remove libjpeg (#38305)

* remove libjpeg

* lil smaller

* happy linter

SConstruct

@@ -40,7 +40,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 acados_include_dirs = [

openpilot/system/loggerd/SConscript

@@ -21,7 +21,7 @@ logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
 env.Program('loggerd', ['loggerd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
-env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"], FRAMEWORKS=frameworks)
+env.Program('encoderd', ['encoderd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
 env.Program('bootlog.cc', LIBS=libs, FRAMEWORKS=frameworks)
 
 if GetOption('extras'):

openpilot/system/loggerd/encoder/jpeg_encoder.cc

@@ -3,16 +3,50 @@
 #include <cassert>
 #include <cstring>
 
-JpegEncoder::JpegEncoder(const std::string &pusblish_name, int width, int height)
-    : publish_name(pusblish_name), thumbnail_width(width), thumbnail_height(height) {
-  yuv_buffer.resize((thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2);
-  pm = std::make_unique<PubMaster>(std::vector{pusblish_name.c_str()});
+#include "common/swaglog.h"
+
+// Lower qscale = higher quality / bigger files for MJPEG.
+constexpr int MJPEG_QSCALE = 7;
+
+JpegEncoder::JpegEncoder(const std::string &publish_name, int width, int height)
+    : publish_name(publish_name), thumbnail_width(width), thumbnail_height(height) {
+  yuv_buffer.resize((thumbnail_width * thumbnail_height * 3) / 2);
+  pm = std::make_unique<PubMaster>(std::vector{publish_name.c_str()});
+
+  const AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_MJPEG);
+  assert(codec);
+
+  codec_ctx = avcodec_alloc_context3(codec);
+  assert(codec_ctx);
+  codec_ctx->width = thumbnail_width;
+  codec_ctx->height = thumbnail_height;
+  codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
+  codec_ctx->time_base = (AVRational){1, 1};
+  codec_ctx->color_range = AVCOL_RANGE_JPEG;
+  codec_ctx->flags |= AV_CODEC_FLAG_QSCALE;
+  codec_ctx->global_quality = FF_QP2LAMBDA * MJPEG_QSCALE;
+
+  int err = avcodec_open2(codec_ctx, codec, NULL);
+  assert(err >= 0);
+
+  frame = av_frame_alloc();
+  assert(frame);
+  frame->format = codec_ctx->pix_fmt;
+  frame->width = thumbnail_width;
+  frame->height = thumbnail_height;
+  frame->linesize[0] = thumbnail_width;
+  frame->linesize[1] = thumbnail_width / 2;
+  frame->linesize[2] = thumbnail_width / 2;
+  frame->color_range = AVCOL_RANGE_JPEG;
+
+  pkt = av_packet_alloc();
+  assert(pkt);
 }
 
 JpegEncoder::~JpegEncoder() {
-  if (out_buffer) {
-    free(out_buffer);
-  }
+  av_packet_free(&pkt);
+  av_frame_free(&frame);
+  avcodec_free_context(&codec_ctx);
 }
 
 void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) {
@@ -22,7 +56,7 @@ void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra)
   auto thumbnaild = msg.initEvent().initThumbnail();
   thumbnaild.setFrameId(extra.frame_id);
   thumbnaild.setTimestampEof(extra.timestamp_eof);
-  thumbnaild.setThumbnail({out_buffer, out_size});
+  thumbnaild.setThumbnail({out_buffer.data(), out_buffer.size()});
 
   pm->send(publish_name.c_str(), msg);
 }
@@ -31,12 +65,11 @@ void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_add
   int downscale = width / thumbnail_width;
   assert(downscale * thumbnail_height == height);
 
-  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
   uint8_t *y_plane = yuv_buffer.data();
   uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
   uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
   {
-    // subsampled conversion from nv12 to yuv
+    // subsampled conversion from nv12 to yuv420p
     for (int hy = 0; hy < thumbnail_height / 2; hy++) {
       for (int hx = 0; hx < thumbnail_width / 2; hx++) {
         int ix = hx * downscale + (downscale - 1) / 2;
@@ -55,51 +88,28 @@ void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_add
 }
 
 void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) {
-  struct jpeg_compress_struct cinfo;
-  struct jpeg_error_mgr jerr;
-  cinfo.err = jpeg_std_error(&jerr);
-  jpeg_create_compress(&cinfo);
+  frame->data[0] = y_plane;
+  frame->data[1] = u_plane;
+  frame->data[2] = v_plane;
+  // Required for MJPEG qscale to take effect (global_quality alone is not enough).
+  frame->quality = FF_QP2LAMBDA * MJPEG_QSCALE;
+  frame->pts = 0;
 
