While trying this cuda filter I get it to work for the 1920x1080 resolution on my camera but not the 4032x3040, any Ideas
/Fredrik
Hi I need to convert fisheye video into normal video using gstreamer or openCV
I have RTSP Stream . please tell me how to do
You would build the custom lib from post #16, then you would use a pipeline reading your rtsp source and decoding to NVMM memory with uridecodebin and then pass to nvivafilter with your custom library, and here displaying:
gst-launch-1.0 -e uridecodebin uri=rtsp://<server>:<port>/path ! nvivafilter customer-lib-name=./lib-gst-custom-opencv_cudaprocess.so cuda-process=true ! 'video/x-raw(memory:NVMM), format=RGBA ! nvoverlaysink
你的这个问题，我觉得可以回复一下你，我最近也在尝试将广角镜头采集的图像进行畸变矫正，我是直接用的deepstream官方提供的例子，在文件夹\opt\nvidia\deepstream\deepstream-5.1\sources\apps\sample_apps\deepstream-dewarper-test中，有现成的例子，我们只需要改变config_dewarper_perspective.txt文件中的相关参数，默认的参数如下：
[property] #dewarp-dump-frames=10 output-width=3680 output-height=2428 num-batch-buffers=1 [surface0] # 1=PushBroom, 2=VertRadCyl, 3=PerspectivePerspective projection-type=3 width=3680 height=2428 focal-length=1721.592 #src-fov=180 #top-angle=30 #bottom-angle=-30 distortion=-0.09787;0.00574;-0.00013;0;0 src-x0=1861.88 src-y0=1216.04 # 0=cudaAddressModeClamp, 1=cudaAddressModeBorder #cuda-address-mode=0
我们需要根据自己的实际视频进行修改。主要修改的地方有三处：
1、图像的分辨率宽高，我的视频是1920*1080；
2、修改畸变系数；（相机外参）
3、修改焦距；
我修改后的config_dewarper_perspective.txt文件配置如下：
################################################################################
config_dewarper_perspective.txt
################################################################################[property] #dewarp-dump-frames=10 output-width=1920 output-height=1080 num-batch-buffers=1 ######################################### # Note - Max 4 surfaces are supported ######################################### [surface0] # 1=PushBroom, 2=VertRadCyl, 3=PerspectivePerspective projection-type=3 width=1920 height=1080 #focal-length=1721.592 focal-length=9958.649257742036 #src-fov=180 #top-angle=30 #bottom-angle=-30 #distortion=-0.09787;0.00574;-0.00013;0;0 #distortion= -6.956561513881647;-68.83902522804168; -0.004834538444671919;0.01471273691928269;-0.4916103704308509 distortion= -6.956561513881647;-68.83902522804168; -0.004834538444671919;0;0 src-x0=960 src-y0=540 # 0=cudaAddressModeClamp, 1=cudaAddressModeBorder #cuda-address-mode=0
然后先进行编译（具体可以看readme）
$ cd apps/deepstream-dewarper-app/
$ make
然后运行：
./deepstream-dewarper-app file:///home/nvidia/my_test.mp4 0
我测试了最终效果与opencv利用initUndistortRectifyMap与remap(src_picture, newimage, mapx, mapy, INTER_LINEAR);函数的效果是一样的。但是似乎opencv的参数比deepstream中deepstream-dewarper-test参数多一些。我opencv的例子如下：
/*****************************************************
2021.4.29：畸变校正
******************************************************/
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <fstream>
using namespace cv;
using namespace std;
#define SRC_WIDTH 1920
#define SRC_HEIGHT 1080
void InitMat(float* num , Mat& m)
{
for (int i = 0; i<m.rows; i++)
for (int j = 0; j<m.cols; j++)
m.at<float>(i, j) = *(num + i * m.rows + j);
}
Mat mapx = Mat(Size(SRC_WIDTH, SRC_HEIGHT), CV_32FC1);
Mat mapy = Mat(Size(SRC_WIDTH, SRC_HEIGHT), CV_32FC1);
Mat newimage ; //校正后输出图片
