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openni: Add OpenNNI2 plugin

Browse source 
https://bugzilla.gnome.org/show_bug.cgi?id=708914
This commit is contained in:
Miguel Casas-Sanchez 2013-12-02 11:17:02 +01:00 committed by Sebastian Dröge
parent 9945e2bee6
commit 64675f0712
7 changed files with 821 additions and 0 deletions
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10
configure.ac
View file

@ -1791,6 +1791,14 @@ AG_GST_CHECK_FEATURE(OPENJPEG, [openjpeg library], openjpeg, [
AC_SUBST(OPENJPEG_LIBS)
])
dnl *** OpenNI2 ***
translit(dnm, m, l) AM_CONDITIONAL(USE_OPENNI2, true)
AG_GST_CHECK_FEATURE(OPENNI2, [openni2 library], openni2, [
PKG_CHECK_MODULES(OPENNI2, libopenni2 >= 0.26, HAVE_OPENNI2="yes", [ HAVE_OPENNI2="no" ] )
AC_SUBST(OPENNI2_CFLAGS)
AC_SUBST(OPENNI2_LIBS)
])
dnl *** Opus ***
translit(dnm, m, l) AM_CONDITIONAL(USE_OPUS, true)
AG_GST_CHECK_FEATURE(OPUS, [opus], opus, [
@ -2239,6 +2247,7 @@ AM_CONDITIONAL(USE_OFA, false)
AM_CONDITIONAL(USE_OPENAL, false)
AM_CONDITIONAL(USE_OPENCV, false)
AM_CONDITIONAL(USE_OPENJPEG, false)
AM_CONDITIONAL(USE_OPENNI2, false)
AM_CONDITIONAL(USE_OPUS, false)
AM_CONDITIONAL(USE_PVR, false)
AM_CONDITIONAL(USE_RSVG, false)
@ -2507,6 +2516,7 @@ ext/openal/Makefile
ext/opencv/Makefile
ext/openexr/Makefile
ext/openjpeg/Makefile
ext/openni2/Makefile
ext/opus/Makefile
ext/rsvg/Makefile
ext/resindvd/Makefile

1
docs/plugins/Makefile.am
View file

@ -99,6 +99,7 @@ EXTRA_HFILES = \
$(top_srcdir)/ext/opencv/gstpyramidsegment.h \
$(top_srcdir)/ext/opencv/gsttemplatematch.h \
$(top_srcdir)/ext/opencv/gsttextoverlay.h \
$(top_srcdir)/ext/openni2/gstopenni2src.h \
$(top_srcdir)/ext/rsvg/gstrsvgdec.h \
$(top_srcdir)/ext/rsvg/gstrsvgoverlay.h \
$(top_srcdir)/ext/spandsp/gstspanplc.h \

8
ext/Makefile.am
View file

@ -232,6 +232,12 @@ else
OPENEXR_DIR =
endif
if USE_OPENNI2
OPENNI2_DIR=openni2
else
OPENNI2_DIR=
endif
if USE_OPENJPEG
OPENJPEG_DIR = openjpeg
else
@ -425,6 +431,7 @@ SUBDIRS=\
$(OPENCV_DIR) \
$(OPENEXR_DIR) \
$(OPENJPEG_DIR) \
$(OPENNI2_DIR) \
$(OPUS_DIR) \
$(RSVG_DIR) \
$(SBC_DIR) \
@ -484,6 +491,7 @@ DIST_SUBDIRS = \
openal \
opencv \
openexr \
openni2 \
openjpeg \
opus \
rsvg \

22
ext/openni2/Makefile.am Normal file
View file

@ -0,0 +1,22 @@
plugin_LTLIBRARIES = libgstopenni2.la
# sources used to compile this plug-in
libgstopenni2_la_SOURCES = gstopenni2.cpp \
gstopenni2src.cpp
libgstopenni2_la_CXXFLAGS = $(GST_PLUGINS_BASE_CFLAGS) $(GST_BASE_CFLAGS) $(GST_CXXFLAGS) $(OPENNI2_CFLAGS)
# flags used to compile this facedetect
# add other _CFLAGS and _LIBS as needed
#
libgstopenni2_la_CFLAGS = $(GST_PLUGINS_BASE_CFLAGS) $(GST_BASE_CFLAGS) \
$(GST_CFLAGS) $(OPENNI2_CFLAGS)
libgstopenni2_la_LIBADD = $(GST_LIBS) $(GST_BASE_LIBS) $(OPENNI2_LIBS) \
$(GSTPB_BASE_LIBS) -lgstvideo-$(GST_API_VERSION)
libgstopenni2_la_LDFLAGS = $(GST_PLUGIN_LDFLAGS)
libgstopenni2_la_LIBTOOLFLAGS = $(GST_PLUGIN_LIBTOOLFLAGS)
