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Replay/framereader: fix c3 qcamera padding problem (#22572)

pull/22577/head
Dean Lee 2021-10-17 03:24:34 +08:00 committed by GitHub
parent f564eca51d
commit ae5eedb0b1
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 5 additions and 16 deletions
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2
selfdrive/ui/SConscript
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@ -111,7 +111,7 @@ if arch in ['x86_64', 'Darwin'] and os.path.exists(Dir("#tools/").get_abspath())
replay_lib_src = ["replay/replay.cc", "replay/camera.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"]
replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'swscale', 'bz2', 'curl'] + qt_libs
replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'swscale', 'bz2', 'curl', 'yuv'] + qt_libs
qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs)

18
selfdrive/ui/replay/framereader.cc
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@ -1,6 +1,7 @@
#include "selfdrive/ui/replay/framereader.h"
#include <cassert>
#include "libyuv.h"
static int ffmpeg_lockmgr_cb(void **arg, enum AVLockOp op) {
std::mutex *mutex = (std::mutex *)*arg;
@ -49,9 +50,6 @@ FrameReader::~FrameReader() {
for (auto &f : frames_) {
av_free_packet(&f.pkt);
}
if (frmRgb_) {
av_frame_free(&frmRgb_);
}
if (pCodecCtx_) {
avcodec_close(pCodecCtx_);
avcodec_free_context(&pCodecCtx_);
@ -93,9 +91,6 @@ bool FrameReader::load(const std::string &url) {
SWS_BILINEAR, NULL, NULL, NULL);
if (!sws_ctx_) return false;
frmRgb_ = av_frame_alloc();
if (!frmRgb_) return false;
frames_.reserve(60 * 20); // 20fps, one minute
do {
Frame &frame = frames_.emplace_back();
@ -176,14 +171,9 @@ std::pair<uint8_t *, uint8_t *> FrameReader::decodeFrame(AVPacket *pkt) {
for (k = 0; k < f->height / 2; k++) {
memcpy(yuv_data + f->width * i + f->width / 2 * j + f->width / 2 * k, f->data[2] + f->linesize[2] * k, f->width / 2);
}
int ret = avpicture_fill((AVPicture *)frmRgb_, rgb_data, AV_PIX_FMT_BGR24, f->width, f->height);
assert(ret > 0);
if (sws_scale(sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, frmRgb_->data, frmRgb_->linesize) <= 0) {
delete[] rgb_data;
delete[] yuv_data;
rgb_data = yuv_data = nullptr;
}
uint8_t *u = yuv_data + f->width * f->height;
uint8_t *v = u + (f->width / 2) * (f->height / 2);
libyuv::I420ToRGB24(yuv_data, f->width, u, f->width / 2, v, f->width / 2, rgb_data, f->width * 3, f->width, f->height);
}
av_frame_free(&f);
return {rgb_data, yuv_data};

1
selfdrive/ui/replay/framereader.h
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@ -41,7 +41,6 @@ private:
AVFormatContext *pFormatCtx_ = nullptr;
AVCodecContext *pCodecCtx_ = nullptr;
AVFrame *frmRgb_ = nullptr;
struct SwsContext *sws_ctx_ = nullptr;
std::mutex mutex_;