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authorPhilippe Renon <philippe_renon@yahoo.fr>2017-10-16 22:29:01 +0200
committerNicolas Dufresne <nicolas.dufresne@collabora.com>2018-08-01 22:04:17 -0400
commitf460448198e44676b41c95ff5f32401f1b54fd4e (patch)
tree5cc8b74cede56e2c8e9a11c5d7d08e87963e6883
parent8ede252a8a3da38a63e1ce8a27a29313f29efc16 (diff)
opencv: new cameracalibrate and cameraundistort elements
https://bugzilla.gnome.org/show_bug.cgi?id=789075
-rw-r--r--ext/opencv/Makefile.am10
-rw-r--r--ext/opencv/cameraevent.cpp83
-rw-r--r--ext/opencv/cameraevent.hpp37
-rw-r--r--ext/opencv/camerautils.cpp43
-rw-r--r--ext/opencv/camerautils.hpp34
-rw-r--r--ext/opencv/gstcameracalibrate.cpp730
-rw-r--r--ext/opencv/gstcameracalibrate.h113
-rw-r--r--ext/opencv/gstcameraundistort.cpp418
-rw-r--r--ext/opencv/gstcameraundistort.h104
-rw-r--r--ext/opencv/gstopencv.cpp8
-rw-r--r--ext/opencv/meson.build6
11 files changed, 1584 insertions, 2 deletions
diff --git a/ext/opencv/Makefile.am b/ext/opencv/Makefile.am
index 72700187d..c6e15e4a4 100644
--- a/ext/opencv/Makefile.am
+++ b/ext/opencv/Makefile.am
@@ -23,7 +23,11 @@ libgstopencv_la_SOURCES = gstopencv.cpp \
gstdisparity.cpp \
motioncells_wrapper.cpp \
MotionCells.cpp \
- gstdewarp.cpp
+ gstdewarp.cpp \
+ camerautils.cpp \
+ cameraevent.cpp \
+ gstcameracalibrate.cpp \
+ gstcameraundistort.cpp
libgstopencv_la_CXXFLAGS = \
-I$(top_srcdir)/gst-libs \
@@ -72,6 +76,10 @@ noinst_HEADERS = \
motioncells_wrapper.h \
MotionCells.h \
gstdewarp.h
+ camerautils.hpp \
+ cameraevent.hpp \
+ gstcameracalibrate.hpp \
+ gstcameraundistort.hpp
opencv_haarcascadesdir = $(pkgdatadir)/$(GST_API_VERSION)/opencv_haarcascades
opencv_haarcascades_DATA = fist.xml palm.xml
diff --git a/ext/opencv/cameraevent.cpp b/ext/opencv/cameraevent.cpp
new file mode 100644
index 000000000..e24e87da3
--- /dev/null
+++ b/ext/opencv/cameraevent.cpp
@@ -0,0 +1,83 @@
+/* GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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.
+ */
+
+#include "cameraevent.hpp"
+
+#include <opencv2/opencv.hpp>
+
+/**
+ * gst_camera_event_new_calibrated:
+ * @settings: .
+ *
+ * Creates a new calibrated event.
+ *
+ * To parse an event created by gst_camera_event_new_calibrated() use
+ * gst_camera_event_parse_calibrated().
+ *
+ * Returns: The new GstEvent
+ */
+GstEvent *
+gst_camera_event_new_calibrated (gchar * settings)
+{
+ GstEvent *calibrated_event;
+ GstStructure *s;
+
+ s = gst_structure_new (GST_CAMERA_EVENT_CALIBRATED_NAME,
+ "undistort-settings", G_TYPE_STRING, g_strdup(settings), NULL);
+
+ calibrated_event = gst_event_new_custom (GST_EVENT_CUSTOM_BOTH, s);
+
+ return calibrated_event;
+}
+
+/**
+ * gst_camera_event_parse_calibrated:
+ * @event: A #GstEvent to parse
+ * @in_still: A boolean to receive the still-frame status from the event, or NULL
+ *
+ * Parse a #GstEvent, identify if it is a calibrated event, and
+ * return the s.
+ *
+ * Create a calibrated event using gst_camera_event_new_calibrated()
+ *
+ * Returns: %TRUE if the event is a valid calibrated event. %FALSE if not
+ */
+gboolean
+gst_camera_event_parse_calibrated (GstEvent * event, gchar ** settings)
+{
+ const GstStructure *s;
+
+ g_return_val_if_fail (event != NULL, FALSE);
+
+ if (GST_EVENT_TYPE (event) != GST_EVENT_CUSTOM_BOTH)
+ return FALSE; /* Not a calibrated event */
+
+ s = gst_event_get_structure (event);
+ if (s == NULL
+ || !gst_structure_has_name (s, GST_CAMERA_EVENT_CALIBRATED_NAME))
+ return FALSE; /* Not a calibrated event */
+
+ const gchar *str = gst_structure_get_string(s, "undistort-settings");
+ if (!str)
+ return FALSE; /* Not calibrated frame event */
+
+ *settings = g_strdup (str);
+
+ return TRUE;
+}
diff --git a/ext/opencv/cameraevent.hpp b/ext/opencv/cameraevent.hpp
new file mode 100644
index 000000000..ce416ab63
--- /dev/null
+++ b/ext/opencv/cameraevent.hpp
@@ -0,0 +1,37 @@
+/* GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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.
+ */
+
+#ifndef __GST_CAMERA_EVENT_H__
+#define __GST_CAMERA_EVENT_H__
+
+#include <gst/gst.h>
+
+G_BEGIN_DECLS
+
+#define GST_CAMERA_EVENT_CALIBRATED_NAME "GstEventCalibrated"
+
+/* camera calibration event creation and parsing */
+
+GstEvent *gst_camera_event_new_calibrated (gchar * settings);
+
+gboolean gst_camera_event_parse_calibrated (GstEvent * event, gchar ** settings);
+
+G_END_DECLS
+
+#endif /* __GST_CAMERA_EVENT_H__ */
diff --git a/ext/opencv/camerautils.cpp b/ext/opencv/camerautils.cpp
new file mode 100644
index 000000000..f581964b9
--- /dev/null
+++ b/ext/opencv/camerautils.cpp
@@ -0,0 +1,43 @@
+/* GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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.
