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