Merge pull request #279 from flynneva/fix-mjpeg-invalid-ptr

Fix mjpeg invalid ptr and mjpeg memory leak
ros-drivers · Aug 31, 2023 · ec67cb2 · ec67cb2
2 parents 7115c62 + bd6bb91
commit ec67cb2
Show file tree

Hide file tree

Showing 3 changed files with 16 additions and 25 deletions.
diff --git a/README.md b/README.md
@@ -77,7 +77,7 @@ ros2 run usb_cam usb_cam_node_exe --ros-args --params-file /path/to/colcon_ws/sr
 
 # launch the usb_cam executable that loads parameters from the same `usb_cam/config/params.yaml` file as above
 # along with an additional image viewer node
-ros2 launch usb_cam demo_launch.py
+ros2 launch usb_cam camera.launch.py
 ```
 ## Launching Multiple usb_cam's
 

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);
 
@@ -145,6 +141,12 @@ class MJPEG2RGB : public pixel_format_base
 
   ~MJPEG2RGB()
   {
+    if (m_averror_str) {
+      free(m_averror_str);
+    }
+    if (m_avoptions) {
+      free(m_avoptions);
+    }
     if (m_avcodec_context) {
       avcodec_close(m_avcodec_context);
       avcodec_free_context(&m_avcodec_context);
@@ -155,10 +157,6 @@ class MJPEG2RGB : public pixel_format_base
     if (m_avframe_rgb) {
       av_frame_free(&m_avframe_rgb);
     }
-    if (m_avpacket) {
-      av_packet_unref(m_avpacket);
-      av_packet_free(&m_avpacket);
-    }
     if (m_avparser) {
       av_parser_close(m_avparser);
     }
@@ -174,24 +172,20 @@ 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);
 
-    av_packet_unref(m_avpacket);
     // If result is not 0, report what went wrong
     if (m_result != 0) {
       std::cerr << "Failed to send AVPacket to decode: ";
       print_av_error_string(m_result);
+      return;
     }
 
     m_result = avcodec_receive_frame(m_avcodec_context, m_avframe_device);
@@ -201,6 +195,7 @@ class MJPEG2RGB : public pixel_format_base
     } else if (m_result < 0) {
       std::cerr << "Failed to recieve decoded frame from codec: ";
       print_av_error_string(m_result);
+      return;
     }
 
     sws_scale(
@@ -228,7 +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