mirror of
https://gitlab.freedesktop.org/gstreamer/gstreamer.git
synced 2024-11-27 04:01:08 +00:00
openni2src: Some random cleanup and minor fixes
This commit is contained in:
Sebastian Dröge
parent
64675f0712
commit
1ba3edf682
1 changed files with 117 additions and 110 deletions
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@ -41,20 +41,14 @@
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#endif
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#include "gstopenni2src.h"
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\
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GST_DEBUG_CATEGORY_STATIC (openni2src_debug);
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static GstStaticPadTemplate srctemplate = GST_STATIC_PAD_TEMPLATE ("src",
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GST_PAD_SRC,
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GST_PAD_ALWAYS,
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GST_STATIC_CAPS ("video/x-raw, "
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"format = (string) {RGBA, RGB, GRAY16_LE} "
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"framerate = (fraction) [0/1, MAX], "
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"width = (int) [ 1, MAX ], "
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"height = (int) [ 1, MAX ]")
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GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE ("{RGBA, RGB, GRAY16_LE}"))
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);
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static GstElementClass *parent_class = NULL;
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enum
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{
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PROP_0,
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@ -80,7 +74,8 @@ gst_openni2_src_sourcetype_get_type (void)
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static const GEnumValue values[] = {
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{SOURCETYPE_DEPTH, "Get depth readings", "depth"},
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{SOURCETYPE_COLOR, "Get color readings", "color"},
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{SOURCETYPE_BOTH, "Get color and depth (as alpha) readings - EXPERIMENTAL",
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{SOURCETYPE_BOTH,
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"Get color and depth (as alpha) readings - EXPERIMENTAL",
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"both"},
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{0, NULL, NULL},
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};
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@ -107,8 +102,7 @@ static GstStateChangeReturn gst_openni2_src_change_state (GstElement * element,
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GstStateChange transition);
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/* pushsrc method */
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static GstFlowReturn gst_openni2src_fill (GstPushSrc * src,
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GstBuffer * buf);
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static GstFlowReturn gst_openni2src_fill (GstPushSrc * src, GstBuffer * buf);
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/* OpenNI2 interaction methods */
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static gboolean openni2_initialise_library ();
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@ -117,10 +111,10 @@ static GstFlowReturn openni2_read_gstbuffer (GstOpenni2Src * src,
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GstBuffer * buf);
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static void openni2_finalise (GstOpenni2Src * src);
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#define parent_class gst_openni2_src_parent_class
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G_DEFINE_TYPE (GstOpenni2Src, gst_openni2_src, GST_TYPE_PUSH_SRC)
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static void
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gst_openni2_src_class_init (GstOpenni2SrcClass * klass)
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static void gst_openni2_src_class_init (GstOpenni2SrcClass * klass)
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{
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GObjectClass *gobject_class;
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GstPushSrcClass *pushsrc_class;
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@ -130,7 +124,6 @@ gst_openni2_src_class_init (GstOpenni2SrcClass * klass)
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gobject_class = (GObjectClass *) klass;
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basesrc_class = (GstBaseSrcClass *) klass;
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pushsrc_class = (GstPushSrcClass *) klass;
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parent_class = (GstElementClass *) g_type_class_peek_parent (klass);
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gobject_class->dispose = gst_openni2_src_dispose;
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gobject_class->finalize = gst_openni2_src_finalize;
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@ -139,8 +132,7 @@ gst_openni2_src_class_init (GstOpenni2SrcClass * klass)
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g_object_class_install_property
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(gobject_class, PROP_LOCATION,
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g_param_spec_string ("location", "Location",
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"Source uri, can be a file or a device.", "",
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(GParamFlags)
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"Source uri, can be a file or a device.", "", (GParamFlags)
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(G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_SOURCETYPE,
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g_param_spec_enum ("sourcetype",
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@ -170,7 +162,7 @@ gst_openni2_src_class_init (GstOpenni2SrcClass * klass)
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"OpenNI2 Device Source");
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/* OpenNI2 initialisation inside this function */
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openni2_initialise_library();
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openni2_initialise_library ();
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}
