forked from xiaozhi/xiaozhi-esp32
60ad1c5afc
* refactor: migrate camera module to esp-video library * refactor: migrate boards to esp-video API (1/2) * refactor: migrate boards to esp-video API (2/2) * fix: use ESP-IDF 5.5 * refactor: migrate the JPEG encoder to `esp_new_jpeg` * feat: add YUV422 support * feat: improve pixelformat and device selection process * feat: use ESP32-P4 Hardware JPEG Encoder
415 lines
13 KiB
C++
415 lines
13 KiB
C++
#include <esp_attr.h>
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#include <esp_heap_caps.h>
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#include <esp_log.h>
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#include <stddef.h>
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#include <string.h>
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#include "esp_jpeg_common.h"
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#include "esp_jpeg_enc.h"
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#if CONFIG_XIAOZHI_ENABLE_HARDWARE_JPEG_ENCODER
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#include "driver/jpeg_encode.h"
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#endif
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#include "image_to_jpeg.h"
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#define TAG "image_to_jpeg"
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static void* malloc_psram(size_t size) {
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void* p = malloc(size);
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if (p)
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return p;
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#if (CONFIG_SPIRAM_SUPPORT && (CONFIG_SPIRAM_USE_CAPS_ALLOC || CONFIG_SPIRAM_USE_MALLOC))
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return heap_caps_malloc(size, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
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#else
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return NULL;
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#endif
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}
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static __always_inline uint8_t expand_5_to_8(uint8_t v) {
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return (uint8_t)((v << 3) | (v >> 2));
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}
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static __always_inline uint8_t expand_6_to_8(uint8_t v) {
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return (uint8_t)((v << 2) | (v >> 4));
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}
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static uint8_t* convert_input_to_encoder_buf(const uint8_t* src, uint16_t width, uint16_t height, v4l2_pix_fmt_t format,
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jpeg_pixel_format_t* out_fmt, int* out_size) {
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// 直接支持的格式：GRAY、RGB888、YCbYCr(YUYV)
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if (format == V4L2_PIX_FMT_GREY) {
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int sz = (int)width * (int)height;
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uint8_t* buf = (uint8_t*)jpeg_calloc_align(sz, 16);
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if (!buf)
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return NULL;
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memcpy(buf, src, sz);
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if (out_fmt)
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*out_fmt = JPEG_PIXEL_FORMAT_GRAY;
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if (out_size)
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*out_size = sz;
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return buf;
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}
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// V4L2 YUYV (Y Cb Y Cr) 可直接作为 JPEG_PIXEL_FORMAT_YCbYCr 输入
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if (format == V4L2_PIX_FMT_YUYV) {
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int sz = (int)width * (int)height * 2;
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uint8_t* buf = (uint8_t*)jpeg_calloc_align(sz, 16);
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if (!buf)
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return NULL;
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memcpy(buf, src, sz);
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if (out_fmt)
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*out_fmt = JPEG_PIXEL_FORMAT_YCbYCr;
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if (out_size)
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*out_size = sz;
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return buf;
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}
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// V4L2 UYVY (Cb Y Cr Y) -> 重排为 YUYV 再作为 YCbYCr 输入
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if (format == V4L2_PIX_FMT_UYVY) {
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int sz = (int)width * (int)height * 2;
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const uint8_t* s = src;
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uint8_t* buf = (uint8_t*)jpeg_calloc_align(sz, 16);
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if (!buf)
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return NULL;
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uint8_t* d = buf;
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for (int i = 0; i < sz; i += 4) {
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// src: Cb, Y0, Cr, Y1 -> dst: Y0, Cb, Y1, Cr
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d[0] = s[1];
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d[1] = s[0];
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d[2] = s[3];
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d[3] = s[2];
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s += 4;
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d += 4;
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}
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if (out_fmt)
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*out_fmt = JPEG_PIXEL_FORMAT_YCbYCr;
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if (out_size)
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*out_size = sz;
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return buf;
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}
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// V4L2 YUV422P (YUV422 Planar) -> 重排为 YUYV (YCbYCr)
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if (format == V4L2_PIX_FMT_YUV422P) {
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int sz = (int)width * (int)height * 2;
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const uint8_t* y_plane = src;
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const uint8_t* u_plane = y_plane + (int)width * (int)height;
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const uint8_t* v_plane = u_plane + ((int)width / 2) * (int)height;
