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framereader: refactor seeking (#22926)

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* refactor seeking

* ckeck packets.empty()

Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Dean Lee
2021-11-29 19:09:14 +08:00
committed by GitHub
parent ba67c355db
commit 296c4076a2
2 changed files with 25 additions and 33 deletions
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selfdrive/ui/replay/framereader.cc
+22 -26
View File
@@ -38,8 +38,8 @@ FrameReader::FrameReader(bool local_cache, int chunk_size, int retries) : FileRe
}
FrameReader::~FrameReader() {
for (auto &f : frames_) {
av_packet_unref(&f.pkt);
for (AVPacket *pkt : packets) {
av_packet_free(&pkt);
}
if (decoder_ctx) avcodec_free_context(&decoder_ctx);
@@ -106,18 +106,20 @@ bool FrameReader::load(const std::string &url, bool no_cuda, std::atomic<bool> *
ret = avcodec_open2(decoder_ctx, decoder, NULL);
if (ret < 0) return false;
frames_.reserve(60 * 20); // 20fps, one minute
packets.reserve(60 * 20); // 20fps, one minute
while (!(abort && *abort)) {
Frame &frame = frames_.emplace_back();
ret = av_read_frame(input_ctx, &frame.pkt);
AVPacket *pkt = av_packet_alloc();
ret = av_read_frame(input_ctx, pkt);
if (ret < 0) {
frames_.pop_back();
av_packet_free(&pkt);
valid_ = (ret == AVERROR_EOF);
break;
}
packets.push_back(pkt);
// some stream seems to contian no keyframes
key_frames_count_ += frame.pkt.flags & AV_PKT_FLAG_KEY;
key_frames_count_ += pkt->flags & AV_PKT_FLAG_KEY;
}
valid_ = valid_ && !packets.empty();
return valid_;
}
@@ -151,35 +153,29 @@ bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) {
bool FrameReader::get(int idx, uint8_t *rgb, uint8_t *yuv) {
assert(rgb || yuv);
if (!valid_ || idx < 0 || idx >= frames_.size()) {
if (!valid_ || idx < 0 || idx >= packets.size()) {
return false;
}
return decode(idx, rgb, yuv);
}
bool FrameReader::decode(int idx, uint8_t *rgb, uint8_t *yuv) {
auto get_keyframe = [=](int idx) {
for (int i = idx; i >= 0 && key_frames_count_ > 1; --i) {
if (frames_[i].pkt.flags & AV_PKT_FLAG_KEY) return i;
}
return idx;
};
int from_idx = idx;
if (idx > 0 && !frames_[idx].decoded && !frames_[idx - 1].decoded) {
// find the previous keyframe
from_idx = get_keyframe(idx);
if (idx != prev_idx + 1 && key_frames_count_ > 1) {
// seeking to the nearest key frame
for (int i = idx; i >= 0; --i) {
if (packets[i]->flags & AV_PKT_FLAG_KEY) {
from_idx = i;
break;
}
}
}
prev_idx = idx;
for (int i = from_idx; i <= idx; ++i) {
Frame &frame = frames_[i];
if ((!frame.decoded || i == idx) && !frame.failed) {
AVFrame *f = decodeFrame(&frame.pkt);
frame.decoded = f != nullptr;
frame.failed = !frame.decoded;
if (frame.decoded && i == idx) {
return copyBuffers(f, rgb, yuv);
}
AVFrame *f = decodeFrame(packets[i]);
if (f && i == idx) {
return copyBuffers(f, rgb, yuv);
}
}
return false;
selfdrive/ui/replay/framereader.h
+3 -7
View File
@@ -23,7 +23,7 @@ public:
bool get(int idx, uint8_t *rgb, uint8_t *yuv);
int getRGBSize() const { return width * height * 3; }
int getYUVSize() const { return width * height * 3 / 2; }
size_t getFrameCount() const { return frames_.size(); }
size_t getFrameCount() const { return packets.size(); }
bool valid() const { return valid_; }
int width = 0, height = 0;
@@ -34,12 +34,7 @@ private:
AVFrame * decodeFrame(AVPacket *pkt);
bool copyBuffers(AVFrame *f, uint8_t *rgb, uint8_t *yuv);
struct Frame {
AVPacket pkt = {};
int decoded = false;
bool failed = false;
};
std::vector<Frame> frames_;
std::vector<AVPacket*> packets;
std::unique_ptr<AVFrame, AVFrameDeleter>av_frame_, hw_frame;
AVFormatContext *input_ctx = nullptr;
AVCodecContext *decoder_ctx = nullptr;
@@ -50,5 +45,6 @@ private:
AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
AVBufferRef *hw_device_ctx = nullptr;
std::vector<uint8_t> nv12toyuv_buffer;
int prev_idx = -1;
inline static std::atomic<bool> has_cuda_device = true;
};