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add mpp hardware decode mjpeg

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默存
2023-08-25 21:47:13 +08:00
parent 4d2ecc7fe2
commit 600b4c625f
8 changed files with 406 additions and 26 deletions
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orbbec_camera/CMakeLists.txt
+43 -12
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@@ -8,9 +8,10 @@ set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -O3")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g")
set(CMAKE_BUILD_TYPE "Release")
option(USE_RK_HW_DECODER "Use Rockchip hardware decoder" OFF)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Werror)
add_compile_options(-Wall -Wextra -Werror)
endif ()
# find dependencies
@@ -49,6 +50,14 @@ if (NOT GLOG_FOUND)
message(FATAL_ERROR "glog is not found")
endif ()
if (USE_RK_HW_DECODER)
pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
if (NOT RK_MPP_FOUND)
message(FATAL_ERROR "rockchip_mpp is not found")
endif ()
pkg_search_module(RGA REQUIRED librga)
endif ()
execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
message(STATUS "ORRBEC Machine : ${MACHINES}")
@@ -72,6 +81,8 @@ set(common_include_dirs
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
${RK_MPP_INCLUDE_DIRS}
${RGA_INCLUDE_DIRS}
)
set(common_libraries
@@ -81,17 +92,10 @@ set(common_libraries
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
${RK_MPP_LIBRARIES}
)
macro(add_orbbec_executable target source)
add_executable(${target} ${source})
target_include_directories(${target} PUBLIC ${common_include_dirs})
target_link_libraries(${target} ${common_libraries} ${PROJECT_NAME})
ament_target_dependencies(${target} ${dependencies})
endmacro()
# Define library and nodes
add_library(${PROJECT_NAME} SHARED
set(source_files
src/d2c_viewer.cpp
src/dynamic_params.cpp
src/ob_camera_node_driver.cpp
@@ -100,17 +104,44 @@ add_library(${PROJECT_NAME} SHARED
src/ros_service.cpp
src/synced_imu_publisher.cpp
src/utils.cpp
src/mjpeg_decoder.cpp
)
if (USE_RK_HW_DECODER)
add_definitions(-DUSE_RK_HW_DECODER)
list(APPEND source_files src/rk_mpp_decoder.cpp)
endif ()
macro(add_orbbec_executable target source)
add_executable(${target} ${source})
target_include_directories(${target} PUBLIC ${common_include_dirs})
target_link_libraries(${target} ${common_libraries} ${PROJECT_NAME})
ament_target_dependencies(${target} ${dependencies})
if (USE_RK_HW_DECODER)
target_link_libraries(${target}
${RGA_LIBRARIES}
)
endif ()
endmacro()
# Define library and nodes
add_library(${PROJECT_NAME} SHARED
${source_files}
)
ament_target_dependencies(${PROJECT_NAME} ${dependencies})
target_include_directories(${PROJECT_NAME} PUBLIC ${common_include_dirs})
target_link_libraries(${PROJECT_NAME} ${common_libraries})
if (USE_RK_HW_DECODER)
target_link_libraries(${PROJECT_NAME}
${RGA_LIBRARIES}
)
endif ()
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "orbbec_camera::OBCameraNodeDriver"
EXECUTABLE orbbec_camera_node
)
# Add nodes using the macro
add_orbbec_executable(list_devices_node src/list_devices_node.cpp)
add_orbbec_executable(ob_cleanup_shm_node src/ob_cleanup_shm.cpp)
@@ -144,4 +175,4 @@ ament_export_include_directories(include ${ORBBEC_INCLUDE_DIR})
ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(${dependencies} ${ORBBEC_LIBS})
ament_package()
ament_package()