loggerd: prereqs for deanlee loggerd omx encoder (try 2) (#24252)

* refactor encoders

* fix pc build

* buf_info

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/loggerd/loggerd.cc

@@ -64,11 +64,12 @@ void encoder_thread(LoggerdState *s, const LogCameraInfo &cam_info) {
       // main encoder
       encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
                                      cam_info.fps, cam_info.bitrate, cam_info.is_h265,
-                                     cam_info.downscale, cam_info.record));
+                                     buf_info.width, buf_info.height, cam_info.record));
       // qcamera encoder
       if (cam_info.has_qcamera) {
-        encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, qcam_info.frame_width, qcam_info.frame_height,
+        encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                       qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265, qcam_info.downscale));
+                                       qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265,
+                                       qcam_info.frame_width, qcam_info.frame_height));
       }
     }
 

selfdrive/loggerd/loggerd.h

@@ -49,7 +49,6 @@ struct LogCameraInfo {
   int fps;
   int bitrate;
   bool is_h265;
-  bool downscale;
   bool has_qcamera;
   bool trigger_rotate;
   bool enable;
@@ -64,7 +63,6 @@ const LogCameraInfo cameras_logged[] = {
     .fps = MAIN_FPS,
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
-    .downscale = false,
     .has_qcamera = true,
     .trigger_rotate = true,
     .enable = true,
@@ -77,7 +75,6 @@ const LogCameraInfo cameras_logged[] = {
     .fps = MAIN_FPS,
     .bitrate = DCAM_BITRATE,
     .is_h265 = true,
-    .downscale = false,
     .has_qcamera = false,
     .trigger_rotate = true,
     .enable = true,
@@ -90,7 +87,6 @@ const LogCameraInfo cameras_logged[] = {
     .fps = MAIN_FPS,
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
-    .downscale = false,
     .has_qcamera = false,
     .trigger_rotate = true,
     .enable = Hardware::TICI(),
@@ -102,7 +98,6 @@ const LogCameraInfo qcam_info = {
   .fps = MAIN_FPS,
   .bitrate = 256000,
   .is_h265 = false,
-  .downscale = true,
   .frame_width = Hardware::TICI() ? 526 : 480,
   .frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same?
 };

selfdrive/loggerd/omx_encoder.cc

@@ -154,16 +154,15 @@ static const char* omx_color_fomat_name(uint32_t format) {
 
 
 // ***** encoder functions *****
-OmxEncoder::OmxEncoder(const char* filename, CameraType type, int width, int height, int fps, int bitrate, bool h265, bool downscale, bool write) {
+OmxEncoder::OmxEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, int bitrate, bool h265, int out_width, int out_height, bool write)
+  : in_width_(in_width), in_height_(in_height), width(out_width), height(out_height) {
   this->filename = filename;
   this->type = type;
   this->write = write;
-  this->width = width;
-  this->height = height;
   this->fps = fps;
   this->remuxing = !h265;
 
-  this->downscale = downscale;
+  this->downscale = in_width != out_width || in_height != out_height;
   if (this->downscale) {
     this->y_ptr2 = (uint8_t *)malloc(this->width*this->height);
     this->u_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
@@ -464,6 +463,8 @@ void OmxEncoder::handle_out_buf(OmxEncoder *e, OmxBuffer *out_buf) {
 
 int OmxEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                              int in_width, int in_height, uint64_t ts) {
+  assert(in_width == this->in_width_);
+  assert(in_height == this->in_height_);
   int err;
   if (!this->is_open) {
     return -1;

selfdrive/loggerd/omx_encoder.h

@@ -22,7 +22,7 @@ struct OmxBuffer {
 // OmxEncoder, lossey codec using hardware hevc
 class OmxEncoder : public VideoEncoder {
 public:
-  OmxEncoder(const char* filename, CameraType type, int width, int height, int fps, int bitrate, bool h265, bool downscale, bool write = true);
+  OmxEncoder(const char* filename, CameraType type, int width, int height, int fps, int bitrate, bool h265, int out_width, int out_height, bool write = true);
   ~OmxEncoder();
   int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                    int in_width, int in_height, uint64_t ts);
@@ -43,6 +43,7 @@ private:
   static void write_and_broadcast_handler(OmxEncoder *e);
   static void handle_out_buf(OmxEncoder *e, OmxBuffer *out_buf);
 
+  int in_width_, in_height_;
   int width, height, fps;
   char vid_path[1024];
   char lock_path[1024];

selfdrive/loggerd/raw_logger.cc

@@ -22,9 +22,9 @@ extern "C" {
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"
 
-RawLogger::RawLogger(const char* filename, CameraType type, int width, int height, int fps,
+RawLogger::RawLogger(const char* filename, CameraType type, int in_width, int in_height, int fps,
-                     int bitrate, bool h265, bool downscale, bool write)
+                     int bitrate, bool h265, int out_width, int out_height, bool write)
-  : filename(filename), fps(fps) {
+  : in_width_(in_width), in_height_(in_height), filename(filename), fps(fps) {
 
   // TODO: respect write arg
 
@@ -34,8 +34,8 @@ RawLogger::RawLogger(const char* filename, CameraType type, int width, int heigh
 
   codec_ctx = avcodec_alloc_context3(codec);
   assert(codec_ctx);
-  codec_ctx->width = width;
+  codec_ctx->width = out_width;
-  codec_ctx->height = height;
+  codec_ctx->height = out_height;
   codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
 
   // codec_ctx->thread_count = 2;
@@ -51,14 +51,14 @@ RawLogger::RawLogger(const char* filename, CameraType type, int width, int heigh
   frame = av_frame_alloc();
   assert(frame);
   frame->format = codec_ctx->pix_fmt;
-  frame->width = width;
+  frame->width = out_width;
-  frame->height = height;
+  frame->height = out_height;
-  frame->linesize[0] = width;
+  frame->linesize[0] = out_width;
-  frame->linesize[1] = width/2;
+  frame->linesize[1] = out_width/2;
-  frame->linesize[2] = width/2;
+  frame->linesize[2] = out_width/2;
-
+
-  if (downscale) {
+  if (in_width != out_width || in_height != out_height) {
-    downscale_buf.resize(width * height * 3 / 2);
+    downscale_buf.resize(out_width * out_height * 3 / 2);
   }
 }
 
@@ -122,6 +122,8 @@ void RawLogger::encoder_close() {
 
 int RawLogger::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                             int in_width, int in_height, uint64_t ts) {
+  assert(in_width == this->in_width_);
+  assert(in_height == this->in_height_);
   AVPacket pkt;
   av_init_packet(&pkt);
   pkt.data = NULL;

selfdrive/loggerd/raw_logger.h

@@ -15,8 +15,8 @@ extern "C" {
 
 class RawLogger : public VideoEncoder {
  public:
-  RawLogger(const char* filename, CameraType type, int width, int height, int fps,
+  RawLogger(const char* filename, CameraType type, int in_width, int in_height, int fps,
-            int bitrate, bool h265, bool downscale, bool write = true);
+            int bitrate, bool h265, int out_width, int out_height, bool write = true);
   ~RawLogger();
   int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                    int in_width, int in_height, uint64_t ts);
@@ -30,6 +30,7 @@ private:
   int counter = 0;
   bool is_open = false;
 
+  int in_width_, in_height_;
   std::string vid_path, lock_path;
 
   const AVCodec *codec = NULL;