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