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encoderd: more efficient compression for low res frames (#35924)

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* shein says inline

* Update system/loggerd/loggerd.h

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Revert "Update system/loggerd/loggerd.h"

This reverts commit 3602523cefdeb2a46d77946f7f2cc7fc21bd5a4f.

* Revert "shein says inline"

This reverts commit d3c079e137c5d98068501df636975c5fbf8810ee.

* EncoderSettings

* getter

* update test_encoder

* def

---------

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
ZwX1616
2025-08-06 21:17:10 -07:00
committed by GitHub
parent 62bbf6db8d
commit 8b90c210f8
5 changed files with 34 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
system/loggerd/encoder/encoder.cc
+1 -1
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@@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
edata.setFrameId(extra.frame_id);
edata.setTimestampSof(extra.timestamp_sof);
edata.setTimestampEof(extra.timestamp_eof);
edata.setType(encoder_info.settings.encode_type);
edata.setType(encoder_info.get_settings(in_width).encode_type);
edata.setEncodeId(cnt++);
edata.setSegmentNum(segment_num);
edata.setSegmentId(idx);
system/loggerd/encoder/ffmpeg_encoder.cc
+1 -1
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@@ -46,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() {
}
void FfmpegEncoder::encoder_open() {
auto codec_id = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
auto codec_id = encoder_info.get_settings(in_width).encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
? AV_CODEC_ID_H264
: AV_CODEC_ID_FFVHUFF;
const AVCodec *codec = avcodec_find_encoder(codec_id);
system/loggerd/encoder/v4l_encoder.cc
+5 -4
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@@ -155,7 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
bool is_h265 = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
struct v4l2_format fmt_out = {
.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE,
@@ -207,9 +208,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
// shared ctrls
{
struct v4l2_control ctrls[] = {
{ .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.settings.bitrate},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_info.settings.gop_size - encoder_info.settings.b_frames - 1},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_info.settings.b_frames},
{ .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_settings.bitrate},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_settings.gop_size - encoder_settings.b_frames - 1},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_settings.b_frames},
{ .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE},
system/loggerd/loggerd.h
+14 -15
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@@ -33,13 +33,12 @@ struct EncoderSettings {
int gop_size;
int b_frames = 0; // we don't use b frames
static EncoderSettings MainEncoderSettings() {
//static EncoderSettings MainEncoderSettings(int in_width) {
//if (in_width <= 1344) {
// return EncoderSettings{.bitrate = 5'000'000, .gop_size = 20};
//} else {
return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30};
//}
static EncoderSettings MainEncoderSettings(int in_width) {
if (in_width <= 1344) {
return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 5'000'000, .gop_size = 20};
} else {
return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30};
}
}
static EncoderSettings QcamEncoderSettings() {
@@ -61,7 +60,7 @@ public:
int frame_width = -1;
int frame_height = -1;
int fps = MAIN_FPS;
EncoderSettings settings;
std::function<EncoderSettings(int)> get_settings;
::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
@@ -80,14 +79,14 @@ const EncoderInfo main_road_encoder_info = {
.publish_name = "roadEncodeData",
.thumbnail_name = "thumbnail",
.filename = "fcamera.hevc",
.settings = EncoderSettings::MainEncoderSettings(),
.get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
INIT_ENCODE_FUNCTIONS(RoadEncode),
};
const EncoderInfo main_wide_road_encoder_info = {
.publish_name = "wideRoadEncodeData",
.filename = "ecamera.hevc",
.settings = EncoderSettings::MainEncoderSettings(),
.get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
INIT_ENCODE_FUNCTIONS(WideRoadEncode),
};
@@ -95,7 +94,7 @@ const EncoderInfo main_driver_encoder_info = {
.publish_name = "driverEncodeData",
.filename = "dcamera.hevc",
.record = Params().getBool("RecordFront"),
.settings = EncoderSettings::MainEncoderSettings(),
.get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
INIT_ENCODE_FUNCTIONS(DriverEncode),
};
@@ -103,28 +102,28 @@ const EncoderInfo stream_road_encoder_info = {
.publish_name = "livestreamRoadEncodeData",
//.thumbnail_name = "thumbnail",
.record = false,
.settings = EncoderSettings::StreamEncoderSettings(),
.get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
};
const EncoderInfo stream_wide_road_encoder_info = {
.publish_name = "livestreamWideRoadEncodeData",
.record = false,
.settings = EncoderSettings::StreamEncoderSettings(),
.get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
};
const EncoderInfo stream_driver_encoder_info = {
.publish_name = "livestreamDriverEncodeData",
.record = false,
.settings = EncoderSettings::StreamEncoderSettings(),
.get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
};
const EncoderInfo qcam_encoder_info = {
.publish_name = "qRoadEncodeData",
.filename = "qcamera.ts",
.settings = EncoderSettings::QcamEncoderSettings(),
.get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
.frame_width = 526,
.frame_height = 330,
.include_audio = Params().getBool("RecordAudio"),
system/loggerd/tests/test_encoder.py
+13 -11
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@@ -19,11 +19,12 @@ from openpilot.system.hardware.hw import Paths
SEGMENT_LENGTH = 2
FULL_SIZE = 2507572
def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE
CAMERAS = [
("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
("qcamera.ts", 20, 130000, None),
("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"),
("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"),
("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"),
("qcamera.ts", 20, lambda x: 130000, None),
]
# we check frame count, so we don't have to be too strict on size
@@ -76,7 +77,7 @@ class TestEncoder:
# check each camera file size
counts = []
first_frames = []
for camera, fps, size, encode_idx_name in CAMERAS:
for camera, fps, size_lambda, encode_idx_name in CAMERAS:
if not record_front and "dcamera" in camera:
continue
@@ -86,14 +87,14 @@ class TestEncoder:
assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing"
# TODO: this ffprobe call is really slow
# check frame count
cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
# get width and check frame count
cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
if TICI:
cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
expected_frames = fps * SEGMENT_LENGTH
probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
frame_count = int(probe.split('\n')[0].strip())
probe = subprocess.check_output(cmd, shell=True, encoding='utf8').split('\n')[0].strip().split(',')
frame_width, frame_count = int(probe[0]), int(probe[1])
counts.append(frame_count)
assert frame_count == expected_frames, \
@@ -101,8 +102,9 @@ class TestEncoder:
# sanity check file size
file_size = os.path.getsize(file_path)
assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \
f"{file_path} size {file_size} isn't close to target size {size}"
target_size = size_lambda(frame_width)
assert math.isclose(file_size, target_size, rel_tol=FILE_SIZE_TOLERANCE), \
f"{file_path} size {file_size} isn't close to target size {target_size}"
# Check encodeIdx
if encode_idx_name is not None: