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cffd761d2e
...
6377ebf568
@ -65,75 +65,73 @@
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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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#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 <vector>
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#include "camerautils.hpp"
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#include "cameraevent.hpp"
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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 "gstcameraundistort.h"
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#include <opencv2/imgproc.hpp>
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#include <opencv2/calib3d.hpp>
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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 <gst/opencv/gstopencvutils.h>
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#include <opencv2/core/ocl.hpp>
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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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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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#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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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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};
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G_DEFINE_TYPE_WITH_CODE (GstCameraUndistort, gst_camera_undistort,
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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_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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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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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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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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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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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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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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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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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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/* 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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@ -185,14 +183,14 @@
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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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}
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/* initialize the new element
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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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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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@ -206,24 +204,24 @@
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undist->map2 = 0;
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undist->settings = NULL;
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}
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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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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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}
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static void
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gst_camera_undistort_set_property (GObject * object, guint prop_id,
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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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{
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GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
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const char *str;
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@ -253,12 +251,12 @@
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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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}
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static void
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gst_camera_undistort_get_property (GObject * object, guint prop_id,
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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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{
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GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (object);
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switch (prop_id) {
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@ -278,39 +276,39 @@
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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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}
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gboolean
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gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter,
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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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{
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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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/*
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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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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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{
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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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}
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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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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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@ -326,19 +324,8 @@
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}
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if (undist->showUndistorted && undist->doUndistort) {
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/* Declare input and output images as UMat to enable potential OpenCL acceleration. */
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/* UMat allows OpenCV to automatically use GPU if available and configured. */
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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, undist->map2, 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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cv::remap (img, outimg, undist->map1, undist->map2, cv::INTER_LINEAR);
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if (undist->crop) {
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/* TODO do the cropping */
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@ -349,12 +336,12 @@
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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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}
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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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/* 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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@ -367,12 +354,12 @@
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undist->map2);
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return TRUE;
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}
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}
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static gboolean
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camera_undistort_calibration_event (GstCameraUndistort * undist,
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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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{
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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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@ -382,11 +369,11 @@
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undist->settingsChanged = TRUE;
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return TRUE;
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}
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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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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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@ -401,11 +388,11 @@
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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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}
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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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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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@ -420,5 +407,4 @@
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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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}
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