mirror of
https://gitlab.freedesktop.org/gstreamer/gstreamer.git
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718c4140fa
Otherwise the destructor will never be called, and we would have to call the constructors manually at some point... which we never did, so calling release() on it before it got otherwise initialized caused a crash. For example when running gst-inspect-1.0.
735 lines
25 KiB
C++
735 lines
25 KiB
C++
/*
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* GStreamer
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* Copyright (C) 2016 Prassel S.r.l
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* Author: Nicola Murino <nicola.murino@gmail.com>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the "Software"),
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* to deal in the Software without restriction, including without limitation
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* the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* and/or sell copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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* Alternatively, the contents of this file may be used under the
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* GNU Lesser General Public License Version 2.1 (the "LGPL"), in
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* which case the following provisions apply instead of the ones
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* mentioned above:
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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:element-dewarp
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*
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* Dewarp fisheye images
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*
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* <refsect2>
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* <title>Example launch line</title>
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* |[
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* gst-launch-1.0 videotestsrc ! videoconvert ! circle radius=0.1 height=80 ! dewarp outer-radius=0.35 inner-radius=0.1 ! videoconvert ! xvimagesink
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* ]|
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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 "gstdewarp.h"
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#include <math.h>
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GST_DEBUG_CATEGORY_STATIC (gst_dewarp_debug);
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#define GST_CAT_DEFAULT gst_dewarp_debug
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enum
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{
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PROP_0,
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PROP_X_CENTER,
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PROP_Y_CENTER,
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PROP_INNER_RADIUS,
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PROP_OUTER_RADIUS,
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PROP_REMAP_X_CORRECTION,
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PROP_REMAP_Y_CORRECTION,
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PROP_DISPLAY_MODE,
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PROP_INTERPOLATION_MODE
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};
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#define DEFAULT_CENTER 0.5
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#define DEFAULT_RADIUS 0.0
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#define DEFAULT_REMAP_CORRECTION 1.0
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#define GST_TYPE_DEWARP_DISPLAY_MODE (dewarp_display_mode_get_type ())
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static GType
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dewarp_display_mode_get_type (void)
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{
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static GType dewarp_display_mode_type = 0;
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static const GEnumValue dewarp_display_mode[] = {
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{GST_DEWARP_DISPLAY_PANORAMA, "Single panorama image", "single-panorama"},
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{GST_DEWARP_DISPLAY_DOUBLE_PANORAMA, "Dewarped image is splitted in two "
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"images displayed one below the other", "double-panorama"},
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{GST_DEWARP_DISPLAY_QUAD_VIEW, "Dewarped image is splitted in four images "
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"dysplayed as a quad view",
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"quad-view"},
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{0, NULL, NULL},
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};
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if (!dewarp_display_mode_type) {
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dewarp_display_mode_type =
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g_enum_register_static ("GstDewarpDisplayMode", dewarp_display_mode);
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}
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return dewarp_display_mode_type;
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}
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#define GST_TYPE_DEWARP_INTERPOLATION_MODE (dewarp_interpolation_mode_get_type ())
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static GType
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dewarp_interpolation_mode_get_type (void)
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{
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static GType dewarp_interpolation_mode_type = 0;
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static const GEnumValue dewarp_interpolation_mode[] = {
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{GST_DEWARP_INTER_NEAREST, "A nearest-neighbor interpolation", "nearest"},
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{GST_DEWARP_INTER_LINEAR, "A bilinear interpolation", "bilinear"},
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{GST_DEWARP_INTER_CUBIC,
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"A bicubic interpolation over 4x4 pixel neighborhood", "bicubic"},
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{GST_DEWARP_INTER_LANCZOS4,
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"A Lanczos interpolation over 8x8 pixel neighborhood", "Lanczos"},
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{0, NULL, NULL},
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};
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if (!dewarp_interpolation_mode_type) {
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dewarp_interpolation_mode_type =
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g_enum_register_static ("GstDewarpInterpolationMode",
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dewarp_interpolation_mode);
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}
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return dewarp_interpolation_mode_type;
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}
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G_DEFINE_TYPE (GstDewarp, gst_dewarp, GST_TYPE_OPENCV_VIDEO_FILTER);
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static GstStaticPadTemplate sink_factory = GST_STATIC_PAD_TEMPLATE ("sink",
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GST_PAD_SINK,
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GST_PAD_ALWAYS,
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GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE ("RGBA")));
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static GstStaticPadTemplate src_factory = 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 (GST_VIDEO_CAPS_MAKE ("RGBA")));
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static void gst_dewarp_set_property (GObject * object, guint prop_id,
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const GValue * value, GParamSpec * pspec);
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static void gst_dewarp_get_property (GObject * object, guint prop_id,
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GValue * value, GParamSpec * pspec);
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static GstCaps *gst_dewarp_transform_caps (GstBaseTransform * trans,
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GstPadDirection direction, GstCaps * caps, GstCaps * filter_caps);
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static GstFlowReturn gst_dewarp_transform_frame (GstOpencvVideoFilter * btrans,
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GstBuffer * buffer, IplImage * img, GstBuffer * outbuf, IplImage * outimg);
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static gboolean gst_dewarp_set_caps (GstOpencvVideoFilter * filter,
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gint in_width, gint in_height, gint in_depth, gint in_channels,
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gint out_width, gint out_height, gint out_depth, gint out_channels);
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static void
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gst_dewarp_finalize (GObject * obj)
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{
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GstDewarp *filter = GST_DEWARP (obj);
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if (filter->map_x) {
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filter->map_x->release ();
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delete filter->map_x;
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}
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if (filter->map_y) {
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filter->map_y->release ();
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delete filter->map_y;
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}
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G_OBJECT_CLASS (gst_dewarp_parent_class)->finalize (obj);
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}
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static void
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gst_dewarp_class_init (GstDewarpClass * klass)
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{
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GObjectClass *gobject_class;
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GstElementClass *element_class = GST_ELEMENT_CLASS (klass);
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GstBaseTransformClass *basesrc_class = GST_BASE_TRANSFORM_CLASS (klass);
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GstOpencvVideoFilterClass *cvfilter_class =
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(GstOpencvVideoFilterClass *) klass;
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gobject_class = (GObjectClass *) klass;
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gobject_class->finalize = GST_DEBUG_FUNCPTR (gst_dewarp_finalize);
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gobject_class->set_property = gst_dewarp_set_property;