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uint8_t* buf = (uint8_t*)jpeg_calloc_align(sz, 16);
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if (!buf)
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return NULL;
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uint8_t* dst = buf;
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for (int y = 0; y < height; y++) {
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const uint8_t* y_row = y_plane + y * (int)width;
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const uint8_t* u_row = u_plane + y * ((int)width / 2);
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const uint8_t* v_row = v_plane + y * ((int)width / 2);
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for (int x = 0; x < width; x += 2) {
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uint8_t y0 = y_row[x + 0];
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uint8_t y1 = y_row[x + 1];
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uint8_t cb = u_row[x / 2];
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uint8_t cr = v_row[x / 2];
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dst[0] = y0;
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dst[1] = cb;
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dst[2] = y1;
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dst[3] = cr;
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dst += 4;
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}
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}
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if (out_fmt)
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*out_fmt = JPEG_PIXEL_FORMAT_YCbYCr;
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if (out_size)
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*out_size = sz;
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return buf;
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}
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// 其余格式转换为 RGB888
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int rgb_size = (int)width * (int)height * 3;
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uint8_t* rgb = (uint8_t*)jpeg_calloc_align(rgb_size, 16);
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if (!rgb)
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return NULL;
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if (format == V4L2_PIX_FMT_RGB24) {
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// V4L2_RGB24 即 RGB888
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memcpy(rgb, src, rgb_size);
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} else if (format == V4L2_PIX_FMT_RGB565) {
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// RGB565 小端，需要转换为 RGB888
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const uint8_t* p = src;
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uint8_t* d = rgb;
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int pixels = (int)width * (int)height;
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for (int i = 0; i < pixels; i++) {
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uint8_t lo = p[0]; // 低字节（LSB）
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uint8_t hi = p[1]; // 高字节（MSB）
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p += 2;
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uint8_t r5 = (hi >> 3) & 0x1F;
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uint8_t g6 = ((hi & 0x07) << 3) | ((lo & 0xE0) >> 5);
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uint8_t b5 = lo & 0x1F;
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d[0] = expand_5_to_8(r5);
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d[1] = expand_6_to_8(g6);
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d[2] = expand_5_to_8(b5);
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d += 3;
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}
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} else {
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// 其他未覆盖格式，清零
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memset(rgb, 0, rgb_size);
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}
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if (out_fmt)
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*out_fmt = JPEG_PIXEL_FORMAT_RGB888;
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if (out_size)
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*out_size = rgb_size;
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return rgb;
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}
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#if CONFIG_XIAOZHI_ENABLE_HARDWARE_JPEG_ENCODER
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static jpeg_encoder_handle_t s_hw_jpeg_handle = NULL;
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static bool hw_jpeg_ensure_inited(void) {
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if (s_hw_jpeg_handle) {
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return true;
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}
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jpeg_encode_engine_cfg_t eng_cfg = {
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.intr_priority = 0,
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.timeout_ms = 100,
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};
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esp_err_t er = jpeg_new_encoder_engine(&eng_cfg, &s_hw_jpeg_handle);
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if (er != ESP_OK) {
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ESP_LOGE(TAG, "jpeg_new_encoder_engine failed: %d", (int)er);
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s_hw_jpeg_handle = NULL;
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return false;
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}
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return true;
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}
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static uint8_t* convert_input_to_hw_encoder_buf(const uint8_t* src, uint16_t width, uint16_t height, v4l2_pix_fmt_t format,
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jpeg_enc_input_format_t* out_fmt, int* out_size) {
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if (format == V4L2_PIX_FMT_GREY) {
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int sz = (int)width * (int)height;
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uint8_t* buf = (uint8_t*)malloc_psram(sz);
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if (!buf)
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return NULL;
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memcpy(buf, src, sz);
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if (out_fmt)
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*out_fmt = JPEG_ENCODE_IN_FORMAT_GRAY;
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if (out_size)
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*out_size = sz;
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return buf;
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}
