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https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
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IQ.Lvbs CI [bot]
92 lines
3.5 KiB
C++
92 lines
3.5 KiB
C++
// Standalone hardware HEVC decoder for the offroad route viewer, built on comma's tested Venus
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// (msm_vidc) decoder from tools/replay/qcom_decoder.cc. ffmpeg's generic hevc_v4l2m2m can't drive
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// the downstream msm_vidc interface; MsmVidc has the exact firmware recipe (S_EXT_CTRLS
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// STREAM_OUTPUT_MODE/DPB_COLOR_FORMAT, the msm_vidc PORT_SETTINGS_CHANGED event, ION USERPTR
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// buffers). We demux the .hevc with libav, feed packets, and stream decoded NV12->rgb24 to stdout.
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//
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// Usage: v4l_decode <input.hevc>
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// stdout: "DIM <w> <h>\n" once, then raw rgb24 frames (w*h*3 bytes each).
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// Offroad the decoder + GPU are idle (camerad/modeld stopped), so the viewer can use it.
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#include <cstdint>
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#include <cstdio>
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#include <cstring>
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#include <vector>
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#include "tools/replay/qcom_decoder.h"
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#include "third_party/libyuv/include/libyuv.h"
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#include "third_party/linux/include/msm_media_info.h"
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extern "C" {
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#include <libavformat/avformat.h>
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#include <libavcodec/avcodec.h>
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}
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int main(int argc, char **argv) {
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if (argc < 2) {
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fprintf(stderr, "usage: %s <input.hevc>\n", argv[0]);
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return 2;
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}
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AVFormatContext *fmt = avformat_alloc_context();
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fmt->probesize = 10 * 1024 * 1024; // raw .hevc needs a big probe to index all frames
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if (avformat_open_input(&fmt, argv[1], nullptr, nullptr) != 0 ||
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avformat_find_stream_info(fmt, nullptr) < 0) {
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fprintf(stderr, "v4l_decode: cannot open %s\n", argv[1]);
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return 1;
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}
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int vstream = av_find_best_stream(fmt, AVMEDIA_TYPE_VIDEO, -1, -1, nullptr, 0);
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if (vstream < 0) { fprintf(stderr, "v4l_decode: no video stream\n"); return 1; }
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AVCodecParameters *cp = fmt->streams[vstream]->codecpar;
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if (cp->codec_id != AV_CODEC_ID_HEVC) {
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fprintf(stderr, "v4l_decode: only HEVC supported (got codec %d)\n", cp->codec_id);
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return 3;
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}
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const int w = cp->width, h = cp->height;
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MsmVidc dec;
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if (!dec.init(VIDEO_DEVICE, w, h, V4L2_PIX_FMT_HEVC)) {
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fprintf(stderr, "v4l_decode: msm_vidc init failed\n");
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return 1;
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}
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dec.avctx = fmt;
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// Decoded-frame target buffer (Venus NV12 layout), matching how MsmVidc copies the capture plane.
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const size_t y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, w);
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const size_t uv_offset = y_stride * h;
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VisionBuf out;
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out.allocate(uv_offset + y_stride * ((h + 1) / 2));
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out.init_yuv(w, h, y_stride, uv_offset);
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std::vector<uint8_t> argb((size_t)w * h * 4), rgb((size_t)w * h * 3);
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// stdout carries only raw rgb24 frames (so this is a drop-in for the ffmpeg rgb pipe); dims go
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// to stderr. The consumer already knows WxH from ffprobe.
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fprintf(stderr, "v4l_decode: HW decode %dx%d y_stride=%zu\n", w, h, y_stride);
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AVPacket pkt;
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int npkt = 0, nframe = 0, rr;
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while ((rr = av_read_frame(fmt, &pkt)) == 0) {
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if (pkt.stream_index == vstream && pkt.size > 0) {
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npkt++;
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VisionBuf *res = dec.decodeFrame(&pkt, &out);
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if (res != nullptr) {
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nframe++;
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libyuv::NV12ToARGB(out.y, out.stride, out.uv, out.stride, argb.data(), w * 4, w, h);
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// ARGBToRAW gives R,G,B byte order (matches the R8G8B8 texture / ffmpeg rgb24). ARGBToRGB24
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// would give B,G,R -> the blue tint / swapped red-blue.
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libyuv::ARGBToRAW(argb.data(), w * 4, rgb.data(), w * 3, w, h);
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if (fwrite(rgb.data(), 1, rgb.size(), stdout) != rgb.size()) {
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av_packet_unref(&pkt);
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break; // downstream (player) closed the pipe
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}
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}
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}
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av_packet_unref(&pkt);
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}
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fprintf(stderr, "v4l_decode: done rr=%d pkts=%d frames=%d\n", rr, npkt, nframe);
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fflush(stdout);
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avformat_close_input(&fmt);
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return 0;
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}
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