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static void
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@ -183,8 +175,10 @@ static void
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gst_openni2_src_dispose (GObject * object)
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{
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GstOpenni2Src *ni2src = GST_OPENNI2_SRC (object);
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if (ni2src->gst_caps)
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gst_caps_unref (ni2src->gst_caps);
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G_OBJECT_CLASS (parent_class)->dispose (object);
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}
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@ -200,7 +194,7 @@ gst_openni2_src_finalize (GObject * gobject)
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ni2src->uri_name = NULL;
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}
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if (ni2src->gst_caps)
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gst_caps_unref(ni2src->gst_caps);
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gst_caps_unref (ni2src->gst_caps);
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ni2src->gst_caps = NULL;
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G_OBJECT_CLASS (parent_class)->finalize (gobject);
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@ -225,6 +219,7 @@ gst_openni2_src_set_property (GObject * object, guint prop_id,
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openni2src->uri_name = NULL;
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}
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openni2src->uri_name = g_value_dup_string (value);
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/* Action! */
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openni2_initialise_devices (openni2src);
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break;
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@ -270,22 +265,25 @@ gst_openni2_src_start (GstBaseSrc * bsrc)
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{
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GstOpenni2Src *src = GST_OPENNI2_SRC (bsrc);
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openni::Status rc = openni::STATUS_OK;
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if (src->depth.isValid ()){
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rc = src->depth.start();
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if (rc != openni::STATUS_OK){
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GST_ERROR_OBJECT( src, "Couldn't start the depth stream\n%s\n",
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openni::OpenNI::getExtendedError());
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if (src->depth.isValid ()) {
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rc = src->depth.start ();
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if (rc != openni::STATUS_OK) {
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GST_ERROR_OBJECT (src, "Couldn't start the depth stream\n%s\n",
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openni::OpenNI::getExtendedError ());
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return FALSE;
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}
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}
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if (src->color.isValid ()){
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rc = src->color.start();
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if (rc != openni::STATUS_OK){
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GST_ERROR_OBJECT( src, "Couldn't start the color stream\n%s\n",
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openni::OpenNI::getExtendedError());
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if (src->color.isValid ()) {
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rc = src->color.start ();
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if (rc != openni::STATUS_OK) {
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GST_ERROR_OBJECT (src, "Couldn't start the color stream\n%s\n",
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openni::OpenNI::getExtendedError ());
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return FALSE;
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}
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}
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return TRUE;
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}
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@ -295,9 +293,10 @@ gst_openni2_src_stop (GstBaseSrc * bsrc)
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GstOpenni2Src *src = GST_OPENNI2_SRC (bsrc);
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if (src->depth.isValid ())
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src->depth.stop();
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src->depth.stop ();
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if (src->color.isValid ())
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src->color.stop();
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src->color.stop ();
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return TRUE;
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}
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@ -306,17 +305,19 @@ gst_openni2_src_get_caps (GstBaseSrc * src, GstCaps * filter)
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{
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GstOpenni2Src *ni2src;
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GstCaps *caps;
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ni2src = GST_OPENNI2_SRC (src);
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GST_OBJECT_LOCK (ni2src);
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if (ni2src->gst_caps) {
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GST_OBJECT_UNLOCK (ni2src);
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return (filter)
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? gst_caps_intersect_full (filter, ni2src->gst_caps, GST_CAPS_INTERSECT_FIRST)
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? gst_caps_intersect_full (filter, ni2src->gst_caps,
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GST_CAPS_INTERSECT_FIRST)
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: gst_caps_ref (ni2src->gst_caps);
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}
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// If we are here, we need to compose the caps and return them.
