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encoderd: more efficient compression for low res frames (#35924)

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* shein says inline

* Update system/loggerd/loggerd.h

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Revert "Update system/loggerd/loggerd.h"

This reverts commit 3602523cefdeb2a46d77946f7f2cc7fc21bd5a4f.

* Revert "shein says inline"

This reverts commit d3c079e137c5d98068501df636975c5fbf8810ee.

* EncoderSettings

* getter

* update test_encoder

* def

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
ZwX1616
2025-08-06 21:17:10 -07:00
committed by GitHub
parent 62bbf6db8d
commit 8b90c210f8
5 changed files with 34 additions and 32 deletions
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system/loggerd/tests/test_encoder.py
+13 -11
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@@ -19,11 +19,12 @@ from openpilot.system.hardware.hw import Paths
SEGMENT_LENGTH = 2
FULL_SIZE = 2507572
def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE
CAMERAS = [
("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
("qcamera.ts", 20, 130000, None),
("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"),
("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"),
("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"),
("qcamera.ts", 20, lambda x: 130000, None),
]
# we check frame count, so we don't have to be too strict on size
@@ -76,7 +77,7 @@ class TestEncoder:
# check each camera file size
counts = []
first_frames = []
for camera, fps, size, encode_idx_name in CAMERAS:
for camera, fps, size_lambda, encode_idx_name in CAMERAS:
if not record_front and "dcamera" in camera:
continue
@@ -86,14 +87,14 @@ class TestEncoder:
assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing"
# TODO: this ffprobe call is really slow
# check frame count
cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
# get width and check frame count
cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
if TICI:
cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
expected_frames = fps * SEGMENT_LENGTH
probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
frame_count = int(probe.split('\n')[0].strip())
probe = subprocess.check_output(cmd, shell=True, encoding='utf8').split('\n')[0].strip().split(',')
frame_width, frame_count = int(probe[0]), int(probe[1])
counts.append(frame_count)
assert frame_count == expected_frames, \
@@ -101,8 +102,9 @@ class TestEncoder:
# sanity check file size
file_size = os.path.getsize(file_path)
assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \
f"{file_path} size {file_size} isn't close to target size {size}"
target_size = size_lambda(frame_width)
assert math.isclose(file_size, target_size, rel_tol=FILE_SIZE_TOLERANCE), \
f"{file_path} size {file_size} isn't close to target size {target_size}"
# Check encodeIdx
if encode_idx_name is not None: