add gst decoder

orbbec_camera/include/orbbec_camera/gst_decoder.h

@@ -0,0 +1,30 @@
+#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);
+
+class GstreamerMjpegDecoder : public MjpegDecoder {
+ public:
+  GstreamerMjpegDecoder(int width, int height, HWDecoder hw_decoder);
+  ~GstreamerMjpegDecoder() override;
+
+  bool decode(const std::shared_ptr<ob::ColorFrame>& frame, uint8_t* dest) override;
+
+ private:
+  std::string hw_decoder_;
+  guint buffer_size_ = 0;
+  GstBufferPool* buffer_pool_ = nullptr;
+  GstElement* pipeline_ = nullptr;
+  GstElement* appsrc_ = nullptr;
+  GstElement* appsink_ = nullptr;
+};
+
+}  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/mjpeg_decoder.h

@@ -18,7 +18,6 @@ class MjpegDecoder {
  protected:
   int width_ = 0;
   int height_ = 0;
-  uint8_t *rgb_buffer_ = nullptr;
   std::string error_msg_;
 };
 }  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/rk_mpp_decoder.h

@@ -36,6 +36,7 @@ class RKMjpegDecoder : public MjpegDecoder {
   MppBufferGroup mpp_packet_group_ = nullptr;
   MppTask mpp_task_ = nullptr;
   uint32_t need_split_ = 0;
+  uint8_t * rgb_buffer_ = nullptr;
 };
 
 }  // namespace orbbec_camera