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120 lines
3.3 KiB
120 lines
3.3 KiB
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
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#include "selfdrive/loggerd/raw_logger.h"
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#include <fcntl.h>
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#include <unistd.h>
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#include <cassert>
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#include <cstdio>
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#include <cstdlib>
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#define __STDC_CONSTANT_MACROS
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#include "libyuv.h"
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extern "C" {
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#include <libavcodec/avcodec.h>
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#include <libavformat/avformat.h>
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#include <libavutil/imgutils.h>
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}
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/common/util.h"
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RawLogger::RawLogger(const char* filename, CameraType type, int in_width, int in_height, int fps,
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int bitrate, bool h265, int out_width, int out_height, bool write)
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: in_width_(in_width), in_height_(in_height), filename(filename), fps(fps) {
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// TODO: respect write arg
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frame = av_frame_alloc();
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assert(frame);
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frame->format = AV_PIX_FMT_YUV420P;
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frame->width = out_width;
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frame->height = out_height;
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frame->linesize[0] = out_width;
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frame->linesize[1] = out_width/2;
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frame->linesize[2] = out_width/2;
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if (in_width != out_width || in_height != out_height) {
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downscale_buf.resize(out_width * out_height * 3 / 2);
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}
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}
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RawLogger::~RawLogger() {
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encoder_close();
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av_frame_free(&frame);
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}
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void RawLogger::encoder_open(const char* path) {
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writer = new VideoWriter(path, this->filename, true, frame->width, frame->height, this->fps, false, true);
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// write the header
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writer->write(NULL, 0, 0, true, false);
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is_open = true;
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}
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void RawLogger::encoder_close() {
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if (!is_open) return;
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delete writer;
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is_open = false;
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}
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int RawLogger::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
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int in_width, int in_height, VisionIpcBufExtra *extra) {
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assert(in_width == this->in_width_);
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assert(in_height == this->in_height_);
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if (downscale_buf.size() > 0) {
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uint8_t *out_y = downscale_buf.data();
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uint8_t *out_u = out_y + frame->width * frame->height;
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uint8_t *out_v = out_u + (frame->width / 2) * (frame->height / 2);
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libyuv::I420Scale(y_ptr, in_width,
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u_ptr, in_width/2,
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v_ptr, in_width/2,
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in_width, in_height,
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out_y, frame->width,
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out_u, frame->width/2,
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out_v, frame->width/2,
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frame->width, frame->height,
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libyuv::kFilterNone);
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frame->data[0] = out_y;
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frame->data[1] = out_u;
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frame->data[2] = out_v;
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} else {
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frame->data[0] = (uint8_t*)y_ptr;
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frame->data[1] = (uint8_t*)u_ptr;
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frame->data[2] = (uint8_t*)v_ptr;
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}
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frame->pts = counter*50*1000; // 50ms per frame
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int ret = counter;
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int err = avcodec_send_frame(writer->codec_ctx, frame);
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if (err < 0) {
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LOGE("avcodec_send_frame error %d", err);
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ret = -1;
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}
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AVPacket pkt;
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av_init_packet(&pkt);
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pkt.data = NULL;
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pkt.size = 0;
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while (ret >= 0) {
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err = avcodec_receive_packet(writer->codec_ctx, &pkt);
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if (err == AVERROR_EOF) {
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break;
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} else if (err == AVERROR(EAGAIN)) {
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// Encoder might need a few frames on startup to get started. Keep going
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ret = 0;
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break;
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} else if (err < 0) {
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LOGE("avcodec_receive_packet error %d", err);
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ret = -1;
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break;
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}
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writer->write(pkt.data, pkt.size, pkt.pts, false, pkt.flags & AV_PKT_FLAG_KEY);
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counter++;
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}
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av_packet_unref(&pkt);
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return ret;
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}
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