ground/gcs/src/libs/gstreamer/gst_util.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       gst_util.cpp
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
   6  * @brief
   7  * @see        The GNU Public License (GPL) Version 3
   8  * @defgroup
   9  * @{
  10  *
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27 #include "gst_util.h"
  28
  29 #include <gst/gst.h>
  30
  31 #ifdef USE_OPENCV
  32 #include "plugins/cameracalibration/gstcameracalibration.h"
  33 #include "plugins/cameracalibration/gstcameraundistort.h"
  34 #endif
  35
  36 #include "utils/pathutils.h"
  37
  38 #include <QDebug>
  39
  40 static bool initialized = false;
  41
  42 gboolean gst_plugin_librepilot_register(GstPlugin *plugin)
  43 {
  44 #ifdef USE_OPENCV
  45     if (!gst_camera_calibration_plugin_init(plugin)) {
  46         return FALSE;
  47     }
  48     if (!gst_camera_undistort_plugin_init(plugin)) {
  49         return FALSE;
  50     }
  51 #else
  52     Q_UNUSED(plugin)
  53 #endif
  54     return TRUE;
  55 }
  56
  57 void gst_plugin_librepilot_register()
  58 {
  59     gst_plugin_register_static(GST_VERSION_MAJOR, GST_VERSION_MINOR, "librepilot",
  60                                "LibrePilot plugin", gst_plugin_librepilot_register, "1.10.0", "GPL",
  61                                "librepilot", "LibrePilot", "http://librepilot.org/");
  62 }
  63
  64 // see http://gstreamer.freedesktop.org/data/doc/gstreamer/head/gstreamer/html/gst-running.html
  65 void gst::init(int *argc, char * *argv[])
  66 {
  67     // TODO Not thread safe. Does it need to be?
  68     if (initialized) {
  69         return;
  70     }
  71     initialized = true;
  72
  73     // qputenv("GST_DEBUG", "3");
  74     // qputenv("GST_DEBUG", "3,rtspsrc:6,udpsrc:6");
  75     // qputenv("GST_DEBUG", "3,bin:6");
  76     // qputenv("GST_DEBUG", "3,rtpjitterbuffer:6");
  77     // qputenv("GST_DEBUG_FILE", "gst.log");
  78     // qputenv("GST_DEBUG_DUMP_DOT_DIR", ".");
  79
  80 #ifdef Q_OS_WIN
  81     qputenv("GST_PLUGIN_PATH_1_0", (Utils::GetLibraryPath() + "gstreamer-1.0").toLatin1());
  82 #endif
  83
  84     qDebug() << "gstreamer - initializing";
  85     GError *error = NULL;
  86     if (!gst_init_check(argc, argv, &error)) {
  87         qCritical() << "failed to initialize gstreamer";
  88         return;
  89     }
  90
  91     qDebug() << "gstreamer - version:" << gst_version_string();
  92     qDebug() << "gstreamer - plugin system path:" << qgetenv("GST_PLUGIN_SYSTEM_PATH_1_0");
  93     qDebug() << "gstreamer - plugin path:" << qgetenv("GST_PLUGIN_PATH_1_0");
  94
  95     qDebug() << "gstreamer - registering plugins";
  96     // GST_PLUGIN_STATIC_REGISTER(librepilot);
  97     gst_plugin_librepilot_register();
  98
  99 #ifdef Q_OS_MAC
 100     GstRegistry *reg = gst_registry_get();
 101
 102     GstPluginFeature *feature = gst_registry_lookup_feature(reg, "osxvideosink");
 103     if (feature) {
 104         // raise rank of osxvideosink so it gets selected by autovideosink
 105         // if not doing that then autovideosink selects the glimagesink which fails in Qt
 106         gst_plugin_feature_set_rank(feature, GST_RANK_PRIMARY);
 107         gst_object_unref(feature);
 108     }
 109 #endif
 110
 111 #ifdef USE_OPENCV
 112     // see http://stackoverflow.com/questions/32477403/how-to-know-if-sse2-is-activated-in-opencv
 113     // see http://answers.opencv.org/question/696/how-to-enable-vectorization-in-opencv/
 114     if (!cv::checkHardwareSupport(CV_CPU_SSE)) {
 115         qWarning() << "SSE not supported";
 116     }
 117     if (!cv::checkHardwareSupport(CV_CPU_SSE2)) {
 118         qWarning() << "SSE2 not supported";
 119     }
 120     if (!cv::checkHardwareSupport(CV_CPU_SSE3)) {
 121         qWarning() << "SSE3 not supported";
 122     }
 123     qDebug() << "MMX    :" << cv::checkHardwareSupport(CV_CPU_MMX);
 124     qDebug() << "SSE    :" << cv::checkHardwareSupport(CV_CPU_SSE);
 125     qDebug() << "SSE2   :" << cv::checkHardwareSupport(CV_CPU_SSE2);
 126     qDebug() << "SSE3   :" << cv::checkHardwareSupport(CV_CPU_SSE3);
 127     qDebug() << "SSE4_1 :" << cv::checkHardwareSupport(CV_CPU_SSE4_1);
 128     qDebug() << "SSE4_2 :" << cv::checkHardwareSupport(CV_CPU_SSE4_2);
 129 #endif
 130 }
 131
 132 QString gst::version(void)
 133 {
 134     init(NULL, NULL);
 135     return QString(gst_version_string());
 136 }