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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/src/ob_camera_node_driver.cpp
+10
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@@ -16,6 +16,7 @@
#include <sys/shm.h>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <signal.h>
namespace orbbec_camera {
OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
@@ -77,6 +78,15 @@ void OBCameraNodeDriver::init() {
device_count_update_thread_ = std::make_shared<std::thread>([this]() { deviceCountUpdate(); });
sync_time_thread_ = std::make_shared<std::thread>([this]() { syncTime(); });
reset_device_thread_ = std::make_shared<std::thread>([this]() { resetDevice(); });
signal(SIGINT, [](int) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("orbbec_camera_node_driver"), "SIGINT received");
exit(0);
});
signal(SIGTERM, [](int) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("orbbec_camera_node_driver"), "SIGTERM received");
exit(0);
});
}
void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList> &device_list) {