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caps = gst_caps_new_empty();
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caps = gst_caps_new_empty ();
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if (ni2src->colorpixfmt != openni::PIXEL_FORMAT_RGB888)
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return caps; /* Uh oh, not RGB :? Not supported. */
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@ -327,30 +328,28 @@ gst_openni2_src_get_caps (GstBaseSrc * src, GstCaps * filter)
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"framerate", GST_TYPE_FRACTION, ni2src->fps, 1,
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"pixel-aspect-ratio", GST_TYPE_FRACTION, 1, 1,
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"width", G_TYPE_INT, ni2src->width,
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"height", G_TYPE_INT, ni2src->height,
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NULL);
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"height", G_TYPE_INT, ni2src->height, NULL);
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} else if (ni2src->depth.isValid () && ni2src->sourcetype == SOURCETYPE_DEPTH) {
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caps = gst_caps_new_simple ("video/x-raw",
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"format", G_TYPE_STRING, "GRAY16_LE",
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"framerate", GST_TYPE_FRACTION, ni2src->fps, 1,
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"pixel-aspect-ratio", GST_TYPE_FRACTION, 1, 1,
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"width", G_TYPE_INT, ni2src->width,
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"height", G_TYPE_INT, ni2src->height,
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NULL);
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"height", G_TYPE_INT, ni2src->height, NULL);
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} else if (ni2src->color.isValid () && ni2src->sourcetype == SOURCETYPE_COLOR) {
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caps = gst_caps_new_simple ("video/x-raw",
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"format", G_TYPE_STRING, "RGB",
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"framerate", GST_TYPE_FRACTION, ni2src->fps, 1,
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"pixel-aspect-ratio", GST_TYPE_FRACTION, 1, 1,
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"width", G_TYPE_INT, ni2src->width,
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"height", G_TYPE_INT, ni2src->height,
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NULL);
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"height", G_TYPE_INT, ni2src->height, NULL);
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}
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GST_INFO_OBJECT (ni2src, "probed caps: %" GST_PTR_FORMAT, caps);
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ni2src->gst_caps = gst_caps_ref(caps);
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ni2src->gst_caps = gst_caps_ref (caps);
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GST_OBJECT_UNLOCK (ni2src);
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return (filter)
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? gst_caps_intersect_full (filter, ni2src->gst_caps, GST_CAPS_INTERSECT_FIRST)
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? gst_caps_intersect_full (filter, ni2src->gst_caps,
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GST_CAPS_INTERSECT_FIRST)
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: gst_caps_ref (ni2src->gst_caps);
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}
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@ -382,7 +381,7 @@ gst_openni2_src_change_state (GstElement * element, GstStateChange transition)
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switch (transition) {
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case GST_STATE_CHANGE_READY_TO_NULL:
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gst_openni2_src_stop(GST_BASE_SRC(src));
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gst_openni2_src_stop (GST_BASE_SRC (src));
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if (src->gst_caps) {
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gst_caps_unref (src->gst_caps);
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src->gst_caps = NULL;
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@ -420,7 +419,8 @@ openni2_initialise_library ()
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openni::Status rc = openni::STATUS_OK;
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rc = openni::OpenNI::initialize ();
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if (rc != openni::STATUS_OK) {
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GST_ERROR("Initialization failed: %s", openni::OpenNI::getExtendedError ());
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GST_ERROR ("Initialization failed: %s",
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openni::OpenNI::getExtendedError ());
