gstreamer/subprojects/gst-plugins-bad/ext/opencv/gstcameraundistort.cpp

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/*
* GStreamer
* Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
*
* 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.
*/
/**
* SECTION:element-cameraundistort
*
* This element performs camera distortion correction.
*
* Camera correction settings are obtained by running through
* the camera calibration process with the cameracalibrate element.
*
* It is possible to do live correction and calibration by chaining
* a cameraundistort and a cameracalibrate element. The cameracalibrate
* will send an event with the correction parameters to the the cameraundistort.
*
* Based on this tutorial: https://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
*
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* ## Example pipelines
*
* |[
* gst-launch-1.0 -v v4l2src ! videoconvert ! cameraundistort settings="???" ! autovideosink
* ]| will correct camera distortion based on provided settings.
* |[
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* gst-launch-1.0 -v v4l2src ! videoconvert ! cameraundistort ! cameracalibrate ! autovideosink
* ]| will correct camera distortion once camera calibration is done.
*/
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <vector>
#include "camerautils.hpp"
#include "cameraevent.hpp"
#include "gstcameraundistort.h"
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp>
#include <gst/opencv/gstopencvutils.h>
GST_DEBUG_CATEGORY_STATIC (gst_camera_undistort_debug);
#define GST_CAT_DEFAULT gst_camera_undistort_debug
#define DEFAULT_SHOW_UNDISTORTED TRUE
#define DEFAULT_ALPHA 0.0
#define DEFAULT_CROP FALSE
enum
{
PROP_0,
PROP_SHOW_UNDISTORTED,
PROP_ALPHA,
PROP_CROP,
PROP_SETTINGS
};
G_DEFINE_TYPE_WITH_CODE (GstCameraUndistort, gst_camera_undistort,
GST_TYPE_OPENCV_VIDEO_FILTER,
GST_DEBUG_CATEGORY_INIT (gst_camera_undistort_debug, "cameraundistort", 0,
"Performs camera undistortion");
);
GST_ELEMENT_REGISTER_DEFINE (cameraundistort, "cameraundistort", GST_RANK_NONE,
GST_TYPE_CAMERA_UNDISTORT);
static void gst_camera_undistort_dispose (GObject * object);
static void gst_camera_undistort_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec);
static void gst_camera_undistort_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec);
static gboolean gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter,
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gint in_width, gint in_height, int in_cv_type,
gint out_width, gint out_height, int out_cv_type);
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static GstFlowReturn gst_camera_undistort_transform_frame (GstOpencvVideoFilter
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* cvfilter, GstBuffer * frame, cv::Mat img, GstBuffer * outframe,
cv::Mat outimg);
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static gboolean gst_camera_undistort_sink_event (GstBaseTransform * trans,
GstEvent * event);
static gboolean gst_camera_undistort_src_event (GstBaseTransform * trans,
GstEvent * event);
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static void camera_undistort_run (GstCameraUndistort * undist, cv::Mat img,
cv::Mat outimg);
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static gboolean camera_undistort_init_undistort_rectify_map (GstCameraUndistort
* undist);
/* initialize the cameraundistort's class */
static void
gst_camera_undistort_class_init (GstCameraUndistortClass * klass)
{
GObjectClass *gobject_class = G_OBJECT_CLASS (klass);
GstElementClass *element_class = GST_ELEMENT_CLASS (klass);
GstBaseTransformClass *trans_class = GST_BASE_TRANSFORM_CLASS (klass);
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GstOpencvVideoFilterClass *opencvfilter_class =
GST_OPENCV_VIDEO_FILTER_CLASS (klass);
GstCaps *caps;
GstPadTemplate *templ;
gobject_class->dispose = gst_camera_undistort_dispose;
gobject_class->set_property = gst_camera_undistort_set_property;
gobject_class->get_property = gst_camera_undistort_get_property;
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trans_class->sink_event = GST_DEBUG_FUNCPTR (gst_camera_undistort_sink_event);