# headers we need but don't want installed
noinst_HEADERS = gstopenni2src.h

67
ext/openni2/gstopenni2.cpp Normal file
View file

@ -0,0 +1,67 @@
/* GStreamer
* Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com>
*
* gstopenni2.c: plugin registration
*
* 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:plugin-openni2src
*
* OpenNI2 is a library to access 3D sensors such as those based on PrimeSense
* depth sensor. Examples of such sensors are the Kinect used in Microsoft Xbox
* consoles and Asus WAVI Xtion. Notably recordings of 3D sessions can also be
* replayed as the original devices. See www.openni.org for more details.
*
* OpenNI2 can be downloaded from source, compiled and installed in Linux, Mac
* and Windows devices(https://github.com/OpenNI/OpenNI2). However is better to
* rely on Debian packages as part of the PCL library (or http://goo.gl/0o87EB).
* More concretely on the "libopenni2-dev" and "libopenni2" packages - that can
* be downloaded in http://goo.gl/2H6SZ6.
*
* <refsect2>
* <title>Examples</title>
* <para>
* Some recorded .oni files are available at:
* <programlisting>
* http://people.cs.pitt.edu/~chang/1635/proj11/kinectRecord
* </programlisting>
* </para>
* </refsect2>
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <gst/gst.h>
#include "gstopenni2src.h"
static gboolean
plugin_init (GstPlugin * plugin)
{
if (!gst_openni2src_plugin_init (plugin))
return FALSE;
return TRUE;
}
GST_PLUGIN_DEFINE (GST_VERSION_MAJOR,
GST_VERSION_MINOR,
openni2,
"GStreamer Openni2 Plugins",
plugin_init, VERSION, "LGPL", GST_PACKAGE_NAME, GST_PACKAGE_ORIGIN)

635
ext/openni2/gstopenni2src.cpp Normal file
View file

@ -0,0 +1,635 @@
/*
* GStreamer OpenNI2 device source element
* Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com>
* 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-openni2src
*
* <refsect2>
* <title>Examples</title>
* <para>
* Some recorded .oni files are available at:
* <programlisting>
* http://people.cs.pitt.edu/~chang/1635/proj11/kinectRecord
* </programlisting>
*
* <programlisting>
LD_LIBRARY_PATH=/usr/lib/OpenNI2/Drivers/ gst-launch-1.0 --gst-debug=openni2src:5 openni2src location='Downloads/mr.oni' sourcetype=depth ! videoconvert ! ximagesink
* </programlisting>
* <programlisting>
LD_LIBRARY_PATH=/usr/lib/OpenNI2/Drivers/ gst-launch-1.0 --gst-debug=openni2src:5 openni2src location='Downloads/mr.oni' sourcetype=color ! videoconvert ! ximagesink
* </programlisting>
* </para>
* </refsect2>
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include "gstopenni2src.h"
\
GST_DEBUG_CATEGORY_STATIC (openni2src_debug);
static GstStaticPadTemplate srctemplate = GST_STATIC_PAD_TEMPLATE ("src",
GST_PAD_SRC,
GST_PAD_ALWAYS,
GST_STATIC_CAPS ("video/x-raw, "
"format = (string) {RGBA, RGB, GRAY16_LE} "
"framerate = (fraction) [0/1, MAX], "
"width = (int) [ 1, MAX ], "
"height = (int) [ 1, MAX ]")
);
static GstElementClass *parent_class = NULL;