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if (format == V4L2_PIX_FMT_RGB24) {
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int sz = (int)width * (int)height * 3;
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uint8_t* buf = (uint8_t*)malloc_psram(sz);
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if (!buf) {
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ESP_LOGE(TAG, "malloc_psram failed");
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return NULL;
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}
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memcpy(buf, src, sz);
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if (out_fmt)
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*out_fmt = JPEG_ENCODE_IN_FORMAT_RGB888;
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if (out_size)
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*out_size = sz;
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return buf;
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}
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if (format == V4L2_PIX_FMT_RGB565) {
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int sz = (int)width * (int)height * 2;
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uint8_t* buf = (uint8_t*)malloc_psram(sz);
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if (!buf)
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return NULL;
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memcpy(buf, src, sz);
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if (out_fmt)
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*out_fmt = JPEG_ENCODE_IN_FORMAT_RGB565;
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if (out_size)
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*out_size = sz;
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return buf;
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}
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if (format == V4L2_PIX_FMT_YUYV) {
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// 硬件需要 | Y1 V Y0 U | 的“大端”格式，因此需要 bswap16
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int sz = (int)width * (int)height * 2;
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uint16_t* buf = (uint16_t*)malloc_psram(sz);
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if (!buf)
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return NULL;
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const uint16_t* bsrc = (const uint16_t*)src;
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for (int i = 0; i < sz / 2; i++) {
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buf[i] = __builtin_bswap16(bsrc[i]);
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}
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if (out_fmt)
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*out_fmt = JPEG_ENCODE_IN_FORMAT_YUV422;
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if (out_size)
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*out_size = sz;
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return (uint8_t*)buf;
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}
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return NULL;
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}
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static bool encode_with_hw_jpeg(const uint8_t* src, size_t src_len, uint16_t width, uint16_t height,
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v4l2_pix_fmt_t format, uint8_t quality, uint8_t** jpg_out, size_t* jpg_out_len,
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jpg_out_cb cb, void* cb_arg) {
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if (quality < 1)
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quality = 1;
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if (quality > 100)
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quality = 100;
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jpeg_enc_input_format_t enc_src_type = JPEG_ENCODE_IN_FORMAT_RGB888;
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int enc_in_size = 0;
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uint8_t* enc_in = convert_input_to_hw_encoder_buf(src, width, height, format, &enc_src_type, &enc_in_size);
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if (!enc_in) {
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ESP_LOGW(TAG, "hw jpeg: unsupported format, fallback to sw");
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return false;
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}
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if (!hw_jpeg_ensure_inited()) {
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free(enc_in);
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return false;
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}
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jpeg_encode_cfg_t enc_cfg = {0};
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enc_cfg.width = width;
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enc_cfg.height = height;
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enc_cfg.src_type = enc_src_type;
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enc_cfg.image_quality = quality;
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enc_cfg.sub_sample = (enc_src_type == JPEG_ENCODE_IN_FORMAT_GRAY) ? JPEG_DOWN_SAMPLING_GRAY : JPEG_DOWN_SAMPLING_YUV422;
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size_t out_cap = (size_t)width * (size_t)height * 3 / 2 + 64 * 1024;
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if (out_cap < 128 * 1024)
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out_cap = 128 * 1024;
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jpeg_encode_memory_alloc_cfg_t jpeg_enc_output_mem_cfg = { .buffer_direction = JPEG_ENC_ALLOC_OUTPUT_BUFFER };
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size_t out_cap_aligned = 0;
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uint8_t* outbuf = (uint8_t*)jpeg_alloc_encoder_mem(out_cap, &jpeg_enc_output_mem_cfg, &out_cap_aligned);
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if (!outbuf) {
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free(enc_in);
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ESP_LOGE(TAG, "alloc out buffer failed");
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return false;
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}
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uint32_t out_len = 0;
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esp_err_t er = jpeg_encoder_process(s_hw_jpeg_handle, &enc_cfg, enc_in, (uint32_t)enc_in_size, outbuf, (uint32_t)out_cap_aligned, &out_len);
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free(enc_in);
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if (er != ESP_OK) {
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free(outbuf);
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ESP_LOGE(TAG, "jpeg_encoder_process failed: %d", (int)er);
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return false;
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}
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if (cb) {
