opencl gpu acceleration tested - successful
This commit is contained in:
parent
a4e00086b3
commit
31b9f03447
@ -65,368 +65,364 @@
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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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#include <opencv2/core/ocl.hpp> //added
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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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/* activate OpenCL */
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cv::ocl::setUseOpenCL(true);
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cv::ocl::Context ctx = cv::ocl::Context::getDefault();
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if (ctx.ndevices() > 0) {
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GST_INFO_OBJECT(undist, "OpenCL available: YES");
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GST_INFO_OBJECT(undist, "Using device: %s", ctx.device(0).name().c_str());
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} else {
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GST_INFO_OBJECT(undist, "OpenCL available: NO");
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}
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cv::UMat cv_input_umat, cv_output_umat;
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/* convert Mat to UMat */
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img.copyTo(cv_input_umat);
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/* do the undistort */
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cv::remap (cv_input_umat, cv_output_umat, undist->map1.getUMat(cv::ACCESS_READ), undist->map2.getUMat(cv::ACCESS_READ), cv::INTER_LINEAR);
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/* UMat output back to Mat */
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cv_output_umat.copyTo(outimg);
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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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#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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#include <opencv2/core/ocl.hpp> // added
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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);
|
||||
GstBaseTransformClass *trans_class = GST_BASE_TRANSFORM_CLASS (klass);
|
||||
GstOpencvVideoFilterClass *opencvfilter_class =
|
||||
GST_OPENCV_VIDEO_FILTER_CLASS (klass);
|
||||
|
||||
GstCaps *caps;
|
||||
GstPadTemplate *templ;
|
||||
|
||||
gobject_class->dispose = gst_camera_undistort_dispose;
|
||||
gobject_class->set_property = gst_camera_undistort_set_property;
|
||||
gobject_class->get_property = gst_camera_undistort_get_property;
|
||||
|
||||
trans_class->sink_event = GST_DEBUG_FUNCPTR (gst_camera_undistort_sink_event);
|
||||
trans_class->src_event = GST_DEBUG_FUNCPTR (gst_camera_undistort_src_event);
|
||||
|
||||
opencvfilter_class->cv_set_caps = gst_camera_undistort_set_info;
|
||||
opencvfilter_class->cv_trans_func = gst_camera_undistort_transform_frame;
|
||||
|
||||
g_object_class_install_property (gobject_class, PROP_SHOW_UNDISTORTED,
|
||||
g_param_spec_boolean ("undistort", "Apply camera corrections",
|
||||
"Apply camera corrections",
|
||||
DEFAULT_SHOW_UNDISTORTED,
|
||||
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
|
||||
|
||||
g_object_class_install_property (gobject_class, PROP_ALPHA,
|
||||
g_param_spec_float ("alpha", "Pixels",
|
||||
"Show all pixels (1), only valid ones (0) or something in between",
|
||||
0.0, 1.0, DEFAULT_ALPHA,
|
||||
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
|
||||
|
||||
g_object_class_install_property (gobject_class, PROP_SETTINGS,
|
||||
g_param_spec_string ("settings", "Settings",
|
||||
"Camera correction parameters (opaque string of serialized OpenCV objects)",
|
||||
NULL, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
|
||||
|
||||
gst_element_class_set_static_metadata (element_class,
|
||||
"cameraundistort",
|
||||
"Filter/Effect/Video",
|
||||
"Performs camera undistort", "Philippe Renon <philippe_renon@yahoo.fr>");
|
||||
