| /* |
| * GStreamer |
| * Copyright (C) 2013 Miguel Casas-Sanchez <miguelecasassanchez@gmail.com> |
| * |
| * 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_DISPARITY_H__ |
| #define __GST_DISPARITY_H__ |
| |
| #include <gst/gst.h> |
| |
| #include <opencv2/legacy/legacy.hpp> |
| |
| G_BEGIN_DECLS |
| /* #defines don't like whitespacey bits */ |
| #define GST_TYPE_DISPARITY \ |
| (gst_disparity_get_type()) |
| #define GST_DISPARITY(obj) \ |
| (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_DISPARITY,GstDisparity)) |
| #define GST_DISPARITY_CLASS(klass) \ |
| (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_DISPARITY,GstDisparityClass)) |
| #define GST_IS_DISPARITY(obj) \ |
| (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_DISPARITY)) |
| #define GST_IS_DISPARITY_CLASS(klass) \ |
| (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_DISPARITY)) |
| typedef struct _GstDisparity GstDisparity; |
| typedef struct _GstDisparityClass GstDisparityClass; |
| |
| struct _GstDisparity |
| { |
| GstElement element; |
| |
| GstPad *sinkpad_left, *sinkpad_right, *srcpad; |
| GstCaps *caps; |
| |
| gint method; |
| gboolean display; |
| |
| int width; |
| int height; |
| int actualChannels; |
| |
| GstBuffer *buffer_left; |
| GMutex lock; |
| GCond cond; |
| gboolean flushing; |
| |
| CvSize imgSize; |
| IplImage *cvRGB_right; |
| IplImage *cvRGB_left; |
| IplImage *cvGray_right; |
| IplImage *cvGray_left; |
| IplImage *cvGray_depth_map1; /*IPL_DEPTH_16S */ |
| IplImage *cvGray_depth_map2; /*IPL_DEPTH_8U */ |
| IplImage *cvGray_depth_map1_2; /*IPL_DEPTH_16S */ |
| |
| void *sbm; /* cv::StereoBM */ |
| void *sgbm; /* cv::StereoSGBM */ |
| void *svar; /* cv::StereoVar */ |
| CvStereoGCState *sgc; /* This is a C implementation */ |
| void *img_right_as_cvMat_rgb; /* cv::Mat */ |
| void *img_left_as_cvMat_rgb; /* cv::Mat */ |
| void *depth_map_as_cvMat; /* cv::Mat */ |
| void *depth_map_as_cvMat2; /* cv::Mat */ |
| void *img_right_as_cvMat_gray; /* cv::Mat */ |
| void *img_left_as_cvMat_gray; /* cv::Mat */ |
| }; |
| |
| struct _GstDisparityClass |
| { |
| GstElementClass parent_class; |
| }; |
| |
| GType gst_disparity_get_type (void); |
| |
| gboolean gst_disparity_plugin_init (GstPlugin * disparity); |
| |
| G_END_DECLS |
| #endif /* __GST_DISPARITY_H__ */ |