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openni: Add OpenNNI2 plugin
https://bugzilla.gnome.org/show_bug.cgi?id=708914
This commit is contained in:
Miguel Casas-Sanchez
Sebastian Dröge
parent
9945e2bee6
commit
64675f0712
7 changed files with 821 additions and 0 deletions
10
configure.ac
10
configure.ac
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@ -1791,6 +1791,14 @@ AG_GST_CHECK_FEATURE(OPENJPEG, [openjpeg library], openjpeg, [
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AC_SUBST(OPENJPEG_LIBS)
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AC_SUBST(OPENJPEG_LIBS)
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])
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])
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dnl *** OpenNI2 ***
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translit(dnm, m, l) AM_CONDITIONAL(USE_OPENNI2, true)
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AG_GST_CHECK_FEATURE(OPENNI2, [openni2 library], openni2, [
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PKG_CHECK_MODULES(OPENNI2, libopenni2 >= 0.26, HAVE_OPENNI2="yes", [ HAVE_OPENNI2="no" ] )
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AC_SUBST(OPENNI2_CFLAGS)
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AC_SUBST(OPENNI2_LIBS)
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])
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dnl *** Opus ***
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dnl *** Opus ***
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translit(dnm, m, l) AM_CONDITIONAL(USE_OPUS, true)
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translit(dnm, m, l) AM_CONDITIONAL(USE_OPUS, true)
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AG_GST_CHECK_FEATURE(OPUS, [opus], opus, [
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AG_GST_CHECK_FEATURE(OPUS, [opus], opus, [
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@ -2239,6 +2247,7 @@ AM_CONDITIONAL(USE_OFA, false)
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AM_CONDITIONAL(USE_OPENAL, false)
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AM_CONDITIONAL(USE_OPENAL, false)
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AM_CONDITIONAL(USE_OPENCV, false)
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AM_CONDITIONAL(USE_OPENCV, false)
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AM_CONDITIONAL(USE_OPENJPEG, false)
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AM_CONDITIONAL(USE_OPENJPEG, false)
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AM_CONDITIONAL(USE_OPENNI2, false)
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AM_CONDITIONAL(USE_OPUS, false)
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AM_CONDITIONAL(USE_OPUS, false)
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AM_CONDITIONAL(USE_PVR, false)
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AM_CONDITIONAL(USE_PVR, false)
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AM_CONDITIONAL(USE_RSVG, false)
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AM_CONDITIONAL(USE_RSVG, false)
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@ -2507,6 +2516,7 @@ ext/openal/Makefile
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ext/opencv/Makefile
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ext/opencv/Makefile
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ext/openexr/Makefile
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ext/openexr/Makefile
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ext/openjpeg/Makefile
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ext/openjpeg/Makefile
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ext/openni2/Makefile
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ext/opus/Makefile
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ext/opus/Makefile
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ext/rsvg/Makefile
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ext/rsvg/Makefile
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ext/resindvd/Makefile
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ext/resindvd/Makefile
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@ -99,6 +99,7 @@ EXTRA_HFILES = \
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$(top_srcdir)/ext/opencv/gstpyramidsegment.h \
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$(top_srcdir)/ext/opencv/gstpyramidsegment.h \
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$(top_srcdir)/ext/opencv/gsttemplatematch.h \
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$(top_srcdir)/ext/opencv/gsttemplatematch.h \
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$(top_srcdir)/ext/opencv/gsttextoverlay.h \
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$(top_srcdir)/ext/opencv/gsttextoverlay.h \
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$(top_srcdir)/ext/openni2/gstopenni2src.h \
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$(top_srcdir)/ext/rsvg/gstrsvgdec.h \
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$(top_srcdir)/ext/rsvg/gstrsvgdec.h \
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$(top_srcdir)/ext/rsvg/gstrsvgoverlay.h \
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$(top_srcdir)/ext/rsvg/gstrsvgoverlay.h \
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$(top_srcdir)/ext/spandsp/gstspanplc.h \
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$(top_srcdir)/ext/spandsp/gstspanplc.h \
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@ -232,6 +232,12 @@ else
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OPENEXR_DIR =
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OPENEXR_DIR =
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endif
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endif
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if USE_OPENNI2
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OPENNI2_DIR=openni2
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else
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OPENNI2_DIR=
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endif
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if USE_OPENJPEG
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if USE_OPENJPEG
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OPENJPEG_DIR = openjpeg
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OPENJPEG_DIR = openjpeg
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else
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else
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@ -425,6 +431,7 @@ SUBDIRS=\
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$(OPENCV_DIR) \
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$(OPENCV_DIR) \
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$(OPENEXR_DIR) \
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$(OPENEXR_DIR) \
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$(OPENJPEG_DIR) \
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$(OPENJPEG_DIR) \
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$(OPENNI2_DIR) \
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$(OPUS_DIR) \
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$(OPUS_DIR) \
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$(RSVG_DIR) \
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$(RSVG_DIR) \
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$(SBC_DIR) \
