
||||
GObjectClass *gobject_class;
|
||||
GstVideoFilterClass *filter_class;
|
||||
|
||||
gobject_class = (GObjectClass *) klass;
|
||||
filter_class = (GstVideoFilterClass *) klass;
|
||||
parent_class = (GstElementClass *) g_type_class_peek_parent (klass);
|
||||
|
||||
GST_DEBUG_CATEGORY_INIT (gst_opencv_video_filter_debug,
|
||||
"opencvvideofilter", 0, "opencvvideofilter element");
|
||||
|
||||
gobject_class->finalize =
|
||||
GST_DEBUG_FUNCPTR (gst_opencv_video_filter_finalize);
|
||||
gobject_class->set_property = gst_opencv_video_filter_set_property;
|
||||
gobject_class->get_property = gst_opencv_video_filter_get_property;
|
||||
|
||||
filter_class->transform_frame = gst_opencv_video_filter_transform_frame;
|
||||
filter_class->transform_frame_ip =
|
||||
gst_opencv_video_filter_transform_frame_ip;
|
||||
filter_class->set_info = gst_opencv_video_filter_set_info;
|
||||
}
|
||||
|
||||
static void
|
||||
gst_opencv_video_filter_init (GstOpencvVideoFilter * cv_filter,
|
||||
GstOpencvVideoFilterClass * klass)
|
||||
{
|
||||
}
|
||||
|
||||
static GstFlowReturn
|
||||
gst_opencv_video_filter_transform_frame (GstVideoFilter * vfilter,
|
||||
GstVideoFrame * inframe, GstVideoFrame * outframe)
|
||||
{
|
||||
GstOpencvVideoFilter *cv_filter;
|
||||
GstOpencvVideoFilterClass *fclass;
|
||||
GstFlowReturn ret;
|
||||
|
||||
cv_filter = GST_OPENCV_VIDEO_FILTER (vfilter);
|
||||
fclass = GST_OPENCV_VIDEO_FILTER_GET_CLASS (vfilter);
|
||||
|
||||
g_return_val_if_fail (fclass->cv_transform_frame != NULL, GST_FLOW_ERROR);
|
||||
g_return_val_if_fail (cv_filter->cvImage != NULL, GST_FLOW_ERROR);
|
||||
g_return_val_if_fail (cv_filter->out_cvImage != NULL, GST_FLOW_ERROR);
|
||||
|
||||
cv_filter->cvImage->imageData = (char *) inframe->data;
|
||||
cv_filter->out_cvImage->imageData = (char *) outframe->data;
|
||||
|
||||
ret = fclass->cv_transform_frame (cv_filter, inframe, cv_filter->cvImage,
|
||||
outframe, cv_filter->out_cvImage);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static GstFlowReturn
|
||||
gst_opencv_video_filter_transform_frame_ip (GstVideoFilter * vfilter,
|
||||
GstVideoFrame * frame)
|
||||
{
|
||||
GstOpencvVideoFilter *cv_filter;
|
||||
GstOpencvVideoFilterClass *fclass;
|
||||
GstFlowReturn ret;
|
||||
|
||||
cv_filter = GST_OPENCV_VIDEO_FILTER (vfilter);
|
||||
fclass = GST_OPENCV_VIDEO_FILTER_GET_CLASS (vfilter);
|
||||
|
||||
g_return_val_if_fail (fclass->cv_transform_frame_ip != NULL, GST_FLOW_ERROR);
|
||||
g_return_val_if_fail (cv_filter->cvImage != NULL, GST_FLOW_ERROR);
|
||||
|
||||
cv_filter->cvImage->imageData = (char *) frame->data;
|
||||
|
||||
ret = fclass->cv_transform_frame_ip (cv_filter, frame, cv_filter->cvImage);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static gboolean
|
||||
gst_opencv_video_filter_set_info (GstVideoFilter * vfilter, GstCaps * incaps,
|
||||
GstVideoInfo * in_info, GstCaps * outcaps, GstVideoInfo * out_info)
|
||||
{
|
||||
GstOpencvVideoFilter *cv_filter = GST_OPENCV_VIDEO_FILTER (vfilter);
|
||||
GstOpencvVideoFilterClass *klass =
|
||||
GST_OPENCV_VIDEO_FILTER_GET_CLASS (cv_filter);
|
||||
gint in_width, in_height;
|
||||
gint in_depth, in_channels;
|
||||
gint out_width, out_height;
|
||||
gint out_depth, out_channels;
|
||||
GError *in_err = NULL;
|
||||
GError *out_err = NULL;
|
||||
|
||||
if (!gst_opencv_parse_iplimage_params_from_caps (incaps, &in_width,
