replay: fixed the alignment issue when replaying from C3 qcamera (#22734)

* fix qcamera replay

* fix alignment in replay

* upscale yuv if needed

* remove space
old-commit-hash: 41e5e76596

selfdrive/ui/replay/framereader.cc

@@ -47,7 +47,9 @@ FrameReader::~FrameReader() {
   if (pFormatCtx_) avformat_close_input(&pFormatCtx_);
   if (av_frame_) av_frame_free(&av_frame_);
   if (rgb_frame_) av_frame_free(&rgb_frame_);
-  if (sws_ctx_) sws_freeContext(sws_ctx_);
+  if (yuv_frame_) av_frame_free(&yuv_frame_);
+  if (rgb_sws_ctx_) sws_freeContext(rgb_sws_ctx_);
+  if (yuv_sws_ctx_) sws_freeContext(yuv_sws_ctx_);
 }
 
 bool FrameReader::load(const std::string &url) {
@@ -75,13 +77,19 @@ bool FrameReader::load(const std::string &url) {
 
   av_frame_ = av_frame_alloc();
   rgb_frame_ = av_frame_alloc();
+  yuv_frame_ = av_frame_alloc();;
 
-  width = pCodecCtxOrig->width;
+  width = (pCodecCtxOrig->width + 3) & ~3;
   height = pCodecCtxOrig->height;
-  sws_ctx_ = sws_getContext(width, height, AV_PIX_FMT_YUV420P,
+  rgb_sws_ctx_ = sws_getContext(pCodecCtxOrig->width, pCodecCtxOrig->height, AV_PIX_FMT_YUV420P,
                             width, height, AV_PIX_FMT_BGR24,
                             SWS_FAST_BILINEAR, NULL, NULL, NULL);
-  if (!sws_ctx_) return false;
+  if (!rgb_sws_ctx_) return false;
+
+  yuv_sws_ctx_ = sws_getContext(pCodecCtxOrig->width, pCodecCtxOrig->height, AV_PIX_FMT_YUV420P,
+                            width, height, AV_PIX_FMT_YUV420P,
+                            SWS_FAST_BILINEAR, NULL, NULL, NULL);
+  if (!yuv_sws_ctx_) return false;
 
   frames_.reserve(60 * 20);  // 20fps, one minute
   while (true) {
@@ -143,10 +151,11 @@ bool FrameReader::decode(int idx, uint8_t *rgb, uint8_t *yuv) {
 
 bool FrameReader::decodeFrame(AVFrame *f, uint8_t *rgb, uint8_t *yuv) {
   // images is going to be written to output buffers, no alignment (align = 1)
-  int ret = av_image_copy_to_buffer(yuv, getYUVSize(), f->data, f->linesize, AV_PIX_FMT_YUV420P, f->width, f->height, 1);
+  av_image_fill_arrays(yuv_frame_->data, yuv_frame_->linesize, yuv, AV_PIX_FMT_YUV420P, width, height, 1);
+  int ret = sws_scale(yuv_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, yuv_frame_->data, yuv_frame_->linesize);
   if (ret < 0) return false;
 
-  av_image_fill_arrays(rgb_frame_->data, rgb_frame_->linesize, rgb, AV_PIX_FMT_BGR24, f->width, f->height, 1);
-  ret = sws_scale(sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, rgb_frame_->data, rgb_frame_->linesize);
+  av_image_fill_arrays(rgb_frame_->data, rgb_frame_->linesize, rgb, AV_PIX_FMT_BGR24, width, height, 1);
+  ret = sws_scale(rgb_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, rgb_frame_->data, rgb_frame_->linesize);
   return ret >= 0;
 }

selfdrive/ui/replay/framereader.h

@@ -33,8 +33,8 @@ private:
     bool failed = false;
   };
   std::vector<Frame> frames_;
-  SwsContext *sws_ctx_ = nullptr;
-  AVFrame *av_frame_, *rgb_frame_ = nullptr;
+  SwsContext *rgb_sws_ctx_ = nullptr, *yuv_sws_ctx_ = nullptr;
+  AVFrame *av_frame_, *rgb_frame_, *yuv_frame_ = nullptr;
   AVFormatContext *pFormatCtx_ = nullptr;
   AVCodecContext *pCodecCtx_ = nullptr;
   int key_frames_count_ = 0;

tools/replay/lib/ui_helpers.py

@@ -30,7 +30,7 @@ _FULL_FRAME_TO_BB = {}
 _INTRINSICS = {}
 
 eon_f_qcam_frame_size = (480, 360)
-tici_f_qcam_frame_size = (526, 330)
+tici_f_qcam_frame_size = (528, 330)
 
 cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
         (tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),