Merge pull request IntelRealSense#39 from IntelRealSense/mchanan_colo…

…r_jpeg_compress

Mchanan color jpeg compress

src/ethernet/CMakeLists.txt

@@ -41,6 +41,7 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
 # target_link_libraries(${PROJECT_NAME} ${DEPENDENCIES})
 
 find_package(ZLIB REQUIRED)
+find_package(JPEG REQUIRED)
 
 target_link_libraries(${PROJECT_NAME} 
     PRIVATE ${DEPENDENCIES}
@@ -50,6 +51,7 @@ target_link_libraries(${PROJECT_NAME}
 	#groupsock
 	#liveMedia
 	${ZLIB_LIBRARIES}
+	${JPEG_LIBRARIES}
 )
 
 if(COMPRESSION)

src/ethernet/decompressFrameFactory.cpp

@@ -6,6 +6,7 @@
 #include <zlib.h>
 #include "decompressFrameRVL.h"
 #include "decompressFrameGzip.h"
+#include "decompressFrameJpeg.h"
 #include "decompressFrameFactory.h"
 
 IdecompressFrame* decompressFrameFactory::create(zipMethod  zipMeth)
@@ -18,6 +19,9 @@ IdecompressFrame* decompressFrameFactory::create(zipMethod  zipMeth)
 		case zipMethod::rvl:
 			return new decompressFrameRVL();
 			break;
+		case zipMethod::Jpeg:
+			return new decompressFrameJpeg();
+			break;		
 		default:
 			printf("unknown zip method\n");
 			return nullptr;

src/ethernet/decompressFrameFactory.h

@@ -5,6 +5,7 @@
 typedef enum zipMethod {
     gzip,
     rvl,
+    Jpeg,
 } zipMethod;
 
 class decompressFrameFactory

src/ethernet/decompressFrameGzip.cpp

@@ -37,7 +37,7 @@ void  decompressFrameGzip::decompressDepthFrame(unsigned char* buffer, int size,
 	//assert(z_result != Z_BUF_ERROR);
 	//assert(z_result == Z_STREAM_END);
 	inflateEnd(&strm);
-	//printf("finish decompression, full size: %lu , compressed size %u \n", strm.total_out, compressedSize);	
+	printf("finish depth decompression, full size: %lu , compressed size %u \n", strm.total_out, compressedSize);	
 
 	//statistic:
 	fullSizeSum += size;
@@ -50,4 +50,4 @@ void  decompressFrameGzip::decompressDepthFrame(unsigned char* buffer, int size,
 void  decompressFrameGzip::decompressColorFrame(unsigned char* buffer, int size, unsigned char* uncompressedBuf) 
 {	
 	decompressDepthFrame(buffer,size, uncompressedBuf);
-}
+}

src/ethernet/decompressFrameJpeg.cpp

@@ -0,0 +1,54 @@
+#pragma once
+
+#include <iomanip>
+#include <cstdint>
+#include <cstring>
+#include "decompressFrameJpeg.h"
+#include <stdio.h>
+#include "jpeglib.h"
+
+	//TODO: add this code for RGB format
+	// (void) jpeg_read_scanlines(&cinfo, destBuffer, 1);
+	// for (int i = 0; i < cinfo.output_width h; i ++) {
+	// 	ptr[i] = destBuffer[0][i];
+    //     ptr[i+ 1] = destBuffer[0][i +1];
+    //     ptr[i+ 2] = destBuffer[0][i +2];
+	// }
+	// ptr += cinfo.output_width  * cinfo.output_component;
+	//(void) jpeg_read_scanlines(&cinfo, destBuffer, 1);
+	//memcpy(ptr,destBuffer[0], 640*3);
+	//ptr+= 640*3;
+
+void  decompressFrameJpeg::decompressColorFrame(unsigned char* buffer, int size, unsigned char* uncompressedBuf) 
+{	
+	struct jpeg_error_mgr jerr;
+	struct jpeg_decompress_struct cinfo;
+	unsigned char * ptr =  uncompressedBuf;
+	uint64_t compressedSize = 0;
+
+	cinfo.err = jpeg_std_error(&jerr);
+	jpeg_create_decompress(&cinfo);
+	memcpy(&compressedSize, buffer, sizeof(unsigned int));
+	unsigned char* data = buffer + sizeof(unsigned int);
+	jpeg_mem_src(&cinfo, data , compressedSize);
+	(void) jpeg_read_header(&cinfo, TRUE);
+	cinfo.out_color_space = JCS_YCbCr;
+	(void) jpeg_start_decompress(&cinfo);
+
+	uint64_t row_stride = cinfo.output_width * cinfo.output_components;
+	JSAMPARRAY destBuffer = (*cinfo.mem->alloc_sarray)((j_common_ptr) &cinfo, JPOOL_IMAGE, row_stride, 1);
+	while (cinfo.output_scanline < cinfo.output_height) {
+		(void) jpeg_read_scanlines(&cinfo, destBuffer, 1);
+        for (int i = 0; i < cinfo.output_width ; i += 2) { //input strides by 4 bytes, output strides by 6 (2 pixels)
+			ptr[i*2] = destBuffer[0][i*3]; // Y (unique to this pixel)
+            ptr[i*2 + 1] = destBuffer[0][i*3 + 1]; // U (shared between pixels)
+            ptr[i*2 + 2] = destBuffer[0][i*3 + 3]; // Y (unique to this pixel)
+            ptr[i*2 + 3] = destBuffer[0][i*3 + 2]; // V (shared between pixels)
+        }
+		ptr+= cinfo.output_width *2;
+	}
+
+	(void) jpeg_finish_decompress(&cinfo);
+	jpeg_destroy_decompress(&cinfo);
+	printf("finish color decompression with jpeg, full size: %lu , compressed size %u \n", size, compressedSize);
+}