void jiaozheng_init(void)
{
int OK = 0;
Mat R = Mat::eye(3, 3, CV_32F);
//参数矩阵
float neican_data[] = { 9558.649257742036, 0, 959.3165310990756, 0, 9435.752651759443, 532.7507141910969, 0, 0, 1 };
Mat cameraMatrix(3, 3, CV_32FC1);
InitMat(neican_data,cameraMatrix);
cout << "cameraMatrix= " << endl << " " << cameraMatrix << endl << endl;
//测得的畸变系数
float jibian_data[] = { -6.956561513881647, -68.83902522804168, -0.004834538444671919, 0.01471273691928269, -0.4916103704308509 };
Mat distCoeffs(1, 5, CV_32FC1); /* 摄像机的5个畸变系数：k1,k2,p1,p2,k3 */
InitMat( jibian_data, distCoeffs);
cout << "distCoeffs= " << endl << " " << distCoeffs << endl << endl;
/********相机矫正*******************************************************************************/
//cout << "mapx= " << endl << " " << mapx << endl << endl;
//cout << "mapy= " << endl << " " << mapy << endl << endl;
initUndistortRectifyMap(cameraMatrix, distCoeffs, R, cameraMatrix, Size(SRC_WIDTH, SRC_HEIGHT), CV_32FC1, mapx, mapy);
//cout << "mapx= " << endl << " " << mapx << endl << endl;
//cout << "mapy= " << endl << " " << mapy << endl << endl;
}
int jibianjiaozheng(Mat src_picture, Mat & dst_picture)
{
int OK = 0;
static unsigned int INIT_MAT_OK = 1;
if (INIT_MAT_OK)
{
newimage = src_picture.clone(); //校正后输出图片
INIT_MAT_OK = 0;
}
remap(src_picture, newimage, mapx, mapy, INTER_LINEAR);
dst_picture= newimage+1;
return OK;
}
int main()
{
# if 0//测试图片
int hrst = 0;
Mat frame = imread("yuantu.jpg"); //读取畸变图片
Mat after;
static unsigned int jiaozheng_init_flag = 0;
if (!jiaozheng_init_flag)
{
printf("初始化\n");
jiaozheng_init();
jiaozheng_init_flag = 1;
}
hrst = jibianjiaozheng(frame, after);
if (hrst != 0)
{
printf("畸变矫正失败\n");
}
namedWindow("畸变校正后的图片", 0);//参数为零，则可以自由拖动
imshow("畸变校正后的图片", after);
#else//测试视频
VideoCapture capture;
capture.open("test_1.mp4");
if (!capture.isOpened())
{
printf("文件打开失败");
}
Mat frame;
Mat after;
int hrst = 0;
unsigned int jiaozheng_init_flag = 0;
int timestart, timeEnd, duration;
while (true)
{
timestart = clock() * 1000 / CLOCKS_PER_SEC;
capture >> frame;
if (frame.data == NULL)
{
printf("Image is empty\n");
//writer.write(frame);
break;
//continue;
}
duration = clock() - timestart;
printf("读图用时约: %d毫秒 \n", duration * 1000 / CLOCKS_PER_SEC);
if (!jiaozheng_init_flag)
{
printf("初始化\n");
jiaozheng_init();
jiaozheng_init_flag = 1;
}
hrst = jibianjiaozheng(frame, after);
if (hrst != 0)
{
printf("畸变矫正失败\n");
}
else
{
//printf("畸变矫正成功\n");
}
timeEnd = clock() * 1000 / CLOCKS_PER_SEC;
duration = timeEnd- timestart;
printf("畸变校正用时约: %d毫秒 \n", duration );
printf("\n");
//namedWindow("畸变校正后的图片", 0);//参数为零，则可以自由拖动
//imshow("畸变校正后的图片", after);
//waitKey(2);
}
#endif
return 0;
}
可以看到deepstream的例子在畸变参数中只用了前三个，最后两个为0。内参数矩阵只用了焦距。
Hi all,
I use a FOV120 camera.
I record to MP4 file by my camera.
The OpenCV example of 2532098972 : How to perform fish-eye lens distortion correction in gstreamer pipeline? (Hfov ~150) - #24 by 2532098972
I modified some parameters(depend my camera) in the OpenCV example of 2532098972.
The MP4 correctly remove distortion when I use the OpenCV example of 2532098972.
I would like to use deepstream-app for my camera.
Is there any method that could merge the OpenCV example to deepstream-app?
