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117 lines
3.9 KiB
C
117 lines
3.9 KiB
C
/*
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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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* 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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#ifndef __GST_DISPARITY_H__
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#define __GST_DISPARITY_H__
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#include <gst/gst.h>
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#include <gst/video/video.h>
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#include <opencv2/core.hpp>
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#include <opencv2/calib3d.hpp>
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#if (CV_MAJOR_VERSION >= 4)
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#include <opencv2/core/types_c.h>
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#endif
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G_BEGIN_DECLS
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/* #defines don't like whitespacey bits */
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#define GST_TYPE_DISPARITY \
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(gst_disparity_get_type())
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#define GST_DISPARITY(obj) \
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(G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_DISPARITY,GstDisparity))
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#define GST_DISPARITY_CLASS(klass) \
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(G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_DISPARITY,GstDisparityClass))
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#define GST_IS_DISPARITY(obj) \
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(G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_DISPARITY))
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#define GST_IS_DISPARITY_CLASS(klass) \
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(G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_DISPARITY))
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typedef struct _GstDisparity GstDisparity;
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typedef struct _GstDisparityClass GstDisparityClass;
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struct _GstDisparity
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{
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GstElement element;
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GstPad *sinkpad_left, *sinkpad_right, *srcpad;
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GstCaps *caps;
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gint method;
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gboolean display;
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int width;
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int height;
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int actualChannels;
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GstBuffer *buffer_left;
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GMutex lock;
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GCond cond;
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gboolean flushing;
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CvSize imgSize;
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IplImage *cvRGB_right;
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IplImage *cvRGB_left;
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IplImage *cvGray_right;
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IplImage *cvGray_left;
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IplImage *cvGray_depth_map1; /*IPL_DEPTH_16S */
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IplImage *cvGray_depth_map2; /*IPL_DEPTH_8U */
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IplImage *cvGray_depth_map1_2; /*IPL_DEPTH_16S */
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void *img_right_as_cvMat_gray; /* cv::Mat */
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void *img_left_as_cvMat_gray; /* cv::Mat */
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void *depth_map_as_cvMat; /* cv::Mat */
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cv::Ptr<cv::StereoBM> sbm; /* cv::StereoBM */
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cv::Ptr<cv::StereoSGBM> sgbm; /* cv::StereoSGBM */
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};
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struct _GstDisparityClass
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{
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GstElementClass parent_class;
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};
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GType gst_disparity_get_type (void);
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gboolean gst_disparity_plugin_init (GstPlugin * disparity);
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G_END_DECLS
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#endif /* __GST_DISPARITY_H__ */
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