1 /* 2 * GStreamer 3 * Copyright (C) <2017> Philippe Renon <philippe_renon@yahoo.fr> 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_CAMERA_CALIBRATE_H__ 45 #define __GST_CAMERA_CALIBRATE_H__ 46 47 #include <gst/gst.h> 48 49 #include <gst/opencv/gstopencvvideofilter.h> 50 51 #include <opencv2/core.hpp> 52 53 G_BEGIN_DECLS 54 55 #define GST_TYPE_CAMERA_CALIBRATE \ 56 (gst_camera_calibrate_get_type()) 57 #define GST_CAMERA_CALIBRATE(obj) \ 58 (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_CAMERA_CALIBRATE,GstCameraCalibrate)) 59 #define GST_CAMERA_CALIBRATE_CLASS(klass) \ 60 (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_CAMERA_CALIBRATE,GstCameraCalibrateClass)) 61 #define GST_IS_CAMERA_CALIBRATE(obj) \ 62 (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_CAMERA_CALIBRATE)) 63 #define GST_IS_CAMERA_CALIBRATE_CLASS(klass) \ 64 (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_CAMERA_CALIBRATE)) 65 typedef struct _GstCameraCalibrate GstCameraCalibrate; 66 typedef struct _GstCameraCalibrateClass GstCameraCalibrateClass; 67 68 enum _GstCameraCalibrationPattern { 69 GST_CAMERA_CALIBRATION_PATTERN_CHESSBOARD, 70 GST_CAMERA_CALIBRATION_PATTERN_CIRCLES_GRID, 71 GST_CAMERA_CALIBRATION_PATTERN_ASYMMETRIC_CIRCLES_GRID 72 }; 73 74 struct _GstCameraCalibrate 75 { 76 GstOpencvVideoFilter cvfilter; 77 78 // settings 79 gint calibrationPattern; // One of the chessboard, circles, or asymmetric circle pattern 80 cv::Size boardSize; // The size of the board -> Number of items by width and height 81 float squareSize; // The size of a square in your defined unit (point, millimeter,etc). 82 float aspectRatio; // The aspect ratio 83 bool cornerSubPix; // 84 bool calibZeroTangentDist; // Assume zero tangential distortion 85 bool calibFixPrincipalPoint; // Fix the principal point at the center 86 bool useFisheye; // use fisheye camera model for calibration 87 int nrFrames; // The number of frames to use from the input for calibration 88 int delay; // In case of a video input 89 bool showUndistorsed; // Show undistorted images after calibration 90 bool showCorners; // Show corners 91 92 // state 93 int flags; 94 int mode; 95 clock_t prevTimestamp; 96 std::vector<std::vector<cv::Point2f> > imagePoints; 97 cv::Mat cameraMatrix, distCoeffs; 98 99 // opaque string containing opencv calibration settings 100 gchar *settings; 101 }; 102 103 struct _GstCameraCalibrateClass 104 { 105 GstOpencvVideoFilterClass parent_class; 106 }; 107 108 GType gst_camera_calibrate_get_type (void); 109 110 gboolean gst_camera_calibrate_plugin_init (GstPlugin * plugin); 111 112 G_END_DECLS 113 #endif /* __GST_CAMERA_CALIBRATE_H__ */ 114