Finally, the video stream remove distortion when use deepstream-app for my camera.
Best regards
-Jason
src-x0 src-y0是什么参数呢？
可以的，你可以把畸变矫正加到deepstream中，即使用deepstream-app -c 配置文件的形式。解决办法如下:
1、 配置文件修改——通过配置文件达到是否使能畸变矫正
主要增加：dewarper_enable=1
dewarper_config_file=/home/movex/config_dewarper_perspective.txt，告诉deepstream我使能了畸变矫正。
[source3]
enable=1
#Type - 1=CameraV4L2 2=URI 3=MultiURI
type=2
uri=file:///home/movex/test_1.mp4
num-sources=1
#drop-frame-interval=2
gpu-id=0
# (0): memtype_device - Memory type Device
# (1): memtype_pinned - Memory type Host Pinned
# (2): memtype_unified - Memory type Unified
cudadec-memtype=0
dewarper_enable=1
dewarper_config_file=/home/movex/config_dewarper_perspective.txt
nvbuf-memory-type=3
#source-id=0
num-output-buffers=1
num-batch-buffers=1
2、修改解析配置文件的函数——gboolean parse_source (NvDsSourceConfig *config, GKeyFile *key_file, gchar *group, gchar *cfg_file_path)
在gboolean parse_source (NvDsSourceConfig *config, GKeyFile *key_file, gchar *group, gchar *cfg_file_path)
中，添加以下内容：
/***************************************************************************************/
#define CONFIG_GROUP_SOURCE_DEWARPER_ENABLE "dewarper_enable"
#define CONFIG_GROUP_SOURCE_DEWARPER_CONFIG_FILE "dewarper_config_file"
#if 1
} else if (!g_strcmp0 (*key, CONFIG_GROUP_SOURCE_DEWARPER_ENABLE))
{
printf("add by maohuifei 0519 1101,config->dewarper_config.enable=%d\n",config->dewarper_config.enable);
config->dewarper_config.enable =
g_key_file_get_integer (key_file, group,
CONFIG_GROUP_SOURCE_DEWARPER_ENABLE, &error);
printf("add by maohuifei 0519 1101,config->dewarper_config.enable=%d\n",config->dewarper_config.enable);
CHECK_ERROR (error);
}
else if (!g_strcmp0 (*key, CONFIG_GROUP_SOURCE_DEWARPER_CONFIG_FILE))
{
printf("add by maohuifei 0519 1101,config->dewarper_config.config_file=%s\n",config->dewarper_config.config_file);
config->dewarper_config.config_file =
g_key_file_get_string (key_file, group,
CONFIG_GROUP_SOURCE_DEWARPER_CONFIG_FILE, &error);
printf("add by maohuifei 0519 1101,config->dewarper_config.config_file=%s\n",config->dewarper_config.config_file);
CHECK_ERROR (error);
#endif
/***************************************************************************************/
这样你的工程就能通过解析配置文件来达到是否使能畸变矫正，而不是写死代码。
3、在函数static gboolean
create_camera_source_bin (NvDsSourceConfig * config, NvDsSrcBin * bin)中
增加或者替换如下代码：
3.1、增加create_dewarper_bin
if (config->dewarper_config.enable)
{
/*创建畸变矫正bin*/
if (!create_dewarper_bin (&config->dewarper_config, &bin->dewarper_bin))
{
g_print ("Creating Dewarper bin failed \n");
goto done;
}
else
{
printf("\n\n\n !!!!! add by maohuifei, create_dewarper_bin ok \n");
}
}
3.2、修改pipline，增加畸变矫正模块。
#ifndef IS_TEGRA
gst_bin_add_many (GST_BIN (bin->bin), bin->src_elem, bin->cap_filter1,
nvvidconv1, bin->dewarper_bin.bin,nvvidconv2, bin->cap_filter,
NULL);
#else
gst_bin_add_many (GST_BIN (bin->bin), bin->src_elem, bin->cap_filter1,
bin->dewarper_bin.bin, nvvidconv2, bin->cap_filter, NULL);
#endif
4、最后重新编译deepstream
make clean;make all
1 Like
我看deepstream官方是图像宽高的一半，实际意义应该是图像传感器正中心
Please initial a new topic for discussion. Thanks