The "leak" is mainly a timing issue on slow CPUs

CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(video_stream_opencv)
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -O0 -std=c++11")
+
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
@@ -10,8 +12,8 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
 )
 
-
-find_package(OpenCV)
+find_package(OpenCV REQUIRED)
+find_package(Curses REQUIRED)
 
 catkin_package()
 
@@ -20,8 +22,10 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS}
 )
 
+message("CURSES_LIBRARIES: ${CURSES_LIBRARIES}")
+
 add_executable(video_stream src/video_stream.cpp)
-target_link_libraries(video_stream ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+target_link_libraries(video_stream ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${CURSES_LIBRARIES})
 
 install(TARGETS video_stream
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

launch/camera.launch

@@ -28,7 +28,8 @@
 
    	<!-- images will be published at /camera_name/image with the image transports plugins (e.g.: compressed) installed -->
    	<group ns="$(arg camera_name)">
-	    <node pkg="video_stream_opencv" type="video_stream" name="$(arg camera_name)_stream" output="screen"> 
+	    <!-- node pkg="video_stream_opencv" type="video_stream" name="$(arg camera_name)_stream" output="screen" launch-prefix="gnome-terminal - -maximize -x gdb - -args"--> 
+	    <node pkg="video_stream_opencv" type="video_stream" name="$(arg camera_name)_stream" output="screen">
 	    	<remap from="camera" to="image_raw" />
 	    	<param name="camera_name" type="string" value="$(arg camera_name)" />
 	        <param name="video_stream_provider" type="string" value="$(arg video_stream_provider)" />

launch/mjpg_stream_python.launch

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<launch>
+
+  	<arg name="camera_name" default="vivotek" />
+  	<arg name="full_hd_stream" default="full_hd" />
+  	<arg name="low_qual_stream" default="low_qual" />
+
+   	<!-- images will be published at /camera_name/... -->
+   	<group ns="$(arg camera_name)">
+
+	<!--
+
+	rosrun video_stream_opencv mjpeg-stream-to-ros-topic.py http://vivotek-0:8080/video.mjpg  /vivotek_0_full_hd 0 409600
+	rosrun video_stream_opencv mjpeg-stream-to-ros-topic.py http://vivotek-0:8080/video3.mjpg /vivotek_0_low_qual 0 4096
+
+	rosrun video_stream_opencv mjpeg-stream-to-ros-topic.py http://vivotek-0:8080/video3.mjpg /vivotek_0_low_qual 4096 - -caminfo_file ~/.ros/camera_info/vivotek_IB8168_C.yaml
+
+	-->
+
+   	<!-- images will be published at /camera_name/full_hd/... -->
+   	<group ns="$(arg full_hd_stream)">
+		<!-- URL of the stream (e.g. http://vivotek-0:8080/video.mjpg or http://vivotek-0:8080/video3.mjpg or http://iris.not.iac.es/axis-cgi/mjpg/video.cgi?resolution=320x240 or whatever -->
+		<arg name="video_stream_url" default="http://vivotek-0:8080/video.mjpg" />
+		<!-- set the python socket receiving buffer: it's very important to set a read rate as close as possible to the expected frame size to optimize the (poor) python performance.
+		     If unsure, enable the printing of statistics inside the script to have an idea of the size of the received images. -->
+		<arg name="buffer_queue_size" default="409600" />
+		<!-- topic name: will be preceded by group names and followed by /compressed -->
+		<arg name="topic_name" default="image" />
+		<!-- low_quality republishing % - leave it to 0 to avoid republishing... it's a job already done by the Vivotek itself -->
+		<arg name="jpeg_quality" default="0" />
+		<!-- the camera info file to also publish image resolution and rectification parameters along image topics -->
+		<!-- arg name="caminfo_file" default="~/.ros/camera_info/camera.yaml" / -->
+		<arg name="caminfo_file" default="$(optenv HOME)/.ros/camera_info/vivotek_IB8168_C.yaml"/>
+
+		<node pkg="video_stream_opencv" type="mjpeg-stream-to-ros-topic.py" args="$(arg video_stream_url) $(arg topic_name) $(arg buffer_queue_size) -c $(arg caminfo_file)"
+			name="mjpeg_stream_python_$(arg camera_name)_$(arg full_hd_stream)" output="screen">
+		</node>
+   	</group>
+
+   	<!-- images will be published at /camera_name/low_qual/... -->
+   	<group ns="$(arg low_qual_stream)">
+		<!-- URL of the stream (e.g. http://vivotek-0:8080/video.mjpg or http://vivotek-0:8080/video3.mjpg or http://iris.not.iac.es/axis-cgi/mjpg/video.cgi?resolution=320x240 or whatever -->
+		<arg name="video_stream_url" default="http://vivotek-0:8080/video3.mjpg" />
+		<!-- set the python socket receiving buffer: it's very important to set a read rate as close as possible to the expected frame size to optimize the (poor) python performance.
+		     If unsure, enable the printing of statistics inside the script to have an idea of the size of the received images. -->
+		<arg name="buffer_queue_size" default="4096" />
+		<!-- topic name: will be preceded by group names and followed by /compressed -->
+		<arg name="topic_name" default="image" />
+		<!-- low_quality republishing % - leave it to 0 to avoid republishing... it's a job already done by the Vivotek itself -->
+		<arg name="jpeg_quality" default="0" />
+
+		<node pkg="video_stream_opencv" type="mjpeg-stream-to-ros-topic.py" args="$(arg video_stream_url) $(arg topic_name) $(arg buffer_queue_size)"
+			name="mjpeg_stream_python_$(arg camera_name)_$(arg low_qual_stream)" output="screen">
+		</node>
+   	</group>
+
+	</group>
+
+</launch>

launch/video_file_jpg.launch

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<launch>
+   <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch" >
+   		<!-- node name and ros graph name -->
+	  	<arg name="camera_name" value="videofile" />
+	  	<!-- full path to the video file -->
+	  	<!-- wget http://techslides.com/demos/sample-videos/small.mp4 -O /tmp/small.mp4 -->
+	  	<arg name="video_stream_provider" value="/tmp/test.jpg" />
+	  	<!-- set camera fps to (video files not affected) -->
+	  	<!-- <arg name="set_camera_fps" value="30"/> -->
+      	<!-- set buffer queue size of frame capturing to -->
+      	<arg name="buffer_queue_size" value="1000" />
+	  	<!-- throttling the querying of frames to -->
+	  	<arg name="fps" value="30" />
+	  	<!-- setting frame_id -->
+	  	<arg name="frame_id" value="videofile_frame" />
+	  	<!-- camera info loading, take care as it needs the "file:///" at the start , e.g.:
+	  	"file:///$(find your_camera_package)/config/your_camera.yaml" -->
+	  	<arg name="camera_info_url" value="" />
+	  	<!-- flip the image horizontally (mirror it) -->
+	  	<arg name="flip_horizontal" value="false" />
+	  	<!-- flip the image vertically -->
+	  	<arg name="flip_vertical" value="false" />
+	  	<!-- visualize on an image_view window the stream generated -->
+	  	<arg name="visualize" value="true" />
+   </include>
+</launch>

src/mjpeg-stream-to-ros-topic.py

@@ -0,0 +1,138 @@
+#!/usr/bin/env python
+# coding=UTF-8
+
+import cv2
+import urllib 
+import numpy as np
+
+import roslib
+roslib.load_manifest('video_stream_opencv')
+import signal
+import sys
+import time
+import rospy
+import yaml
+import argparse
+
+from cv_bridge import CvBridge, CvBridgeError
+#from sensor_msgs.msg import Image
+from sensor_msgs.msg import CompressedImage
+from sensor_msgs.msg import CameraInfo
+
+print(sys.version)
+print(sys.argv)
+
+#args.topic_name     = 'mjpeg_publisher'
+#args.stream_url     = 'http://iris.not.iac.es/axis-cgi/mjpg/video.cgi?resolution=320x240'
+#args.jpeg_quality   = 40
+#args.est_image_size = 409600
+#args.show_gui       = False
+#args.verbose        = True
+#args.caminfo_file   = '/home/biagio/.ros/camera_info/vivotek_IB8168_C.yaml'
+
+parser = argparse.ArgumentParser(description='Given a MJPEG HTTP stream, this node publishes a CompressedImage (and its CameraInfo) topics.')
+parser.add_argument('stream_url', help='The MJPEG URL', metavar='http://vivotek-0:8080/video3.mjpg',
+                              default='http://vivotek-0:8080/video.mjpg')
+parser.add_argument('topic_name', help='The output topic', metavar='image',
+                              default='vivotek_0')
+parser.add_argument('-q', help='The jpeg quality for an optional republish', dest='jpeg_quality', type=int,
+                        metavar='40')
+parser.add_argument('est_image_size', help='The estimated image size, to optimize recv speed', type=int,
+                        metavar='409600')
+parser.add_argument('--show_gui', help='Show the images that are being received', dest='show_gui', type=bool,
+                        metavar=False, default=False)
+parser.add_argument('-v', help='Be more verbose', dest='verbose', type=bool,
+                        metavar=False, default=False)
+parser.add_argument('-c', help='Camera info file', metavar='~/.ros/camera_info/camera.yaml', dest='caminfo_file', default='')
+
+args, unknown = parser.parse_known_args()
+
+print("URL: ", args.stream_url, "Output topic: ", args.topic_name, "Est. image size: ", args.est_image_size, "Camera info file: ", args.caminfo_file, "Jpeg quality: ", args.jpeg_quality, "Show GUI: ", args.show_gui, "Verbose: ", args.verbose)
+
+
+def parse_calibration_yaml(calib_file):
+    with file(calib_file, 'r') as f:
+        params = yaml.load(f)
+
+    cam_info = CameraInfo()
+    cam_info.header.frame_id = params['camera_name']
+    cam_info.height = params['image_height']
+    cam_info.width = params['image_width']
+    cam_info.distortion_model = params['distortion_model']
+    cam_info.K = params['camera_matrix']['data']
+    cam_info.D = params['distortion_coefficients']['data']
+    cam_info.R = params['rectification_matrix']['data']
+    cam_info.P = params['projection_matrix']['data']
+
+    return cam_info
+
+
+stream = urllib.urlopen(args.stream_url)
+
+rospy.init_node('mjpeg_stream_to_ros_topic', anonymous=True)
+mjpeg_publisher      = rospy.Publisher (args.topic_name + '/compressed'		, CompressedImage, queue_size = 1)
+if args.jpeg_quality > 0:
+	low_qual_republisher = rospy.Publisher (args.topic_name + '_low_qual' + '/compressed', CompressedImage, queue_size = 1)
+
+if args.caminfo_file != '':
+	cam_pub  = rospy.Publisher("camera_info", CameraInfo, queue_size = 1)
+	cam_info = parse_calibration_yaml(args.caminfo_file)
+else:
+	cam_pub  = None
+
+def signal_handler(sig, frame):
+        print('Ctrl+C pressed, exiting...')
+        sys.exit(0)
+
+def jpeg_publisher(data, publisher, cam_pub = None):
+        stamp = rospy.Time.now()
+	if cam_pub is not None:
+		cam_info.header.stamp = stamp
+		# publish the camera info messages first
+		cam_pub.publish(cam_info)
+        #### Create CompressedIamge ####
+        msg = CompressedImage()
+        msg.header.stamp = stamp
+        msg.format = "jpeg"
+        #msg.format = "rgb8; jpeg compressed bgr8"
+        #msg.data = np.array(cv2.imencode('.jpg', self.last_img)[1]).tostring()
+        msg.data = data.tostring()
+        # Publish new image
+        publisher.publish(msg)
+
+
+
+signal.signal(signal.SIGINT, signal_handler)
+print('Press Ctrl+C to quit')
+
+bytes = ''
+a = b = -1
+while True:
+    bytes += stream.read(args.est_image_size)
+    if a == -1:
+	a = bytes.find('\xff\xd8')
+    if b == -1:
+	b = bytes.find('\xff\xd9')
+    if a != -1 and b != -1:
+        jpg = bytes[a:b+2]
+        bytes = bytes[b+2:]
+	#print("----------------------------------------------------------", a, b, len(bytes))
+
+	a = b = -1
+
+	numpy_data = np.fromstring(jpg, dtype=np.uint8)
+	if args.show_gui:
+		i = cv2.imdecode(numpy_data, cv2.IMREAD_COLOR)
+		cv2.imshow('img', i)
+		if cv2.waitKey(1) == 27:
+			exit(0)   
+
+	if args.jpeg_quality > 0:
+		i = cv2.imdecode(numpy_data, cv2.IMREAD_COLOR)
+		retval, jpeg_data = cv2.imencode('.jpg', i, [cv2.IMWRITE_JPEG_QUALITY, args.jpeg_quality])
+		if args.verbose:
+			print("Successful recompression: {} - orig jpeg: {} - recompressed: {}".format(retval, numpy_data.size, jpeg_data.size))
+		if retval:
+			jpeg_publisher(jpeg_data, low_qual_republisher)
+
+        jpeg_publisher(numpy_data, mjpeg_publisher, cam_pub)