enum
{
PROP_0,
PROP_LOCATION,
PROP_SOURCETYPE
};
typedef enum
{
SOURCETYPE_DEPTH,
SOURCETYPE_COLOR,
SOURCETYPE_BOTH
} GstOpenni2SourceType;
#define DEFAULT_SOURCETYPE SOURCETYPE_DEPTH
#define SAMPLE_READ_WAIT_TIMEOUT 2000 /* 2000ms */
#define GST_TYPE_OPENNI2_SRC_SOURCETYPE (gst_openni2_src_sourcetype_get_type ())
static GType
gst_openni2_src_sourcetype_get_type (void)
{
static GType etype = 0;
if (etype == 0) {
static const GEnumValue values[] = {
{SOURCETYPE_DEPTH, "Get depth readings", "depth"},
{SOURCETYPE_COLOR, "Get color readings", "color"},
{SOURCETYPE_BOTH, "Get color and depth (as alpha) readings - EXPERIMENTAL",
"both"},
{0, NULL, NULL},
};
etype = g_enum_register_static ("GstOpenni2SrcSourcetype", values);
}
return etype;
}
/* GObject methods */
static void gst_openni2_src_dispose (GObject * object);
static void gst_openni2_src_finalize (GObject * gobject);
static void gst_openni2_src_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec);
static void gst_openni2_src_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec);
/* basesrc methods */
static gboolean gst_openni2_src_start (GstBaseSrc * bsrc);
static gboolean gst_openni2_src_stop (GstBaseSrc * bsrc);
static GstCaps *gst_openni2_src_get_caps (GstBaseSrc * src, GstCaps * filter);
/* element methods */
static GstStateChangeReturn gst_openni2_src_change_state (GstElement * element,
GstStateChange transition);
/* pushsrc method */
static GstFlowReturn gst_openni2src_fill (GstPushSrc * src,
GstBuffer * buf);
/* OpenNI2 interaction methods */
static gboolean openni2_initialise_library ();
static GstFlowReturn openni2_initialise_devices (GstOpenni2Src * src);
static GstFlowReturn openni2_read_gstbuffer (GstOpenni2Src * src,
GstBuffer * buf);
static void openni2_finalise (GstOpenni2Src * src);
G_DEFINE_TYPE (GstOpenni2Src, gst_openni2_src, GST_TYPE_PUSH_SRC)
static void
gst_openni2_src_class_init (GstOpenni2SrcClass * klass)
{
GObjectClass *gobject_class;
GstPushSrcClass *pushsrc_class;
GstBaseSrcClass *basesrc_class;
GstElementClass *element_class = GST_ELEMENT_CLASS (klass);
gobject_class = (GObjectClass *) klass;
basesrc_class = (GstBaseSrcClass *) klass;
pushsrc_class = (GstPushSrcClass *) klass;
parent_class = (GstElementClass *) g_type_class_peek_parent (klass);
gobject_class->dispose = gst_openni2_src_dispose;
gobject_class->finalize = gst_openni2_src_finalize;
gobject_class->set_property = gst_openni2_src_set_property;
gobject_class->get_property = gst_openni2_src_get_property;
g_object_class_install_property
(gobject_class, PROP_LOCATION,
g_param_spec_string ("location", "Location",
"Source uri, can be a file or a device.", "",
(GParamFlags)
(G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_SOURCETYPE,
g_param_spec_enum ("sourcetype",
"Device source type",
"Type of readings to get from the source",
GST_TYPE_OPENNI2_SRC_SOURCETYPE, DEFAULT_SOURCETYPE,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
