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openpilot v0.10.2 release

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date: 2025-11-19T19:10:11
master commit: a29fdbd02407d41ecbcc69d151bb4837bfba3cbc
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Vehicle Researcher
2025-11-19 19:10:16 -08:00
commit 161005a0c1
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105
system/loggerd/encoder/jpeg_encoder.cc Normal file
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#include "system/loggerd/encoder/jpeg_encoder.h"
#include <cassert>
#include <cstring>
JpegEncoder::JpegEncoder(const std::string &pusblish_name, int width, int height)
: publish_name(pusblish_name), thumbnail_width(width), thumbnail_height(height) {
yuv_buffer.resize((thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2);
pm = std::make_unique<PubMaster>(std::vector{pusblish_name.c_str()});
}
JpegEncoder::~JpegEncoder() {
if (out_buffer) {
free(out_buffer);
}
}
void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) {
generateThumbnail(buf->y, buf->uv, buf->width, buf->height, buf->stride);
MessageBuilder msg;
auto thumbnaild = msg.initEvent().initThumbnail();
thumbnaild.setFrameId(extra.frame_id);
thumbnaild.setTimestampEof(extra.timestamp_eof);
thumbnaild.setThumbnail({out_buffer, out_size});
pm->send(publish_name.c_str(), msg);
}
void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_addr, int width, int height, int stride) {
int downscale = width / thumbnail_width;
assert(downscale * thumbnail_height == height);
// make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
uint8_t *y_plane = yuv_buffer.data();
uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
{
// subsampled conversion from nv12 to yuv
for (int hy = 0; hy < thumbnail_height / 2; hy++) {
for (int hx = 0; hx < thumbnail_width / 2; hx++) {
int ix = hx * downscale + (downscale - 1) / 2;
int iy = hy * downscale + (downscale - 1) / 2;
y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 0];
y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 1];
y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 0];
y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 1];
u_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 0];
v_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 1];
}
}
}
compressToJpeg(y_plane, u_plane, v_plane);
}
void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) {
struct jpeg_compress_struct cinfo;
struct jpeg_error_mgr jerr;
cinfo.err = jpeg_std_error(&jerr);
jpeg_create_compress(&cinfo);
if (out_buffer) {
free(out_buffer);
out_buffer = nullptr;
out_size = 0;
}
jpeg_mem_dest(&cinfo, &out_buffer, &out_size);
cinfo.image_width = thumbnail_width;
cinfo.image_height = thumbnail_height;
cinfo.input_components = 3;
jpeg_set_defaults(&cinfo);
jpeg_set_colorspace(&cinfo, JCS_YCbCr);
// configure sampling factors for yuv420.
cinfo.comp_info[0].h_samp_factor = 2; // Y
cinfo.comp_info[0].v_samp_factor = 2;
cinfo.comp_info[1].h_samp_factor = 1; // U
cinfo.comp_info[1].v_samp_factor = 1;
cinfo.comp_info[2].h_samp_factor = 1; // V
cinfo.comp_info[2].v_samp_factor = 1;
cinfo.raw_data_in = TRUE;
jpeg_set_quality(&cinfo, 50, TRUE);
jpeg_start_compress(&cinfo, TRUE);
JSAMPROW y[16], u[8], v[8];
JSAMPARRAY planes[3]{y, u, v};
for (int line = 0; line < cinfo.image_height; line += 16) {
for (int i = 0; i < 16; ++i) {
y[i] = y_plane + (line + i) * cinfo.image_width;
if (i % 2 == 0) {
int offset = (cinfo.image_width / 2) * ((i + line) / 2);
u[i / 2] = u_plane + offset;
v[i / 2] = v_plane + offset;
}
}
jpeg_write_raw_data(&cinfo, planes, 16);
}
jpeg_finish_compress(&cinfo);
jpeg_destroy_compress(&cinfo);
}