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$(SBC_DIR) \
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@ -484,6 +491,7 @@ DIST_SUBDIRS = \
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openal \
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openal \
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opencv \
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opencv \
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openexr \
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openexr \
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openni2 \
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openjpeg \
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openjpeg \
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opus \
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opus \
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rsvg \
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rsvg \
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22
ext/openni2/Makefile.am
Normal file
22
ext/openni2/Makefile.am
Normal file
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@ -0,0 +1,22 @@
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plugin_LTLIBRARIES = libgstopenni2.la
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# sources used to compile this plug-in
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libgstopenni2_la_SOURCES = gstopenni2.cpp \
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gstopenni2src.cpp
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libgstopenni2_la_CXXFLAGS = $(GST_PLUGINS_BASE_CFLAGS) $(GST_BASE_CFLAGS) $(GST_CXXFLAGS) $(OPENNI2_CFLAGS)
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# flags used to compile this facedetect
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# add other _CFLAGS and _LIBS as needed
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#
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libgstopenni2_la_CFLAGS = $(GST_PLUGINS_BASE_CFLAGS) $(GST_BASE_CFLAGS) \
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$(GST_CFLAGS) $(OPENNI2_CFLAGS)
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libgstopenni2_la_LIBADD = $(GST_LIBS) $(GST_BASE_LIBS) $(OPENNI2_LIBS) \
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$(GSTPB_BASE_LIBS) -lgstvideo-$(GST_API_VERSION)
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libgstopenni2_la_LDFLAGS = $(GST_PLUGIN_LDFLAGS)
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libgstopenni2_la_LIBTOOLFLAGS = $(GST_PLUGIN_LIBTOOLFLAGS)
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# headers we need but don't want installed
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noinst_HEADERS = gstopenni2src.h
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67
ext/openni2/gstopenni2.cpp
Normal file
67
ext/openni2/gstopenni2.cpp
Normal file
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@ -0,0 +1,67 @@
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/* GStreamer
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* Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com>
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*
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* gstopenni2.c: plugin registration
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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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/**
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* SECTION:plugin-openni2src
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*
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* OpenNI2 is a library to access 3D sensors such as those based on PrimeSense
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* depth sensor. Examples of such sensors are the Kinect used in Microsoft Xbox
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* consoles and Asus WAVI Xtion. Notably recordings of 3D sessions can also be
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* replayed as the original devices. See www.openni.org for more details.
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*
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* OpenNI2 can be downloaded from source, compiled and installed in Linux, Mac
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* and Windows devices(https://github.com/OpenNI/OpenNI2). However is better to
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* rely on Debian packages as part of the PCL library (or http://goo.gl/0o87EB).
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* More concretely on the "libopenni2-dev" and "libopenni2" packages - that can
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* be downloaded in http://goo.gl/2H6SZ6.
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*
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* <refsect2>
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* <title>Examples</title>
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* <para>
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* Some recorded .oni files are available at:
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* <programlisting>
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* http://people.cs.pitt.edu/~chang/1635/proj11/kinectRecord
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* </programlisting>
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* </para>
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* </refsect2>
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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 <gst/gst.h>
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#include "gstopenni2src.h"
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static gboolean
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plugin_init (GstPlugin * plugin)
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{
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if (!gst_openni2src_plugin_init (plugin))
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return FALSE;
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return TRUE;
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}
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GST_PLUGIN_DEFINE (GST_VERSION_MAJOR,
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GST_VERSION_MINOR,
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openni2,
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"GStreamer Openni2 Plugins",
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plugin_init, VERSION, "LGPL", GST_PACKAGE_NAME, GST_PACKAGE_ORIGIN)
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635
ext/openni2/gstopenni2src.cpp
Normal file
635
ext/openni2/gstopenni2src.cpp
Normal file
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@ -0,0 +1,635 @@
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/*
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* GStreamer OpenNI2 device source element
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* Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com>
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* This library is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Library
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* General Public License as published by the Free Software Foundation;
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* either version 2 of the License, or (at your option) any later version.
