From b6a0c89dc57da60cffd387ad49005ed07a7f6950 Mon Sep 17 00:00:00 2001 From: David <49467229+TheSecurityDev@users.noreply.github.com> Date: Wed, 18 Feb 2026 17:21:17 -0600 Subject: [PATCH] ui replay: record lossless to fix big replay diff (#37237) * 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> --- selfdrive/ui/tests/diff/replay.py | 1 + system/ui/lib/application.py | 5 ++++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py index bb047b201..e424d11f6 100755 --- a/selfdrive/ui/tests/diff/replay.py +++ b/selfdrive/ui/tests/diff/replay.py @@ -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...") diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index da314a394..755de674d 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -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