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ui replay: record lossless to fix big replay diff (#37237)

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* add RECORD_LOSSLESS and enable for replays

* use RECORD_QUALITY instead

* comment

* clarify comment

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* clarify comment

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
David
2026-02-18 17:21:17 -06:00
committed by GitHub
parent a6f4cdb319
commit b6a0c89dc5
2 changed files with 5 additions and 1 deletions
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selfdrive/ui/tests/diff/replay.py
+1
View File
@@ -106,6 +106,7 @@ def main():
if args.big:
os.environ["BIG"] = "1"
os.environ["RECORD"] = "1"
os.environ["RECORD_QUALITY"] = "0" # Use CRF 0 ("lossless" encode) for deterministic output across different machines
os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ.get("RECORD_OUTPUT", f"{variant}_ui_replay.mp4"))
print(f"Running {variant} UI replay...")
system/ui/lib/application.py
+4 -1
View File
@@ -41,7 +41,8 @@ PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100")) # Number of functions to show in profile output
RECORD = os.getenv("RECORD") == "1"
RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
RECORD_BITRATE = os.getenv("RECORD_BITRATE", "") # Target bitrate e.g. "2000k"
RECORD_QUALITY = int(os.getenv("RECORD_QUALITY", "23")) # Dynamic bitrate quality level (CRF); 0 is lossless (bigger size), max is 51, default is 23 for x264
RECORD_BITRATE = os.getenv("RECORD_BITRATE", "") # Target bitrate e.g. "2000k" (overrides RECORD_QUALITY when set)
RECORD_SPEED = int(os.getenv("RECORD_SPEED", "1")) # Speed multiplier
OFFSCREEN = os.getenv("OFFSCREEN") == "1" # Disable FPS limiting for fast offline rendering
@@ -298,8 +299,10 @@ class GuiApplication:
'-r', str(output_fps), # Output frame rate (for speed multiplier)
'-c:v', 'libx264',
'-preset', 'ultrafast',
'-crf', str(RECORD_QUALITY)
]
if RECORD_BITRATE:
# NOTE: custom bitrate overrides crf setting
ffmpeg_args += ['-b:v', RECORD_BITRATE, '-maxrate', RECORD_BITRATE, '-bufsize', RECORD_BITRATE]
ffmpeg_args += [
'-y', # Overwrite existing file