+ */
+
+#include "camerautils.hpp"
+
+#include <opencv2/opencv.hpp>
+
+gchar *
+camera_serialize_undistort_settings (cv::Mat &cameraMatrix, cv::Mat &distCoeffs)
+{
+ cv::FileStorage fs(".xml", cv::FileStorage::WRITE + cv::FileStorage::MEMORY);
+ fs << "cameraMatrix" << cameraMatrix;
+ fs << "distCoeffs" << distCoeffs;
+ std::string buf = fs.releaseAndGetString();
+
+ return g_strdup(buf.c_str());
+}
+
+gboolean
+camera_deserialize_undistort_settings (gchar * str, cv::Mat &cameraMatrix, cv::Mat &distCoeffs)
+{
+ cv::FileStorage fs(str, cv::FileStorage::READ + cv::FileStorage::MEMORY);
+ fs["cameraMatrix"] >> cameraMatrix;
+ fs["distCoeffs"] >> distCoeffs;
+
+ return TRUE;
+}
diff --git a/ext/opencv/camerautils.hpp b/ext/opencv/camerautils.hpp
new file mode 100644
index 000000000..39e78912e
--- /dev/null
+++ b/ext/opencv/camerautils.hpp
@@ -0,0 +1,34 @@
+/* GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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.
+ */
+
+#ifndef __GST_CAMERA_UTILS_H__
+#define __GST_CAMERA_UTILS_H__
+
+#include <gst/gst.h>
+#include <cv.h>
+
+G_BEGIN_DECLS
+
+gchar *camera_serialize_undistort_settings (cv::Mat &cameraMatrix, cv::Mat &distCoeffs);
+
+gboolean camera_deserialize_undistort_settings (gchar *str, cv::Mat &cameraMatrix, cv::Mat &distCoeffs);
+
+G_END_DECLS
+
+#endif /* __GST_CAMERA_UTILS_H__ */
diff --git a/ext/opencv/gstcameracalibrate.cpp b/ext/opencv/gstcameracalibrate.cpp
new file mode 100644
index 000000000..ba59a194b
--- /dev/null
+++ b/ext/opencv/gstcameracalibrate.cpp
@@ -0,0 +1,730 @@
+/*
+ * GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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-cameraundistort
+ *
+ * This element performs camera calibration.
+ *
+ * Once the calibration procedure is done:
+ * - An event, containing the camera correction parameters, is sent upstream
+ * and downstream to be consumed by cameraundistort elements.
+ * - The _settings_ property is set to the camera correction parameters (as
+ * an opaque string of serialized OpenCV objects).
+ * The value of this property can later be used to configure a
+ * cameraundistort element.
+ * - The element becomes idle and can later be restarted [TODO].
+ *
+ * Based on this tutorial: https://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
+ *
+ * <refsect2>
+ * <title>Example pipelines</title>
+ * |[
+ * gst-launch-1.0 -v v4l2src ! videoconvert ! cameraundistort ! cameracalibrate | autovideosink
+ * ]| will correct camera distortion once camera calibration is done.
+ * </refsect2>
+ */
+
+/*
+ * TODO
+ * - signal when calibration is done
+ * - action signal to start calibration
+ * - do pattern detection asynchronously
+ * - do final calibration computation asynchronously
+ * - use cairo for drawing overlay
+ * - use overlay
+ * - implement settings query
+ * - validate user settings (see validate() in tutorial)
+ * - save complete state (see saveCameraParams() in tutorial)
+ */
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include "gstcameracalibrate.h"
+
+#if (CV_MAJOR_VERSION >= 3)
+#include <opencv2/imgproc.hpp>
+#endif
+#include <opencv2/calib3d.hpp>
+
+#include <gst/opencv/gstopencvutils.h>
+
+#include "camerautils.hpp"
+#include "cameraevent.hpp"
+
+#include <vector>
+
+GST_DEBUG_CATEGORY_STATIC (gst_camera_calibrate_debug);
+#define GST_CAT_DEFAULT gst_camera_calibrate_debug
+
+#define DEFAULT_CALIBRATON_PATTERN GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD
+#define DEFAULT_BOARD_WIDTH 9
+#define DEFAULT_BOARD_HEIGHT 6
+#define DEFAULT_SQUARE_SIZE 50
+#define DEFAULT_ASPECT_RATIO 1.0
+#define DEFAULT_CORNER_SUB_PIXEL true
+#define DEFAULT_ZERO_TANGENT_DISTORTION FALSE
+#define DEFAULT_CENTER_PRINCIPAL_POINT FALSE
+#define DEFAULT_USE_FISHEYE FALSE
+#define DEFAULT_FRAME_COUNT 25
+#define DEFAULT_DELAY 350
+#define DEFAULT_SHOW_CORNERS true
+
+enum
+{
+ PROP_0,
+ PROP_CALIBRATON_PATTERN,
+ PROP_BOARD_WIDTH,
+ PROP_BOARD_HEIGHT,
+ PROP_SQUARE_SIZE,
+ PROP_ASPECT_RATIO,
+ PROP_CORNER_SUB_PIXEL,
+ PROP_ZERO_TANGENT_DISTORTION,
+ PROP_CENTER_PRINCIPAL_POINT,
+ PROP_USE_FISHEYE,
+ PROP_FRAME_COUNT,
+ PROP_DELAY,
+ PROP_SHOW_CORNERS,
+ PROP_SETTINGS
+};
+
+enum {
+ DETECTION = 0,
+ CAPTURING = 1,
+ CALIBRATED = 2
+};
+
+#define GST_TYPE_CAMERA_CALIBRATION_PATTERN (camera_calibration_pattern_get_type ())
+
+static GType
+camera_calibration_pattern_get_type (void)
+{
+ static GType camera_calibration_pattern_type = 0;
+ static const GEnumValue camera_calibration_pattern[] = {
+ {GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD, "Chessboard", "chessboard"},
+ {GST_CAMERA_CALIBRATION_PATTERN_CIRCLES_GRID, "Circle Grids", "circle_grids"},
+ {GST_CAMERA_CALIBRATION_PATTERN_ASYMMETRIC_CIRCLES_GRID, "Asymmetric Circle Grids", "asymmetric_circle_grids"},
+ {0, NULL, NULL},
+ };
+
+ if (!camera_calibration_pattern_type) {
+ camera_calibration_pattern_type =
+ g_enum_register_static ("GstCameraCalibrationPattern", camera_calibration_pattern);
+ }