-  if (out_buffer) {
-    free(out_buffer);
-    out_buffer = nullptr;
-    out_size = 0;
-  }
-  jpeg_mem_dest(&cinfo, &out_buffer, &out_size);
-
-  cinfo.image_width = thumbnail_width;
-  cinfo.image_height = thumbnail_height;
-  cinfo.input_components = 3;
-
-  jpeg_set_defaults(&cinfo);
-  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
-  // configure sampling factors for yuv420.
-  cinfo.comp_info[0].h_samp_factor = 2;  // Y
-  cinfo.comp_info[0].v_samp_factor = 2;
-  cinfo.comp_info[1].h_samp_factor = 1;  // U
-  cinfo.comp_info[1].v_samp_factor = 1;
-  cinfo.comp_info[2].h_samp_factor = 1;  // V
-  cinfo.comp_info[2].v_samp_factor = 1;
-  cinfo.raw_data_in = TRUE;
-
-  jpeg_set_quality(&cinfo, 50, TRUE);
-  jpeg_start_compress(&cinfo, TRUE);
-
-  JSAMPROW y[16], u[8], v[8];
-  JSAMPARRAY planes[3]{y, u, v};
-
-  for (int line = 0; line < cinfo.image_height; line += 16) {
-    for (int i = 0; i < 16; ++i) {
-      y[i] = y_plane + (line + i) * cinfo.image_width;
-      if (i % 2 == 0) {
-        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
-        u[i / 2] = u_plane + offset;
-        v[i / 2] = v_plane + offset;
-      }
-    }
-    jpeg_write_raw_data(&cinfo, planes, 16);
+  int err = avcodec_send_frame(codec_ctx, frame);
+  if (err < 0) {
+    LOGE("thumbnail avcodec_send_frame error %d", err);
+    out_buffer.clear();
+    return;
   }
 
-  jpeg_finish_compress(&cinfo);
-  jpeg_destroy_compress(&cinfo);
+  av_packet_unref(pkt);
+  err = avcodec_receive_packet(codec_ctx, pkt);
+  if (err < 0) {
+    LOGE("thumbnail avcodec_receive_packet error %d", err);
+    out_buffer.clear();
+    return;
+  }
+
+  out_buffer.assign(pkt->data, pkt->data + pkt->size);
+  av_packet_unref(pkt);
 }

openpilot/system/loggerd/encoder/jpeg_encoder.h

@@ -1,18 +1,20 @@
 #pragma once
 
-#include <cstdio>
-#include <cstdlib>
-#include <cstddef>
 #include <cstdint>
-#include <jpeglib.h>
-#include <vector>
 #include <memory>
+#include <string>
+#include <vector>
+
 #include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionbuf.h"
 
+extern "C" {
+#include <libavcodec/avcodec.h>
+}
+
 class JpegEncoder {
 public:
-  JpegEncoder(const std::string &pusblish_name, int width, int height);
+  JpegEncoder(const std::string &publish_name, int width, int height);
   ~JpegEncoder();
   void pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra);
 
@@ -24,9 +26,10 @@ private:
   int thumbnail_height;
   std::string publish_name;
   std::vector<uint8_t> yuv_buffer;
+  std::vector<uint8_t> out_buffer;
   std::unique_ptr<PubMaster> pm;
 
-  // JPEG output buffer
-  unsigned char* out_buffer = nullptr;
-  unsigned long out_size = 0;
+  AVCodecContext *codec_ctx = nullptr;
+  AVFrame *frame = nullptr;
+  AVPacket *pkt = nullptr;
 };

pyproject.toml

@@ -33,7 +33,6 @@ dependencies = [
   "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
   "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
   "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
   "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",

uv.lock

@@ -655,10 +655,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/48/e8/7923893f08504f28e0b5fb8b21795fc388d0363cfa2f412e2541c9464cb1/lefthook-2.1.9-py3-none-win_arm64.whl", hash = "sha256:6d8e3923c42a04e9375f88314ebc8c86f68879d3d0c9d856b6adbed109890e90", size = 4959833, upload-time = "2026-05-29T08:39:32.882Z" },
 ]
 
-[[package]]
-name = "libjpeg"
-version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg#3f9a0796d1985576b0cb172456e08bb918f3afeb" }
 
 [[package]]
 name = "libusb"
@@ -909,7 +905,6 @@ dependencies = [
     { name = "jeepney" },
     { name = "json-rpc" },
     { name = "json11" },
-    { name = "libjpeg" },
     { name = "libusb" },
     { name = "libyuv" },
     { name = "ncurses" },
@@ -997,7 +992,6 @@ requires-dist = [
     { name = "jinja2", marker = "extra == 'docs'" },
     { name = "json-rpc" },
     { name = "json11", git = "https://github.com/commaai/dependencies.git?subdirectory=json11&rev=release-json11" },
-    { name = "libjpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=release-libjpeg" },
     { name = "libusb", git = "https://github.com/commaai/dependencies.git?subdirectory=libusb&rev=release-libusb" },
     { name = "libyuv", git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=release-libyuv" },
     { name = "matplotlib", marker = "extra == 'dev'" },