openpilot v0.9.7

system/loggerd/encoder/ffmpeg_encoder.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <vector>
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
+}
+
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/loggerd.h"
+
+class FfmpegEncoder : public VideoEncoder {
+public:
+  FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  ~FfmpegEncoder();
+  int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
+  void encoder_open(const char* path);
+  void encoder_close();
+
+private:
+  int segment_num = -1;
+  int counter = 0;
+  bool is_open = false;
+
+  AVCodecContext *codec_ctx;
+  AVFrame *frame = NULL;
+  std::vector<uint8_t> convert_buf;
+  std::vector<uint8_t> downscale_buf;
+};