|
||||
&in_height, &in_depth, &in_channels, &in_err)) {
|
||||
GST_WARNING_OBJECT (cv_filter, "Failed to parse input caps: %s",
|
||||
in_err->message);
|
||||
g_error_free (in_err);
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
if (!gst_opencv_parse_iplimage_params_from_caps (outcaps, &out_width,
|
||||
&out_height, &out_depth, &out_channels, &out_err)) {
|
||||
GST_WARNING_OBJECT (cv_filter, "Failed to parse output caps: %s",
|
||||
out_err->message);
|
||||
g_error_free (out_err);
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
if (klass->cv_set_info) {
|
||||
if (!klass->cv_set_info (cv_filter, in_width, in_height, in_depth,
|
||||
in_channels, out_width, out_height, out_depth, out_channels))
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
if (cv_filter->cvImage) {
|
||||
cvReleaseImage (&cv_filter->cvImage);
|
||||
}
|
||||
if (cv_filter->out_cvImage) {
|
||||
cvReleaseImage (&cv_filter->out_cvImage);
|
||||
}
|
||||
|
||||
cv_filter->cvImage =
|
||||
cvCreateImageHeader (cvSize (in_width, in_height), in_depth, in_channels);
|
||||
cv_filter->out_cvImage =
|
||||
cvCreateImageHeader (cvSize (out_width, out_height), out_depth,
|
||||
out_channels);
|
||||
|
||||
gst_base_transform_set_in_place (GST_BASE_TRANSFORM (cv_filter),
|
||||
cv_filter->in_place);
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
static void
|
||||
gst_opencv_video_filter_set_property (GObject * object, guint prop_id,
|
||||
const GValue * value, GParamSpec * pspec)
|
||||
{
|
||||
switch (prop_id) {
|
||||
default:
|
||||
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
gst_opencv_video_filter_get_property (GObject * object, guint prop_id,
|
||||
GValue * value, GParamSpec * pspec)
|
||||
{
|
||||
switch (prop_id) {
|
||||
default:
|
||||
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
gst_opencv_video_filter_set_in_place (GstOpencvVideoFilter * cv_filter,
|
||||
gboolean ip)
|
||||
{
|
||||
cv_filter->in_place = ip;
|
||||
gst_base_transform_set_in_place (GST_BASE_TRANSFORM (cv_filter), ip);
|
||||
}
|
||||
@ -1,110 +0,0 @@
|
||||
/*
|
||||
* GStreamer
|
||||
* Copyright (C) 2010 Thiago Santos <thiago.sousa.santos@collabora.co.uk>
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a
|
||||
* copy of this software and associated documentation files (the "Software"),
|
||||
* to deal in the Software without restriction, including without limitation
|
||||
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
|
||||
* and/or sell copies of the Software, and to permit persons to whom the
|
||||
* Software is furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
|
||||
* DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* Alternatively, the contents of this file may be used under the
|
||||
* GNU Lesser General Public License Version 2.1 (the "LGPL"), in
|
||||
* which case the following provisions apply instead of the ones
|
||||
* mentioned above:
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Library General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library 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
|
||||
* Library General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Library General Public
|
||||
* License along with this library; if not, write to the
|
||||
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
|
||||
* Boston, MA 02110-1301, USA.