basesrc_class->start = GST_DEBUG_FUNCPTR (gst_openni2_src_start);
basesrc_class->stop = GST_DEBUG_FUNCPTR (gst_openni2_src_stop);
basesrc_class->get_caps = GST_DEBUG_FUNCPTR (gst_openni2_src_get_caps);
gst_element_class_add_pad_template (element_class,
gst_static_pad_template_get (&srctemplate));
gst_element_class_set_static_metadata (element_class, "Openni2 client source",
"Source/Device",
"Extract readings from an OpenNI supported device (Kinect etc). ",
"Miguel Casas-Sanchez <miguelecasassanchez@gmail.com>");
element_class->change_state = gst_openni2_src_change_state;
pushsrc_class->fill = GST_DEBUG_FUNCPTR (gst_openni2src_fill);
GST_DEBUG_CATEGORY_INIT (openni2src_debug, "openni2src", 0,
"OpenNI2 Device Source");
/* OpenNI2 initialisation inside this function */
openni2_initialise_library();
}
static void
gst_openni2_src_init (GstOpenni2Src * ni2src)
{
gst_base_src_set_format (GST_BASE_SRC (ni2src), GST_FORMAT_BYTES);
}
static void
gst_openni2_src_dispose (GObject * object)
{
GstOpenni2Src *ni2src = GST_OPENNI2_SRC (object);
if (ni2src->gst_caps)
gst_caps_unref (ni2src->gst_caps);
G_OBJECT_CLASS (parent_class)->dispose (object);
}
static void
gst_openni2_src_finalize (GObject * gobject)
{
GstOpenni2Src *ni2src = GST_OPENNI2_SRC (gobject);
openni2_finalise (ni2src);
if (ni2src->uri_name) {
g_free (ni2src->uri_name);
ni2src->uri_name = NULL;
}
if (ni2src->gst_caps)
gst_caps_unref(ni2src->gst_caps);
ni2src->gst_caps = NULL;
G_OBJECT_CLASS (parent_class)->finalize (gobject);
}
static void
gst_openni2_src_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec)
{
GstOpenni2Src *openni2src = GST_OPENNI2_SRC (object);
GST_OBJECT_LOCK (openni2src);
switch (prop_id) {
case PROP_LOCATION:
if (!g_value_get_string (value)) {
GST_WARNING ("location property cannot be NULL");
break;
}
if (openni2src->uri_name != NULL) {
g_free (openni2src->uri_name);
openni2src->uri_name = NULL;
}
openni2src->uri_name = g_value_dup_string (value);
/* Action! */
openni2_initialise_devices (openni2src);
break;
case PROP_SOURCETYPE:
openni2src->sourcetype = g_value_get_enum (value);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
GST_OBJECT_UNLOCK (openni2src);
}
static void
gst_openni2_src_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec)
{
GstOpenni2Src *openni2src = GST_OPENNI2_SRC (object);
GST_OBJECT_LOCK (openni2src);
switch (prop_id) {
case PROP_LOCATION:
g_value_set_string (value, openni2src->uri_name);
break;
case PROP_SOURCETYPE:
g_value_set_enum (value, openni2src->sourcetype);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
GST_OBJECT_UNLOCK (openni2src);
}
/* Interesting info from gstv4l2src.c:
* "start and stop are not symmetric -- start will open the device, but not
* start capture. it's setcaps that will start capture, which is called via
* basesrc's negotiate method. stop will both stop capture and close t device."
