MjpegDecompression.cpp

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include "MjpegDecompression.h"
#include "MjpegLogComponent.h"
 
#include <yarp/os/Log.h>
#include <yarp/sig/Image.h>
 
#include <csetjmp>
#include <cstdio>
#include <cstring>
 
#if defined(_WIN32)
#define INT32 long  // jpeg's definition
#define QGLOBAL_H 1
#endif
 
#ifdef _MSC_VER
#pragma warning (push)
#pragma warning (disable : 4091)
#endif
 
extern "C" {
#include <jpeglib.h>
}
 
#ifdef _MSC_VER
#pragma warning (pop)
#endif
 
#if defined(_WIN32)
#undef INT32
#undef QGLOBAL_H
#endif
 
 
using namespace yarp::os;
using namespace yarp::sig;
 
struct net_error_mgr {
    struct jpeg_error_mgr pub;
    jmp_buf setjmp_buffer;
};
using net_error_ptr = struct net_error_mgr*;
 
using net_src_ptr = jpeg_source_mgr*;
 
void init_net_source (j_decompress_ptr cinfo) {
    //net_src_ptr src = (net_src_ptr) cinfo->src;
}
 
 
boolean fill_net_input_buffer (j_decompress_ptr cinfo)
{
    // The whole JPEG data is expected to reside in the supplied memory
    // buffer, so any request for more data beyond the given buffer size
    // is treated as an error.
    auto* mybuffer = (JOCTET *) cinfo->client_data;
    yCWarning(MJPEGCARRIER, "JPEG data unusually large");
    // Insert a fake EOI marker
    mybuffer[0] = (JOCTET) 0xFF;
    mybuffer[1] = (JOCTET) JPEG_EOI;
    cinfo->src->next_input_byte = mybuffer;
    cinfo->src->bytes_in_buffer = 2;
    return TRUE;
}
 
void net_error_exit (j_common_ptr cinfo) {
    auto myerr = (net_error_ptr) cinfo->err;
    (*cinfo->err->output_message) (cinfo);
    longjmp(myerr->setjmp_buffer, 1);
}
 
void skip_net_input_data (j_decompress_ptr cinfo, long num_bytes)
{
    auto src = (net_src_ptr) cinfo->src;
 
    if (num_bytes > 0) {
        while (num_bytes > (long) src->bytes_in_buffer) {
            num_bytes -= (long) src->bytes_in_buffer;
            (void) (*src->fill_input_buffer) (cinfo);
        }
        src->next_input_byte += (size_t) num_bytes;
        src->bytes_in_buffer -= (size_t) num_bytes;
    }
}
 
void term_net_source (j_decompress_ptr cinfo) {
}
 
void jpeg_net_src (j_decompress_ptr cinfo, char *buf, int buflen) {
    net_src_ptr src;
    if (cinfo->src == nullptr) {    /* first time for this JPEG object? */
        cinfo->src = (struct jpeg_source_mgr *)
            (*cinfo->mem->alloc_small) ((j_common_ptr) cinfo, JPOOL_PERMANENT,
                                        sizeof(jpeg_source_mgr));
    }
 
    src = (net_src_ptr) cinfo->src;
    src->init_source = init_net_source;
    src->fill_input_buffer = fill_net_input_buffer;
    src->skip_input_data = skip_net_input_data;
    src->resync_to_restart = jpeg_resync_to_restart; /* use default method */
    src->term_source = term_net_source;
    src->bytes_in_buffer = buflen;
    src->next_input_byte = (JOCTET *)buf;
}
 
 
class MjpegDecompressionHelper {
public:
    bool active{false};
    struct jpeg_decompress_struct cinfo;
    struct net_error_mgr jerr;
    JOCTET error_buffer[4];
    yarp::os::InputStream::readEnvelopeCallbackType readEnvelopeCallback{nullptr};
    void* readEnvelopeCallbackData{nullptr};
 
    MjpegDecompressionHelper()
    {
        memset(&cinfo, 0, sizeof(jpeg_decompress_struct));
        memset(&jerr, 0, sizeof(net_error_mgr));
    }
 
    bool setReadEnvelopeCallback(yarp::os::InputStream::readEnvelopeCallbackType callback,
                                 void* data)
    {
        readEnvelopeCallback = callback;
        readEnvelopeCallbackData = data;
        return true;
    }
 
    void init() {
        jpeg_create_decompress(&cinfo);
    }
    bool decompress(const Bytes& cimg, FlexImage& img) {
        if (!active) {
            init();
            active = true;
        }
        cinfo.client_data = &error_buffer;
        cinfo.err = jpeg_std_error(&jerr.pub);
        jerr.pub.error_exit = net_error_exit;
 
        if (setjmp(jerr.setjmp_buffer)) {
            jpeg_finish_decompress(&cinfo);
            return false;
        }
 
        jpeg_net_src(&cinfo,(char*)cimg.get(),cimg.length());
        jpeg_save_markers(&cinfo, JPEG_COM, 0xFFFF);
        jpeg_read_header(&cinfo, TRUE);
        jpeg_calc_output_dimensions(&cinfo);
 
        if(cinfo.jpeg_color_space == JCS_GRAYSCALE) {
            img.setPixelCode(VOCAB_PIXEL_MONO);
        }
        else
        {
            img.setPixelCode(VOCAB_PIXEL_RGB);
        }
 
        yCTrace(MJPEGCARRIER, "Got image %dx%d", cinfo.output_width, cinfo.output_height);
        img.resize(cinfo.output_width,cinfo.output_height);
        jpeg_start_decompress(&cinfo);
        //int row_stride = cinfo.output_width * cinfo.output_components;
 
        int at = 0;
        while (cinfo.output_scanline < cinfo.output_height) {
            JSAMPLE *lines[1];
            lines[0] = (JSAMPLE*)(img.getPixelAddress(0,at));
            jpeg_read_scanlines(&cinfo, lines, 1);
            at++;
        }
        if(readEnvelopeCallback && cinfo.marker_list && cinfo.marker_list->data_length > 0) {
            Bytes envelope(reinterpret_cast<char*>(cinfo.marker_list->data), cinfo.marker_list->data_length);
            readEnvelopeCallback(readEnvelopeCallbackData, envelope);
        }
        yCTrace(MJPEGCARRIER, "Read image!");
        jpeg_finish_decompress(&cinfo);
        return true;
    }
 
    void fini() {
        jpeg_destroy_decompress(&cinfo);
    }
 
    ~MjpegDecompressionHelper() {
        if (active) {
            fini();
            active = false;
        }
    }
};
 
#define HELPER(x) (*((MjpegDecompressionHelper*)(x)))
 
MjpegDecompression::MjpegDecompression() {
    system_resource = new MjpegDecompressionHelper;
    yCAssert(MJPEGCARRIER, system_resource!=nullptr);
}
 
MjpegDecompression::~MjpegDecompression() {
    if (system_resource!=nullptr) {
        delete &HELPER(system_resource);
        system_resource = nullptr;
    }
}
 
 
bool MjpegDecompression::decompress(const yarp::os::Bytes& data,
                                    FlexImage &image) {
    MjpegDecompressionHelper& helper = HELPER(system_resource);
    return helper.decompress(data, image);
}
 
bool MjpegDecompression::setReadEnvelopeCallback(InputStream::readEnvelopeCallbackType callback,
                                                 void* data)
{
    MjpegDecompressionHelper& helper = HELPER(system_resource);
    return helper.setReadEnvelopeCallback(callback, data);
}
 
 
bool MjpegDecompression::isAutomatic() const {
#ifdef MJPEG_AUTOCOMPRESS
    return true;
#else
    return false;
#endif
}