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move thumbnail generation from camerad to encoderd (#34554)

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Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
This commit is contained in:
Dean Lee
2025-02-11 07:43:46 +08:00
committed by GitHub
parent 27c11eb597
commit 3c0990e716
13 changed files with 157 additions and 121 deletions
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system/loggerd/encoder/encoder.cc
+1 -17
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@@ -6,12 +6,7 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
std::vector pubs = {encoder_info.publish_name};
if (encoder_info.thumbnail_name != NULL) {
pubs.push_back(encoder_info.thumbnail_name);
}
pm.reset(new PubMaster(pubs));
pm.reset(new PubMaster(std::vector{encoder_info.publish_name}));
}
void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@@ -45,15 +40,4 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(msg_cache.data(), bytes_size));
capnp::writeMessage(output_stream, msg);
pm->send(encoder_info.publish_name, msg_cache.data(), bytes_size);
// Publish keyframe thumbnail
if ((flags & V4L2_BUF_FLAG_KEYFRAME) && encoder_info.thumbnail_name != NULL) {
MessageBuilder tm;
auto thumbnail = tm.initEvent().initThumbnail();
thumbnail.setFrameId(extra.frame_id);
thumbnail.setTimestampEof(extra.timestamp_eof);
thumbnail.setThumbnail(dat);
thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
pm->send(encoder_info.thumbnail_name, tm);
}
}