9.1/sdk-api/sources_2gst-plugins_2gst-nvdewarper_2gstnvdewarper_8h_source.html

/*

 * 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__ */