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openni::OpenNI::shutdown ();
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return GST_FLOW_ERROR;
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}
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@ -432,6 +432,7 @@ openni2_initialise_devices (GstOpenni2Src * src)
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{
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openni::Status rc = openni::STATUS_OK;
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const char *deviceURI = openni::ANY_DEVICE;
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if (src->uri_name)
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deviceURI = src->uri_name;
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@ -452,9 +453,10 @@ openni2_initialise_devices (GstOpenni2Src * src)
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GST_ERROR_OBJECT (src, "%s", openni::OpenNI::getExtendedError ());
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src->depth.destroy ();
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}
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} else
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} else {
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GST_WARNING_OBJECT (src, "Couldn't find depth stream: %s",
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openni::OpenNI::getExtendedError ());
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}
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/** color sensor **/
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rc = src->color.create (src->device, openni::SENSOR_COLOR);
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@ -465,10 +467,10 @@ openni2_initialise_devices (GstOpenni2Src * src)
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openni::OpenNI::getExtendedError ());
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src->color.destroy ();
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}
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} else
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} else {
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GST_WARNING_OBJECT (src, "Couldn't find color stream: %s",
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openni::OpenNI::getExtendedError ());
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}
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if (!src->depth.isValid () && !src->color.isValid ()) {
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GST_ERROR_OBJECT (src, "No valid streams. Exiting\n");
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@ -489,9 +491,9 @@ openni2_initialise_devices (GstOpenni2Src * src)
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if (depthWidth == colorWidth && depthHeight == colorHeight) {
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src->width = depthWidth;
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src->height = depthHeight;
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src->fps = src->depthVideoMode.getFps();
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src->colorpixfmt = src->colorVideoMode.getPixelFormat();
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src->depthpixfmt = src->depthVideoMode.getPixelFormat();
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src->fps = src->depthVideoMode.getFps ();
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src->colorpixfmt = src->colorVideoMode.getPixelFormat ();
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src->depthpixfmt = src->depthVideoMode.getPixelFormat ();
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} else {
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GST_ERROR_OBJECT (src, "Error - expect color and depth to be"
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" in same resolution: D: %dx%d vs C: %dx%d",
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@ -504,15 +506,15 @@ openni2_initialise_devices (GstOpenni2Src * src)
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src->depthVideoMode = src->depth.getVideoMode ();
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src->width = src->depthVideoMode.getResolutionX ();
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src->height = src->depthVideoMode.getResolutionY ();
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src->fps = src->depthVideoMode.getFps();
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src->depthpixfmt = src->depthVideoMode.getPixelFormat();
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src->fps = src->depthVideoMode.getFps ();
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src->depthpixfmt = src->depthVideoMode.getPixelFormat ();
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GST_INFO_OBJECT (src, "DEPTH resolution: %dx%d", src->width, src->height);
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} else if (src->color.isValid ()) {
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src->colorVideoMode = src->color.getVideoMode ();
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src->width = src->colorVideoMode.getResolutionX ();
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src->height = src->colorVideoMode.getResolutionY ();
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src->fps = src->colorVideoMode.getFps();
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src->colorpixfmt = src->colorVideoMode.getPixelFormat();
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src->fps = src->colorVideoMode.getFps ();
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src->colorpixfmt = src->colorVideoMode.getPixelFormat ();
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GST_INFO_OBJECT (src, "COLOR resolution: %dx%d", src->width, src->height);
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} else {
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GST_ERROR_OBJECT (src, "Expected at least one of the streams to be valid.");
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@ -528,6 +530,7 @@ openni2_read_gstbuffer (GstOpenni2Src * src, GstBuffer * buf)
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openni::Status rc = openni::STATUS_OK;
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openni::VideoStream * pStream = &(src->depth);
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int changedStreamDummy;
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GstMapInfo info;
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/* Block until we get some data */
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rc = openni::OpenNI::waitForAnyStream (&pStream, 1, &changedStreamDummy,
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@ -538,7 +541,6 @@ openni2_read_gstbuffer (GstOpenni2Src * src, GstBuffer * buf)
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return GST_FLOW_ERROR;
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}
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GstMapInfo info;
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if (src->depth.isValid () && src->color.isValid () &&
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src->sourcetype == SOURCETYPE_BOTH) {
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rc = src->depth.readFrame (&src->depthFrame);
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@ -553,28 +555,32 @@ openni2_read_gstbuffer (GstOpenni2Src * src, GstBuffer * buf)
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openni::OpenNI::getExtendedError ());
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return GST_FLOW_ERROR;
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}
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if ((src->colorFrame.getStrideInBytes() != src->colorFrame.getWidth()) ||
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(src->depthFrame.getStrideInBytes() != 2*src->depthFrame.getWidth())) {
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if ((src->colorFrame.getStrideInBytes () != src->colorFrame.getWidth ()) ||
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(src->depthFrame.getStrideInBytes () !=
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2 * src->depthFrame.getWidth ())) {
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// This case is not handled - yet :B
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GST_ERROR_OBJECT(src, "Stride does not coincide with width");
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GST_ERROR_OBJECT (src, "Stride does not coincide with width");
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return GST_FLOW_ERROR;
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}
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int framesize = src->colorFrame.getDataSize() + src->depthFrame.getDataSize()/2;
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buf = gst_buffer_new_and_alloc(framesize);
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int framesize =
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src->colorFrame.getDataSize () + src->depthFrame.getDataSize () / 2;
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buf = gst_buffer_new_and_alloc (framesize);
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/* Copy colour information */
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gst_buffer_map(buf, &info, (GstMapFlags)(GST_MAP_WRITE));
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memcpy(info.data, src->colorFrame.getData(), src->colorFrame.getDataSize());
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guint8* pData = info.data + src->colorFrame.getDataSize();
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gst_buffer_map (buf, &info, (GstMapFlags) (GST_MAP_WRITE));
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memcpy (info.data, src->colorFrame.getData (),
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src->colorFrame.getDataSize ());
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guint8 *pData = info.data + src->colorFrame.getDataSize ();
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/* Add depth as 8bit alpha channel, depth is 16bit samples. */
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guint16* pDepth = (guint16*) src->depthFrame.getData();
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for( int i=0; i < src->depthFrame.getDataSize()/2; ++i)