*/
static gboolean
gst_openni2_src_start (GstBaseSrc * bsrc)
{
GstOpenni2Src *src = GST_OPENNI2_SRC (bsrc);
openni::Status rc = openni::STATUS_OK;
if (src->depth.isValid ()){
rc = src->depth.start();
if (rc != openni::STATUS_OK){
GST_ERROR_OBJECT( src, "Couldn't start the depth stream\n%s\n",
openni::OpenNI::getExtendedError());
return FALSE;
}
}
if (src->color.isValid ()){
rc = src->color.start();
if (rc != openni::STATUS_OK){
GST_ERROR_OBJECT( src, "Couldn't start the color stream\n%s\n",
openni::OpenNI::getExtendedError());
return FALSE;
}
}
return TRUE;
}
static gboolean
gst_openni2_src_stop (GstBaseSrc * bsrc)
{
GstOpenni2Src *src = GST_OPENNI2_SRC (bsrc);
if (src->depth.isValid ())
src->depth.stop();
if (src->color.isValid ())
src->color.stop();
return TRUE;
}
static GstCaps *
gst_openni2_src_get_caps (GstBaseSrc * src, GstCaps * filter)
{
GstOpenni2Src *ni2src;
GstCaps *caps;
ni2src = GST_OPENNI2_SRC (src);
GST_OBJECT_LOCK (ni2src);
if (ni2src->gst_caps) {
GST_OBJECT_UNLOCK (ni2src);
return (filter)
? gst_caps_intersect_full (filter, ni2src->gst_caps, GST_CAPS_INTERSECT_FIRST)
: gst_caps_ref (ni2src->gst_caps);
}
// If we are here, we need to compose the caps and return them.
caps = gst_caps_new_empty();
if (ni2src->colorpixfmt != openni::PIXEL_FORMAT_RGB888)
return caps; /* Uh oh, not RGB :? Not supported. */
if (ni2src->depth.isValid () && ni2src->color.isValid () &&
ni2src->sourcetype == SOURCETYPE_BOTH) {
caps = gst_caps_new_simple ("video/x-raw",
"format", G_TYPE_STRING, "RGBA",
"framerate", GST_TYPE_FRACTION, ni2src->fps, 1,
"pixel-aspect-ratio", GST_TYPE_FRACTION, 1, 1,
"width", G_TYPE_INT, ni2src->width,
"height", G_TYPE_INT, ni2src->height,
NULL);
} else if (ni2src->depth.isValid () && ni2src->sourcetype == SOURCETYPE_DEPTH) {
caps = gst_caps_new_simple ("video/x-raw",
"format", G_TYPE_STRING, "GRAY16_LE",
"framerate", GST_TYPE_FRACTION, ni2src->fps, 1,
"pixel-aspect-ratio", GST_TYPE_FRACTION, 1, 1,
"width", G_TYPE_INT, ni2src->width,
"height", G_TYPE_INT, ni2src->height,
NULL);
} else if (ni2src->color.isValid () && ni2src->sourcetype == SOURCETYPE_COLOR) {
caps = gst_caps_new_simple ("video/x-raw",
"format", G_TYPE_STRING, "RGB",
"framerate", GST_TYPE_FRACTION, ni2src->fps, 1,
"pixel-aspect-ratio", GST_TYPE_FRACTION, 1, 1,
"width", G_TYPE_INT, ni2src->width,
"height", G_TYPE_INT, ni2src->height,
NULL);
}
GST_INFO_OBJECT (ni2src, "probed caps: %" GST_PTR_FORMAT, caps);
ni2src->gst_caps = gst_caps_ref(caps);
GST_OBJECT_UNLOCK (ni2src);
return (filter)
? gst_caps_intersect_full (filter, ni2src->gst_caps, GST_CAPS_INTERSECT_FIRST)
: gst_caps_ref (ni2src->gst_caps);
}
static GstStateChangeReturn
gst_openni2_src_change_state (GstElement * element, GstStateChange transition)
{
GstStateChangeReturn ret = GST_STATE_CHANGE_FAILURE;
GstOpenni2Src *src = GST_OPENNI2_SRC (element);
switch (transition) {
case GST_STATE_CHANGE_NULL_TO_READY:
break;
case GST_STATE_CHANGE_READY_TO_PAUSED:
if (!src->uri_name) {
GST_ERROR_OBJECT (src, "Invalid location");
return ret;
}
break;
case GST_STATE_CHANGE_PAUSED_TO_PLAYING:
break;
default:
break;
}
ret = GST_ELEMENT_CLASS (parent_class)->change_state (element, transition);
if (ret == GST_STATE_CHANGE_FAILURE) {
return ret;
}
switch (transition) {
case GST_STATE_CHANGE_READY_TO_NULL:
gst_openni2_src_stop(GST_BASE_SRC(src));
if (src->gst_caps) {
gst_caps_unref (src->gst_caps);
src->gst_caps = NULL;
}
break;
case GST_STATE_CHANGE_PLAYING_TO_PAUSED:
case GST_STATE_CHANGE_PAUSED_TO_READY:
break;
default:
break;
}
return ret;
}
static GstFlowReturn
gst_openni2src_fill (GstPushSrc * src, GstBuffer * buf)
{
GstOpenni2Src *ni2src = GST_OPENNI2_SRC (src);
return openni2_read_gstbuffer (ni2src, buf);
}
gboolean
gst_openni2src_plugin_init (GstPlugin * plugin)
{
return gst_element_register (plugin, "openni2src", GST_RANK_NONE,
GST_TYPE_OPENNI2_SRC);
}
static gboolean
openni2_initialise_library ()
{
openni::Status rc = openni::STATUS_OK;
rc = openni::OpenNI::initialize ();
if (rc != openni::STATUS_OK) {
GST_ERROR("Initialization failed: %s", openni::OpenNI::getExtendedError ());
openni::OpenNI::shutdown ();
return GST_FLOW_ERROR;
}
return (rc == openni::STATUS_OK);
}
GstFlowReturn
openni2_initialise_devices (GstOpenni2Src * src)
{
openni::Status rc = openni::STATUS_OK;
const char *deviceURI = openni::ANY_DEVICE;
if (src->uri_name)
deviceURI = src->uri_name;
/** OpenNI2 open device or file **/
rc = src->device.open (deviceURI);
if (rc != openni::STATUS_OK) {
GST_ERROR_OBJECT (src, "Device (%s) open failed: %s", deviceURI,
openni::OpenNI::getExtendedError ());
openni::OpenNI::shutdown ();
return GST_FLOW_ERROR;
}
/** depth sensor **/
rc = src->depth.create (src->device, openni::SENSOR_DEPTH);
if (rc == openni::STATUS_OK) {
rc = src->depth.start ();
if (rc != openni::STATUS_OK) {
GST_ERROR_OBJECT (src, "%s", openni::OpenNI::getExtendedError ());
src->depth.destroy ();
}
} else
GST_WARNING_OBJECT (src, "Couldn't find depth stream: %s",
openni::OpenNI::getExtendedError ());
/** color sensor **/
rc = src->color.create (src->device, openni::SENSOR_COLOR);
if (rc == openni::STATUS_OK) {
rc = src->color.start ();
if (rc != openni::STATUS_OK) {
GST_ERROR_OBJECT (src, "Couldn't start color stream: %s ",
openni::OpenNI::getExtendedError ());
src->color.destroy ();
}
} else
GST_WARNING_OBJECT (src, "Couldn't find color stream: %s",
openni::OpenNI::getExtendedError ());
if (!src->depth.isValid () && !src->color.isValid ()) {
GST_ERROR_OBJECT (src, "No valid streams. Exiting\n");
openni::OpenNI::shutdown ();
return GST_FLOW_ERROR;
}
/** Get resolution and make sure is valid **/
if (src->depth.isValid () && src->color.isValid ()) {
src->depthVideoMode = src->depth.getVideoMode ();
src->colorVideoMode = src->color.getVideoMode ();
int depthWidth = src->depthVideoMode.getResolutionX ();
int depthHeight = src->depthVideoMode.getResolutionY ();
int colorWidth = src->colorVideoMode.getResolutionX ();
int colorHeight = src->colorVideoMode.getResolutionY ();
if (depthWidth == colorWidth && depthHeight == colorHeight) {
src->width = depthWidth;
src->height = depthHeight;
src->fps = src->depthVideoMode.getFps();
