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base: FaSTTUBe:cffd761d2e9c99acc591273eea898eb9ff3c4bf0
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FaSTTUBe:main
FaSTTUBe:gstreamer-santo/yolo-object-detection-element
FaSTTUBe:OpenCL_acceleration
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compare: FaSTTUBe:6377ebf568749de0bd07bafdd578cb85895a1ade
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FaSTTUBe:gstreamer-santo/yolo-object-detection-element
FaSTTUBe:main
FaSTTUBe:OpenCL_acceleration

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178
subprojects/gst-plugins-bad/ext/opencv/gstcameraundistort.cpp
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@ -65,75 +65,73 @@
* ]| will correct camera distortion once camera calibration is done. * ]| will correct camera distortion once camera calibration is done.
*/ */
#ifdef HAVE_CONFIG_H #ifdef HAVE_CONFIG_H
# include <config.h> # include <config.h>
#endif #endif
#include <vector> #include <vector>
#include "camerautils.hpp" #include "camerautils.hpp"
#include "cameraevent.hpp" #include "cameraevent.hpp"
#include "gstcameraundistort.h" #include "gstcameraundistort.h"
#include <opencv2/imgproc.hpp> #include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp> #include <opencv2/calib3d.hpp>
#include <gst/opencv/gstopencvutils.h> #include <gst/opencv/gstopencvutils.h>
#include <opencv2/core/ocl.hpp> GST_DEBUG_CATEGORY_STATIC (gst_camera_undistort_debug);
#define GST_CAT_DEFAULT gst_camera_undistort_debug
GST_DEBUG_CATEGORY_STATIC (gst_camera_undistort_debug); #define DEFAULT_SHOW_UNDISTORTED TRUE
#define GST_CAT_DEFAULT gst_camera_undistort_debug #define DEFAULT_ALPHA 0.0
#define DEFAULT_CROP FALSE
#define DEFAULT_SHOW_UNDISTORTED TRUE enum
#define DEFAULT_ALPHA 0.0 {
#define DEFAULT_CROP FALSE
enum
{
PROP_0, PROP_0,
PROP_SHOW_UNDISTORTED, PROP_SHOW_UNDISTORTED,
PROP_ALPHA, PROP_ALPHA,
PROP_CROP, PROP_CROP,
PROP_SETTINGS PROP_SETTINGS
}; };
G_DEFINE_TYPE_WITH_CODE (GstCameraUndistort, gst_camera_undistort, G_DEFINE_TYPE_WITH_CODE (GstCameraUndistort, gst_camera_undistort,
GST_TYPE_OPENCV_VIDEO_FILTER, GST_TYPE_OPENCV_VIDEO_FILTER,
GST_DEBUG_CATEGORY_INIT (gst_camera_undistort_debug, "cameraundistort", 0, GST_DEBUG_CATEGORY_INIT (gst_camera_undistort_debug, "cameraundistort", 0,
"Performs camera undistortion"); "Performs camera undistortion");
); );
GST_ELEMENT_REGISTER_DEFINE (cameraundistort, "cameraundistort", GST_RANK_NONE, GST_ELEMENT_REGISTER_DEFINE (cameraundistort, "cameraundistort", GST_RANK_NONE,
GST_TYPE_CAMERA_UNDISTORT); GST_TYPE_CAMERA_UNDISTORT);
static void gst_camera_undistort_dispose (GObject * object); static void gst_camera_undistort_dispose (GObject * object);
static void gst_camera_undistort_set_property (GObject * object, guint prop_id, static void gst_camera_undistort_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec); const GValue * value, GParamSpec * pspec);
static void gst_camera_undistort_get_property (GObject * object, guint prop_id, static void gst_camera_undistort_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec); GValue * value, GParamSpec * pspec);
static gboolean gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter, static gboolean gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter,
gint in_width, gint in_height, int in_cv_type, gint in_width, gint in_height, int in_cv_type,
gint out_width, gint out_height, int out_cv_type); gint out_width, gint out_height, int out_cv_type);
static GstFlowReturn gst_camera_undistort_transform_frame (GstOpencvVideoFilter static GstFlowReturn gst_camera_undistort_transform_frame (GstOpencvVideoFilter
* cvfilter, GstBuffer * frame, cv::Mat img, GstBuffer * outframe, * cvfilter, GstBuffer * frame, cv::Mat img, GstBuffer * outframe,
cv::Mat outimg); cv::Mat outimg);
static gboolean gst_camera_undistort_sink_event (GstBaseTransform * trans, static gboolean gst_camera_undistort_sink_event (GstBaseTransform * trans,
GstEvent * event); GstEvent * event);
static gboolean gst_camera_undistort_src_event (GstBaseTransform * trans, static gboolean gst_camera_undistort_src_event (GstBaseTransform * trans,
