encoderd: get frame size over vipc (commaai#31276)

* encoderd: get frame size over vipc * bump cereal * fix ffmpeg * no print
gaanthony · Feb 2, 2024 · a5766e2 · a5766e2
1 parent 7123620
commit a5766e2
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Showing 7 changed files with 21 additions and 14 deletions.
diff --git a/cereal b/cereal
diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
@@ -2,6 +2,10 @@
 
 VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
     : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
+
+  out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
+  out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
+
   pm.reset(new PubMaster({encoder_info.publish_name}));
 }
 
@@ -25,6 +29,8 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   edata.setFlags(flags);
   edata.setLen(dat.size());
   edat.setData(dat);
+  edat.setWidth(out_width);
+  edat.setHeight(out_height);
   if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
 
   uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);

diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
@@ -22,10 +22,11 @@ class VideoEncoder {
   virtual void encoder_open(const char* path) = 0;
   virtual void encoder_close() = 0;
 
-  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);
+  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:
   int in_width, in_height;
+  int out_width, out_height;
   const EncoderInfo encoder_info;
 
 private:

diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -29,16 +29,16 @@ FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int
   frame = av_frame_alloc();
   assert(frame);
   frame->format = AV_PIX_FMT_YUV420P;
-  frame->width = encoder_info.frame_width;
-  frame->height = encoder_info.frame_height;
-  frame->linesize[0] = encoder_info.frame_width;
-  frame->linesize[1] = encoder_info.frame_width/2;
-  frame->linesize[2] = encoder_info.frame_width/2;
+  frame->width = out_width;
+  frame->height = out_height;
+  frame->linesize[0] = out_width;
+  frame->linesize[1] = out_width/2;
+  frame->linesize[2] = out_width/2;
 
   convert_buf.resize(in_width * in_height * 3 / 2);
 
-  if (in_width != encoder_info.frame_width || in_height != encoder_info.frame_height) {
-    downscale_buf.resize(encoder_info.frame_width * encoder_info.frame_height * 3 / 2);
+  if (in_width != out_width || in_height != out_height) {
+    downscale_buf.resize(out_width * out_height * 3 / 2);
   }
 }
 

diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
@@ -164,8 +164,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
     .fmt = {
       .pix_mp = {
         // downscales are free with v4l
-        .width = (unsigned int)encoder_info.frame_width,
-        .height = (unsigned int)encoder_info.frame_height,
+        .width = (unsigned int)(out_width),
+        .height = (unsigned int)(out_height),
         .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,

diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
@@ -116,7 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
           assert(encoder_info.filename != NULL);
           re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
             encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-            encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
+            edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
           // write the header
           auto header = edata.getHeader();
           re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);

diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
@@ -35,8 +35,8 @@ class EncoderInfo {
   const char *publish_name;
   const char *filename = NULL;
   bool record = true;
-  int frame_width = 1928;
-  int frame_height = 1208;
+  int frame_width = -1;
+  int frame_height = -1;
   int fps = MAIN_FPS;
   int bitrate = MAIN_BITRATE;
   cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS