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add config to enable MJPG encoded stream #81

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add config to enable MJPG encoded stream #81

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27cdad7
add config to enable MJPG encoded stream
machinekoder Jan 29, 2020
a0967cd
README: add description for enable_mjpg param
machinekoder May 10, 2021
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1 change: 1 addition & 0 deletions cfg/VideoStream.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -34,5 +34,6 @@ gen.add("reopen_on_read_failure", bool_t, LEVEL.RUNNING, "Re-open camera device
gen.add("output_encoding", str_t, LEVEL.NORMAL, "Output encoding", "bgr8")
gen.add("start_frame", int_t, LEVEL.RUNNING, "Start frame of the video ", 0, 0)
gen.add("stop_frame", int_t, LEVEL.RUNNING, "Stop frame of the video", -1, -1)
gen.add("enable_mjpg", bool_t, LEVEL.NORMAL, "Try to use MJPG capture stream", False)

exit(gen.generate(PKG, PKG, "VideoStream"))
8 changes: 8 additions & 0 deletions src/video_stream.cpp
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Expand Up @@ -269,6 +269,10 @@ virtual void subscribe() {
}
NODELET_INFO_STREAM("Video stream provider type detected: " << video_stream_provider_type);

if (latest_config.enable_mjpg) {
cap->set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'));
}

double reported_camera_fps;
// OpenCV 2.4 returns -1 (instead of a 0 as the spec says) and prompts an error
// HIGHGUI ERROR: V4L2: Unable to get property <unknown property string>(5) - Invalid argument
Expand Down Expand Up @@ -391,6 +395,10 @@ virtual void configCallback(VideoStreamConfig& new_config, uint32_t level) {
NODELET_INFO_STREAM("Forced image width is: " << new_config.width);
NODELET_INFO_STREAM("Forced image height is: " << new_config.height);
}
if (new_config.enable_mjpg)
{
NODELET_INFO_STREAM("Trying to use MJPG camera stream.");
}

NODELET_DEBUG_STREAM("subscriber_num: " << subscriber_num << " and level: " << level);
if (subscriber_num > 0 && (level & 0x1))
Expand Down