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037f54d644
'METHOD_VAR', 'METHOD_GC' is removed because there aren't equivalent functions in new OpenCV versions. 'img_right_as_cvMat_rgb', 'img_left_as_cvMat_rgb' and 'depth_map_as_cvMat2' variables is removed because these aren't used. cvarrToMat() is added because it is compatible with all versions of Opencv and using the class Mat constructor is eliminated, because is deprecated in 3.X versions. The use 'using namespace cv' because is called some functions many times. This keeps compatibility with 2.4. https://bugzilla.gnome.org/show_bug.cgi?id=760473
119 lines
4.1 KiB
C
119 lines
4.1 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/core.hpp>
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#include <opencv2/calib3d/calib3d.hpp>
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#include <opencv2/core/version.hpp>
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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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#if (CV_MAJOR_VERSION >= 3)
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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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#else
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void *sbm; /* cv::StereoBM */
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void *sgbm; /* cv::StereoSGBM */
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#endif
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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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