GstEvent * event); GstEvent * event);
static void camera_undistort_run (GstCameraUndistort * undist, cv::Mat img, static void camera_undistort_run (GstCameraUndistort * undist, cv::Mat img,
cv::Mat outimg); cv::Mat outimg);
static gboolean camera_undistort_init_undistort_rectify_map (GstCameraUndistort static gboolean camera_undistort_init_undistort_rectify_map (GstCameraUndistort
* undist); * undist);
/* initialize the cameraundistort's class */ /* initialize the cameraundistort's class */
static void static void
gst_camera_undistort_class_init (GstCameraUndistortClass * klass) gst_camera_undistort_class_init (GstCameraUndistortClass * klass)
{ {
GObjectClass *gobject_class = G_OBJECT_CLASS (klass); GObjectClass *gobject_class = G_OBJECT_CLASS (klass);
GstElementClass *element_class = GST_ELEMENT_CLASS (klass); GstElementClass *element_class = GST_ELEMENT_CLASS (klass);
GstBaseTransformClass *trans_class = GST_BASE_TRANSFORM_CLASS (klass); GstBaseTransformClass *trans_class = GST_BASE_TRANSFORM_CLASS (klass);
@ -185,14 +183,14 @@
gst_element_class_add_pad_template (element_class, templ); gst_element_class_add_pad_template (element_class, templ);
templ = gst_pad_template_new ("src", GST_PAD_SRC, GST_PAD_ALWAYS, caps); templ = gst_pad_template_new ("src", GST_PAD_SRC, GST_PAD_ALWAYS, caps);
gst_element_class_add_pad_template (element_class, templ); gst_element_class_add_pad_template (element_class, templ);
} }
/* initialize the new element /* initialize the new element
* initialize instance structure * initialize instance structure
*/ */
static void static void
gst_camera_undistort_init (GstCameraUndistort * undist) gst_camera_undistort_init (GstCameraUndistort * undist)
{ {
undist->showUndistorted = DEFAULT_SHOW_UNDISTORTED; undist->showUndistorted = DEFAULT_SHOW_UNDISTORTED;
undist->alpha = DEFAULT_ALPHA; undist->alpha = DEFAULT_ALPHA;
undist->crop = DEFAULT_CROP; undist->crop = DEFAULT_CROP;
@ -206,24 +204,24 @@
undist->map2 = 0; undist->map2 = 0;
undist->settings = NULL; undist->settings = NULL;
} }
static void static void
gst_camera_undistort_dispose (GObject * object) gst_camera_undistort_dispose (GObject * object)
{ {
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object); GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
g_free (undist->settings); g_free (undist->settings);
undist->settings = NULL; undist->settings = NULL;
G_OBJECT_CLASS (gst_camera_undistort_parent_class)->dispose (object); G_OBJECT_CLASS (gst_camera_undistort_parent_class)->dispose (object);
} }
static void static void
gst_camera_undistort_set_property (GObject * object, guint prop_id, gst_camera_undistort_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec) const GValue * value, GParamSpec * pspec)
{ {
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object); GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
const char *str; const char *str;
@ -253,12 +251,12 @@
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec); G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break; break;
} }
} }
static void static void
gst_camera_undistort_get_property (GObject * object, guint prop_id, gst_camera_undistort_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec) GValue * value, GParamSpec * pspec)
{ {
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object); GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
switch (prop_id) { switch (prop_id) {
@ -278,39 +276,39 @@
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec); G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break; break;
} }
} }
gboolean gboolean
gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter, gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter,
gint in_width, gint in_height, G_GNUC_UNUSED int in_cv_type, 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 gint out_width, G_GNUC_UNUSED gint out_height,
G_GNUC_UNUSED int out_cv_type) G_GNUC_UNUSED int out_cv_type)
{ {
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter); GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter);
undist->imageSize = cv::Size (in_width, in_height); undist->imageSize = cv::Size (in_width, in_height);
return TRUE; return TRUE;
