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

* fix qcamera replay

* fix alignment in replay

* upscale yuv if needed

* remove space
pull/22764/head
Dean Lee 2021-11-01 18:06:00 +08:00 committed by GitHub
parent 2252c6bba7
commit 41e5e76596
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 19 additions and 10 deletions
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23
selfdrive/ui/replay/framereader.cc
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@ -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;
}

4
selfdrive/ui/replay/framereader.h
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@ -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;

2
tools/replay/lib/ui_helpers.py
View File

@ -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),