Merge pull request #4622 from matkatz/enable-mjpeg

Enable MJPEG
IntelRealSense · Aug 20, 2019 · 07bc6d9 · 07bc6d9
2 parents 9ee4317 + d31e650
commit 07bc6d9
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Showing 23 changed files with 184 additions and 79 deletions.
diff --git a/include/librealsense2/h/rs_frame.h b/include/librealsense2/h/rs_frame.h
@@ -115,6 +115,14 @@ rs2_sensor* rs2_get_frame_sensor(const rs2_frame* frame, rs2_error** error);
 */
 unsigned long long rs2_get_frame_number(const rs2_frame* frame, rs2_error** error);
 
+/**
+* retrieve data size from frame handle
+* \param[in] frame      handle returned from a callback
+* \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+* \return               the size of the frame data
+*/
+int rs2_get_frame_data_size(const rs2_frame* frame, rs2_error** error);
+
 /**
 * retrieve data from frame handle
 * \param[in] frame      handle returned from a callback

diff --git a/include/librealsense2/h/rs_sensor.h b/include/librealsense2/h/rs_sensor.h
@@ -78,6 +78,7 @@ typedef enum rs2_format
     RS2_FORMAT_DISPARITY32     , /**< 32-bit float-point disparity values. Depth->Disparity conversion : Disparity = Baseline*FocalLength/Depth */
     RS2_FORMAT_Y10BPACK        , /**< 16-bit per-pixel grayscale image unpacked from 10 bits per pixel packed ([8:8:8:8:2222]) grey-scale image. The data is unpacked to LSB and padded with 6 zero bits */
     RS2_FORMAT_DISTANCE        , /**< 32-bit float-point depth distance value.  */
+    RS2_FORMAT_MJPEG           , /**< Bitstream encoding for video in which an image of each frame is encoded as JPEG-DIB   */
     RS2_FORMAT_COUNT             /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_format;
 const char* rs2_format_to_string(rs2_format format);

diff --git a/include/librealsense2/hpp/rs_frame.hpp b/include/librealsense2/hpp/rs_frame.hpp
@@ -479,6 +479,18 @@ namespace rs2
             return r;
         }
 
+        /**
+        * retrieve data size from frame handle
+        * \return               the pointer to the start of the frame data
+        */
+        const int get_data_size() const
+        {
+            rs2_error* e = nullptr;
+            auto r = rs2_get_frame_data_size(frame_ref, &e);
+            error::handle(e);
+            return r;
+        }
+
         /**
         * retrieve data from frame handle
         * \return               the pointer to the start of the frame data

diff --git a/src/android/jni/frame.cpp b/src/android/jni/frame.cpp
@@ -26,6 +26,16 @@ Java_com_intel_realsense_librealsense_Frame_nGetStreamProfile(JNIEnv *env, jclas
     return (jlong) rv;
 }
 
+extern "C"
+JNIEXPORT jint JNICALL
+Java_com_intel_realsense_librealsense_Frame_nGetDataSize(JNIEnv *env, jclass type, jlong handle) {
+
+    rs2_error *e = NULL;
+    auto rv = rs2_get_frame_data_size(reinterpret_cast<const rs2_frame *>(handle), &e);
+    handle_error(env, e);
+    return (jint)rv;
+}
+
 extern "C" JNIEXPORT void JNICALL
 Java_com_intel_realsense_librealsense_Frame_nGetData(JNIEnv *env, jclass type, jlong handle,
                                                      jbyteArray data_) {

diff --git a/src/archive.cpp b/src/archive.cpp
@@ -240,6 +240,11 @@ namespace librealsense
         return it->second->supports(*this);
     }
 
+    int frame::get_frame_data_size() const
+    {
+        return data.size();
+    }
+
     const byte* frame::get_frame_data() const
     {
         const byte* frame_data = data.data();

diff --git a/src/archive.h b/src/archive.h
@@ -124,6 +124,7 @@ namespace librealsense
         virtual ~frame() { on_release.reset(); }
         rs2_metadata_type get_frame_metadata(const rs2_frame_metadata_value& frame_metadata) const override;
         bool supports_frame_metadata(const rs2_frame_metadata_value& frame_metadata) const override;
+        int get_frame_data_size() const override;
         const byte* get_frame_data() const override;
         rs2_time_t get_frame_timestamp() const override;
         rs2_timestamp_domain get_frame_timestamp_domain() const override;
@@ -229,6 +230,10 @@ namespace librealsense
         {
             return first()->supports_frame_metadata(frame_metadata);
         }
+        int get_frame_data_size() const override
+        {
+            return first()->get_frame_data_size();
+        }
         const byte* get_frame_data() const override
         {
             return first()->get_frame_data();

diff --git a/src/core/streaming.h b/src/core/streaming.h
@@ -83,6 +83,7 @@ namespace librealsense
     public:
         virtual rs2_metadata_type get_frame_metadata(const rs2_frame_metadata_value& frame_metadata) const = 0;
         virtual bool supports_frame_metadata(const rs2_frame_metadata_value& frame_metadata) const = 0;
+        virtual int get_frame_data_size() const = 0;
         virtual const byte* get_frame_data() const = 0;
         //TODO: add virtual uint64_t get_frame_data_size() const = 0;
         virtual rs2_time_t get_frame_timestamp() const = 0;

diff --git a/src/ds5/ds5-color.cpp b/src/ds5/ds5-color.cpp
@@ -75,6 +75,9 @@ namespace librealsense
             color_ep->register_pu(RS2_OPTION_AUTO_EXPOSURE_PRIORITY);
         }
 
+        if (color_devices_info.front().pid == ds::RS465_PID)
+            color_ep->register_pixel_format(pf_mjpg);
+
         auto white_balance_option = std::make_shared<uvc_pu_option>(*color_ep, RS2_OPTION_WHITE_BALANCE);
         auto auto_white_balance_option = std::make_shared<uvc_pu_option>(*color_ep, RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE);
         color_ep->register_option(RS2_OPTION_WHITE_BALANCE, white_balance_option);