trans_class->src_event = GST_DEBUG_FUNCPTR (gst_camera_undistort_src_event);
opencvfilter_class->cv_set_caps = gst_camera_undistort_set_info;
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opencvfilter_class->cv_trans_func = gst_camera_undistort_transform_frame;
g_object_class_install_property (gobject_class, PROP_SHOW_UNDISTORTED,
g_param_spec_boolean ("undistort", "Apply camera corrections",
"Apply camera corrections",
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DEFAULT_SHOW_UNDISTORTED,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_ALPHA,
g_param_spec_float ("alpha", "Pixels",
"Show all pixels (1), only valid ones (0) or something in between",
0.0, 1.0, DEFAULT_ALPHA,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_SETTINGS,
g_param_spec_string ("settings", "Settings",
"Camera correction parameters (opaque string of serialized OpenCV objects)",
NULL, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
gst_element_class_set_static_metadata (element_class,
"cameraundistort",
"Filter/Effect/Video",
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"Performs camera undistort", "Philippe Renon <philippe_renon@yahoo.fr>");
/* add sink and source pad templates */
caps = gst_opencv_caps_from_cv_image_type (CV_16UC1);
gst_caps_append (caps, gst_opencv_caps_from_cv_image_type (CV_8UC4));
gst_caps_append (caps, gst_opencv_caps_from_cv_image_type (CV_8UC3));
gst_caps_append (caps, gst_opencv_caps_from_cv_image_type (CV_8UC1));
templ = gst_pad_template_new ("sink", GST_PAD_SINK, GST_PAD_ALWAYS,
gst_caps_ref (caps));
gst_element_class_add_pad_template (element_class, templ);
templ = gst_pad_template_new ("src", GST_PAD_SRC, GST_PAD_ALWAYS, caps);
gst_element_class_add_pad_template (element_class, templ);
}
/* initialize the new element
* initialize instance structure
*/
static void
gst_camera_undistort_init (GstCameraUndistort * undist)
{
undist->showUndistorted = DEFAULT_SHOW_UNDISTORTED;
undist->alpha = DEFAULT_ALPHA;
undist->crop = DEFAULT_CROP;
undist->doUndistort = FALSE;
undist->settingsChanged = FALSE;
undist->cameraMatrix = 0;
undist->distCoeffs = 0;
undist->map1 = 0;
undist->map2 = 0;
undist->settings = NULL;
}
static void
gst_camera_undistort_dispose (GObject * object)
{
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
g_free (undist->settings);
undist->settings = NULL;
G_OBJECT_CLASS (gst_camera_undistort_parent_class)->dispose (object);
}
static void
gst_camera_undistort_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec)
{
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
const char *str;
switch (prop_id) {
case PROP_SHOW_UNDISTORTED:
undist->showUndistorted = g_value_get_boolean (value);
undist->settingsChanged = TRUE;
break;
case PROP_ALPHA:
undist->alpha = g_value_get_float (value);
undist->settingsChanged = TRUE;
break;
case PROP_CROP:
undist->crop = g_value_get_boolean (value);
break;
case PROP_SETTINGS:
if (undist->settings) {
g_free (undist->settings);
undist->settings = NULL;
}
str = g_value_get_string (value);
if (str)
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undist->settings = g_strdup (str);
undist->settingsChanged = TRUE;
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
}
static void
gst_camera_undistort_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec)
{
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
switch (prop_id) {
case PROP_SHOW_UNDISTORTED:
g_value_set_boolean (value, undist->showUndistorted);
break;
case PROP_ALPHA:
g_value_set_float (value, undist->alpha);
break;
case PROP_CROP:
g_value_set_boolean (value, undist->crop);
break;
case PROP_SETTINGS:
g_value_set_string (value, undist->settings);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
}
gboolean
gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter,
gint in_width, gint in_height, G_GNUC_UNUSED int in_cv_type,
G_GNUC_UNUSED gint out_width, G_GNUC_UNUSED gint out_height,
G_GNUC_UNUSED int out_cv_type)
{
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter);
undist->imageSize = cv::Size (in_width, in_height);
return TRUE;
