add gst decoder

orbbec_camera/src/gst_decoder.cpp

@@ -0,0 +1,97 @@
+#include "orbbec_camera/gst_decoder.h"
+#include <rclcpp/rclcpp.hpp>
+#include <gst/app/gstappsrc.h>
+#include <gst/app/gstappsink.h>
+
+namespace orbbec_camera {
+std::string hwDecoderToString(HWDecoder hw_decoder) {
+  switch (hw_decoder) {
+    case HWDecoder::ROCKCHIP_MPP:
+      return "mppjpegdec";
+    case HWDecoder::NV_JPEG_DEC:
+      return "nvjpegdec";
+    case HWDecoder::AMLOGIC_CODEC:
+      return "amlvenc";
+    default:
+      return "unknown";
+  }
+}
+
+GstreamerMjpegDecoder::GstreamerMjpegDecoder(int width, int height, HWDecoder hw_decoder)
+    : MjpegDecoder(width, height),
+      hw_decoder_(hwDecoderToString(hw_decoder)),
+      buffer_size_(width * height * 3) {
+  buffer_pool_ = gst_buffer_pool_new();
+  GstStructure* config = gst_buffer_pool_get_config(buffer_pool_);
+  gst_buffer_pool_config_set_params(config, NULL, buffer_size_, 0, 0);
+  if (hw_decoder_ == "unknown") {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"), "hw decoder is unknown");
+    throw std::runtime_error("hw decoder is unknown");
+  }
+  if (!gst_buffer_pool_set_config(buffer_pool_, config)) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"),
+                        "gst buffer pool set config error");
+    throw std::runtime_error("gst buffer pool set config error");
+  }
+  if (gst_buffer_pool_set_active(buffer_pool_, TRUE) != TRUE) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"),
+                        "gst buffer pool set active error");
+    throw std::runtime_error("gst buffer pool set active error");
+  }
+  std::string pipeline_str = "appsrc name=src is-live=true do-timestamp=true ! " + hw_decoder_ +
+                             " ! videoconvert ! video/x-raw,format=RGB ! appsink name=sink";
+  pipeline_ = gst_parse_launch(pipeline_str.c_str(), NULL);
+  if (!pipeline_) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"), "gst parse launch error");
+    throw std::runtime_error("gst parse launch error");
+  }
+  appsrc_ = gst_bin_get_by_name(GST_BIN(pipeline_), "appsrc0");
+  appsink_ = gst_bin_get_by_name(GST_BIN(pipeline_), "appsink0");
+}
+
+GstreamerMjpegDecoder::~GstreamerMjpegDecoder() {
+  if (pipeline_) {
+    gst_element_set_state(pipeline_, GST_STATE_NULL);
+    gst_object_unref(pipeline_);
+    pipeline_ = nullptr;
+  }
+  if (buffer_pool_) {
+    gst_buffer_pool_set_active(buffer_pool_, FALSE);
+    g_object_unref(buffer_pool_);
+  }
+}
+
+bool GstreamerMjpegDecoder::decode(const std::shared_ptr<ob::ColorFrame>& frame, uint8_t* dest) {
+  GstBuffer* buffer = NULL;
+  GstMapInfo map;
+
+  if (gst_buffer_pool_acquire_buffer(buffer_pool_, &buffer, NULL) != GST_FLOW_OK) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"),
+                        "gst buffer pool acquire buffer error");
+    return false;
+  }
+
+  gst_buffer_map(buffer, &map, GST_MAP_WRITE);
+  memcpy(map.data, frame->data(), frame->dataSize());
+  gst_buffer_unmap(buffer, &map);  // Unmap the buffer after copying
+
+  gst_app_src_push_buffer(GST_APP_SRC(appsrc_), buffer);
+  GstSample* sample = gst_app_sink_pull_sample(GST_APP_SINK(appsink_));
+  if (sample) {
+    GstBuffer* outBuffer = gst_sample_get_buffer(sample);
+    GstMapInfo mapInfo;
+    gst_buffer_map(outBuffer, &mapInfo, GST_MAP_READ);
+
+    // Copy data to destination buffer
+    memcpy(dest, mapInfo.data, mapInfo.size);
+
+    gst_buffer_unmap(outBuffer, &mapInfo);
+    gst_sample_unref(sample);
+    return true;
+  } else {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("gstreamer_mjpeg_decoder"), "Failed to decode frame");
+    return false;
+  }
+}
+
+}  // namespace orbbec_camera

orbbec_camera/src/mjpeg_decoder.cpp

@@ -2,14 +2,7 @@
 #include <orbbec_camera/mjpeg_decoder.h>
 
 namespace orbbec_camera {
-MjpegDecoder::MjpegDecoder(int width, int height) : width_(width), height_(height) {
-  rgb_buffer_ = new uint8_t[width_ * height_ * 3];
-}
-MjpegDecoder::~MjpegDecoder() {
-  if (rgb_buffer_) {
-    delete[] rgb_buffer_;
-    rgb_buffer_ = nullptr;
-  }
-}
+MjpegDecoder::MjpegDecoder(int width, int height) : width_(width), height_(height) {}
+MjpegDecoder::~MjpegDecoder() {}
 
 }  // namespace orbbec_camera

orbbec_camera/src/rk_mpp_decoder.cpp

@@ -5,6 +5,7 @@
 namespace orbbec_camera {
 
 RKMjpegDecoder::RKMjpegDecoder(int width, int height) : MjpegDecoder(width, height) {
+  rgb_buffer_ = new uint8_t[width_ * height_ * 3];
   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);
@@ -100,6 +101,9 @@ RKMjpegDecoder::~RKMjpegDecoder() {
     mpp_destroy(mpp_ctx_);
     mpp_ctx_ = nullptr;
   }
+  if(rgb_buffer_){
+    delete[] rgb_buffer_;
+  }
 }
 
 bool RKMjpegDecoder::mppFrame2RGB(const MppFrame frame, uint8_t *data) {