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dragonpilot beta3

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date: 2023-07-26T22:20:36
commit: c6d842c412052be1985b63d683c63be9dcb2b0eb
This commit is contained in:
dragonpilot
2023-07-26 22:14:57 +08:00
parent 67c2c03b43
commit 1abc7d7daa
536 changed files with 437552 additions and 24400 deletions
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system/loggerd/encoder/encoder.h
+4 -17
View File
@@ -8,40 +8,27 @@
#include "cereal/visionipc/visionipc.h"
#include "common/queue.h"
#include "system/camerad/cameras/camera_common.h"
#include "system/loggerd/loggerd.h"
#define V4L2_BUF_FLAG_KEYFRAME 8
class VideoEncoder {
public:
VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height,
const char* publish_name)
: filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height),
publish_name(publish_name) { }
virtual ~VideoEncoder();
VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
virtual ~VideoEncoder() {};
virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
virtual void encoder_open(const char* path) = 0;
virtual void encoder_close() = 0;
void publisher_init();
static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
protected:
const char* filename;
const char* publish_name;
int in_width, in_height;
int out_width, out_height, fps;
int bitrate;
cereal::EncodeIndex::Type codec;
CameraType type;
const EncoderInfo encoder_info;
private:
// total frames encoded
int cnt = 0;
// publishing
std::unique_ptr<PubMaster> pm;
const char *service_name;
};
system/loggerd/encoder/ffmpeg_encoder.h
+2 -7
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@@ -15,14 +15,9 @@ extern "C" {
#include "system/loggerd/loggerd.h"
class FfmpegEncoder : public VideoEncoder {
public:
FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height,
const char* publish_name) :
VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, publish_name) { encoder_init(); }
public:
FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
~FfmpegEncoder();
void encoder_init();
int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
void encoder_open(const char* path);
void encoder_close();
system/loggerd/encoder/v4l_encoder.h
+1 -4
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@@ -8,11 +8,8 @@
class V4LEncoder : public VideoEncoder {
public:
V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, const char* publish_name) :
VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, publish_name) { encoder_init(); }
V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
~V4LEncoder();
void encoder_init();
int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
void encoder_open(const char* path);
void encoder_close();