+ return camera_calibration_pattern_type;
+}
+
+G_DEFINE_TYPE (GstCameraCalibrate, gst_camera_calibrate, GST_TYPE_OPENCV_VIDEO_FILTER);
+
+static void gst_camera_calibrate_dispose (GObject * object);
+static void gst_camera_calibrate_set_property (GObject * object, guint prop_id,
+ const GValue * value, GParamSpec * pspec);
+static void gst_camera_calibrate_get_property (GObject * object, guint prop_id,
+ GValue * value, GParamSpec * pspec);
+
+static GstFlowReturn gst_camera_calibrate_transform_frame_ip (
+ GstOpencvVideoFilter * cvfilter, GstBuffer * frame, IplImage * img);
+
+/* clean up */
+static void
+gst_camera_calibrate_finalize (GObject * obj)
+{
+ G_OBJECT_CLASS (gst_camera_calibrate_parent_class)->finalize (obj);
+}
+
+/* initialize the cameracalibration's class */
+static void
+gst_camera_calibrate_class_init (GstCameraCalibrateClass * klass)
+{
+ GObjectClass *gobject_class = G_OBJECT_CLASS (klass);
+ GstElementClass *element_class = GST_ELEMENT_CLASS (klass);
+ GstOpencvVideoFilterClass *opencvfilter_class = GST_OPENCV_VIDEO_FILTER_CLASS (klass);
+ GstCaps *caps;
+ GstPadTemplate *templ;
+
+ gobject_class->finalize = GST_DEBUG_FUNCPTR (gst_camera_calibrate_finalize);
+ gobject_class->dispose = GST_DEBUG_FUNCPTR (gst_camera_calibrate_dispose);
+ gobject_class->set_property = gst_camera_calibrate_set_property;
+ gobject_class->get_property = gst_camera_calibrate_get_property;
+
+ opencvfilter_class->cv_trans_ip_func =
+ gst_camera_calibrate_transform_frame_ip;
+
+ g_object_class_install_property (gobject_class, PROP_CALIBRATON_PATTERN,
+ g_param_spec_enum ("pattern", "Calibration Pattern",
+ "One of the chessboard, circles, or asymmetric circle pattern",
+ GST_TYPE_CAMERA_CALIBRATION_PATTERN, DEFAULT_CALIBRATON_PATTERN,
+ (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_BOARD_WIDTH,
+ g_param_spec_int ("board-width", "Board Width",
+ "The board width in number of items",
+ 1, G_MAXINT, DEFAULT_BOARD_WIDTH,
+ (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_BOARD_HEIGHT,
+ g_param_spec_int ("board-height", "Board Height",
+ "The board height in number of items",
+ 1, G_MAXINT, DEFAULT_BOARD_WIDTH,
+ (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_SQUARE_SIZE,
+ g_param_spec_float ("square-size", "Square Size",
+ "The size of a square in your defined unit (point, millimeter, etc.)",
+ 0.0, G_MAXFLOAT, DEFAULT_SQUARE_SIZE,
+ (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_ASPECT_RATIO,
+ g_param_spec_float ("aspect-ratio", "Aspect Ratio",
+ "The aspect ratio",
+ 0.0, G_MAXFLOAT, DEFAULT_ASPECT_RATIO,
+ (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_CORNER_SUB_PIXEL,
+ g_param_spec_boolean ("corner-sub-pixel", "Corner Sub Pixel",
+ "Improve corner detection accuracy for chessboard",
+ DEFAULT_CORNER_SUB_PIXEL, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_ZERO_TANGENT_DISTORTION,
+ g_param_spec_boolean ("zero-tangent-distorsion", "Zero Tangent Distorsion",
+ "Assume zero tangential distortion",
+ DEFAULT_ZERO_TANGENT_DISTORTION, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_CENTER_PRINCIPAL_POINT,
+ g_param_spec_boolean ("center-principal-point", "Center Principal Point",
+ "Fix the principal point at the center",
+ DEFAULT_CENTER_PRINCIPAL_POINT, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_USE_FISHEYE,
+ g_param_spec_boolean ("use-fisheye", "Use Fisheye",
+ "Use fisheye camera model for calibration",
+ DEFAULT_USE_FISHEYE, (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_DELAY,
+ g_param_spec_int ("delay", "Delay",
+ "Sampling periodicity in ms", 0, G_MAXINT,
+ DEFAULT_DELAY,
+ (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_FRAME_COUNT,
+ g_param_spec_int ("frame-count", "Frame Count",
+ "The number of frames to use from the input for calibration", 1, G_MAXINT,
+ DEFAULT_FRAME_COUNT,
+ (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+
+ g_object_class_install_property (gobject_class, PROP_SHOW_CORNERS,
+ g_param_spec_boolean ("show-corners", "Show Corners",
+ "Show corners",
+ DEFAULT_SHOW_CORNERS, (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_READABLE | G_PARAM_STATIC_STRINGS)));
+
+ gst_element_class_set_static_metadata (element_class,
+ "cameracalibrate",
+ "Filter/Effect/Video",
+ "Performs camera calibration",
+ "Philippe Renon <philippe_renon@yahoo.fr>");
+
+ /* add sink and source pad templates */
+ 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_calibrate_init (GstCameraCalibrate * calib)
+{
+ calib->calibrationPattern = DEFAULT_CALIBRATON_PATTERN;
+ calib->boardSize.width = DEFAULT_BOARD_WIDTH;
+ calib->boardSize.height = DEFAULT_BOARD_HEIGHT;
+ calib->squareSize = DEFAULT_SQUARE_SIZE;
+ calib->aspectRatio = DEFAULT_ASPECT_RATIO;
+ calib->cornerSubPix = DEFAULT_CORNER_SUB_PIXEL;
+ calib->calibZeroTangentDist = DEFAULT_ZERO_TANGENT_DISTORTION;
+ calib->calibFixPrincipalPoint = DEFAULT_CENTER_PRINCIPAL_POINT;
+ calib->useFisheye = DEFAULT_USE_FISHEYE;
+ calib->nrFrames = DEFAULT_FRAME_COUNT;
+ calib->delay = DEFAULT_DELAY;
+ calib->showCorners = DEFAULT_SHOW_CORNERS;
+
+ calib->flags = cv::CALIB_FIX_K4 | cv::CALIB_FIX_K5;
+ if (calib->calibFixPrincipalPoint) calib->flags |= cv::CALIB_FIX_PRINCIPAL_POINT;
+ if (calib->calibZeroTangentDist) calib->flags |= cv::CALIB_ZERO_TANGENT_DIST;
+ if (calib->aspectRatio) calib->flags |= cv::CALIB_FIX_ASPECT_RATIO;
+
+ if (calib->useFisheye) {
+ /* the fisheye model has its own enum, so overwrite the flags */
+ calib->flags = cv::fisheye::CALIB_FIX_SKEW | cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC |
+ /*cv::fisheye::CALIB_FIX_K1 |*/
+ cv::fisheye::CALIB_FIX_K2 | cv::fisheye::CALIB_FIX_K3 | cv::fisheye::CALIB_FIX_K4;
+ }
+
+ calib->mode = CAPTURING; //DETECTION;
+ calib->prevTimestamp = 0;
+
+ calib->imagePoints.clear();
+ calib->cameraMatrix = 0;
+ calib->distCoeffs = 0;
+
+ calib->settings = NULL;
+
+ gst_opencv_video_filter_set_in_place (
+ GST_OPENCV_VIDEO_FILTER_CAST (calib), TRUE);
+}
+
+static void
+gst_camera_calibrate_dispose (GObject * object)
+{
+ GstCameraCalibrate *calib = GST_CAMERA_CALIBRATE (object);
+
+ g_free (calib->settings);
+ calib->settings = NULL;
+
+ G_OBJECT_CLASS (gst_camera_calibrate_parent_class)->dispose (object);
+}
+
+static void
+gst_camera_calibrate_set_property (GObject * object, guint prop_id,
+ const GValue * value, GParamSpec * pspec)
+{
+ GstCameraCalibrate *calib = GST_CAMERA_CALIBRATE (object);
+
+ switch (prop_id) {
+ case PROP_CALIBRATON_PATTERN:
+ calib->calibrationPattern = g_value_get_enum (value);
+ break;
+ case PROP_BOARD_WIDTH:
+ calib->boardSize.width = g_value_get_int (value);
+ break;
+ case PROP_BOARD_HEIGHT:
+ calib->boardSize.height = g_value_get_int (value);
+ break;
+ case PROP_SQUARE_SIZE:
+ calib->squareSize = g_value_get_float (value);
+ break;
+ case PROP_ASPECT_RATIO:
+ calib->aspectRatio = g_value_get_float (value);
+ break;
+ case PROP_CORNER_SUB_PIXEL:
+ calib->cornerSubPix = g_value_get_boolean (value);
+ break;
+ case PROP_ZERO_TANGENT_DISTORTION:
+ calib->calibZeroTangentDist = g_value_get_boolean (value);
+ break;
+ case PROP_CENTER_PRINCIPAL_POINT:
+ calib->calibFixPrincipalPoint = g_value_get_boolean (value);
+ break;
+ case PROP_USE_FISHEYE:
+ calib->useFisheye = g_value_get_boolean (value);
+ break;
+ case PROP_FRAME_COUNT:
+ calib->nrFrames = g_value_get_int (value);
+ break;
+ case PROP_DELAY:
+ calib->delay = g_value_get_int (value);
+ break;
+ case PROP_SHOW_CORNERS:
+ calib->showCorners = g_value_get_boolean (value);
+ break;
+ default:
+ G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
+ break;
+ }
+}
+
+static void
+gst_camera_calibrate_get_property (GObject * object, guint prop_id,
+ GValue * value, GParamSpec * pspec)
+{
+ GstCameraCalibrate *calib = GST_CAMERA_CALIBRATE (object);
+
+ switch (prop_id) {
+ case PROP_CALIBRATON_PATTERN:
+ g_value_set_enum (value, calib->calibrationPattern);
+ break;
+ case PROP_BOARD_WIDTH:
+ g_value_set_int (value, calib->boardSize.width);
+ break;
+ case PROP_BOARD_HEIGHT:
+ g_value_set_int (value, calib->boardSize.height);
+ break;
+ case PROP_SQUARE_SIZE:
+ g_value_set_float (value, calib->squareSize);
+ break;
+ case PROP_ASPECT_RATIO:
+ g_value_set_float (value, calib->aspectRatio);
+ break;
+ case PROP_CORNER_SUB_PIXEL:
+ g_value_set_boolean (value, calib->cornerSubPix);
+ break;
+ case PROP_ZERO_TANGENT_DISTORTION:
+ g_value_set_boolean (value, calib->calibZeroTangentDist);
+ break;
+ case PROP_CENTER_PRINCIPAL_POINT:
+ g_value_set_boolean (value, calib->calibFixPrincipalPoint);
+ break;
+ case PROP_USE_FISHEYE:
+ g_value_set_boolean (value, calib->useFisheye);
+ break;
+ case PROP_FRAME_COUNT:
+ g_value_set_int (value, calib->nrFrames);
+ break;
+ case PROP_DELAY:
+ g_value_set_int (value, calib->delay);
+ break;
+ case PROP_SHOW_CORNERS:
+ g_value_set_boolean (value, calib->showCorners);
+ break;
+ case PROP_SETTINGS:
+ g_value_set_string (value, calib->settings);
+ break;
+ default:
+ G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
+ break;
+ }
+}
+
+void camera_calibrate_run(GstCameraCalibrate *calib, IplImage *img);
+
+/*
+ * Performs the camera calibration
+ */
+static GstFlowReturn
+gst_camera_calibrate_transform_frame_ip (GstOpencvVideoFilter * cvfilter,
+ G_GNUC_UNUSED GstBuffer * frame, IplImage * img)
+{
+ GstCameraCalibrate *calib = GST_CAMERA_CALIBRATE (cvfilter);
+
+ camera_calibrate_run(calib, img);
+
+ return GST_FLOW_OK;
+}
+
+bool camera_calibrate_calibrate(GstCameraCalibrate *calib,
+ cv::Size imageSize, cv::Mat& cameraMatrix, cv::Mat& distCoeffs,
+ std::vector<std::vector<cv::Point2f> > imagePoints );
+
+void camera_calibrate_run(GstCameraCalibrate *calib, IplImage *img)
+{
+ cv::Mat view = cv::cvarrToMat(img);
+
+ // For camera only take new samples after delay time
+ if (calib->mode == CAPTURING) {
+ // get_input
+ cv::Size imageSize = view.size();
+
+ /* find_pattern
+ * FIXME find ways to reduce CPU usage
+ * don't do it on all frames ? will it help ? corner display will be affected.
+ * in a separate frame?
+ * in a separate element that gets composited back into the main stream
+ * (video is tee-d into it and can then be decimated, scaled, etc..) */
+
+ std::vector<cv::Point2f> pointBuf;
+ bool found;
+ int chessBoardFlags = cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_NORMALIZE_IMAGE;
+
+ if (!calib->useFisheye) {
+ /* fast check erroneously fails with high distortions like fisheye */
+ chessBoardFlags |= cv::CALIB_CB_FAST_CHECK;
+ }
+
+ /* Find feature points on the input format */
+ switch(calib->calibrationPattern) {
+ case GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD:
+ found = cv::findChessboardCorners(view, calib->boardSize, pointBuf, chessBoardFlags);
+ break;
+ case GST_CAMERA_CALIBRATION_PATTERN_CIRCLES_GRID:
+ found = cv::findCirclesGrid(view, calib->boardSize, pointBuf);
+ break;
+ case GST_CAMERA_CALIBRATION_PATTERN_ASYMMETRIC_CIRCLES_GRID:
+ found = cv::findCirclesGrid(view, calib->boardSize, pointBuf, cv::CALIB_CB_ASYMMETRIC_GRID );
+ break;
+ default:
+ found = FALSE;
+ break;
+ }
+
+ bool blinkOutput = FALSE;
+ if (found) {
+ /* improve the found corners' coordinate accuracy for chessboard */
+ if (calib->calibrationPattern == GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD && calib->cornerSubPix) {
+ /* FIXME findChessboardCorners and alike do a cv::COLOR_BGR2GRAY (and a histogram balance)
+ * the color convert should be done once (if needed) and shared
+ * FIXME keep viewGray around to avoid reallocating it each time... */
+ cv::Mat viewGray;
+ cv::cvtColor(view, viewGray, cv::COLOR_BGR2GRAY);
+ cv::cornerSubPix(viewGray, pointBuf, cv::Size(11, 11), cv::Size(-1, -1),
+ cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 30, 0.1));
+ }
+
+ /* take new samples after delay time */
+ if ((calib->mode == CAPTURING) && ((clock() - calib->prevTimestamp) > calib->delay * 1e-3 * CLOCKS_PER_SEC)) {
+ calib->imagePoints.push_back(pointBuf);
+ calib->prevTimestamp = clock();
+ blinkOutput = true;
+ }
+
+ /* draw the corners */
+ if (calib->showCorners) {
+ cv::drawChessboardCorners(view, calib->boardSize, cv::Mat(pointBuf), found);
+ }
+ }
+
+ /* if got enough frames then stop calibration and show result */
+ if (calib->mode == CAPTURING && calib->imagePoints.size() >= (size_t)calib->nrFrames) {
+
+ if (camera_calibrate_calibrate(calib, imageSize, calib->cameraMatrix, calib->distCoeffs, calib->imagePoints)) {
+ calib->mode = CALIBRATED;
+
+ GstPad *sink_pad = GST_BASE_TRANSFORM_SINK_PAD (calib);
+ GstPad *src_pad = GST_BASE_TRANSFORM_SRC_PAD (calib);
+ GstEvent *sink_event;
+ GstEvent *src_event;
+
+ /* set settings property */
+ g_free (calib->settings);
+ calib->settings = camera_serialize_undistort_settings(calib->cameraMatrix, calib->distCoeffs);
+
+ /* create calibrated event and send upstream and downstream */
+ sink_event = gst_camera_event_new_calibrated (calib->settings);
+ GST_LOG_OBJECT (sink_pad, "Sending upstream event %s.", GST_EVENT_TYPE_NAME (sink_event));
+ if (!gst_pad_push_event (sink_pad, sink_event)) {
+ GST_WARNING_OBJECT (sink_pad, "Sending upstream event %p (%s) failed.",
+ sink_event, GST_EVENT_TYPE_NAME (sink_event));
+ }
+
+ src_event = gst_camera_event_new_calibrated (calib->settings);
+ GST_LOG_OBJECT (src_pad, "Sending downstream event %s.", GST_EVENT_TYPE_NAME (src_event));
+ if (!gst_pad_push_event (src_pad, src_event)) {
+ GST_WARNING_OBJECT (src_pad, "Sending downstream event %p (%s) failed.",
+ src_event, GST_EVENT_TYPE_NAME (src_event));
+ }
+ } else {
+ /* failed to calibrate, go back to detection mode */
+ calib->mode = DETECTION;
+ }
+ }
+
+ if (calib->mode == CAPTURING && blinkOutput) {
+ bitwise_not(view, view);
+ }
+
+ }
+
+ /* output text */
+ /* FIXME ll additional rendering (text, corners, ...) should be done with
+ * cairo or another gst framework.
+ * this will relax the conditions on the input format (RBG only at the moment).