src/ethernet/decompressFrameJpeg.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <iostream>
+#include <map>
+#include <string>
+#include <sstream>
+#include <functional>
+#include <list> 
+#include <iostream>
+#include <iomanip>
+#include <cassert>
+#include "IdecompressFrame.h"
+
+class decompressFrameJpeg :public IdecompressFrame 
+{
+        public: 
+                void decompressColorFrame(unsigned char* buffer, int size, unsigned char* uncompressedBuf);
+                void decompressDepthFrame(unsigned char* buffer, int size, unsigned char* uncompressedBuf){};
+
+};

src/ethernet/ethernet-device.cpp

@@ -42,7 +42,7 @@ rs2::ethernet_device::ethernet_device()
 {
 	dev = rs2_create_software_device(NULL);
 #ifdef COMPRESSION
-	iDecomressColor = decompressFrameFactory::create(zipMethod::gzip);
+	iDecomressColor = decompressFrameFactory::create(zipMethod::Jpeg);
 	iDecomressDepth = decompressFrameFactory::create(zipMethod::gzip);
 #endif
 

src/ethernet/ip_device.cpp

@@ -37,7 +37,8 @@ ip_device::ip_device(std::string ip_address, rs2::software_device sw_device)
     this->is_device_alive = true;
 
     #ifdef COMPRESSION
-	idecomress = decompressFrameFactory::create(zipMethod::gzip);
+	iDecomressColor = decompressFrameFactory::create(zipMethod::Jpeg);
+	iDecomressDepth = decompressFrameFactory::create(zipMethod::gzip);
     #endif
 
     //init device data
@@ -252,20 +253,18 @@ void ip_device::inject_frames_loop(std::shared_ptr<rs_rtp_stream> rtp_stream)
             {
 				// depth
                 //std:: cout <<"\t@@@ before com the frame"<<std::endl;
-				idecomress->decompressDepthFrame((unsigned char *)frame->m_buffer, frame->m_size, (unsigned char*)(rtp_stream.get()->frame_data_buff.pixels));
+				iDecomressDepth->decompressDepthFrame((unsigned char *)frame->m_buffer, frame->m_size, (unsigned char*)(rtp_stream.get()->frame_data_buff.pixels));
                 //std:: cout <<"\t@@@ after com the frame"<<std::endl;
 			} else if(type==rs2_stream::RS2_STREAM_COLOR) {
-				// other -> color
-#endif
-                //std:: cout <<"\t@@@ color frame"<<std::endl;
-				memcpy(rtp_stream.get()->frame_data_buff.pixels, frame->m_buffer, frame->m_size);
-#ifdef COMPRESSION
-			}
+                iDecomressColor->decompressColorFrame((unsigned char *)frame->m_buffer, frame->m_size, (unsigned char*)(rtp_stream.get()->frame_data_buff.pixels));
+            } 
             else 
             {
                 std::cerr <<" BAD type"<<std::endl;
                 exit(-1);
             }
+#else
+				memcpy(rtp_stream.get()->frame_data_buff.pixels, frame->m_buffer, frame->m_size);
 #endif
 			rtp_stream.get()->frame_data_buff.timestamp = frame->m_timestamp.tv_sec;
 			rtp_stream.get()->frame_data_buff.frame_number++;
@@ -296,4 +295,4 @@ void ip_device::inject_frames_loop(std::shared_ptr<rs_rtp_stream> rtp_stream)
     //  4.1. create and add sw sensor to sw device
     //  4.2. add streams per sensor
     //5. register tear_down function to sw_device dtor
-    */
+    */

src/ethernet/ip_device.hh

@@ -51,7 +51,7 @@ class ip_device
 
         rs2::software_device sw_dev;
 
-        IdecompressFrame* idecomress;
+        IdecompressFrame *iDecomressColor, *iDecomressDepth;
 
         std::thread sw_device_status_check;
 

tools/rs-server/CMakeLists.txt

@@ -44,8 +44,9 @@ endif()
 set_property(TARGET rs-server PROPERTY CXX_STANDARD 11)
 
 find_package(ZLIB REQUIRED)
+find_package(JPEG REQUIRED)
 
-target_link_libraries(rs-server ${DEPENDENCIES} realsense2 ${ZLIB_LIBRARIES})
+target_link_libraries(rs-server ${DEPENDENCIES} realsense2 ${ZLIB_LIBRARIES} ${JPEG_LIBRARIES})
 
 if(COMPRESSION)
     add_definitions(-DCOMPRESSION)

tools/rs-server/IcompressFrame.h

@@ -2,6 +2,6 @@
 
 class IcompressFrame {
    public: 
-        virtual int compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf) = 0;
+        virtual int compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf, int width, int height) = 0;
         virtual int compressDepthFrame(unsigned char* buffer, int size, unsigned char* compressedBuf) = 0;
 };

tools/rs-server/RsSource.cpp

@@ -74,8 +74,8 @@ void RsDeviceSource::doGetNextFrame()
 void RsDeviceSource::deliverRSFrame(rs2::frame *frame)
 {
 #ifdef COMPRESSION
-  IcompressFrame *iCompressColor = compressFrameFactory::create(zipMethod::gzip);
-  IcompressFrame *iCompressDepth = compressFrameFactory::create(zipMethod::gzip);
+  IcompressFrame* iCompressColor = compressFrameFactory::create(zipMethod::Jpeg);
+  IcompressFrame* iCompressDepth = compressFrameFactory::create(zipMethod::gzip);
 #endif
   if (!isCurrentlyAwaitingData())
   {
@@ -103,7 +103,7 @@ void RsDeviceSource::deliverRSFrame(rs2::frame *frame)
   }
   else if (stream_profile->stream_type() == RS2_STREAM_COLOR)
   {
-    iCompressColor->compressColorFrame((unsigned char *)frame->get_data(), fFrameSize, fTo);
+    iCompressColor->compressColorFrame((unsigned char *)frame->get_data(), fFrameSize, fTo, stream_profile->width(),stream_profile->height());
   }
   else
   {

tools/rs-server/compressFrameFactory.cpp

@@ -6,6 +6,7 @@
 #include <zlib.h>
 #include "compressFrameRVL.h"
 #include "compressFrameGzip.h"
+#include "compressFrameJpeg.h"
 #include "compressFrameFactory.h"
 
 IcompressFrame* compressFrameFactory::create(zipMethod  zipMeth)
@@ -18,6 +19,9 @@ IcompressFrame* compressFrameFactory::create(zipMethod  zipMeth)
 		case zipMethod::rvl:
 			return new compressFrameRVL();
 			break;
+		case zipMethod::Jpeg:
+			return new compressFrameJpeg();
+			break;
 		default:
 			printf("unknown zip method\n");
 			return nullptr;

tools/rs-server/compressFrameFactory.h

@@ -5,6 +5,7 @@
 typedef enum zipMethod {
     gzip,
     rvl,
+    Jpeg,
 } zipMethod;
 
 class compressFrameFactory

tools/rs-server/compressFrameGzip.cpp

@@ -25,12 +25,12 @@ int compressFrameGzip::compressDepthFrame(unsigned char* buffer, int size, unsig
 	assert(z_result == Z_STREAM_END);
 	deflateEnd(&strm);
 	unsigned int compressedSize = strm.total_out;
-	printf("finish compression with GZIP, full size: %u, compressed size: %lu\n",size, compressedSize );	
+	printf("finish depth compression with GZIP, full size: %u, compressed size: %lu\n",size, compressedSize );	
 	memcpy(compressedBuf, &compressedSize, sizeof(unsigned int));
 	return compressedSize;
 }
 
-int compressFrameGzip::compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf)
+int compressFrameGzip::compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf, int width, int height)
 {
 	compressDepthFrame(buffer, size, compressedBuf);
 }

tools/rs-server/compressFrameGzip.h

@@ -6,7 +6,7 @@
 class compressFrameGzip :public IcompressFrame 
 {
     public: 
-        int compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf);
+        int compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf, int width, int height);
         int compressDepthFrame(unsigned char* buffer, int size, unsigned char* compressedBuf);
     private:
         z_stream strm;

tools/rs-server/compressFrameJpeg.cpp

@@ -0,0 +1,55 @@
+#pragma once
+
+#include <iostream>
+#include <cstdint>
+#include <cstring>
+#include "compressFrameJpeg.h"
+#include <stdio.h>
+#include "jpeglib.h"
+
+int compressFrameJpeg::compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf, int width, int height)
+{	
+	struct jpeg_error_mgr jerr;
+	struct jpeg_compress_struct cinfo;
+	JSAMPROW row_pointer[1];
+	int row_stride;
+	cinfo.err = jpeg_std_error(&jerr);
+	uint64_t compressedSize = 0;
+	unsigned char * data;
+	int bpp = size/(width*height);
+
+	jpeg_create_compress(&cinfo);
+	jpeg_mem_dest(&cinfo, &data, &compressedSize);
+	cinfo.image_width = width;
+	cinfo.image_height = height;
+	cinfo.input_components = 3;
+	cinfo.in_color_space = JCS_YCbCr;
+	jpeg_set_defaults(&cinfo);
+	jpeg_start_compress(&cinfo, TRUE);
+	row_stride = cinfo.image_width * cinfo.input_components;
+
+	unsigned char *tmprowbuf = new unsigned char[cinfo.image_width * cinfo.input_components]; 
+	row_pointer[0] = tmprowbuf;
+	while (cinfo.next_scanline < cinfo.image_height) {
+		//row_pointer[0] = & buffer[cinfo.next_scanline * row_stride];
+    	//(void) jpeg_write_scanlines(&cinfo, row_pointer, 1);
+        for (int i = 0; i < cinfo.image_width; i += 2) { //input strides by 4 bytes, output strides by 6 (2 pixels)
+            tmprowbuf[i*3] = buffer[i*2 + 0]; // Y (unique to this pixel)
+            tmprowbuf[i*3 + 1] = buffer[i*2 + 1]; // U (shared between pixels)
+            tmprowbuf[i*3 + 2] = buffer[i*2 + 3]; // V (shared between pixels)
+            tmprowbuf[i*3 + 3] = buffer[i*2 + 2]; // Y (unique to this pixel)
+            tmprowbuf[i*3 + 4] = buffer[i*2 + 1]; // U (shared between pixels)
+            tmprowbuf[i*3 + 5] = buffer[i*2 + 3]; // V (shared between pixels)
+        }
+		row_pointer[0] = tmprowbuf; 
+    	buffer += cinfo.image_width * 2; 
+		jpeg_write_scanlines(&cinfo, row_pointer, 1);
+	}
+	jpeg_finish_compress(&cinfo);
+	jpeg_destroy_compress(&cinfo);
+	printf("finish color compression with jpeg, full size: %lu , compressed size %u \n", size, compressedSize);
+
+	memcpy(compressedBuf + 4, data, compressedSize);
+	memcpy(compressedBuf, &compressedSize, sizeof(unsigned int));
+	return compressedSize;
+}

tools/rs-server/compressFrameJpeg.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "IcompressFrame.h"
+#include <zlib.h>
+
+class compressFrameJpeg :public IcompressFrame 
+{
+    public: 
+        int compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf, int width, int height);
+        int compressDepthFrame(unsigned char* buffer, int size, unsigned char* compressedBuf){};
+};

tools/rs-server/compressFrameRVL.h

@@ -5,7 +5,7 @@
 class compressFrameRVL :public IcompressFrame 
 {
     public: 
-        int compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf){};
+        int compressColorFrame(unsigned char* buffer, int size, unsigned char* compressedBuf, int width, int height){};
         int compressDepthFrame(unsigned char* buffer, int size, unsigned char* compressedBuf);
     private:
         int EncodeVLE(int value);