9.1/sources/gst-plugins/gst-nvdewarper/gstnvdewarper.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2019-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#ifndef __GST_NVDEWARPER_H__
#define __GST_NVDEWARPER_H__
 
#include <gst/gst.h>
#include <gst/video/gstvideometa.h>
#include <gst/video/video.h>
#include <gst/base/gstbasetransform.h>
 
#include <cuda.h>
#include <npp.h>
 
#include "nv_aisle_csvparser.hpp"
#include "nv_spot_csvparser.hpp"
#include "gstnvdsmeta.h"
#include "nvds_dewarper_meta.h"
#include "nvbufsurface.h"
#include "nvbufsurftransform.h"
 
using namespace nvaisle_csv;
using namespace nvspot_csv;
 
#define DISTORTION_SIZE 5 
#define FOCAL_LENGTH_SIZE 2 
#define ROTATION_MATRIX_SIZE 9  
G_BEGIN_DECLS
 
#define GST_TYPE_NVDEWARPER \
  (gst_nvdewarper_get_type())
#define GST_NVDEWARPER(obj) \
  (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_NVDEWARPER,Gstnvdewarper))
#define GST_NVDEWARPER_CLASS(klass) \
  (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_NVDEWARPER,GstnvdewarperClass))
#define GST_IS_NVDEWARPER(obj) \
  (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_NVDEWARPER))
#define GST_IS_NVDEWARPER_CLASS(klass) \
  (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_NVDEWARPER))
 
typedef struct _Gstnvdewarper      Gstnvdewarper;
typedef struct _GstnvdewarperClass GstnvdewarperClass;
typedef struct _NvDewarperParams
{
  guint projection_type;                        
  gfloat top_angle;                             
  gfloat bottom_angle;                          
  gfloat pitch;                                 
  gfloat roll;                                  
  gfloat yaw;                                   
  gfloat dewarpFocalLength[FOCAL_LENGTH_SIZE];  
  char rot_axes[4];                             
  gfloat control;                               
  guint dewarpWidth;                            
  guint dewarpHeight;                           
  guint dewarpPitch;                            
  guint addressMode;                            
  guchar *surface;                              
  guint isValid;                                
  guint id;                                     
  guint surface_index;                          
  gdouble distortion[DISTORTION_SIZE];          
  gfloat src_x0;                                
  gfloat src_y0;                                
  gfloat srcFov;                                
  gfloat rot_matrix[ROTATION_MATRIX_SIZE];      
  guint rot_matrix_valid;                       
  gfloat dstFocalLength[FOCAL_LENGTH_SIZE];     
  gfloat dstPrincipalPoint[2];                  
} NvDewarperParams;
 
typedef struct _NvDewarperPriv
{
  std::vector<NvDewarperParams> vecDewarpSurface; 
} NvDewarperPriv;
 
struct _Gstnvdewarper
{
  GstBaseTransform element; 
  GstCaps *sinkcaps;        
  GstCaps *srccaps;         
  guint input_width;        
  guint input_height;       
  guint output_width;       
  guint output_height;      
  guint num_batch_buffers;  
  guint gpu_id;             
  gchar* config_file;             
  gchar* spot_calibration_file;   
  gchar* aisle_calibration_file;  
  GstBufferPool *pool;            
  gint input_feature;
  gint output_feature;
 
  NvBufSurfaceMemType cuda_mem_type;              
  NvBufSurfTransform_Inter interpolation_method;  
  GstVideoFormat input_fmt;                       
  GstVideoFormat output_fmt;                      
  cudaStream_t stream;                            
  guint frame_num;                                
  guint dump_frames;  
  void *aisle_output; 
  void *spot_output;  
  void *output;       
  gboolean silent;                    
  gboolean spot_calibrationfile_set;  
  gboolean aisle_calibrationfile_set; 
  AisleCSVParser *aisleCSVParser;     
  SpotCSVParser *spotCSVParser;       
  guint source_id;                            
  guint num_output_buffers;                   
  guint aisleCSVInit;                         
  guint spotCSVInit;                          
  guint num_spot_views;                       
  guint num_aisle_views;                      
  guint spot_surf_index[MAX_DEWARPED_VIEWS];  
  guint aisle_surf_index[MAX_DEWARPED_VIEWS]; 
  guint surface_index[MAX_DEWARPED_VIEWS];    
  guint surface_type[MAX_DEWARPED_VIEWS];     
  GstBuffer * out_gst_buf;                    
  NvDewarperPriv *priv;                       
};
 
struct _GstnvdewarperClass
{
  GstBaseTransformClass parent_class;
};
 
GType gst_nvdewarper_get_type (void);
 
G_END_DECLS
 
#endif /* __GST_NVDEWARPER_H__ */