src->colorpixfmt = src->colorVideoMode.getPixelFormat();
src->depthpixfmt = src->depthVideoMode.getPixelFormat();
} else {
GST_ERROR_OBJECT (src, "Error - expect color and depth to be"
" in same resolution: D: %dx%d vs C: %dx%d",
depthWidth, depthHeight, colorWidth, colorHeight);
return GST_FLOW_ERROR;
}
GST_INFO_OBJECT (src, "DEPTH&COLOR resolution: %dx%d",
src->width, src->height);
} else if (src->depth.isValid ()) {
src->depthVideoMode = src->depth.getVideoMode ();
src->width = src->depthVideoMode.getResolutionX ();
src->height = src->depthVideoMode.getResolutionY ();
src->fps = src->depthVideoMode.getFps();
src->depthpixfmt = src->depthVideoMode.getPixelFormat();
GST_INFO_OBJECT (src, "DEPTH resolution: %dx%d", src->width, src->height);
} else if (src->color.isValid ()) {
src->colorVideoMode = src->color.getVideoMode ();
src->width = src->colorVideoMode.getResolutionX ();
src->height = src->colorVideoMode.getResolutionY ();
src->fps = src->colorVideoMode.getFps();
src->colorpixfmt = src->colorVideoMode.getPixelFormat();
GST_INFO_OBJECT (src, "COLOR resolution: %dx%d", src->width, src->height);
} else {
GST_ERROR_OBJECT (src, "Expected at least one of the streams to be valid.");
return GST_FLOW_ERROR;
}
return GST_FLOW_OK;
}
static GstFlowReturn
openni2_read_gstbuffer (GstOpenni2Src * src, GstBuffer * buf)
{
openni::Status rc = openni::STATUS_OK;
openni::VideoStream * pStream = &(src->depth);
int changedStreamDummy;
/* Block until we get some data */
rc = openni::OpenNI::waitForAnyStream (&pStream, 1, &changedStreamDummy,
SAMPLE_READ_WAIT_TIMEOUT);
if (rc != openni::STATUS_OK) {
GST_ERROR_OBJECT (src, "Frame read timeout: %s",
openni::OpenNI::getExtendedError ());
return GST_FLOW_ERROR;
}
GstMapInfo info;
if (src->depth.isValid () && src->color.isValid () &&
src->sourcetype == SOURCETYPE_BOTH) {
rc = src->depth.readFrame (&src->depthFrame);
if (rc != openni::STATUS_OK) {
GST_ERROR_OBJECT (src, "Frame read error: %s",
openni::OpenNI::getExtendedError ());
return GST_FLOW_ERROR;
}
rc = src->color.readFrame (&src->colorFrame);
if (rc != openni::STATUS_OK) {
GST_ERROR_OBJECT (src, "Frame read error: %s",
openni::OpenNI::getExtendedError ());
return GST_FLOW_ERROR;
}
if ((src->colorFrame.getStrideInBytes() != src->colorFrame.getWidth()) ||
(src->depthFrame.getStrideInBytes() != 2*src->depthFrame.getWidth())) {
// This case is not handled - yet :B
GST_ERROR_OBJECT(src, "Stride does not coincide with width");
return GST_FLOW_ERROR;
}
int framesize = src->colorFrame.getDataSize() + src->depthFrame.getDataSize()/2;
buf = gst_buffer_new_and_alloc(framesize);
/* Copy colour information */
gst_buffer_map(buf, &info, (GstMapFlags)(GST_MAP_WRITE));
memcpy(info.data, src->colorFrame.getData(), src->colorFrame.getDataSize());
guint8* pData = info.data + src->colorFrame.getDataSize();
/* Add depth as 8bit alpha channel, depth is 16bit samples. */
guint16* pDepth = (guint16*) src->depthFrame.getData();
for( int i=0; i < src->depthFrame.getDataSize()/2; ++i)
pData[i] = pDepth[i] >> 8;
