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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/rk_mpp_decoder.cpp
+206
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#include "orbbec_camera/rk_mpp_decoder.h"
#include <rclcpp/rclcpp.hpp>
#include <glog/logging.h>
namespace orbbec_camera {
RKMjpegDecoder::RKMjpegDecoder(int width, int height) : MjpegDecoder(width, height) {
MPP_RET ret = mpp_create(&mpp_ctx_, &mpp_api_);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"), "mpp_create failed, ret = " << ret);
throw std::runtime_error("mpp_create failed");
}
MpiCmd mpi_cmd = MPP_CMD_BASE;
MppParam mpp_param = nullptr;
mpi_cmd = MPP_DEC_SET_PARSER_SPLIT_MODE;
mpp_param = &need_split_;
ret = mpp_api_->control(mpp_ctx_, mpi_cmd, mpp_param);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp_api_->control failed, ret = " << ret);
throw std::runtime_error("mpp_api_->control failed");
}
ret = mpp_init(mpp_ctx_, MPP_CTX_DEC, MPP_VIDEO_CodingMJPEG);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"), "mpp_init failed, ret = " << ret);
throw std::runtime_error("mpp_init failed");
}
MppFrameFormat fmt = MPP_FMT_YUV420SP_VU;
mpp_param = &fmt;
ret = mpp_api_->control(mpp_ctx_, MPP_DEC_SET_OUTPUT_FORMAT, mpp_param);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp_api_->control failed, ret = " << ret);
throw std::runtime_error("mpp_api_->control failed");
}
ret = mpp_frame_init(&mpp_frame_);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp_frame_init failed, ret = " << ret);
throw std::runtime_error("mpp_frame_init failed");
}
ret = mpp_buffer_group_get_internal(&mpp_frame_group_, MPP_BUFFER_TYPE_ION);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp_buffer_group_get_internal failed, ret = " << ret);
throw std::runtime_error("mpp_buffer_group_get_internal failed");
}
ret = mpp_buffer_group_get_internal(&mpp_packet_group_, MPP_BUFFER_TYPE_ION);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp_buffer_group_get_internal failed, ret = " << ret);
throw std::runtime_error("mpp_buffer_group_get_internal failed");
}
RK_U32 hor_stride = MPP_ALIGN(width_, 16);
RK_U32 ver_stride = MPP_ALIGN(height_, 16);
ret = mpp_buffer_get(mpp_frame_group_, &mpp_frame_buffer_, hor_stride * ver_stride * 4);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp_buffer_get failed, ret = " << ret);
throw std::runtime_error("mpp_buffer_get failed");
}
mpp_frame_set_buffer(mpp_frame_, mpp_frame_buffer_);
ret = mpp_buffer_get(mpp_packet_group_, &mpp_packet_buffer_, width_ * height_ * 3);
if (ret != MPP_OK) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp_buffer_get failed, ret = " << ret);
throw std::runtime_error("mpp_buffer_get failed");
}
mpp_packet_init_with_buffer(&mpp_packet_, mpp_packet_buffer_);
data_buffer_ = (uint8_t *)mpp_buffer_get_ptr(mpp_packet_buffer_);
}
RKMjpegDecoder::~RKMjpegDecoder() {
if (mpp_frame_buffer_) {
mpp_buffer_put(mpp_frame_buffer_);
mpp_frame_buffer_ = nullptr;
}
if (mpp_packet_buffer_) {
mpp_buffer_put(mpp_packet_buffer_);
mpp_packet_buffer_ = nullptr;
}
if (mpp_frame_group_) {
mpp_buffer_group_put(mpp_frame_group_);
mpp_frame_group_ = nullptr;
}
if (mpp_packet_group_) {
mpp_buffer_group_put(mpp_packet_group_);
mpp_packet_group_ = nullptr;
}
if (mpp_frame_) {
mpp_frame_deinit(&mpp_frame_);
mpp_frame_ = nullptr;
}
if (mpp_packet_) {
mpp_packet_deinit(&mpp_packet_);
mpp_packet_ = nullptr;
}
if (mpp_ctx_) {
mpp_destroy(mpp_ctx_);
mpp_ctx_ = nullptr;
}
}
bool RKMjpegDecoder::mppFrame2RGB(const MppFrame frame, uint8_t *data) {
rga_info_t src_info;
rga_info_t dst_info;
// NOTE: memset to zero is MUST
memset(&src_info, 0, sizeof(rga_info_t));
memset(&dst_info, 0, sizeof(rga_info_t));
int width = mpp_frame_get_width(frame);
int height = mpp_frame_get_height(frame);
MppBuffer buffer = mpp_frame_get_buffer(frame);
CHECK_EQ(width, width_);
CHECK_EQ(height, height_);
CHECK_NOTNULL(data);
CHECK_EQ(width, width_);
CHECK_EQ(height, height_);
memset(data, 0, width * height * 3);
auto buffer_ptr = mpp_buffer_get_ptr(buffer);
src_info.fd = -1;
src_info.mmuFlag = 1;
src_info.virAddr = buffer_ptr;
src_info.format = RK_FORMAT_YCbCr_420_SP;
dst_info.fd = -1;
dst_info.mmuFlag = 1;
dst_info.virAddr = data;
dst_info.format = RK_FORMAT_RGB_888;
rga_set_rect(&src_info.rect, 0, 0, width, height, width, height, RK_FORMAT_YCbCr_420_SP);
rga_set_rect(&dst_info.rect, 0, 0, width, height, width, height, RK_FORMAT_RGB_888);
int ret = c_RkRgaBlit(&src_info, &dst_info, nullptr);
if (ret) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"c_RkRgaBlit error " << ret << " errno " << strerror(errno));
return false;
}
return true;
}
bool RKMjpegDecoder::decode(const std::shared_ptr<ob::ColorFrame> &frame, uint8_t *dest) {
MPP_RET ret = MPP_OK;
memset(data_buffer_, 0, width_ * height_ * 3);
memcpy(data_buffer_, frame->data(), frame->dataSize());
mpp_packet_set_pos(mpp_packet_, data_buffer_);
mpp_packet_set_length(mpp_packet_, frame->dataSize());
mpp_packet_set_eos(mpp_packet_);
CHECK_NOTNULL(mpp_ctx_);
ret = mpp_api_->poll(mpp_ctx_, MPP_PORT_INPUT, MPP_POLL_BLOCK);
if (ret != MPP_OK) {
RCLCPP_ERROR(rclcpp::get_logger("rk_mpp_decoder"), "mpp poll failed %d", ret);
return false;
}
ret = mpp_api_->dequeue(mpp_ctx_, MPP_PORT_INPUT, &mpp_task_);
if (ret != MPP_OK) {
RCLCPP_ERROR(rclcpp::get_logger("rk_mpp_decoder"), "mpp dequeue failed %d", ret);
return false;
}
mpp_task_meta_set_packet(mpp_task_, KEY_INPUT_PACKET, mpp_packet_);
mpp_task_meta_set_frame(mpp_task_, KEY_OUTPUT_FRAME, mpp_frame_);
ret = mpp_api_->enqueue(mpp_ctx_, MPP_PORT_INPUT, mpp_task_);
if (ret != MPP_OK) {
RCLCPP_ERROR(rclcpp::get_logger("rk_mpp_decoder"), "mpp enqueue failed %d", ret);
return false;
}
ret = mpp_api_->poll(mpp_ctx_, MPP_PORT_OUTPUT, MPP_POLL_BLOCK);
if (ret != MPP_OK) {
RCLCPP_ERROR(rclcpp::get_logger("rk_mpp_decoder"), "mpp poll failed %d", ret);
return false;
}
ret = mpp_api_->dequeue(mpp_ctx_, MPP_PORT_OUTPUT, &mpp_task_);
if (ret != MPP_OK) {
RCLCPP_ERROR(rclcpp::get_logger("rk_mpp_decoder"), "mpp dequeue failed %d", ret);
return false;
}
if (mpp_task_) {
MppFrame output_frame = nullptr;
mpp_task_meta_get_frame(mpp_task_, KEY_OUTPUT_FRAME, &output_frame);
if (mpp_frame_) {
int width = mpp_frame_get_width(mpp_frame_);
int height = mpp_frame_get_height(mpp_frame_);
if (width != width_ || height != height_) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"),
"mpp frame size error " << width << " " << height);
return false;
}
if (!mppFrame2RGB(mpp_frame_, rgb_buffer_)) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("rk_mpp_decoder"), "mpp frame to rgb error");
return false;
}
if (mpp_frame_get_eos(output_frame)) {
RCLCPP_INFO_STREAM(rclcpp::get_logger("rk_mpp_decoder"), "mpp frame get eos");
}
}
ret = mpp_api_->enqueue(mpp_ctx_, MPP_PORT_OUTPUT, mpp_task_);
if (ret != MPP_OK) {
RCLCPP_ERROR(rclcpp::get_logger("rk_mpp_decoder"), "mpp enqueue failed %d", ret);
return false;
}
CHECK_NOTNULL(dest);
memcpy(dest, rgb_buffer_, width_ * height_ * 3);
return true;
}
return false;
}
} // namespace orbbec_camera