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guint16 *pDepth = (guint16 *) src->depthFrame.getData ();
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for (int i = 0; i < src->depthFrame.getDataSize () / 2; ++i)
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pData[i] = pDepth[i] >> 8;
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GST_WARNING_OBJECT (src, "sending buffer (%d+%d)B [%08llu]",
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src->colorFrame.getDataSize(),
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GST_BUFFER_PTS (buf) = src->colorFrame.getTimestamp () * 1000;
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GST_LOG_OBJECT (src, "sending buffer (%d+%d)B [%08llu]",
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src->colorFrame.getDataSize (),
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src->depthFrame.getDataSize (),
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(long long) src->depthFrame.getTimestamp ());
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gst_buffer_unmap(buf, &info);
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gst_buffer_unmap (buf, &info);
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} else if (src->depth.isValid () && src->sourcetype == SOURCETYPE_DEPTH) {
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rc = src->depth.readFrame (&src->depthFrame);
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if (rc != openni::STATUS_OK) {
|
||||
|
|
@ -582,23 +588,23 @@ openni2_read_gstbuffer (GstOpenni2Src * src, GstBuffer * buf)
|
|||
openni::OpenNI::getExtendedError ());
|
||||
return GST_FLOW_ERROR;
|
||||
}
|
||||
if (src->depthFrame.getStrideInBytes() != 2*src->depthFrame.getWidth()) {
|
||||
if (src->depthFrame.getStrideInBytes () != 2 * src->depthFrame.getWidth ()) {
|
||||
// This case is not handled - yet :B
|
||||
GST_ERROR_OBJECT(src, "Stride does not coincide with width");
|
||||
GST_ERROR_OBJECT (src, "Stride does not coincide with width");
|
||||
return GST_FLOW_ERROR;
|
||||
}
|
||||
|
||||
int framesize = src->depthFrame.getDataSize();
|
||||
buf = gst_buffer_new_and_alloc(framesize);
|
||||
gst_buffer_map(buf, &info, (GstMapFlags)(GST_MAP_WRITE));
|
||||
memcpy(info.data, src->depthFrame.getData(), framesize);
|
||||
GST_BUFFER_PTS(buf) = src->depthFrame.getTimestamp() * 1000;
|
||||
GST_WARNING_OBJECT (src, "sending buffer (%dx%d)=%dB [%08llu]",
|
||||
int framesize = src->depthFrame.getDataSize ();
|
||||
buf = gst_buffer_new_and_alloc (framesize);
|
||||
gst_buffer_map (buf, &info, (GstMapFlags) (GST_MAP_WRITE));
|
||||
memcpy (info.data, src->depthFrame.getData (), framesize);
|
||||
GST_BUFFER_PTS (buf) = src->depthFrame.getTimestamp () * 1000;
|
||||
GST_LOG_OBJECT (src, "sending buffer (%dx%d)=%dB [%08llu]",
|
||||
src->depthFrame.getWidth (),
|
||||
src->depthFrame.getHeight (),
|
||||
src->depthFrame.getDataSize (),
|
||||
(long long) src->depthFrame.getTimestamp ());
|
||||
gst_buffer_unmap(buf, &info);
|
||||
gst_buffer_unmap (buf, &info);
|
||||
} else if (src->color.isValid () && src->sourcetype == SOURCETYPE_COLOR) {
|
||||
rc = src->color.readFrame (&src->colorFrame);
|
||||
if (rc != openni::STATUS_OK) {
|
||||
|
|
@ -606,22 +612,23 @@ openni2_read_gstbuffer (GstOpenni2Src * src, GstBuffer * buf)
|
|||
openni::OpenNI::getExtendedError ());
|
||||
return GST_FLOW_ERROR;
|
||||
}
|
||||
if (src->colorFrame.getStrideInBytes() != src->colorFrame.getWidth()) {
|
||||
if (src->colorFrame.getStrideInBytes () != src->colorFrame.getWidth ()) {
|
||||
// This case is not handled - yet :B
|
||||
GST_ERROR_OBJECT(src, "Stride does not coincide with width");
|
||||
GST_ERROR_OBJECT (src, "Stride does not coincide with width");
|
||||
return GST_FLOW_ERROR;
|
||||
}
|
||||
int framesize = src->colorFrame.getDataSize();
|
||||
buf = gst_buffer_new_and_alloc(framesize);
|
||||
gst_buffer_map(buf, &info, (GstMapFlags)(GST_MAP_WRITE));
|
||||
memcpy(info.data, src->depthFrame.getData(), framesize);
|
||||
GST_BUFFER_PTS(buf) = src->colorFrame.getTimestamp() * 1000;
|
||||
GST_WARNING_OBJECT (src, "sending buffer (%dx%d)=%dB [%08llu]",
|
||||
|
||||
int framesize = src->colorFrame.getDataSize ();
|
||||
buf = gst_buffer_new_and_alloc (framesize);
|
||||
gst_buffer_map (buf, &info, (GstMapFlags) (GST_MAP_WRITE));
|
||||
memcpy (info.data, src->depthFrame.getData (), framesize);
|
||||
GST_BUFFER_PTS (buf) = src->colorFrame.getTimestamp () * 1000;
|
||||
GST_LOG_OBJECT (src, "sending buffer (%dx%d)=%dB [%08llu]",
|
||||
src->colorFrame.getWidth (),
|
||||
src->colorFrame.getHeight (),
|
||||
src->colorFrame.getDataSize (),
|
||||
(long long) src->colorFrame.getTimestamp ());
|
||||
gst_buffer_unmap(buf, &info);
|
||||
gst_buffer_unmap (buf, &info);
|
||||
}
|
||||
return GST_FLOW_OK;
|
||||
}
|
||||
|
|
@ -629,7 +636,7 @@ openni2_read_gstbuffer (GstOpenni2Src * src, GstBuffer * buf)
|
|||
static void
|
||||
openni2_finalise (GstOpenni2Src * src)
|
||||
{
|
||||
src->depth.destroy();
|
||||
src->color.destroy();
|
||||
src->depth.destroy ();
|
||||
src->color.destroy ();
|
||||
openni::OpenNI::shutdown ();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue