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nv12: encoderd avoids a full frame copy (#24519)

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* rgb to nv12

* nv12 works (w memcpy)

* correct now

* no copy

* fix nv12 with fast debayer

* reverts of unused stuff

* ui use nv12

* comment out thumbnails for now

* rebase fix

* dm read nv12

* model read nv12

* fix ffmpeg encoder

* thumbnails from nv12

* replay to nv12

* python framereader support nv12

* remove hardcoded frame/buffer sizes

* fix build

* ffmpeg encoder fix buffers

* small cleanup

* reduce power usage test

* fix cpu usage test

* fix snapshot

* fix loggerd test

* bump cereal

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Joost Wooning <jwooning@gmail.com>
old-commit-hash: ea5b8cdfb10686c972d8d2bc1778e6e6567e45a9
This commit is contained in:
George Hotz
2022-06-01 08:18:28 -07:00
committed by GitHub
parent 82f9f302ed
commit 2a6ffaf71d
28 changed files with 235 additions and 186 deletions
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selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+21 -10
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@@ -34,6 +34,8 @@ void FfmpegEncoder::encoder_init() {
frame->linesize[1] = out_width/2;
frame->linesize[2] = out_width/2;
convert_buf.resize(in_width * in_height * 3 / 2);
if (in_width != out_width || in_height != out_height) {
downscale_buf.resize(out_width * out_height * 3 / 2);
}
@@ -70,18 +72,27 @@ void FfmpegEncoder::encoder_close() {
is_open = false;
}
int FfmpegEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
int in_width_, int in_height_, VisionIpcBufExtra *extra) {
assert(in_width_ == this->in_width);
assert(in_height_ == this->in_height);
int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
assert(buf->width == this->in_width);
assert(buf->height == this->in_height);
uint8_t *cy = convert_buf.data();
uint8_t *cu = cy + in_width * in_height;
uint8_t *cv = cu + (in_width / 2) * (in_height / 2);
libyuv::NV12ToI420(buf->y, buf->stride,
buf->uv, buf->stride,
cy, in_width,
cu, in_width/2,
cv, in_width/2,
in_width, in_height);
if (downscale_buf.size() > 0) {
uint8_t *out_y = downscale_buf.data();
uint8_t *out_u = out_y + frame->width * frame->height;
uint8_t *out_v = out_u + (frame->width / 2) * (frame->height / 2);
libyuv::I420Scale(y_ptr, in_width,
u_ptr, in_width/2,
v_ptr, in_width/2,
libyuv::I420Scale(cy, in_width,
cu, in_width/2,
cv, in_width/2,
in_width, in_height,
out_y, frame->width,
out_u, frame->width/2,
@@ -92,9 +103,9 @@ int FfmpegEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, cons
frame->data[1] = out_u;
frame->data[2] = out_v;
} else {
frame->data[0] = (uint8_t*)y_ptr;
frame->data[1] = (uint8_t*)u_ptr;
frame->data[2] = (uint8_t*)v_ptr;
frame->data[0] = cy;
frame->data[1] = cu;
frame->data[2] = cv;
}
frame->pts = counter*50*1000; // 50ms per frame