first work gst decoder

orbbec_camera/include/orbbec_camera/gst_decoder.h

@@ -1,13 +1,7 @@
 #pragma once
 #include "mjpeg_decoder.h"
 #include <gst/gst.h>
-
 namespace orbbec_camera {
-enum class HWDecoder : int {
-  ROCKCHIP_MPP = 0,
-  NV_JPEG_DEC = 1,
-  AMLOGIC_CODEC = 2,
-};
 
 std::string hwDecoderToString(HWDecoder hw_decoder);
 
@@ -24,6 +18,9 @@ class GstreamerMjpegDecoder : public MjpegDecoder {
   GstBufferPool* buffer_pool_ = nullptr;
   GstElement* pipeline_ = nullptr;
   GstElement* appsrc_ = nullptr;
+  GstElement* jpegparse_ = nullptr;
+  GstElement* jpegdec_ = nullptr;
+  GstElement* videoconvert_ = nullptr;
   GstElement* appsink_ = nullptr;
 };
 

orbbec_camera/include/orbbec_camera/mjpeg_decoder.h

@@ -5,6 +5,13 @@
 #include "libobsensor/ObSensor.hpp"
 
 namespace orbbec_camera {
+enum HWDecoder {
+  ROCKCHIP_MPP = 0,
+  NV_JPEG_DEC = 1,
+  AMLOGIC_CODEC = 2,
+  AV_CODEC = 3,
+};
+
 class MjpegDecoder {
  public:
   MjpegDecoder(int width, int height);

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -57,6 +57,11 @@
 #include "orbbec_camera/d2c_viewer.h"
 #include "magic_enum/magic_enum.hpp"
 #include "mjpeg_decoder.h"
+#if defined(USE_RK_HW_DECODER)
+#include "orbbec_camera/rk_mpp_decoder.h"
+#elif defined(USE_GST_HW_DECODER)
+#include "orbbec_camera/gst_decoder.h"
+#endif
 
 #define STREAM_NAME(sip)                                                                       \
   (static_cast<std::ostringstream&&>(std::ostringstream()                                      \
@@ -404,5 +409,6 @@ class OBCameraNode {
   // mjpeg decoder
   std::shared_ptr<MjpegDecoder> mjpeg_decoder_ = nullptr;
   uint8_t* rgb_buffer_ = nullptr;
+  HWDecoder hw_decoder_ = HWDecoder::AV_CODEC;
 };
 }  // namespace orbbec_camera