bool sendPreview()
{
if(camera != nullptr && camera->getLiveImage(&image)) {
bool keyFrame = false;
bool transcodedSuccessfully = false;
imagePub.publish(image);
jpegDecoder->decodeInPlace(&image);
liveStream->addFrame(&image);
recorder->addFrame(&image);
if (detector != nullptr) {
detector->addFrame(&image);
}
return true;
}
return false;
}
int main(int argc, char **argv)
{
// XXX: Assumes that the input image 1600x1200
PixelFormat pixelFormat = PIX_FMT_YUV420P;
JpegDecoder *jpegDecoder = new FFmpegJpegDecoder(1600, 1200, pixelFormat);
sensor_msgs::CompressedImage image;
image.format = "jpeg";
std::string path(argv[1]);
std::fstream f(path, std::ifstream::binary | std::ios_base::in);
if (!f) {
std::cout << "Failed to open " << path << std::endl;
return 1;
}
f.seekg(0, f.end);
int length = f.tellg();
f.seekg(0, f.beg);
char *buffer = new char[length];
f.read(buffer, length);
f.close();
for (int i = 0; i < length; i++) {
image.data.push_back(buffer[i]);
}
delete buffer;
sensor_msgs::CompressedImage images[10];
for (int i = 0; i < 10; i++) {
images[i] = image;
}
int junk = 0;
std::chrono::steady_clock::time_point start = std::chrono::steady_clock::now();
for (int i = 0; i < 10; i++) {
jpegDecoder->decodeInPlace(&images[i]);
// Make sure there's a side effect
junk += images[i].data.size();
}
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
double us = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() / 1000000.0;
std::cout << "FFmpeg FPS " << 10 / us << std::endl;
std::cout << "check: " << junk << std::endl;
delete jpegDecoder;
jpegDecoder = new TurboJpegDecoder(1600, 1200, pixelFormat);
for (int i = 0; i < 10; i++) {
images[i] = image;
}
junk = 0;
start = std::chrono::steady_clock::now();
for (int i = 0; i < 10; i++) {
jpegDecoder->decodeInPlace(&images[i]);
// Make sure there's a side effect
junk += images[i].data.size();
}
end = std::chrono::steady_clock::now();
us = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() / 1000000.0;
std::cout << "TurboJpeg FPS " << 10 / us << std::endl;
std::cout << "check: " << junk << std::endl;
delete jpegDecoder;
return 0;
}