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gobject_class->get_property = gst_dewarp_get_property;
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basesrc_class->transform_caps = GST_DEBUG_FUNCPTR (gst_dewarp_transform_caps);
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basesrc_class->transform_ip_on_passthrough = FALSE;
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basesrc_class->passthrough_on_same_caps = TRUE;
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cvfilter_class->cv_trans_func =
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GST_DEBUG_FUNCPTR (gst_dewarp_transform_frame);
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cvfilter_class->cv_set_caps = GST_DEBUG_FUNCPTR (gst_dewarp_set_caps);
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g_object_class_install_property (gobject_class, PROP_X_CENTER,
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g_param_spec_double ("x-center", "x center",
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"X axis center of the fisheye image",
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0.0, 1.0, DEFAULT_CENTER,
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(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
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G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_Y_CENTER,
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g_param_spec_double ("y-center", "y center",
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"Y axis center of the fisheye image",
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0.0, 1.0, DEFAULT_CENTER,
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(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
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G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_INNER_RADIUS,
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g_param_spec_double ("inner-radius", "inner radius",
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"Inner radius of the fisheye image donut. If outer radius <= inner "
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"radius the element will work in passthrough mode",
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0.0, 1.0, DEFAULT_RADIUS,
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(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
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G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_OUTER_RADIUS,
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g_param_spec_double ("outer-radius", "outer radius",
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"Outer radius of the fisheye image donut. If outer radius <= inner "
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"radius the element will work in passthrough mode",
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0.0, 1.0, DEFAULT_RADIUS,
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(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
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G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_REMAP_X_CORRECTION,
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g_param_spec_double ("x-remap-correction", "x remap correction",
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"Correction factor for remapping on x axis. A correction is needed if "
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"the fisheye image is not inside a circle",
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0.1, 10.0, DEFAULT_REMAP_CORRECTION,
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(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
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G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_REMAP_Y_CORRECTION,
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g_param_spec_double ("y-remap-correction", "y remap correction",
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"Correction factor for remapping on y axis. A correction is needed if "
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"the fisheye image is not inside a circle",
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0.1, 10.0, DEFAULT_REMAP_CORRECTION,
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(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
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G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_INTERPOLATION_MODE,
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g_param_spec_enum ("interpolation-method", "Interpolation method",
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"Interpolation method to use",
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GST_TYPE_DEWARP_INTERPOLATION_MODE, GST_DEWARP_INTER_LINEAR,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (gobject_class, PROP_DISPLAY_MODE,
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g_param_spec_enum ("display-mode", "Display mode",
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"How to display the dewarped image",
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GST_TYPE_DEWARP_DISPLAY_MODE, GST_DEWARP_DISPLAY_PANORAMA,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
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gst_element_class_set_static_metadata (element_class,
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"Dewarp fisheye images",
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"Filter/Effect/Video",
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"Dewarp fisheye images", "Nicola Murino <nicola.murino@gmail.com>");
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gst_element_class_add_static_pad_template (element_class, &src_factory);