} }
/* /*
* Performs the camera undistort * Performs the camera undistort
*/ */
static GstFlowReturn static GstFlowReturn
gst_camera_undistort_transform_frame (GstOpencvVideoFilter * cvfilter, gst_camera_undistort_transform_frame (GstOpencvVideoFilter * cvfilter,
G_GNUC_UNUSED GstBuffer * frame, cv::Mat img, G_GNUC_UNUSED GstBuffer * frame, cv::Mat img,
G_GNUC_UNUSED GstBuffer * outframe, cv::Mat outimg) G_GNUC_UNUSED GstBuffer * outframe, cv::Mat outimg)
{ {
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter); GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter);
camera_undistort_run (undist, img, outimg); camera_undistort_run (undist, img, outimg);
return GST_FLOW_OK; return GST_FLOW_OK;
} }
static void static void
camera_undistort_run (GstCameraUndistort * undist, cv::Mat img, cv::Mat outimg) camera_undistort_run (GstCameraUndistort * undist, cv::Mat img, cv::Mat outimg)
{ {
/* TODO is settingsChanged handling thread safe ? */ /* TODO is settingsChanged handling thread safe ? */
if (undist->settingsChanged) { if (undist->settingsChanged) {
/* settings have changed, need to recompute undistort */ /* settings have changed, need to recompute undistort */
@ -326,19 +324,8 @@
} }
if (undist->showUndistorted && undist->doUndistort) { 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 */ /* do the undistort */
cv::remap (cv_input_umat, cv_output_umat, undist->map1, undist->map2, cv::INTER_LINEAR); cv::remap (img, outimg, undist->map1, undist->map2, cv::INTER_LINEAR);
/* UMat output back to Mat */
cv_output_umat.copyTo(outimg);
if (undist->crop) { if (undist->crop) {
/* TODO do the cropping */ /* TODO do the cropping */
@ -349,12 +336,12 @@
/* FIXME should use pass through to avoid this copy when not undistorting */ /* FIXME should use pass through to avoid this copy when not undistorting */
img.copyTo (outimg); img.copyTo (outimg);
} }
} }
/* compute undistort */ /* compute undistort */
static gboolean static gboolean
camera_undistort_init_undistort_rectify_map (GstCameraUndistort * undist) camera_undistort_init_undistort_rectify_map (GstCameraUndistort * undist)
{ {
cv::Size newImageSize; cv::Size newImageSize;
cv::Rect validPixROI; cv::Rect validPixROI;
cv::Mat newCameraMatrix = cv::Mat newCameraMatrix =
@ -367,12 +354,12 @@
undist->map2); undist->map2);
return TRUE; return TRUE;
} }
static gboolean static gboolean
camera_undistort_calibration_event (GstCameraUndistort * undist, camera_undistort_calibration_event (GstCameraUndistort * undist,
GstEvent * event) GstEvent * event)
{ {
g_free (undist->settings); g_free (undist->settings);
if (!gst_camera_event_parse_calibrated (event, &(undist->settings))) { if (!gst_camera_event_parse_calibrated (event, &(undist->settings))) {
@ -382,11 +369,11 @@
undist->settingsChanged = TRUE; undist->settingsChanged = TRUE;
return TRUE; return TRUE;
} }
static gboolean static gboolean
gst_camera_undistort_sink_event (GstBaseTransform * trans, GstEvent * event) gst_camera_undistort_sink_event (GstBaseTransform * trans, GstEvent * event)
{ {
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans); GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans);
const GstStructure *structure = gst_event_get_structure (event); const GstStructure *structure = gst_event_get_structure (event);
@ -401,11 +388,11 @@
return return
GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->sink_event GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->sink_event
(trans, event); (trans, event);
} }
static gboolean static gboolean
gst_camera_undistort_src_event (GstBaseTransform * trans, GstEvent * event) gst_camera_undistort_src_event (GstBaseTransform * trans, GstEvent * event)
{ {
GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans); GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (trans);
const GstStructure *structure = gst_event_get_structure (event); const GstStructure *structure = gst_event_get_structure (event);
@ -420,5 +407,4 @@
return return
GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->src_event GST_BASE_TRANSFORM_CLASS (gst_camera_undistort_parent_class)->src_event
(trans, event); (trans, event);
} }