GST_WARNING_OBJECT (src, "sending buffer (%d+%d)B [%08llu]",
src->colorFrame.getDataSize(),
src->depthFrame.getDataSize (),
(long long) src->depthFrame.getTimestamp ());
gst_buffer_unmap(buf, &info);
} else if (src->depth.isValid () && src->sourcetype == SOURCETYPE_DEPTH) {
rc = src->depth.readFrame (&src->depthFrame);
if (rc != openni::STATUS_OK) {
GST_ERROR_OBJECT (src, "Frame read error: %s",
openni::OpenNI::getExtendedError ());
return GST_FLOW_ERROR;
}
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");
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]",
src->depthFrame.getWidth (),
src->depthFrame.getHeight (),
src->depthFrame.getDataSize (),
(long long) src->depthFrame.getTimestamp ());
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) {
GST_ERROR_OBJECT (src, "Frame read error: %s",
openni::OpenNI::getExtendedError ());
return GST_FLOW_ERROR;
}
if (src->colorFrame.getStrideInBytes() != src->colorFrame.getWidth()) {
// This case is not handled - yet :B
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]",
src->colorFrame.getWidth (),
src->colorFrame.getHeight (),
src->colorFrame.getDataSize (),
(long long) src->colorFrame.getTimestamp ());
gst_buffer_unmap(buf, &info);
}
return GST_FLOW_OK;
}
static void
openni2_finalise (GstOpenni2Src * src)
{
src->depth.destroy();
src->color.destroy();
openni::OpenNI::shutdown ();
}

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/*
* GStreamer
* Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com>
*
* 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_OPENNI2_SRC_H__
#define __GST_OPENNI2_SRC_H__
#include <gst/gst.h>
#include <stdio.h>
#include <OpenNI.h>
#include <gst/base/gstbasesrc.h>
#include <gst/base/gstpushsrc.h>
#include <gst/video/video.h>
G_BEGIN_DECLS
#define GST_TYPE_OPENNI2_SRC \
(gst_openni2_src_get_type())
#define GST_OPENNI2_SRC(obj) \
(G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_OPENNI2_SRC,GstOpenni2Src))
#define GST_OPENNI2_SRC_CLASS(klass) \
(G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_OPENNI2_SRC,GstOpenni2SrcClass))
#define GST_IS_OPENNI2_SRC(obj) \
(G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_OPENNI2_SRC))
#define GST_IS_OPENNI2_SRC_CLASS(klass) \
(G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_OPENNI2_SRC))
typedef struct _GstOpenni2Src GstOpenni2Src;
typedef struct _GstOpenni2SrcClass GstOpenni2SrcClass;
typedef enum
{
GST_OPENNI2_SRC_FILE_TRANSFER,
GST_OPENNI2_SRC_NEXT_PROGRAM_CHAIN,
GST_OPENNI2_SRC_INVALID_DATA
} GstOpenni2State;
struct _GstOpenni2Src
{
GstPushSrc element;
GstOpenni2State state;
gchar *uri_name;
gint sourcetype;
GstCaps *gst_caps;
/* OpenNI2 variables */
openni::Device device;
openni::VideoStream depth, color;
openni::VideoMode depthVideoMode, colorVideoMode;
openni::PixelFormat depthpixfmt, colorpixfmt;
int width, height, fps;
openni::VideoFrameRef depthFrame, colorFrame;
};
struct _GstOpenni2SrcClass
{
GstPushSrcClass parent_class;
};
GType gst_openni2_src_get_type (void);
gboolean gst_openni2src_plugin_init (GstPlugin * plugin);
G_END_DECLS
#endif /* __GST_OPENNI2_SRC_H__ */