+ * the calibration itself accepts more formats... */
+
+ std::string msg = (calib->mode == CAPTURING) ? "100/100" :
+ (calib->mode == CALIBRATED) ? "Calibrated" : "Waiting...";
+ int baseLine = 0;
+ cv::Size textSize = cv::getTextSize(msg, 1, 1, 1, &baseLine);
+ cv::Point textOrigin(view.cols - 2 * textSize.width - 10, view.rows - 2 * baseLine - 10);
+
+ if (calib->mode == CAPTURING) {
+ msg = cv::format("%d/%d", (int)calib->imagePoints.size(), calib->nrFrames);
+ }
+
+ const cv::Scalar RED(0,0,255);
+ const cv::Scalar GREEN(0,255,0);
+
+ cv::putText(view, msg, textOrigin, 1, 1, calib->mode == CALIBRATED ? GREEN : RED);
+}
+
+static double camera_calibrate_calc_reprojection_errors (
+ const std::vector<std::vector<cv::Point3f> >& objectPoints,
+ const std::vector<std::vector<cv::Point2f> >& imagePoints,
+ const std::vector<cv::Mat>& rvecs, const std::vector<cv::Mat>& tvecs,
+ const cv::Mat& cameraMatrix , const cv::Mat& distCoeffs,
+ std::vector<float>& perViewErrors, bool fisheye)
+{
+ std::vector<cv::Point2f> imagePoints2;
+ size_t totalPoints = 0;
+ double totalErr = 0, err;
+ perViewErrors.resize(objectPoints.size());
+
+ for(size_t i = 0; i < objectPoints.size(); ++i)
+ {
+ if (fisheye)
+ {
+ cv::fisheye::projectPoints(objectPoints[i], imagePoints2,
+ rvecs[i], tvecs[i], cameraMatrix, distCoeffs);
+ }
+ else
+ {
+ cv::projectPoints(objectPoints[i], rvecs[i], tvecs[i],
+ cameraMatrix, distCoeffs, imagePoints2);
+ }
+ err = cv::norm(imagePoints[i], imagePoints2, cv::NORM_L2);
+
+ size_t n = objectPoints[i].size();
+ perViewErrors[i] = (float) std::sqrt(err*err/n);
+ totalErr += err*err;
+ totalPoints += n;
+ }
+
+ return std::sqrt(totalErr/totalPoints);
+}
+
+static void camera_calibrate_calc_corners (cv::Size boardSize, float squareSize,
+ std::vector<cv::Point3f>& corners, gint patternType /*= CHESSBOARD*/)
+{
+ corners.clear();
+
+ switch(patternType) {
+ case GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD:
+ case GST_CAMERA_CALIBRATION_PATTERN_CIRCLES_GRID:
+ for( int i = 0; i < boardSize.height; ++i)
+ for( int j = 0; j < boardSize.width; ++j)
+ corners.push_back(cv::Point3f(j * squareSize, i * squareSize, 0));
+ break;
+ case GST_CAMERA_CALIBRATION_PATTERN_ASYMMETRIC_CIRCLES_GRID:
+ for( int i = 0; i < boardSize.height; i++)
+ for( int j = 0; j < boardSize.width; j++)
+ corners.push_back(cv::Point3f((2 * j + i % 2) * squareSize, i * squareSize, 0));
+ break;
+ default:
+ break;
+ }
+}
+
+static bool camera_calibrate_calibrate_full(GstCameraCalibrate *calib,
+ cv::Size& imageSize, cv::Mat& cameraMatrix, cv::Mat& distCoeffs,
+ std::vector<std::vector<cv::Point2f> > imagePoints,
+ std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs,
+ std::vector<float>& reprojErrs, double& totalAvgErr)
+{
+ cameraMatrix = cv::Mat::eye(3, 3, CV_64F);
+ if (calib->flags & cv::CALIB_FIX_ASPECT_RATIO) {
+ cameraMatrix.at<double>(0,0) = calib->aspectRatio;
+ }
+ if (calib->useFisheye) {
+ distCoeffs = cv::Mat::zeros(4, 1, CV_64F);
+ } else {
+ distCoeffs = cv::Mat::zeros(8, 1, CV_64F);
+ }
+
+ std::vector<std::vector<cv::Point3f> > objectPoints(1);
+ camera_calibrate_calc_corners (calib->boardSize, calib->squareSize,
+ objectPoints[0], calib->calibrationPattern);
+
+ objectPoints.resize(imagePoints.size(), objectPoints[0]);
+
+ /* Find intrinsic and extrinsic camera parameters */
+ double rms;
+
+ if (calib->useFisheye) {
+ cv::Mat _rvecs, _tvecs;
+ rms = cv::fisheye::calibrate(objectPoints, imagePoints, imageSize,
+ cameraMatrix, distCoeffs, _rvecs, _tvecs, calib->flags);
+
+ rvecs.reserve(_rvecs.rows);
+ tvecs.reserve(_tvecs.rows);
+ for(int i = 0; i < int(objectPoints.size()); i++){
+ rvecs.push_back(_rvecs.row(i));
+ tvecs.push_back(_tvecs.row(i));
+ }
+ } else {
+ rms = cv::calibrateCamera(objectPoints, imagePoints, imageSize,
+ cameraMatrix, distCoeffs, rvecs, tvecs, calib->flags);
+ }
+
+ GST_LOG_OBJECT (calib,
+ "Re-projection error reported by calibrateCamera: %f", rms);
+
+ bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
+
+ totalAvgErr = camera_calibrate_calc_reprojection_errors (objectPoints, imagePoints,
+ rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs, calib->useFisheye);
+
+ return ok;
+}
+
+bool camera_calibrate_calibrate(GstCameraCalibrate *calib,
+ cv::Size imageSize, cv::Mat& cameraMatrix, cv::Mat& distCoeffs,
+ std::vector<std::vector<cv::Point2f> > imagePoints)
+{
+ std::vector<cv::Mat> rvecs, tvecs;
+ std::vector<float> reprojErrs;
+ double totalAvgErr = 0;
+
+ bool ok = camera_calibrate_calibrate_full(calib,
+ imageSize, cameraMatrix, distCoeffs, imagePoints,
+ rvecs, tvecs, reprojErrs, totalAvgErr);
+ GST_LOG_OBJECT (calib, (ok ? "Calibration succeeded" : "Calibration failed"));
+ /* + ". avg re projection error = " + totalAvgErr);*/
+
+ return ok;
+}
+
+/* entry point to initialize the plug-in
+ * initialize the plug-in itself
+ * register the element factories and other features
+ */
+gboolean
+gst_camera_calibrate_plugin_init (GstPlugin * plugin)
+{
+ /* debug category for filtering log messages */
+ GST_DEBUG_CATEGORY_INIT (gst_camera_calibrate_debug, "cameracalibrate",
+ 0,
+ "Performs camera calibration");
+
+ return gst_element_register (plugin, "cameracalibrate", GST_RANK_NONE,
+ GST_TYPE_CAMERA_CALIBRATE);
+}
diff --git a/ext/opencv/gstcameracalibrate.h b/ext/opencv/gstcameracalibrate.h
new file mode 100644
index 000000000..8fe4a5de9
--- /dev/null
+++ b/ext/opencv/gstcameracalibrate.h
@@ -0,0 +1,113 @@
+/*
+ * GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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.