}
/*
* Performs the camera undistort
*/
static GstFlowReturn
gst_camera_undistort_transform_frame (GstOpencvVideoFilter * cvfilter,
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G_GNUC_UNUSED GstBuffer * frame, cv::Mat img,
G_GNUC_UNUSED GstBuffer * outframe, cv::Mat outimg)
{
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter);
camera_undistort_run (undist, img, outimg);
return GST_FLOW_OK;
}
static void
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camera_undistort_run (GstCameraUndistort * undist, cv::Mat img, cv::Mat outimg)
{
/* TODO is settingsChanged handling thread safe ? */
if (undist->settingsChanged) {
/* settings have changed, need to recompute undistort */
undist->settingsChanged = FALSE;
undist->doUndistort = FALSE;
if (undist->showUndistorted && undist->settings) {
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if (camera_deserialize_undistort_settings (undist->settings,
undist->cameraMatrix, undist->distCoeffs)) {
undist->doUndistort =
camera_undistort_init_undistort_rectify_map (undist);
}
}
}
if (undist->showUndistorted && undist->doUndistort) {
/* do the undistort */
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cv::remap (img, outimg, undist->map1, undist->map2, cv::INTER_LINEAR);
if (undist->crop) {
/* TODO do the cropping */
const cv::Scalar CROP_COLOR (0, 255, 0);
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cv::rectangle (outimg, undist->validPixROI, CROP_COLOR);
}
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} else {
/* FIXME should use pass through to avoid this copy when not undistorting */
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img.copyTo (outimg);
}
}
/* compute undistort */
static gboolean
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camera_undistort_init_undistort_rectify_map (GstCameraUndistort * undist)
{
cv::Size newImageSize;
cv::Rect validPixROI;
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cv::Mat newCameraMatrix =
cv::getOptimalNewCameraMatrix (undist->cameraMatrix, undist->distCoeffs,
undist->imageSize, undist->alpha, newImageSize, &validPixROI);
undist->validPixROI = validPixROI;
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cv::initUndistortRectifyMap (undist->cameraMatrix, undist->distCoeffs,
cv::Mat (), newCameraMatrix, undist->imageSize, CV_16SC2, undist->map1,
undist->map2);
return TRUE;
}
static gboolean
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camera_undistort_calibration_event (GstCameraUndistort * undist,
GstEvent * event)
{
g_free (undist->settings);
if (!gst_camera_event_parse_calibrated (event, &(undist->settings))) {
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return FALSE;
}
undist->settingsChanged = TRUE;
return TRUE;
}
static gboolean
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gst_camera_undistort_sink_event (GstBaseTransform * trans, GstEvent * event)
{
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans);
const GstStructure *structure = gst_event_get_structure (event);
if (GST_EVENT_TYPE (event) == GST_EVENT_CUSTOM_BOTH && structure) {
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if (strcmp (gst_structure_get_name (structure),
GST_CAMERA_EVENT_CALIBRATED_NAME) == 0) {
return camera_undistort_calibration_event (undist, event);
}
}
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return
GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->sink_event
(trans, event);
}
static gboolean
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gst_camera_undistort_src_event (GstBaseTransform * trans, GstEvent * event)
{
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans);
const GstStructure *structure = gst_event_get_structure (event);
if (GST_EVENT_TYPE (event) == GST_EVENT_CUSTOM_BOTH && structure) {
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if (strcmp (gst_structure_get_name (structure),
GST_CAMERA_EVENT_CALIBRATED_NAME) == 0) {
return camera_undistort_calibration_event (undist, event);
}
}
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return
GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->src_event
(trans, event);
}