create_thumbnail in camera_common (#19553)

selfdrive/camerad/cameras/camera_common.cc

@@ -243,9 +243,7 @@ void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, i
   }
 }
 
-void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
-  const CameraBuf *b = &c->buf;
-
+static void create_thumbnail(MultiCameraState *s, const CameraBuf *b) {
   uint8_t* thumbnail_buffer = NULL;
   unsigned long thumbnail_len = 0;
 
@@ -273,6 +271,7 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
 #endif
 
   JSAMPROW row_pointer[1];
+  const uint8_t *bgr_ptr = (const uint8_t *)b->cur_rgb_buf->addr;
   for (int ii = 0; ii < b->rgb_height/4; ii+=1) {
     for (int j = 0; j < b->rgb_width*3; j+=12) {
       for (int k = 0; k < 3; k++) {
@@ -355,6 +354,10 @@ void *processing_thread(MultiCameraState *cameras, const char *tname,
 
     callback(cameras, cs, cnt);
 
+    if (cs == &(cameras->rear) && cnt % 100 == 3) {
+      // this takes 10ms???
+      create_thumbnail(cameras, &(cs->buf));
+    }
     cs->buf.release();
   }
   return NULL;

selfdrive/camerad/cameras/camera_common.h

@@ -139,7 +139,6 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt);
 void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride);
-void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
 void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
                                     CameraState *cs, process_thread_cb callback);

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -111,10 +111,7 @@ void cameras_close(MultiCameraState *s) {
 
 // called by processing_thread
 void camera_process_rear(MultiCameraState *s, CameraState *c, int cnt) {
-  if (cnt % 100 == 3) {
-    const CameraBuf *b = &c->buf;
-    create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
-  }
+  // empty
 }
 
 void cameras_run(MultiCameraState *s) {

selfdrive/camerad/cameras/camera_qcom.cc

@@ -1674,10 +1674,6 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
   framed.setTransform(b->yuv_transform.v);
   s->pm->send("frame", msg);
 
-  if (cnt % 100 == 3) {
-    create_thumbnail(s, c, (uint8_t *)b->cur_rgb_buf->addr);
-  }
-
   if (cnt % 3 == 0) {
     const int x = 290, y = 322, width = 560, height = 314;
     const int skip = 1;

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -1115,11 +1115,6 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
   }
   s->pm->send(c == &s->rear ? "frame" : "wideFrame", msg);
 
-  if (c == &s->rear && cnt % 100 == 3) {
-    // this takes 10ms???
-    create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
-  }
-
   if (cnt % 3 == 0) {
     int exposure_x;
     int exposure_y;