1 /* 2 * GStreamer 3 * Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com> 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining a 6 * copy of this software and associated documentation files (the "Software"), 7 * to deal in the Software without restriction, including without limitation 8 * the rights to use, copy, modify, merge, publish, distribute, sublicense, 9 * and/or sell copies of the Software, and to permit persons to whom the 10 * Software is furnished to do so, subject to the following conditions: 11 * 12 * The above copyright notice and this permission notice shall be included in 13 * all copies or substantial portions of the Software. 14 * 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 20 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 21 * DEALINGS IN THE SOFTWARE. 22 * 23 * Alternatively, the contents of this file may be used under the 24 * GNU Lesser General Public License Version 2.1 (the "LGPL"), in 25 * which case the following provisions apply instead of the ones 26 * mentioned above: 27 * 28 * This library is free software; you can redistribute it and/or 29 * modify it under the terms of the GNU Library General Public 30 * License as published by the Free Software Foundation; either 31 * version 2 of the License, or (at your option) any later version. 32 * 33 * This library is distributed in the hope that it will be useful, 34 * but WITHOUT ANY WARRANTY; without even the implied warranty of 35 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 36 * Library General Public License for more details. 37 * 38 * You should have received a copy of the GNU Library General Public 39 * License along with this library; if not, write to the 40 * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, 41 * Boston, MA 02110-1301, USA. 42 */ 43 44 #ifndef __GST_DISPARITY_H__ 45 #define __GST_DISPARITY_H__ 46 47 #include <gst/gst.h> 48 #include <gst/video/video.h> 49 50 #include <opencv2/core.hpp> 51 #include <opencv2/calib3d.hpp> 52 53 G_BEGIN_DECLS 54 /* #defines don't like whitespacey bits */ 55 #define GST_TYPE_DISPARITY \ 56 (gst_disparity_get_type()) 57 #define GST_DISPARITY(obj) \ 58 (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_DISPARITY,GstDisparity)) 59 #define GST_DISPARITY_CLASS(klass) \ 60 (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_DISPARITY,GstDisparityClass)) 61 #define GST_IS_DISPARITY(obj) \ 62 (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_DISPARITY)) 63 #define GST_IS_DISPARITY_CLASS(klass) \ 64 (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_DISPARITY)) 65 typedef struct _GstDisparity GstDisparity; 66 typedef struct _GstDisparityClass GstDisparityClass; 67 68 struct _GstDisparity 69 { 70 GstElement element; 71 72 GstPad *sinkpad_left, *sinkpad_right, *srcpad; 73 GstCaps *caps; 74 75 gint method; 76 gboolean display; 77 78 int width; 79 int height; 80 int actualChannels; 81 82 GstBuffer *buffer_left; 83 GMutex lock; 84 GCond cond; 85 gboolean flushing; 86 87 cv::Size imgSize; 88 cv::Mat cvRGB_right; 89 cv::Mat cvRGB_left; 90 cv::Mat cvGray_right; 91 cv::Mat cvGray_left; 92 cv::Mat cvGray_depth_map1; /*IPL_DEPTH_16S */ 93 cv::Mat cvGray_depth_map2; /*IPL_DEPTH_8U */ 94 cv::Mat cvGray_depth_map1_2; /*IPL_DEPTH_16S */ 95 96 cv::Mat img_right_as_cvMat_gray; 97 cv::Mat img_left_as_cvMat_gray; 98 cv::Mat depth_map_as_cvMat; 99 100 cv::Ptr<cv::StereoBM> sbm; /* cv::StereoBM */ 101 cv::Ptr<cv::StereoSGBM> sgbm; /* cv::StereoSGBM */ 102 }; 103 104 struct _GstDisparityClass 105 { 106 GstElementClass parent_class; 107 }; 108 109 GType gst_disparity_get_type (void); 110 111 GST_ELEMENT_REGISTER_DECLARE (disparity); 112 113 G_END_DECLS 114 #endif /* __GST_DISPARITY_H__ */ 115