|
||||
/* add sink and source pad templates */
|
||||
caps = gst_opencv_caps_from_cv_image_type (CV_16UC1);
|
||||
gst_caps_append (caps, gst_opencv_caps_from_cv_image_type (CV_8UC4));
|
||||
gst_caps_append (caps, gst_opencv_caps_from_cv_image_type (CV_8UC3));
|
||||
gst_caps_append (caps, gst_opencv_caps_from_cv_image_type (CV_8UC1));
|
||||
templ = gst_pad_template_new ("sink", GST_PAD_SINK, GST_PAD_ALWAYS,
|
||||
gst_caps_ref (caps));
|
||||
gst_element_class_add_pad_template (element_class, templ);
|
||||
templ = gst_pad_template_new ("src", GST_PAD_SRC, GST_PAD_ALWAYS, caps);
|
||||
gst_element_class_add_pad_template (element_class, templ);
|
||||
}
|
||||
|
||||
/* initialize the new element
|
||||
* initialize instance structure
|
||||
*/
|
||||
static void
|
||||
gst_camera_undistort_init (GstCameraUndistort * undist)
|
||||
{
|
||||
undist->showUndistorted = DEFAULT_SHOW_UNDISTORTED;
|
||||
undist->alpha = DEFAULT_ALPHA;
|
||||
undist->crop = DEFAULT_CROP;
|
||||
|
||||
undist->doUndistort = FALSE;
|
||||
undist->settingsChanged = FALSE;
|
||||
|
||||
undist->cameraMatrix = 0;
|
||||
undist->distCoeffs = 0;
|
||||
undist->map1 = 0;
|
||||
undist->map2 = 0;
|
||||
|
||||
undist->settings = NULL;
|
||||
}
|
||||
|
||||
static void
|
||||
gst_camera_undistort_dispose (GObject * object)
|
||||
{
|
||||
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
|
||||
|
||||
g_free (undist->settings);
|
||||
undist->settings = NULL;
|
||||
|
||||
G_OBJECT_CLASS (gst_camera_undistort_parent_class)->dispose (object);
|
||||
}
|
||||
|
||||
|
||||
static void
|
||||
gst_camera_undistort_set_property (GObject * object, guint prop_id,
|
||||
const GValue * value, GParamSpec * pspec)
|
||||
{
|
||||
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
|
||||
const char *str;
|
||||
|
||||
switch (prop_id) {
|
||||
case PROP_SHOW_UNDISTORTED:
|
||||
undist->showUndistorted = g_value_get_boolean (value);
|
||||
undist->settingsChanged = TRUE;
|
||||
break;
|
||||
case PROP_ALPHA:
|
||||
undist->alpha = g_value_get_float (value);
|
||||
undist->settingsChanged = TRUE;
|
||||
break;
|
||||
case PROP_CROP:
|
||||
undist->crop = g_value_get_boolean (value);
|
||||
break;
|
||||
case PROP_SETTINGS:
|
||||
if (undist->settings) {
|
||||
g_free (undist->settings);
|
||||
undist->settings = NULL;
|
||||
}
|
||||
str = g_value_get_string (value);
|
||||
if (str)
|
||||
undist->settings = g_strdup (str);
|
||||
undist->settingsChanged = TRUE;
|
||||
break;
|
||||
default:
|
||||
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
gst_camera_undistort_get_property (GObject * object, guint prop_id,
|
||||
GValue * value, GParamSpec * pspec)
|
||||
{
|
||||
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
|
||||
|
||||
switch (prop_id) {
|
||||
case PROP_SHOW_UNDISTORTED:
|
||||
g_value_set_boolean (value, undist->showUndistorted);
|
||||
break;
|
||||
case PROP_ALPHA:
|
||||
g_value_set_float (value, undist->alpha);
|
||||
break;
|
||||
case PROP_CROP:
|
||||
g_value_set_boolean (value, undist->crop);
|
||||
break;
|
||||
case PROP_SETTINGS:
|
||||
g_value_set_string (value, undist->settings);
|
||||
break;
|
||||
default:
|
||||
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
gboolean
|
||||
gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter,
|
||||
gint in_width, gint in_height, G_GNUC_UNUSED int in_cv_type,
|
||||
G_GNUC_UNUSED gint out_width, G_GNUC_UNUSED gint out_height,
|
||||
G_GNUC_UNUSED int out_cv_type)
|
||||
{
|
||||
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter);
|
||||
|
||||
undist->imageSize = cv::Size (in_width, in_height);
|
||||
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
/*
|
||||
* Performs the camera undistort
|
||||
*/
|
||||
static GstFlowReturn
|
||||
gst_camera_undistort_transform_frame (GstOpencvVideoFilter * cvfilter,
|
||||
G_GNUC_UNUSED GstBuffer * frame, cv::Mat img,
|
||||
G_GNUC_UNUSED GstBuffer * outframe, cv::Mat outimg)
|
||||
{
|
||||
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter);
|
||||
|
||||
camera_undistort_run (undist, img, outimg);
|
||||
|
||||
return GST_FLOW_OK;
|
||||
}
|
||||
|
||||
static void
|
||||
camera_undistort_run (GstCameraUndistort * undist, cv::Mat img, cv::Mat outimg)
|
||||
{
|
||||
/* TODO is settingsChanged handling thread safe ? */
|
||||
if (undist->settingsChanged) {
|
||||
/* settings have changed, need to recompute undistort */
|
||||
undist->settingsChanged = FALSE;
|
||||
undist->doUndistort = FALSE;
|
||||
if (undist->showUndistorted && undist->settings) {
|
||||
if (camera_deserialize_undistort_settings (undist->settings,
|
||||
undist->cameraMatrix, undist->distCoeffs)) {
|
||||
undist->doUndistort =
|
||||
camera_undistort_init_undistort_rectify_map (undist);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (undist->showUndistorted && undist->doUndistort) {
|
||||
|
||||
/* Declare input and output images as UMat to enable potential OpenCL acceleration. */
|
||||
/* UMat allows OpenCV to automatically use GPU if available and configured. */
|
||||
cv::UMat cv_input_umat, cv_output_umat;
|
||||
|
||||
/* convert Mat to UMat */
|
||||
img.copyTo(cv_input_umat);
|
||||
|
||||
/* do the undistort */
|
||||
cv::remap (cv_input_umat, cv_output_umat, undist->map1.getUMat(cv::ACCESS_READ), undist->map2.getUMat(cv::ACCESS_READ), cv::INTER_LINEAR);
|
||||
|
||||
/* UMat output back to Mat */
|
||||
cv_output_umat.copyTo(outimg);
|
||||
|
||||
// old remap function, without GPU support
|
||||
/* do the undistort */
|
||||
// cv::remap (img, outimg, undist->map1, undist->map2, cv::INTER_LINEAR);
|
||||
|
||||
if (undist->crop) {
|
||||
/* TODO do the cropping */
|
||||
const cv::Scalar CROP_COLOR (0, 255, 0);
|
||||
cv::rectangle (outimg, undist->validPixROI, CROP_COLOR);
|
||||
}
|
||||
} else {
|
||||
/* FIXME should use pass through to avoid this copy when not undistorting */
|
||||
img.copyTo (outimg);
|
||||
}
|
||||
}
|
||||
|
||||
/* compute undistort */
|
||||
static gboolean
|
||||
camera_undistort_init_undistort_rectify_map (GstCameraUndistort * undist)
|
||||
{
|
||||
cv::Size newImageSize;
|
||||
cv::Rect validPixROI;
|
||||
cv::Mat newCameraMatrix =
|
||||
cv::getOptimalNewCameraMatrix (undist->cameraMatrix, undist->distCoeffs,
|
||||
undist->imageSize, undist->alpha, newImageSize, &validPixROI);
|
||||
undist->validPixROI = validPixROI;
|
||||
|
||||
cv::initUndistortRectifyMap (undist->cameraMatrix, undist->distCoeffs,
|
||||
cv::Mat (), newCameraMatrix, undist->imageSize, CV_16SC2, undist->map1,
|
||||
undist->map2);
|
||||
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
static gboolean
|
||||
camera_undistort_calibration_event (GstCameraUndistort * undist,
|
||||
GstEvent * event)
|
||||
{
|
||||
g_free (undist->settings);
|
||||
|
||||
if (!gst_camera_event_parse_calibrated (event, &(undist->settings))) {
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
undist->settingsChanged = TRUE;
|
||||
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
static gboolean
|
||||
gst_camera_undistort_sink_event (GstBaseTransform * trans, GstEvent * event)
|
||||
{
|
||||
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans);
|
||||
|
||||
const GstStructure *structure = gst_event_get_structure (event);
|
||||
|
||||
if (GST_EVENT_TYPE (event) == GST_EVENT_CUSTOM_BOTH && structure) {
|
||||
if (strcmp (gst_structure_get_name (structure),
|
||||
GST_CAMERA_EVENT_CALIBRATED_NAME) == 0) {
|
||||
return camera_undistort_calibration_event (undist, event);
|
||||
}
|
||||
}
|
||||
|
||||
return
|
||||
GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->sink_event
|
||||
(trans, event);
|
||||
}
|
||||
|
||||
static gboolean
|
||||
gst_camera_undistort_src_event (GstBaseTransform * trans, GstEvent * event)
|
||||
{
|
||||
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans);
|
||||
|
||||
const GstStructure *structure = gst_event_get_structure (event);
|
||||
|
||||
if (GST_EVENT_TYPE (event) == GST_EVENT_CUSTOM_BOTH && structure) {
|
||||
if (strcmp (gst_structure_get_name (structure),
|
||||
GST_CAMERA_EVENT_CALIBRATED_NAME) == 0) {
|
||||
return camera_undistort_calibration_event (undist, event);
|
||||
}
|
||||
}
|
||||
|
||||
return
|
||||
GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->src_event
|
||||
(trans, event);
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user