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* This library is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library
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* General Public License for more details. You should have received a copy
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* of the GNU Library General Public License along with this library; if
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* not, write to the Free Software Foundation, Inc., 51 Franklin St,
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* Fifth Floor, Boston, MA 02110-1301, USA.
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*/
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/**
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* SECTION:element-openni2src
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*
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* <refsect2>
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* <title>Examples</title>
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* <para>
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* Some recorded .oni files are available at:
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* <programlisting>
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* http://people.cs.pitt.edu/~chang/1635/proj11/kinectRecord
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* </programlisting>
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*
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* <programlisting>
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LD_LIBRARY_PATH=/usr/lib/OpenNI2/Drivers/ gst-launch-1.0 --gst-debug=openni2src:5 openni2src location='Downloads/mr.oni' sourcetype=depth ! videoconvert ! ximagesink
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* </programlisting>
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* <programlisting>
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LD_LIBRARY_PATH=/usr/lib/OpenNI2/Drivers/ gst-launch-1.0 --gst-debug=openni2src:5 openni2src location='Downloads/mr.oni' sourcetype=color ! videoconvert ! ximagesink
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* </programlisting>
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* </para>
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* </refsect2>
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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 "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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);
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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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PROP_LOCATION,
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PROP_SOURCETYPE
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};
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typedef enum
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{
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SOURCETYPE_DEPTH,
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SOURCETYPE_COLOR,
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SOURCETYPE_BOTH
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} GstOpenni2SourceType;
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#define DEFAULT_SOURCETYPE SOURCETYPE_DEPTH
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#define SAMPLE_READ_WAIT_TIMEOUT 2000 /* 2000ms */
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#define GST_TYPE_OPENNI2_SRC_SOURCETYPE (gst_openni2_src_sourcetype_get_type ())
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static GType
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gst_openni2_src_sourcetype_get_type (void)
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{
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static GType etype = 0;
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if (etype == 0) {
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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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"both"},
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{0, NULL, NULL},
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};
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etype = g_enum_register_static ("GstOpenni2SrcSourcetype", values);
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}
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return etype;
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}
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/* GObject methods */
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static void gst_openni2_src_dispose (GObject * object);
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static void gst_openni2_src_finalize (GObject * gobject);
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static void gst_openni2_src_set_property (GObject * object, guint prop_id,
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const GValue * value, GParamSpec * pspec);
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static void gst_openni2_src_get_property (GObject * object, guint prop_id,
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GValue * value, GParamSpec * pspec);
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/* basesrc methods */
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static gboolean gst_openni2_src_start (GstBaseSrc * bsrc);
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static gboolean gst_openni2_src_stop (GstBaseSrc * bsrc);
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static GstCaps *gst_openni2_src_get_caps (GstBaseSrc * src, GstCaps * filter);
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/* element methods */
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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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/* OpenNI2 interaction methods */
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static gboolean openni2_initialise_library ();
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static GstFlowReturn openni2_initialise_devices (GstOpenni2Src * src);
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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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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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{
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GObjectClass *gobject_class;
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GstPushSrcClass *pushsrc_class;
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GstBaseSrcClass *basesrc_class;
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GstElementClass *element_class = GST_ELEMENT_CLASS (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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gobject_class->set_property = gst_openni2_src_set_property;
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gobject_class->get_property = gst_openni2_src_get_property;
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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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(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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"Device source type",
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"Type of readings to get from the source",
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GST_TYPE_OPENNI2_SRC_SOURCETYPE, DEFAULT_SOURCETYPE,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
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|
|
||||||
|
|
||||||
|
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 ();
|
||||||
|
}
|
||||||
78
ext/openni2/gstopenni2src.h
Normal file
78
ext/openni2/gstopenni2src.h
Normal file
|
|
@ -0,0 +1,78 @@
|
||||||
|
/*
|
||||||
|
* 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__ */
|
||||||
Loading…
Reference in a new issue