Encode test data as base64, fix Base64Dec(), add video GOP decode test

.gitignore

@@ -43,7 +43,7 @@ baz*
 /*_bag
 /prompt.md
 /notes.md
-
+/*.mp4
 
 # We must not commit such files ever. See section FPSDK_BUILD_ROS in fpsdk_doc/fpsdk_build.hpp
 CATKIN_IGNORE

fpsdk_common/include/fpsdk_common/video.hpp

@@ -75,7 +75,7 @@ enum class PixelFmt : int
     UNSPECIFIED = 0,  //!< Invalid
     Y8,               //!< Planar Y (greyscale), 8bpp         (= FFmpeg AV_PIX_FMT_GRAY8)
     RGB24,            //!< Packed RGB 8:8:8, 24bpp, RGBRGB... (= FFmpeg AV_PIX_FMT_RGB24)
-    GBRP,  //!< Planar GBR, 24bpp  [R][R][R]...[G][G][G]...[B][B][B]... (~ FFmpeg AV_PIX_FMT_GBRP/AV_PIX_FMT_GBR24P)
+    GBRP,  //!< Planar GBR, 24bpp  [G][G][G]...[B][B][B]...[R][R][R]... (~ FFmpeg AV_PIX_FMT_GBRP/AV_PIX_FMT_GBR24P)
 };
 
 /**

fpsdk_common/src/string.cpp

@@ -538,8 +538,8 @@ std::vector<uint8_t> Base64Dec(const std::string& str)
 {
     std::vector<uint8_t> data;
     data.resize(boost::beast::detail::base64::decoded_size(str.size()));
-    boost::beast::detail::base64::decode(data.data(), str.data(), str.size());
-    data.resize(data.size() - 1);
+    const auto res = boost::beast::detail::base64::decode(data.data(), str.data(), str.size());
+    data.resize(res.first);  // Number of bytes written (decoded_size() is an upper bound)
     return data;
 }
 

fpsdk_common/test/data/Makefile

@@ -12,9 +12,15 @@ all: $(OUTPUTS)
 	@echo "$< -> $@"
 	@echo -n > $@.tmp
 	@echo "// clang-format off" >> $@.tmp
-	@xxd -i -C -c 32 $< \
-		| sed -e 's/unsigned char/static const std::vector<uint8_t>/' -e 's/\[\]//' -e '/unsigned int/d' \
-		>> $@.tmp
+	@echo "static const std::vector<uint8_t> $(shell echo $(subst .,_,$<) | tr a-z A-Z) = []() {" >> $@.tmp
+	@echo "    // Separate string literals, as compilers may not support long strings (-Woverlength-strings)" >> $@.tmp
+	@echo "    static const char* const b64[] = {" >> $@.tmp
+	@base64 -w 128 $< | sed -e 's/^/        "/' -e 's/$$/",/' >> $@.tmp
+	@echo "    };" >> $@.tmp
+	@echo "    std::string str;" >> $@.tmp
+	@echo "    for (const char* s : b64) { str += s; }" >> $@.tmp
+	@echo "    return fpsdk::common::string::Base64Dec(str);" >> $@.tmp
+	@echo "}();" >> $@.tmp
 	@mv $@.tmp $@
 
 

fpsdk_common/test/data/test_data_fpa.cpp

@@ -1,10 +1,12 @@
 // clang-format off
-static const std::vector<uint8_t> TEST_DATA_FPA_BIN = {
-  0x24, 0x46, 0x50, 0x2c, 0x4f, 0x44, 0x4f, 0x4d, 0x45, 0x54, 0x52, 0x59, 0x2c, 0x32, 0x2c, 0x32, 0x32, 0x35, 0x33, 0x2c, 0x33, 0x32, 0x33, 0x32, 0x39, 0x39, 0x2e, 0x31, 0x30, 0x30, 0x30, 0x30,
-  0x30, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x30, 0x2c, 0x30, 0x2c, 0x38, 0x2c, 0x38, 0x2c, 0x2d, 0x31, 0x2c, 0x2c, 0x2c, 0x2c,
-  0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x2c, 0x66, 0x70, 0x5f, 0x72, 0x65, 0x6c, 0x65, 0x61, 0x73, 0x65, 0x5f, 0x76, 0x72, 0x32, 0x5f, 0x32, 0x2e,
-  0x36, 0x33, 0x2e, 0x31, 0x5f, 0x32, 0x30, 0x34, 0x2a, 0x37, 0x42, 0x0d, 0x0a, 0x24, 0x46, 0x50, 0x2c, 0x54, 0x46, 0x2c, 0x32, 0x2c, 0x32, 0x32, 0x35, 0x33, 0x2c, 0x33, 0x32, 0x33, 0x32, 0x39,
-  0x39, 0x2e, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x2c, 0x56, 0x52, 0x54, 0x4b, 0x2c, 0x43, 0x41, 0x4d, 0x2c, 0x2d, 0x30, 0x2e, 0x30, 0x33, 0x34, 0x30, 0x30, 0x2c, 0x30, 0x2e, 0x30, 0x30, 0x32,
-  0x30, 0x30, 0x2c, 0x2d, 0x30, 0x2e, 0x30, 0x31, 0x36, 0x30, 0x30, 0x2c, 0x2d, 0x30, 0x2e, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x2c, 0x30, 0x2e, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x2c, 0x30,
-  0x2e, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x2c, 0x31, 0x2e, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x2a, 0x36, 0x36, 0x0d, 0x0a
-};
+static const std::vector<uint8_t> TEST_DATA_FPA_BIN = []() {
+    // Separate string literals, as compilers may not support long strings (-Woverlength-strings)
+    static const char* const b64[] = {
+        "JEZQLE9ET01FVFJZLDIsMjI1MywzMjMyOTkuMTAwMDAwLCwsLCwsLCwsLCwsLCwsLCwwLDAsOCw4LC0xLCwsLCwsLCwsLCwsLCwsLCwsLGZwX3JlbGVhc2VfdnIyXzIu",
+        "NjMuMV8yMDQqN0INCiRGUCxURiwyLDIyNTMsMzIzMjk5LjAwMDAwMCxWUlRLLENBTSwtMC4wMzQwMCwwLjAwMjAwLC0wLjAxNjAwLC0wLjAwMDAwMCwwLjAwMDAwMCww",
+        "LjAwMDAwMCwxLjAwMDAwMCo2Ng0K",
+    };
+    std::string str;
+    for (const char* s : b64) { str += s; }
+    return fpsdk::common::string::Base64Dec(str);
+}();

fpsdk_common/test/data/test_data_fpb.cpp

@@ -1,7 +1,11 @@
 // clang-format off
-static const std::vector<uint8_t> TEST_DATA_FPB_BIN = {
-  0x66, 0x21, 0xd1, 0x07, 0x5c, 0x00, 0x00, 0x00, 0x01, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xe2, 0xff, 0xff, 0xff, 0x01, 0x01, 0x01, 0x01,
-  0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0a, 0x00, 0x4e, 0x61, 0xbc, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0xe3, 0xff, 0xff, 0xff, 0x01, 0x01, 0x01, 0x01, 0x02, 0x00, 0x00, 0x00,
-  0x00, 0x01, 0x0a, 0x00, 0x4e, 0x61, 0xbc, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0xe4, 0xff, 0xff, 0xff, 0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0a, 0x00,
-  0x4e, 0x61, 0xbc, 0x00, 0x26, 0x54, 0xaa, 0x34
-};
+static const std::vector<uint8_t> TEST_DATA_FPB_BIN = []() {
+    // Separate string literals, as compilers may not support long strings (-Woverlength-strings)
+    static const char* const b64[] = {
+        "ZiHRB1wAAAABAwAAAAAAAAoAAAAUAAAA4v///wEBAQEBAAAAAAEKAE5hvAALAAAAFQAAAOP///8BAQEBAgAAAAABCgBOYbwADAAAABYAAADk////AQEBAQMAAAAAAQoA",
+        "TmG8ACZUqjQ=",
+    };
+    std::string str;
+    for (const char* s : b64) { str += s; }
+    return fpsdk::common::string::Base64Dec(str);
+}();