filter_sync.hpp

#ifndef DEWOBBLE_FILTER_SYNC_HPP
#define DEWOBBLE_FILTER_SYNC_HPP
 
#include "filter_base.hpp"
#include "filter_config.hpp"
 
#include <CL/opencl.hpp>
#include <opencv2/core/ocl.hpp>
#include <opencv2/imgproc.hpp>
#include <queue>
 
#include "camera.hpp"
#include "stabilizer.hpp"
 
namespace dewobble
{
 
class FilterSync : public FilterBase
{
    // The filter configuration
    FilterConfig m_config;
 
    // mapping from output pixel to x coordinate in input image
    cv::UMat m_map_x;
 
    // mapping from output pixel to y coordinate in input image
    cv::UMat m_map_y;
 
    // The input frame, converted to BGR
    cv::UMat m_frame_bgr;
 
    // The output frame in BGR, ready to be copied to the NV12 output buffer
    cv::UMat m_warped_frame;
 
    // OpenCL kernel to build mapping table between input/output pixels
    cv::ocl::Kernel m_remap_kernel;
 
    // OpenCL kernel to convert BGR image to NV12
    cv::ocl::Kernel m_cvt_color_bgr_to_nv12_kernel;
 
    // OpenCL kernel to convert NV12 image to BGR
    cv::ocl::Kernel m_cvt_color_nv12_to_bgr_kernel;
 
    // The last input frame
    bool m_input_ended = false;
 
    // Buffered frames ready for output
    std::queue<StabilizedFrame> m_buffered_frames;
 
    void cvtColorBgrToNv12(cv::UMat input, cv::UMat output);
    void cvtColorNv12oBgr(cv::UMat input, cv::UMat output);
    void add_debug_info(cv::UMat output, StabilizedFrame frame);
    void warp_frame(cv::UMat input, cv::UMat output, cv::Mat rotation);
    void flush_frames();
    void init_after_changed_opencl_context();
 
  public:
    FilterSync(FilterConfig config);
 
    void push_frame(cl_mem input_buffer, void *extra);
 
    void end_input();
 
    bool frame_ready();
 
    void pull_frame(cl_mem *output_buffer, cl_mem *input_buffer, void **extra);
 
    cl_mem get_output_frame_buffer();
};
} // namespace dewobble
 
#endif // DEWOBBLE_FILTER_SYNC_HPP