mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-21 00:33:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

encoder/webrtc: resize streams to baseline 3.1 H264 profile (#38587)

Browse Source 
* add h264 profile option and different profiles for comma3X and comma4

* update to high profile

* resize to be baseline 3.1

* fix

* gop 15 and clean

* revert gop 15

* fix white space

* simplify teleoprtc

* bump teleop
This commit is contained in:
stef
2026-08-07 23:20:17 -07:00
committed by GitHub
parent 5701fcad05
commit cf790746cc
3 changed files with 45 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
openpilot/system/loggerd/encoder/v4l_encoder.cc
+22 -4
View File
@@ -251,11 +251,29 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
} else {
if (encoder_info.is_live) {
struct v4l2_control ctrls[] = {
{ .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_3_1},
{ .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
};
for (auto ctrl : ctrls) {
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
} else {
struct v4l2_control ctrls[] = {
{ .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
{ .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
};
for (auto ctrl : ctrls) {
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
}
struct v4l2_control ctrls[] = {
{ .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
{ .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA, .value = 0},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA, .value = 0},
openpilot/system/loggerd/loggerd.h
+22
View File
@@ -25,6 +25,22 @@ const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BO
const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
inline int livestream_width() {
switch (Hardware::get_device_type()) {
case cereal::InitData::DeviceType::TIZI: return 1152;
case cereal::InitData::DeviceType::MICI: return 1280;
default: return -1;
}
}
inline int livestream_height() {
switch (Hardware::get_device_type()) {
case cereal::InitData::DeviceType::TIZI:
case cereal::InitData::DeviceType::MICI: return 720;
default: return -1;
}
}
constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
constexpr char PRESERVE_ATTR_VALUE = '1';
@@ -106,6 +122,8 @@ const EncoderInfo stream_road_encoder_info = {
//.thumbnail_name = "thumbnail",
.record = false,
.is_live = true,
.frame_width = livestream_width(),
.frame_height = livestream_height(),
.get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
};
@@ -114,6 +132,8 @@ const EncoderInfo stream_wide_road_encoder_info = {
.publish_name = "livestreamWideRoadEncodeData",
.record = false,
.is_live = true,
.frame_width = livestream_width(),
.frame_height = livestream_height(),
.get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
};
@@ -122,6 +142,8 @@ const EncoderInfo stream_driver_encoder_info = {
.publish_name = "livestreamDriverEncodeData",
.record = false,
.is_live = true,
.frame_width = livestream_width(),
.frame_height = livestream_height(),
.get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
};
teleoprtc_repo
+1 -1
Submodule teleoprtc_repo updated: 15ecd3b62b...31db236a9e