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gst_element_class_add_static_pad_template (element_class, &sink_factory);
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}
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static void
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gst_dewarp_init (GstDewarp * filter)
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{
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filter->x_center = DEFAULT_CENTER;
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filter->y_center = DEFAULT_CENTER;
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filter->inner_radius = DEFAULT_RADIUS;
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filter->outer_radius = DEFAULT_RADIUS;
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filter->remap_correction_x = DEFAULT_REMAP_CORRECTION;
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filter->remap_correction_y = DEFAULT_REMAP_CORRECTION;
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filter->display_mode = GST_DEWARP_DISPLAY_PANORAMA;
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filter->interpolation_mode = GST_DEWARP_INTER_LINEAR;
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filter->pad_sink_width = 0;
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filter->pad_sink_height = 0;
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filter->in_width = 0;
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filter->in_height = 0;
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filter->out_width = 0;
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filter->out_height = 0;
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filter->need_map_update = TRUE;
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filter->map_x = new cv::Mat;
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filter->map_y = new cv::Mat;
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gst_opencv_video_filter_set_in_place (GST_OPENCV_VIDEO_FILTER_CAST (filter),
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FALSE);
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}
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static void
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gst_dewarp_set_property (GObject * object, guint prop_id,
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const GValue * value, GParamSpec * pspec)
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{
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gdouble v;
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gboolean need_reconfigure;
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int disp_mode;
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GstDewarp *filter = GST_DEWARP (object);
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need_reconfigure = FALSE;
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GST_OBJECT_LOCK (filter);
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switch (prop_id) {
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case PROP_X_CENTER:
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v = g_value_get_double (value);
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if (v != filter->x_center) {
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filter->x_center = v;
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filter->need_map_update = TRUE;
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need_reconfigure = TRUE;
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GST_LOG_OBJECT (filter, "x center setted to %f", filter->x_center);
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}
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break;
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case PROP_Y_CENTER:
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v = g_value_get_double (value);
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if (v != filter->y_center) {
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filter->y_center = v;
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filter->need_map_update = TRUE;
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need_reconfigure = TRUE;
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GST_LOG_OBJECT (filter, "y center setted to %f", filter->y_center);
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}
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break;
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case PROP_INNER_RADIUS:
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v = g_value_get_double (value);
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if (v != filter->inner_radius) {
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filter->inner_radius = v;
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filter->need_map_update = TRUE;
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need_reconfigure = TRUE;
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GST_LOG_OBJECT (filter, "inner radius setted to %f",
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filter->inner_radius);
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}
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break;
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case PROP_OUTER_RADIUS:
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v = g_value_get_double (value);
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if (v != filter->outer_radius) {
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filter->outer_radius = v;
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filter->need_map_update = TRUE;
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need_reconfigure = TRUE;
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GST_LOG_OBJECT (filter, "outer radius setted to %f",
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filter->outer_radius);
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}
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break;
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case PROP_REMAP_X_CORRECTION:
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v = g_value_get_double (value);
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if (v != filter->remap_correction_x) {
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filter->remap_correction_x = v;
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filter->need_map_update = TRUE;
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need_reconfigure = TRUE;
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GST_LOG_OBJECT (filter, "x remap correction setted to %f",
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filter->remap_correction_x);
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}
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break;
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case PROP_REMAP_Y_CORRECTION:
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v = g_value_get_double (value);
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if (v != filter->remap_correction_y) {
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filter->remap_correction_y = v;
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filter->need_map_update = TRUE;
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need_reconfigure = TRUE;
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GST_LOG_OBJECT (filter, "y remap correction setted to %f",
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filter->remap_correction_y);
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}
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break;
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case PROP_INTERPOLATION_MODE:
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filter->interpolation_mode = g_value_get_enum (value);
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GST_LOG_OBJECT (filter, "interpolation mode setted to %" G_GINT32_FORMAT,
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filter->interpolation_mode);
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break;
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case PROP_DISPLAY_MODE:
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disp_mode = g_value_get_enum (value);
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if (disp_mode != filter->display_mode) {
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filter->display_mode = disp_mode;
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need_reconfigure = TRUE;
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GST_LOG_OBJECT (filter, "display mode setted to %" G_GINT32_FORMAT,
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filter->display_mode);
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}
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break;
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default:
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G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
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break;
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}
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if (filter->need_map_update)
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GST_LOG_OBJECT (filter, "need map update after property change");
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GST_OBJECT_UNLOCK (filter);
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if (need_reconfigure) {
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GST_DEBUG_OBJECT (filter, "Reconfigure src after property change");
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gst_base_transform_reconfigure_src (GST_BASE_TRANSFORM (filter));
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} else {
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GST_DEBUG_OBJECT (filter,
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"No property value changed, reconfigure src is not" " needed");
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}
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}
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static void
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gst_dewarp_get_property (GObject * object, guint prop_id,
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GValue * value, GParamSpec * pspec)
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{
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GstDewarp *filter = GST_DEWARP (object);
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GST_OBJECT_LOCK (filter);
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switch (prop_id) {
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case PROP_X_CENTER:
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g_value_set_double (value, filter->x_center);
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break;
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case PROP_Y_CENTER:
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g_value_set_double (value, filter->y_center);
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break;
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case PROP_INNER_RADIUS:
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g_value_set_double (value, filter->inner_radius);
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break;
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case PROP_OUTER_RADIUS:
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g_value_set_double (value, filter->outer_radius);
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break;
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case PROP_REMAP_X_CORRECTION:
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g_value_set_double (value, filter->remap_correction_x);
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break;
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case PROP_REMAP_Y_CORRECTION:
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g_value_set_double (value, filter->remap_correction_y);
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break;
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case PROP_INTERPOLATION_MODE:
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g_value_set_enum (value, filter->interpolation_mode);
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break;
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case PROP_DISPLAY_MODE:
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g_value_set_enum (value, filter->display_mode);
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break;
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default:
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G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
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break;
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}
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GST_OBJECT_UNLOCK (filter);
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}
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static void
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gst_dewarp_update_map (GstDewarp * filter)
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|
{
|
|
gdouble r1, r2, cx, cy;
|
|
gint x, y;
|
|
gint out_width, out_height;
|
|
|
|
if (filter->display_mode == GST_DEWARP_DISPLAY_PANORAMA) {
|
|
out_width = filter->out_width;
|
|
out_height = filter->out_height;
|
|
} else {
|
|
out_width = filter->out_width * 2;
|
|
out_height = filter->out_height / 2;
|
|
}
|
|
|
|
GST_DEBUG_OBJECT (filter,
|
|
"start update map out_width: %" G_GINT32_FORMAT " out height: %"
|
|
G_GINT32_FORMAT, out_width, out_height);
|
|
|
|
r1 = filter->in_width * filter->inner_radius;
|
|
r2 = filter->in_width * filter->outer_radius;
|
|
cx = filter->x_center * filter->in_width;
|
|
cy = filter->y_center * filter->in_height;
|
|
cv::Size destSize (out_width, out_height);
|
|
filter->map_x->create (destSize, CV_32FC1);
|
|
filter->map_y->create (destSize, CV_32FC1);
|
|
|
|
for (y = 0; y < out_height; y++) {
|
|
for (x = 0; x < out_width; x++) {
|
|
float r = ((float) (y) / (float) (out_height)) * (r2 - r1) + r1;
|
|
float theta = ((float) (x) / (float) (out_width)) * 2.0 * G_PI;
|
|
float xs = cx + r * sin (theta) * filter->remap_correction_x;
|
|
float ys = cy + r * cos (theta) * filter->remap_correction_y;
|
|
filter->map_x->at < float >(y, x) = xs;
|
|
filter->map_y->at < float >(y, x) = ys;
|
|
}
|
|
}
|
|
|
|
filter->need_map_update = FALSE;
|
|
|
|
GST_DEBUG_OBJECT (filter, "update map done");
|
|
}
|
|
|
|
static void
|
|
gst_dewarp_calculate_dimensions (GstDewarp * filter, GstPadDirection direction,
|
|
gint in_width, gint in_height, gint * out_width, gint * out_height)
|
|
{
|
|
if (filter->outer_radius <= filter->inner_radius) {
|
|
GST_LOG_OBJECT (filter,
|
|
"No dimensions conversion required, in width: %" G_GINT32_FORMAT
|
|
" in height: %" G_GINT32_FORMAT, in_width, in_height);
|
|
*out_width = in_width;
|
|
*out_height = in_height;
|
|
} else {
|
|
gdouble r1, r2;
|
|
|
|
GST_LOG_OBJECT (filter,
|
|
"Calculate dimensions, in_width: %" G_GINT32_FORMAT
|
|
" in_height: %" G_GINT32_FORMAT " pad sink width: %" G_GINT32_FORMAT
|
|
" pad sink height: %" G_GINT32_FORMAT
|
|
" inner radius: %f, outer radius: %f, direction: %d", in_width,
|
|
in_height, filter->pad_sink_width, filter->pad_sink_height,
|
|
filter->inner_radius, filter->outer_radius, direction);
|
|
|
|
r1 = in_width * filter->inner_radius;
|
|
r2 = in_width * filter->outer_radius;
|
|
|
|
if (direction == GST_PAD_SINK) {
|
|
/* roundup is required to have integer results when we divide width, height
|
|
* in display mode different from GST_DEWARP_PANORAMA.
|
|
* Additionally some elements such as xvimagesink have problems with arbitrary
|
|
* dimensions, a roundup solves this issue too
|
|
*/
|
|
*out_width = GST_ROUND_UP_8 ((gint) ((2.0 * G_PI) * ((r2 + r1) / 2.0)));
|
|
*out_height = GST_ROUND_UP_8 ((gint) (r2 - r1));
|
|
|
|
if (filter->display_mode != GST_DEWARP_DISPLAY_PANORAMA) {
|
|
*out_width = *out_width / 2;
|
|
*out_height = *out_height * 2;
|
|
}
|
|
|
|
/* if outer_radius and inner radius are very close then width and height
|
|
could be 0, we assume passtrough in this case
|
|
*/
|
|
if (G_UNLIKELY (*out_width == 0) || G_UNLIKELY (*out_height == 0)) {
|
|
GST_WARNING_OBJECT (filter,
|
|
"Invalid calculated dimensions, width: %" G_GINT32_FORMAT
|
|
" height: %" G_GINT32_FORMAT, *out_width, *out_height);
|
|
*out_width = in_width;
|
|
*out_height = in_height;
|
|
}
|
|
filter->pad_sink_width = in_width;
|
|
filter->pad_sink_height = in_height;
|
|
} else {
|
|
if (filter->pad_sink_width > 0) {
|
|
*out_width = filter->pad_sink_width;
|
|
} else {
|
|
*out_width = in_width;
|
|
}
|
|
if (filter->pad_sink_height > 0) {
|
|
*out_height = filter->pad_sink_height;
|
|
} else {
|
|
*out_height = in_height;
|
|
}
|
|
}
|
|
}
|
|
|
|
GST_LOG_OBJECT (filter,
|
|
"Calculated dimensions: width %" G_GINT32_FORMAT " => %" G_GINT32_FORMAT
|
|
", height %" G_GINT32_FORMAT " => %" G_GINT32_FORMAT " direction: %d",
|
|
in_width, *out_width, in_height, *out_height, direction);
|
|
}
|
|
|
|
static GstCaps *
|
|
gst_dewarp_transform_caps (GstBaseTransform * trans,