+ */
+
+#ifndef __GST_CAMERA_CALIBRATE_H__
+#define __GST_CAMERA_CALIBRATE_H__
+
+#include <gst/gst.h>
+
+#include <gst/opencv/gstopencvvideofilter.h>
+
+#include <opencv2/core.hpp>
+
+G_BEGIN_DECLS
+
+#define GST_TYPE_CAMERA_CALIBRATE \
+ (gst_camera_calibrate_get_type())
+#define GST_CAMERA_CALIBRATE(obj) \
+ (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_CAMERA_CALIBRATE,GstCameraCalibrate))
+#define GST_CAMERA_CALIBRATE_CLASS(klass) \
+ (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_CAMERA_CALIBRATE,GstCameraCalibrateClass))
+#define GST_IS_CAMERA_CALIBRATE(obj) \
+ (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_CAMERA_CALIBRATE))
+#define GST_IS_CAMERA_CALIBRATE_CLASS(klass) \
+ (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_CAMERA_CALIBRATE))
+typedef struct _GstCameraCalibrate GstCameraCalibrate;
+typedef struct _GstCameraCalibrateClass GstCameraCalibrateClass;
+
+enum _GstCameraCalibrationPattern {
+ GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD,
+ GST_CAMERA_CALIBRATION_PATTERN_CIRCLES_GRID,
+ GST_CAMERA_CALIBRATION_PATTERN_ASYMMETRIC_CIRCLES_GRID
+};
+
+struct _GstCameraCalibrate
+{
+ GstOpencvVideoFilter cvfilter;
+
+ // settings
+ gint calibrationPattern; // One of the chessboard, circles, or asymmetric circle pattern
+ cv::Size boardSize; // The size of the board -> Number of items by width and height
+ float squareSize; // The size of a square in your defined unit (point, millimeter,etc).
+ float aspectRatio; // The aspect ratio
+ bool cornerSubPix; //
+ bool calibZeroTangentDist; // Assume zero tangential distortion
+ bool calibFixPrincipalPoint; // Fix the principal point at the center
+ bool useFisheye; // use fisheye camera model for calibration
+ int nrFrames; // The number of frames to use from the input for calibration
+ int delay; // In case of a video input
+ bool showUndistorsed; // Show undistorted images after calibration
+ bool showCorners; // Show corners
+
+ // state
+ int flags;
+ int mode;
+ clock_t prevTimestamp;
+ std::vector<std::vector<cv::Point2f>> imagePoints;
+ cv::Mat cameraMatrix, distCoeffs;
+
+ // opaque string containing opencv calibration settings
+ gchar *settings;
+};
+
+struct _GstCameraCalibrateClass
+{
+ GstOpencvVideoFilterClass parent_class;
+};
+
+GType gst_camera_calibrate_get_type (void);
+
+gboolean gst_camera_calibrate_plugin_init (GstPlugin * plugin);
+
+G_END_DECLS
+#endif /* __GST_CAMERA_CALIBRATE_H__ */
diff --git a/ext/opencv/gstcameraundistort.cpp b/ext/opencv/gstcameraundistort.cpp
new file mode 100644
index 000000000..a50300851
--- /dev/null
+++ b/ext/opencv/gstcameraundistort.cpp
@@ -0,0 +1,418 @@
+/*
+ * GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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-cameraundistort
+ *
+ * This element performs camera distortion correction.
+ *
+ * Camera correction settings are obtained by running through
+ * the camera calibration process with the cameracalibrate element.
+ *
+ * It is possible to do live correction and calibration by chaining
+ * a cameraundistort and a cameracalibrate element. The cameracalibrate
+ * will send an event with the correction parameters to the the cameraundistort.
+ *
+ * Based on this tutorial: https://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
+ *
+ * <refsect2>
+ * <title>Example pipelines</title>
+ * |[
+ * gst-launch-1.0 -v v4l2src ! videoconvert ! cameraundistort settings="???" ! autovideosink
+ * ]| will correct camera distortion based on provided settings.
+ * |[
+ * gst-launch-1.0 -v v4l2src ! videoconvert ! cameraundistort ! cameracalibrate | autovideosink
+ * ]| will correct camera distortion once camera calibration is done.
+ * </refsect2>
+ */
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <vector>
+
+#include "camerautils.hpp"
+#include "cameraevent.hpp"
+
+#include "gstcameraundistort.h"
+
+#if (CV_MAJOR_VERSION >= 3)
+#include <opencv2/imgproc.hpp>
+#endif
+#include <opencv2/calib3d.hpp>
+
+#include <gst/opencv/gstopencvutils.h>
+
+GST_DEBUG_CATEGORY_STATIC (gst_camera_undistort_debug);
+#define GST_CAT_DEFAULT gst_camera_undistort_debug
+
+#define DEFAULT_SHOW_UNDISTORTED TRUE
+#define DEFAULT_ALPHA 0.0
+#define DEFAULT_CROP FALSE
+
+enum
+{
+ PROP_0,
+ PROP_SHOW_UNDISTORTED,
+ PROP_ALPHA,
+ PROP_CROP,
+ PROP_SETTINGS
+};
+
+G_DEFINE_TYPE (GstCameraUndistort, gst_camera_undistort, GST_TYPE_OPENCV_VIDEO_FILTER);
+
+static void gst_camera_undistort_dispose (GObject * object);
+static void gst_camera_undistort_set_property (GObject * object, guint prop_id,
+ const GValue * value, GParamSpec * pspec);
+static void gst_camera_undistort_get_property (GObject * object, guint prop_id,
+ GValue * value, GParamSpec * pspec);
+
+static gboolean gst_camera_undistort_set_info (GstOpencvVideoFilter * cvfilter,
+ gint in_width, gint in_height, gint in_depth, gint in_channels,
+ gint out_width, gint out_height, gint out_depth, gint out_channels);
+static GstFlowReturn gst_camera_undistort_transform_frame (
+ GstOpencvVideoFilter * cvfilter,
+ GstBuffer * frame, IplImage * img,
+ GstBuffer * outframe, IplImage * outimg);
+
+static gboolean gst_camera_undistort_sink_event (GstBaseTransform *trans, GstEvent *event);