|
||||
*/
|
||||
|
||||
#ifndef __GST_OPENCV_VIDEO_FILTER_H__
|
||||
#define __GST_OPENCV_VIDEO_FILTER_H__
|
||||
|
||||
#include <gst/gst.h>
|
||||
#include <gst/video/gstvideofilter.h>
|
||||
|
||||
G_BEGIN_DECLS
|
||||
|
||||
/* forward declare opencv type to avoid exposing them in this API */
|
||||
typedef struct _IplImage IplImage;
|
||||
|
||||
/* #defines don't like whitespacey bits */
|
||||
#define GST_TYPE_OPENCV_VIDEO_FILTER \
|
||||
(gst_opencv_video_filter_get_type())
|
||||
#define GST_OPENCV_VIDEO_FILTER(obj) \
|
||||
(G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_OPENCV_VIDEO_FILTER,GstOpencvVideoFilter))
|
||||
#define GST_OPENCV_VIDEO_FILTER_CLASS(klass) \
|
||||
(G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_OPENCV_VIDEO_FILTER,GstOpencvVideoFilterClass))
|
||||
#define GST_IS_OPENCV_VIDEO_FILTER(obj) \
|
||||
(G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_OPENCV_VIDEO_FILTER))
|
||||
#define GST_IS_OPENCV_VIDEO_FILTER_CLASS(klass) \
|
||||
(G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_OPENCV_VIDEO_FILTER))
|
||||
#define GST_OPENCV_VIDEO_FILTER_GET_CLASS(obj) \
|
||||
(G_TYPE_INSTANCE_GET_CLASS((obj),GST_TYPE_OPENCV_VIDEO_FILTER,GstOpencvVideoFilterClass))
|
||||
#define GST_OPENCV_VIDEO_FILTER_CAST(obj) ((GstOpencvVideoFilter *) (obj))
|
||||
|
||||
typedef struct _GstOpencvVideoFilter GstOpencvVideoFilter;
|
||||
typedef struct _GstOpencvVideoFilterClass GstOpencvVideoFilterClass;
|
||||
|
||||
typedef GstFlowReturn (*GstOpencvVideoFilterTransformIPFunc)
|
||||
(GstOpencvVideoFilter * cvfilter, GstVideoFrame * frame, IplImage * img);
|
||||
typedef GstFlowReturn (*GstOpencvVideoFilterTransformFunc)
|
||||
(GstOpencvVideoFilter * cvfilter, GstVideoFrame * frame, IplImage * img,
|
||||
GstVideoFrame * outframe, IplImage * outimg);
|
||||
|
||||
typedef gboolean (*GstOpencvVideoFilterSetInfo)
|
||||
(GstOpencvVideoFilter * cv_filter, gint in_width, gint in_height,
|
||||
gint in_depth, gint in_channels, gint out_width, gint out_height,
|
||||
gint out_depth, gint out_channels);
|
||||
|
||||
struct _GstOpencvVideoFilter
|
||||
{
|
||||
GstVideoFilter videofilter;
|
||||
|
||||
gboolean in_place;
|
||||
|
||||
IplImage *cvImage;
|
||||
IplImage *out_cvImage;
|
||||
};
|
||||
|
||||
struct _GstOpencvVideoFilterClass
|
||||
{
|
||||
GstVideoFilterClass parent_class;
|
||||
|
||||
GstOpencvVideoFilterTransformFunc cv_transform_frame;
|
||||
GstOpencvVideoFilterTransformIPFunc cv_transform_frame_ip;
|
||||
|
||||
GstOpencvVideoFilterSetInfo cv_set_info;
|
||||
};
|
||||
|
||||
GType gst_opencv_video_filter_get_type (void);
|
||||
|
||||
void gst_opencv_video_filter_set_in_place (GstOpencvVideoFilter * cv_filter,
|
||||
gboolean ip);
|
||||
|
||||
G_END_DECLS
|
||||
#endif /* __GST_OPENCV_VIDEO_FILTER_H__ */
|
||||
@ -3,16 +3,6 @@ DEFINES += GST_PLUGIN_BUILD_STATIC
|
||||
#CONFIG += link_pkgconfig
|
||||
PKGCONFIG += gstreamer-base-1.0
|
||||
|
||||
do_not_compile {
|
||||
HEADERS += \
|
||||
plugins/cameracalibration/gstopencvutils.h \
|
||||
plugins/cameracalibration/gstopencvvideofilter.hpp
|
||||
|
||||
SOURCES += \
|
||||
plugins/cameracalibration/gstopencvutils.cpp \
|
||||
plugins/cameracalibration/gstopencvvideofilter.cpp \
|
||||
}
|
||||
|
||||
opencv {
|
||||
# there is no package for gst opencv yet...
|
||||
GSTREAMER_SDK_DIR = $$system(pkg-config --variable=exec_prefix gstreamer-1.0)
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user