add jetson hardware decoder

orbbec_camera/include/orbbec_camera/jetson_nv_decoder.h

@@ -0,0 +1,23 @@
+#pragma once
+#include "utils.h"
+#include <opencv2/opencv.hpp>
+
+#include "jpeg_decoder.h"
+#include <NvJpegDecoder.h>
+#include <NvUtils.h>
+#include <NvV4l2Element.h>
+#include <NvJpegDecoder.h>
+#include <NvV4l2Element.h>
+
+namespace orbbec_camera {
+class JetsonNvJPEGDecoder : public JPEGDecoder {
+ public:
+  JetsonNvJPEGDecoder(int width, int height);
+  ~JetsonNvJPEGDecoder() override;
+
+  bool decode(const std::shared_ptr<ob::ColorFrame>& frame, uint8_t* dest) override;
+
+ private:
+  NvJPEGDecoder* decoder_;
+};
+}  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/jpeg_decoder.h

@@ -5,18 +5,12 @@
 #include "libobsensor/ObSensor.hpp"
 
 namespace orbbec_camera {
-enum HWDecoder {
-  ROCKCHIP_MPP = 0,
-  NV_JPEG_DEC = 1,
-  AMLOGIC_CODEC = 2,
-  AV_CODEC = 3,
-};
 
-class MjpegDecoder {
+class JPEGDecoder {
  public:
-  MjpegDecoder(int width, int height);
+  JPEGDecoder(int width, int height);
 
-  virtual ~MjpegDecoder();
+  virtual ~JPEGDecoder();
 
   virtual bool decode(const std::shared_ptr<ob::ColorFrame> &frame, uint8_t *dest) = 0;
 

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -56,7 +56,7 @@
 #include "orbbec_camera/dynamic_params.h"
 #include "orbbec_camera/d2c_viewer.h"
 #include "magic_enum/magic_enum.hpp"
-#include "mjpeg_decoder.h"
+#include "jpeg_decoder.h"
 
 #define STREAM_NAME(sip)                                                                       \
   (static_cast<std::ostringstream&&>(std::ostringstream()                                      \
@@ -412,7 +412,7 @@ class OBCameraNode {
   std::deque<IMUData> imu_history_;
   IMUData accel_data_{ACCEL, {0, 0, 0}, -1.0};
   // mjpeg decoder
-  std::shared_ptr<MjpegDecoder> mjpeg_decoder_ = nullptr;
+  std::shared_ptr<JPEGDecoder> jpeg_decoder_ = nullptr;
   uint8_t* rgb_buffer_ = nullptr;
   bool is_color_frame_decoded_ = false;
 };

orbbec_camera/include/orbbec_camera/rk_mpp_decoder.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "mjpeg_decoder.h"
+#include "jpeg_decoder.h"
 #include <rockchip/mpp_buffer.h>
 #include <rockchip/mpp_err.h>
 #include <rockchip/mpp_frame.h>
@@ -17,11 +17,11 @@
 #define MPP_ALIGN(x, a) (((x) + (a)-1) & ~((a)-1))
 
 namespace orbbec_camera {
-class RKMjpegDecoder : public MjpegDecoder {
+class RKJPEGDecoder : public JPEGDecoder {
  public:
-  RKMjpegDecoder(int width, int height);
+  RKJPEGDecoder(int width, int height);
 
-  ~RKMjpegDecoder() override;
+  ~RKJPEGDecoder() override;
 
   bool decode(const std::shared_ptr<ob::ColorFrame>& frame, uint8_t* dest) override;