+static gboolean gst_camera_undistort_src_event (GstBaseTransform *trans, GstEvent *event);
+
+static void camera_undistort_run(GstCameraUndistort *undist, IplImage *img, IplImage *outimg);
+static gboolean camera_undistort_init_undistort_rectify_map(GstCameraUndistort *undist);
+
+/* initialize the cameraundistort's class */
+static void
+gst_camera_undistort_class_init (GstCameraUndistortClass * klass)
+{
+ GObjectClass *gobject_class = G_OBJECT_CLASS (klass);
+ 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,
+ __attribute__((unused)) gint in_depth, __attribute__((unused)) gint in_channels,
+ __attribute__((unused)) gint out_width, __attribute__((unused)) gint out_height,
+ __attribute__((unused)) gint out_depth, __attribute__((unused)) gint out_channels)
+{
+ 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, IplImage * img,
+ G_GNUC_UNUSED GstBuffer * outframe, IplImage * outimg)
+{
+ GstCameraUndistort *undist = GST_CAMERA_UNDISTORT (cvfilter);
+
+ camera_undistort_run (undist, img, outimg);
+
+ return GST_FLOW_OK;
+}
+
+static void
+camera_undistort_run (GstCameraUndistort *undist, IplImage *img, IplImage *outimg)
+{
+ const cv::Mat view = cv::cvarrToMat (img);
+ cv::Mat outview = cv::cvarrToMat (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) {
+ /* do the undistort */
+ cv::remap (view, outview, undist->map1, undist->map2, cv::INTER_LINEAR);
+
+ if (undist->crop) {
+ /* TODO do the cropping */
+ const cv::Scalar CROP_COLOR (0, 255, 0);
+ cv::rectangle (outview, undist->validPixROI, CROP_COLOR);
+ }
+ }
+ else {
+ /* FIXME should use pass through to avoid this copy when not undistorting */
+ view.copyTo (outview);
+ }
+}
+
+/* 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);
+}
+
+/* entry point to initialize the plug-in
+ * initialize the plug-in itself
+ * register the element factories and other features
+ */
+gboolean
+gst_camera_undistort_plugin_init (GstPlugin * plugin)
+{
+ /* debug category for filtering log messages */
+ GST_DEBUG_CATEGORY_INIT (gst_camera_undistort_debug, "cameraundistort",
+ 0,
+ "Performs camera undistortion");
+
+ return gst_element_register (plugin, "cameraundistort", GST_RANK_NONE,
+ GST_TYPE_CAMERA_UNDISTORT);
+}
diff --git a/ext/opencv/gstcameraundistort.h b/ext/opencv/gstcameraundistort.h
new file mode 100644
index 000000000..4bbe86ec7
--- /dev/null
+++ b/ext/opencv/gstcameraundistort.h
@@ -0,0 +1,104 @@
+/*
+ * GStreamer
+ * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr>
+ *
+ * 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.
+ */
+
+#ifndef __GST_CAMERA_UNDISTORT_H__
+#define __GST_CAMERA_UNDISTORT_H__
+
+#include <gst/gst.h>
+
+#include <gst/opencv/gstopencvvideofilter.h>
+
+#include <opencv2/core.hpp>
+
+G_BEGIN_DECLS
+
+#define GST_TYPE_CAMERA_UNDISTORT \
+ (gst_camera_undistort_get_type())
+#define GST_CAMERA_UNDISTORT(obj) \
+ (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_CAMERA_UNDISTORT,GstCameraUndistort))
+#define GST_CAMERA_UNDISTORT_CLASS(klass) \
+ (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_CAMERA_UNDISTORT,GstCameraUndistortClass))
+#define GST_IS_CAMERA_UNDISTORT(obj) \
+ (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_CAMERA_UNDISTORT))
+#define GST_IS_CAMERA_UNDISTORT_CLASS(klass) \
+ (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_CAMERA_UNDISTORT))
+typedef struct _GstCameraUndistort GstCameraUndistort;
+typedef struct _GstCameraUndistortClass GstCameraUndistortClass;
+
+struct _GstCameraUndistort
+{
+ GstOpencvVideoFilter cvfilter;
+
+ // settings
+ bool showUndistorted;
+ float alpha;
+ bool crop;
+
+ // opaque string containing opencv calibration settings
+ gchar *settings;
+
+ // opencv calibration settings
+ cv::Mat cameraMatrix, distCoeffs;
+
+ // state
+ bool doUndistort;
+ bool settingsChanged;
+
+ // undistort
+ cv::Size imageSize;
+ cv::Mat map1, map2;
+ cv::Rect validPixROI;
+};
+
+struct _GstCameraUndistortClass
+{
+ GstOpencvVideoFilterClass parent_class;
+};
+
+GType gst_camera_undistort_get_type (void);
+
+gboolean gst_camera_undistort_plugin_init (GstPlugin * plugin);
+
+G_END_DECLS
+
+#endif /* __GST_CAMERA_UNDISTORT_H__ */
diff --git a/ext/opencv/gstopencv.cpp b/ext/opencv/gstopencv.cpp
index 522d36e5c..d301442e4 100644
--- a/ext/opencv/gstopencv.cpp
+++ b/ext/opencv/gstopencv.cpp
@@ -42,6 +42,8 @@
#include "gstgrabcut.h"
#include "gstdisparity.h"
#include "gstdewarp.h"
+#include "gstcameracalibrate.h"
+#include "gstcameraundistort.h"
static gboolean
plugin_init (GstPlugin * plugin)
@@ -103,6 +105,12 @@ plugin_init (GstPlugin * plugin)
if (!gst_dewarp_plugin_init (plugin))
return FALSE;
+ if (!gst_camera_calibrate_plugin_init (plugin))
+ return FALSE;
+
+ if (!gst_camera_undistort_plugin_init (plugin))
+ return FALSE;
+
return TRUE;
}
diff --git a/ext/opencv/meson.build b/ext/opencv/meson.build
index 64f0479c3..facf68c2a 100644
--- a/ext/opencv/meson.build
+++ b/ext/opencv/meson.build
@@ -21,7 +21,11 @@ gstopencv_sources = [
'gsttextoverlay.cpp',
'MotionCells.cpp',
'motioncells_wrapper.cpp',
- 'gstdewarp.cpp'
+ 'gstdewarp.cpp',
+ 'camerautils.cpp',
+ 'cameraevent.cpp',
+ 'gstcameracalibrate.cpp',
+ 'gstcameraundistort.cpp'
]
libopencv2_headers = [