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gstreamer/ext/opencv/gstdewarp.cpp
Nicola Murino 26cabf9b1f opencv: port to c++
2019-02-02 18:34:10 +00:00

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/*
* GStreamer
* Copyright (C) 2016 - 2018 Prassel S.r.l
* Author: Nicola Murino <nicola.murino@gmail.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*
* Alternatively, the contents of this file may be used under the
* GNU Lesser General Public License Version 2.1 (the "LGPL"), in
* which case the following provisions apply instead of the ones
* mentioned above:
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Library General Public
* License as published by the Free Software Foundation; either
* version 2 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Library General Public License for more details.
*
* You should have received a copy of the GNU Library General Public
* License along with this library; if not, write to the
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
/**
* SECTION:element-dewarp
*
* Dewarp fisheye images
*
* <refsect2>
* <title>Example launch line</title>
* |[
* gst-launch-1.0 videotestsrc ! videoconvert ! circle radius=0.1 height=80 ! dewarp outer-radius=0.35 inner-radius=0.1 ! videoconvert ! xvimagesink
* ]|
* </refsect2>
*/
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
#include "gstdewarp.h"
#include <math.h>
GST_DEBUG_CATEGORY_STATIC (gst_dewarp_debug);
#define GST_CAT_DEFAULT gst_dewarp_debug
enum
{
PROP_0,
PROP_X_CENTER,
PROP_Y_CENTER,
PROP_INNER_RADIUS,
PROP_OUTER_RADIUS,
PROP_REMAP_X_CORRECTION,
PROP_REMAP_Y_CORRECTION,
PROP_DISPLAY_MODE,
PROP_INTERPOLATION_MODE
};
#define DEFAULT_CENTER 0.5
#define DEFAULT_RADIUS 0.0
#define DEFAULT_REMAP_CORRECTION 1.0
#define GST_TYPE_DEWARP_DISPLAY_MODE (dewarp_display_mode_get_type ())
static GType
dewarp_display_mode_get_type (void)
{
static GType dewarp_display_mode_type = 0;
static const GEnumValue dewarp_display_mode[] = {
{GST_DEWARP_DISPLAY_PANORAMA, "Single panorama image", "single-panorama"},
{GST_DEWARP_DISPLAY_DOUBLE_PANORAMA, "Dewarped image is splitted in two "
"images displayed one below the other", "double-panorama"},
{GST_DEWARP_DISPLAY_QUAD_VIEW, "Dewarped image is splitted in four images "
"dysplayed as a quad view",
"quad-view"},
{0, NULL, NULL},
};
if (!dewarp_display_mode_type) {
dewarp_display_mode_type =
g_enum_register_static ("GstDewarpDisplayMode", dewarp_display_mode);
}
return dewarp_display_mode_type;
}
#define GST_TYPE_DEWARP_INTERPOLATION_MODE (dewarp_interpolation_mode_get_type ())
static GType
dewarp_interpolation_mode_get_type (void)
{
static GType dewarp_interpolation_mode_type = 0;
static const GEnumValue dewarp_interpolation_mode[] = {
{GST_DEWARP_INTER_NEAREST, "A nearest-neighbor interpolation", "nearest"},
{GST_DEWARP_INTER_LINEAR, "A bilinear interpolation", "bilinear"},
{GST_DEWARP_INTER_CUBIC,
"A bicubic interpolation over 4x4 pixel neighborhood", "bicubic"},
{GST_DEWARP_INTER_LANCZOS4,
"A Lanczos interpolation over 8x8 pixel neighborhood", "Lanczos"},
{0, NULL, NULL},
};
if (!dewarp_interpolation_mode_type) {
dewarp_interpolation_mode_type =
g_enum_register_static ("GstDewarpInterpolationMode",
dewarp_interpolation_mode);
}
return dewarp_interpolation_mode_type;
}
G_DEFINE_TYPE (GstDewarp, gst_dewarp, GST_TYPE_OPENCV_VIDEO_FILTER);
static GstStaticPadTemplate sink_factory = GST_STATIC_PAD_TEMPLATE ("sink",
GST_PAD_SINK,
GST_PAD_ALWAYS,
GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE ("RGBA")));
static GstStaticPadTemplate src_factory = GST_STATIC_PAD_TEMPLATE ("src",
GST_PAD_SRC,
GST_PAD_ALWAYS,
GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE ("RGBA")));
static void gst_dewarp_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec);
static void gst_dewarp_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec);
static GstCaps *gst_dewarp_transform_caps (GstBaseTransform * trans,
GstPadDirection direction, GstCaps * caps, GstCaps * filter_caps);
static GstFlowReturn gst_dewarp_transform_frame (GstOpencvVideoFilter * btrans,
GstBuffer * buffer, cv::Mat img, GstBuffer * outbuf, cv::Mat outimg);
static gboolean gst_dewarp_set_caps (GstOpencvVideoFilter * filter,
gint in_width, gint in_height, int in_cv_type,
