Allocate unique avpacket for each frame

Signed-off-by: Evan Flynn <evanflynn.msu@gmail.com>
ros-drivers · Aug 31, 2023 · bd6bb91 · bd6bb91
1 parent da715c9
commit bd6bb91
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Showing 2 changed files with 7 additions and 22 deletions.
diff --git a/include/usb_cam/formats/mjpeg.hpp b/include/usb_cam/formats/mjpeg.hpp
@@ -75,7 +75,6 @@ class MJPEG2RGB : public pixel_format_base
  m_avframe_device(av_frame_alloc()),
  m_avframe_rgb(av_frame_alloc()),
  m_avoptions(NULL),
- m_avpacket(av_packet_alloc()),
  m_averror_str(reinterpret_cast<char *>(malloc(AV_ERROR_MAX_STRING_SIZE)))
  {
  if (!m_avcodec) {
@@ -85,9 +84,6 @@ class MJPEG2RGB : public pixel_format_base
  if (!m_avparser) {
  throw std::runtime_error("Could not find MJPEG parser");
  }
- if (!m_avpacket) {
- throw std::runtime_error("Could not allocate AVPacket");
- }
 
  m_avcodec_context = avcodec_alloc_context3(m_avcodec);
 
@@ -151,9 +147,6 @@ class MJPEG2RGB : public pixel_format_base
  if (m_avoptions) {
  free(m_avoptions);
  }
- if (m_avpacket) {
- free(m_avpacket);
- }
  if (m_avcodec_context) {
  avcodec_close(m_avcodec_context);
  avcodec_free_context(&m_avcodec_context);
@@ -179,18 +172,14 @@ class MJPEG2RGB : public pixel_format_base
  // clear the picture
  memset(dest, 0, m_avframe_device_size);
 
- #if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(58, 133, 100)
- // deprecated: https://github.com/FFmpeg/FFmpeg/commit/f7db77bd8785d1715d3e7ed7e69bd1cc991f2d07
- av_init_packet(m_avpacket);
- #endif
-
- av_packet_from_data(
- m_avpacket,
- const_cast<uint8_t *>(reinterpret_cast<const uint8_t *>(src)),
- bytes_used);
+ auto avpacket = av_packet_alloc();
+ av_new_packet(avpacket, bytes_used);
+ memcpy(avpacket->data, src, bytes_used);
 
  // Pass src MJPEG image to decoder
- m_result = avcodec_send_packet(m_avcodec_context, m_avpacket);
+ m_result = avcodec_send_packet(m_avcodec_context, avpacket);
+
+ av_packet_free(&avpacket);
 
  // If result is not 0, report what went wrong
  if (m_result != 0) {
@@ -234,7 +223,6 @@ class MJPEG2RGB : public pixel_format_base
  AVFrame * m_avframe_device;
  AVFrame * m_avframe_rgb;
  AVDictionary * m_avoptions;
- AVPacket * m_avpacket;
  SwsContext * m_sws_context;
  size_t m_avframe_device_size;
  size_t m_avframe_rgb_size;

diff --git a/src/usb_cam_node.cpp b/src/usb_cam_node.cpp
@@ -362,13 +362,10 @@ void UsbCamNode::update()
 {
  if (m_camera->is_capturing()) {
  // If the camera exposure longer higher than the framerate period
- // then that caps the framerate.
- // auto t0 = now();
+ // then that caps the framerate
  if (!take_and_send_image()) {
  RCLCPP_WARN_ONCE(this->get_logger(), "USB camera did not respond in time.");
  }
- // auto diff = now() - t0;
- // INFO(diff.nanoseconds() / 1e6 << " " << int(t0.nanoseconds() / 1e9));
  }
 }
 } // namespace usb_cam