|
|
GstPadDirection direction, GstCaps * caps, GstCaps * filter_caps)
|
|
{
|
|
GstDewarp *dewarp = GST_DEWARP (trans);
|
|
|
|
GstCaps *ret;
|
|
gint width, height;
|
|
guint i;
|
|
|
|
ret = gst_caps_copy (caps);
|
|
|
|
GST_OBJECT_LOCK (dewarp);
|
|
|
|
for (i = 0; i < gst_caps_get_size (ret); i++) {
|
|
GstStructure *structure = gst_caps_get_structure (ret, i);
|
|
|
|
if (gst_structure_get_int (structure, "width", &width) &&
|
|
gst_structure_get_int (structure, "height", &height)) {
|
|
gint out_width, out_height;
|
|
gst_dewarp_calculate_dimensions (dewarp, direction, width, height,
|
|
&out_width, &out_height);
|
|
gst_structure_set (structure, "width", G_TYPE_INT, out_width, "height",
|
|
G_TYPE_INT, out_height, NULL);
|
|
}
|
|
}
|
|
|
|
GST_OBJECT_UNLOCK (dewarp);
|
|
|
|
if (filter_caps) {
|
|
GstCaps *intersection;
|
|
|
|
GST_DEBUG_OBJECT (dewarp, "Using filter caps %" GST_PTR_FORMAT,
|
|
filter_caps);
|
|
|
|
intersection =
|
|
gst_caps_intersect_full (filter_caps, ret, GST_CAPS_INTERSECT_FIRST);
|
|
gst_caps_unref (ret);
|
|
ret = intersection;
|
|
|
|
GST_DEBUG_OBJECT (dewarp, "Intersection %" GST_PTR_FORMAT, ret);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
static gboolean
|
|
gst_dewarp_set_caps (GstOpencvVideoFilter * filter,
|
|
gint in_width, gint in_height, gint in_depth, gint in_channels,
|
|
gint out_width, gint out_height, gint out_depth, gint out_channels)
|
|
{
|
|
GstDewarp *dewarp = GST_DEWARP (filter);
|
|
|
|
GST_DEBUG_OBJECT (dewarp,
|
|
"Set new caps, in width: %" G_GINT32_FORMAT " in height: %"
|
|
G_GINT32_FORMAT " out width: %" G_GINT32_FORMAT " out height: %"
|
|
G_GINT32_FORMAT, in_width, in_height, out_width, out_height);
|
|
|
|
GST_OBJECT_LOCK (dewarp);
|
|
|
|
dewarp->in_width = in_width;
|
|
dewarp->in_height = in_height;
|
|
dewarp->out_width = out_width;
|
|
dewarp->out_height = out_height;
|
|
gst_dewarp_update_map (dewarp);
|
|
|
|
GST_OBJECT_UNLOCK (dewarp);
|
|
|
|
return TRUE;
|
|
}
|
|
|
|
static GstFlowReturn
|
|
gst_dewarp_transform_frame (GstOpencvVideoFilter * btrans, GstBuffer * buffer,
|
|
IplImage * img, GstBuffer * outbuf, IplImage * outimg)
|
|
{
|
|
GstDewarp *filter = GST_DEWARP (btrans);
|
|
GstFlowReturn ret;
|
|
|
|
GST_OBJECT_LOCK (filter);
|
|
|
|
if (img->width == filter->in_width
|
|
&& img->height == filter->in_height
|
|
&& outimg->width == filter->out_width
|
|
&& outimg->height == filter->out_height) {
|
|
cv::Mat fisheye_image, dewarped_image;
|
|
int inter_mode;
|
|
|
|
if (filter->need_map_update) {
|
|
GST_LOG_OBJECT (filter, "map update is needed");
|
|
gst_dewarp_update_map (filter);
|
|
}
|
|
|
|
switch (filter->interpolation_mode) {
|
|
case GST_DEWARP_INTER_NEAREST:
|
|
inter_mode = cv::INTER_NEAREST;
|
|
break;
|
|
case GST_DEWARP_INTER_LINEAR:
|
|
inter_mode = cv::INTER_LINEAR;
|
|
break;
|
|
case GST_DEWARP_INTER_CUBIC:
|
|
inter_mode = cv::INTER_CUBIC;
|
|
break;
|
|
case GST_DEWARP_INTER_LANCZOS4:
|
|
inter_mode = cv::INTER_LANCZOS4;
|
|
break;
|
|
default:
|
|
inter_mode = cv::INTER_LINEAR;
|
|
break;
|
|
}
|
|
|
|
fisheye_image = cv::cvarrToMat (img, false);
|
|
dewarped_image = cv::cvarrToMat (outimg, false);
|
|
|
|
if (filter->display_mode == GST_DEWARP_DISPLAY_PANORAMA) {
|
|
cv::remap (fisheye_image, dewarped_image, *filter->map_x, *filter->map_y,
|
|
inter_mode);
|
|
} else if (filter->display_mode == GST_DEWARP_DISPLAY_DOUBLE_PANORAMA) {
|
|
cv::Mat view1, view2, panorama_image, concatenated;
|
|
gint panorama_width, panorama_height;
|
|
panorama_width = filter->out_width * 2;
|
|
panorama_height = filter->out_height / 2;
|
|
cv::Size panoramaSize (panorama_width, panorama_height);
|
|
panorama_image.create (panoramaSize, fisheye_image.type ());
|
|
cv::remap (fisheye_image, panorama_image, *filter->map_x, *filter->map_y,
|
|
inter_mode);
|
|
view1 =
|
|
panorama_image (cv::Rect (0, 0, filter->out_width, panorama_height));
|
|
view2 =
|
|
panorama_image (cv::Rect (filter->out_width, 0, filter->out_width,
|
|
panorama_height));
|
|
cv::vconcat (view1, view2, concatenated);
|
|
concatenated.copyTo (dewarped_image);
|
|
} else if (filter->display_mode == GST_DEWARP_DISPLAY_QUAD_VIEW) {
|
|
cv::Mat view1, view2, view3, view4, concat1, concat2, panorama_image,
|
|
concatenated;
|
|
gint panorama_width, panorama_height;
|
|
gint view_width, view_height;
|
|
panorama_width = filter->out_width * 2;
|
|
panorama_height = filter->out_height / 2;
|
|
view_width = filter->out_width / 2;
|
|
view_height = filter->out_height / 2;
|
|
cv::Size panoramaSize (panorama_width, panorama_height);
|
|
panorama_image.create (panoramaSize, fisheye_image.type ());
|
|
cv::remap (fisheye_image, panorama_image, *filter->map_x, *filter->map_y,
|
|
inter_mode);
|
|
view1 = panorama_image (cv::Rect (0, 0, view_width, view_height));
|
|
view2 =
|
|
panorama_image (cv::Rect (view_width, 0, view_width, view_height));
|
|
view3 =
|
|
panorama_image (cv::Rect ((view_width * 2), 0, view_width,
|
|
view_height));
|
|
view4 =
|
|
panorama_image (cv::Rect ((view_width * 3), 0, view_width,
|
|
view_height));
|
|
cv::vconcat (view1, view2, concat1);
|
|
cv::vconcat (view3, view4, concat2);
|
|
cv::hconcat (concat1, concat2, concatenated);
|
|
concatenated.copyTo (dewarped_image);
|
|
}
|
|
|
|
ret = GST_FLOW_OK;
|
|
} else {
|
|
GST_WARNING_OBJECT (filter, "Frame dropped, dimensions do not match");
|
|
|
|
ret = GST_BASE_TRANSFORM_FLOW_DROPPED;
|
|
}
|
|
|
|
GST_OBJECT_UNLOCK (filter);
|
|
|
|
return ret;
|
|
}
|
|
|
|
gboolean
|
|
gst_dewarp_plugin_init (GstPlugin * plugin)
|
|
{
|
|
GST_DEBUG_CATEGORY_INIT (gst_dewarp_debug, "dewarp",
|
|
0, "Dewarp fisheye images");
|
|
|
|
return gst_element_register (plugin, "dewarp", GST_RANK_NONE,
|
|
GST_TYPE_DEWARP);
|
|
}
|