gint out_width, gint out_height, int out_cv_type);
static void
gst_dewarp_finalize (GObject * obj)
{
GstDewarp *filter = GST_DEWARP (obj);
filter->map_x.release ();
filter->map_y.release ();
G_OBJECT_CLASS (gst_dewarp_parent_class)->finalize (obj);
}
static void
gst_dewarp_class_init (GstDewarpClass * klass)
{
GObjectClass *gobject_class;
GstElementClass *element_class = GST_ELEMENT_CLASS (klass);
GstBaseTransformClass *basesrc_class = GST_BASE_TRANSFORM_CLASS (klass);
GstOpencvVideoFilterClass *cvfilter_class =
(GstOpencvVideoFilterClass *) klass;
gobject_class = (GObjectClass *) klass;
gobject_class->finalize = GST_DEBUG_FUNCPTR (gst_dewarp_finalize);
gobject_class->set_property = gst_dewarp_set_property;
gobject_class->get_property = gst_dewarp_get_property;
basesrc_class->transform_caps = GST_DEBUG_FUNCPTR (gst_dewarp_transform_caps);
basesrc_class->transform_ip_on_passthrough = FALSE;
basesrc_class->passthrough_on_same_caps = TRUE;
cvfilter_class->cv_trans_func =
GST_DEBUG_FUNCPTR (gst_dewarp_transform_frame);
cvfilter_class->cv_set_caps = GST_DEBUG_FUNCPTR (gst_dewarp_set_caps);
g_object_class_install_property (gobject_class, PROP_X_CENTER,
g_param_spec_double ("x-center", "x center",
"X axis center of the fisheye image",
0.0, 1.0, DEFAULT_CENTER,
(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_Y_CENTER,
g_param_spec_double ("y-center", "y center",
"Y axis center of the fisheye image",
0.0, 1.0, DEFAULT_CENTER,
(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_INNER_RADIUS,
g_param_spec_double ("inner-radius", "inner radius",
"Inner radius of the fisheye image donut. If outer radius <= inner "
"radius the element will work in passthrough mode",
0.0, 1.0, DEFAULT_RADIUS,
(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_OUTER_RADIUS,
g_param_spec_double ("outer-radius", "outer radius",
"Outer radius of the fisheye image donut. If outer radius <= inner "
"radius the element will work in passthrough mode",
0.0, 1.0, DEFAULT_RADIUS,
(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_REMAP_X_CORRECTION,
g_param_spec_double ("x-remap-correction", "x remap correction",
"Correction factor for remapping on x axis. A correction is needed if "
"the fisheye image is not inside a circle",
0.1, 10.0, DEFAULT_REMAP_CORRECTION,
(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_REMAP_Y_CORRECTION,
g_param_spec_double ("y-remap-correction", "y remap correction",
"Correction factor for remapping on y axis. A correction is needed if "
"the fisheye image is not inside a circle",
0.1, 10.0, DEFAULT_REMAP_CORRECTION,
(GParamFlags) (GST_PARAM_CONTROLLABLE | G_PARAM_READWRITE |
G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_INTERPOLATION_MODE,
g_param_spec_enum ("interpolation-method", "Interpolation method",
"Interpolation method to use",
GST_TYPE_DEWARP_INTERPOLATION_MODE, GST_DEWARP_INTER_LINEAR,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_DISPLAY_MODE,
g_param_spec_enum ("display-mode", "Display mode",
"How to display the dewarped image",
GST_TYPE_DEWARP_DISPLAY_MODE, GST_DEWARP_DISPLAY_PANORAMA,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
gst_element_class_set_static_metadata (element_class,
"Dewarp fisheye images",
"Filter/Effect/Video",
"Dewarp fisheye images", "Nicola Murino <nicola.murino@gmail.com>");
gst_element_class_add_static_pad_template (element_class, &src_factory);
gst_element_class_add_static_pad_template (element_class, &sink_factory);
}
static void
gst_dewarp_init (GstDewarp * filter)
{
filter->x_center = DEFAULT_CENTER;
filter->y_center = DEFAULT_CENTER;
filter->inner_radius = DEFAULT_RADIUS;
filter->outer_radius = DEFAULT_RADIUS;
filter->remap_correction_x = DEFAULT_REMAP_CORRECTION;
filter->remap_correction_y = DEFAULT_REMAP_CORRECTION;
filter->display_mode = GST_DEWARP_DISPLAY_PANORAMA;
filter->interpolation_mode = GST_DEWARP_INTER_LINEAR;
filter->pad_sink_width = 0;
filter->pad_sink_height = 0;
filter->in_width = 0;
filter->in_height = 0;
filter->out_width = 0;
filter->out_height = 0;
filter->need_map_update = TRUE;
gst_opencv_video_filter_set_in_place (GST_OPENCV_VIDEO_FILTER_CAST (filter),
FALSE);
}
static void
gst_dewarp_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec)
{
gdouble v;
gboolean need_reconfigure;
int disp_mode;
GstDewarp *filter = GST_DEWARP (object);
need_reconfigure = FALSE;
GST_OBJECT_LOCK (filter);
switch (prop_id) {
case PROP_X_CENTER:
v = g_value_get_double (value);
if (v != filter->x_center) {
filter->x_center = v;
filter->need_map_update = TRUE;
need_reconfigure = TRUE;
GST_LOG_OBJECT (filter, "x center setted to %f", filter->x_center);
}
break;
case PROP_Y_CENTER:
v = g_value_get_double (value);
if (v != filter->y_center) {
filter->y_center = v;
filter->need_map_update = TRUE;
need_reconfigure = TRUE;
GST_LOG_OBJECT (filter, "y center setted to %f", filter->y_center);
}
break;
case PROP_INNER_RADIUS:
v = g_value_get_double (value);
if (v != filter->inner_radius) {
filter->inner_radius = v;
filter->need_map_update = TRUE;
need_reconfigure = TRUE;
GST_LOG_OBJECT (filter, "inner radius setted to %f",
filter->inner_radius);
}
break;
case PROP_OUTER_RADIUS:
v = g_value_get_double (value);
if (v != filter->outer_radius) {
filter->outer_radius = v;
filter->need_map_update = TRUE;
need_reconfigure = TRUE;
GST_LOG_OBJECT (filter, "outer radius setted to %f",
filter->outer_radius);
}
break;
case PROP_REMAP_X_CORRECTION:
v = g_value_get_double (value);
if (v != filter->remap_correction_x) {
filter->remap_correction_x = v;
filter->need_map_update = TRUE;
need_reconfigure = TRUE;
GST_LOG_OBJECT (filter, "x remap correction setted to %f",
filter->remap_correction_x);
}
break;
case PROP_REMAP_Y_CORRECTION:
v = g_value_get_double (value);
if (v != filter->remap_correction_y) {
filter->remap_correction_y = v;
filter->need_map_update = TRUE;
need_reconfigure = TRUE;
GST_LOG_OBJECT (filter, "y remap correction setted to %f",
filter->remap_correction_y);
}
break;
case PROP_INTERPOLATION_MODE:
filter->interpolation_mode = g_value_get_enum (value);
GST_LOG_OBJECT (filter, "interpolation mode setted to %" G_GINT32_FORMAT,
filter->interpolation_mode);
break;
case PROP_DISPLAY_MODE:
disp_mode = g_value_get_enum (value);
if (disp_mode != filter->display_mode) {
filter->display_mode = disp_mode;
need_reconfigure = TRUE;
GST_LOG_OBJECT (filter, "display mode setted to %" G_GINT32_FORMAT,
filter->display_mode);
}
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
if (filter->need_map_update)
GST_LOG_OBJECT (filter, "need map update after property change");
GST_OBJECT_UNLOCK (filter);
if (need_reconfigure) {
GST_DEBUG_OBJECT (filter, "Reconfigure src after property change");
gst_base_transform_reconfigure_src (GST_BASE_TRANSFORM (filter));
} else {
GST_DEBUG_OBJECT (filter,
"No property value changed, reconfigure src is not" " needed");
}
}
static void
gst_dewarp_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec)
{
GstDewarp *filter = GST_DEWARP (object);
GST_OBJECT_LOCK (filter);
switch (prop_id) {
case PROP_X_CENTER:
g_value_set_double (value, filter->x_center);
break;
case PROP_Y_CENTER:
g_value_set_double (value, filter->y_center);
break;
case PROP_INNER_RADIUS:
g_value_set_double (value, filter->inner_radius);
break;
case PROP_OUTER_RADIUS:
g_value_set_double (value, filter->outer_radius);
break;
case PROP_REMAP_X_CORRECTION:
g_value_set_double (value, filter->remap_correction_x);
break;
case PROP_REMAP_Y_CORRECTION:
g_value_set_double (value, filter->remap_correction_y);
break;
case PROP_INTERPOLATION_MODE:
g_value_set_enum (value, filter->interpolation_mode);
break;
case PROP_DISPLAY_MODE:
g_value_set_enum (value, filter->display_mode);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
GST_OBJECT_UNLOCK (filter);
}
static void
gst_dewarp_update_map (GstDewarp * filter)
{
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, int in_cv_type,
gint out_width, gint out_height, int out_cv_type)
{
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,
cv::Mat img, GstBuffer * outbuf, cv::Mat outimg)
{
GstDewarp *filter = GST_DEWARP (btrans);
GstFlowReturn ret;
GST_OBJECT_LOCK (filter);
if (img.size ().width == filter->in_width
&& img.size ().height == filter->in_height
&& outimg.size ().width == filter->out_width
&& outimg.size ().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 = img;
dewarped_image = outimg;
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);
}
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