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cb(cb_arg, 0, outbuf, (size_t)out_len);
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cb(cb_arg, 1, NULL, 0);
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free(outbuf);
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if (jpg_out)
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*jpg_out = NULL;
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if (jpg_out_len)
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*jpg_out_len = 0;
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return true;
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}
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if (jpg_out && jpg_out_len) {
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*jpg_out = outbuf;
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*jpg_out_len = (size_t)out_len;
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return true;
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}
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free(outbuf);
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return true;
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}
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#endif // CONFIG_XIAOZHI_ENABLE_HARDWARE_JPEG_ENCODER
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static bool encode_with_esp_new_jpeg(const uint8_t* src, size_t src_len, uint16_t width, uint16_t height,
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v4l2_pix_fmt_t format, uint8_t quality, uint8_t** jpg_out, size_t* jpg_out_len,
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jpg_out_cb cb, void* cb_arg) {
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if (quality < 1)
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quality = 1;
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if (quality > 100)
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quality = 100;
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jpeg_pixel_format_t enc_src_type = JPEG_PIXEL_FORMAT_RGB888;
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int enc_in_size = 0;
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uint8_t* enc_in = convert_input_to_encoder_buf(src, width, height, format, &enc_src_type, &enc_in_size);
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if (!enc_in) {
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ESP_LOGE(TAG, "alloc/convert input failed");
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return false;
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}
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jpeg_enc_config_t cfg = DEFAULT_JPEG_ENC_CONFIG();
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cfg.width = width;
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cfg.height = height;
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cfg.src_type = enc_src_type;
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cfg.subsampling = (enc_src_type == JPEG_PIXEL_FORMAT_GRAY) ? JPEG_SUBSAMPLE_GRAY : JPEG_SUBSAMPLE_420;
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cfg.quality = quality;
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cfg.rotate = JPEG_ROTATE_0D;
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cfg.task_enable = false;
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jpeg_enc_handle_t h = NULL;
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jpeg_error_t ret = jpeg_enc_open(&cfg, &h);
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if (ret != JPEG_ERR_OK) {
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jpeg_free_align(enc_in);
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ESP_LOGE(TAG, "jpeg_enc_open failed: %d", (int)ret);
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return false;
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}
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// 估算输出缓冲区：宽高的 1.5 倍 + 64KB
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size_t out_cap = (size_t)width * (size_t)height * 3 / 2 + 64 * 1024;
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if (out_cap < 128 * 1024)
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out_cap = 128 * 1024;
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uint8_t* outbuf = (uint8_t*)malloc_psram(out_cap);
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if (!outbuf) {
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jpeg_enc_close(h);
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jpeg_free_align(enc_in);
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ESP_LOGE(TAG, "alloc out buffer failed");
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return false;
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}
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int out_len = 0;
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ret = jpeg_enc_process(h, enc_in, enc_in_size, outbuf, (int)out_cap, &out_len);
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jpeg_enc_close(h);
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jpeg_free_align(enc_in);
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if (ret != JPEG_ERR_OK) {
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free(outbuf);
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ESP_LOGE(TAG, "jpeg_enc_process failed: %d", (int)ret);
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return false;
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}
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if (cb) {
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cb(cb_arg, 0, outbuf, (size_t)out_len);
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cb(cb_arg, 1, NULL, 0); // 结束信号
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free(outbuf);
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if (jpg_out)
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*jpg_out = NULL;
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if (jpg_out_len)
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*jpg_out_len = 0;
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return true;
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}
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if (jpg_out && jpg_out_len) {
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*jpg_out = outbuf;
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*jpg_out_len = (size_t)out_len;
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return true;
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}
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free(outbuf);
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return true;
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}
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bool image_to_jpeg(uint8_t* src, size_t src_len, uint16_t width, uint16_t height, v4l2_pix_fmt_t format,
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uint8_t quality, uint8_t** out, size_t* out_len) {
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#if CONFIG_XIAOZHI_ENABLE_HARDWARE_JPEG_ENCODER
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if (encode_with_hw_jpeg(src, src_len, width, height, format, quality, out, out_len, NULL, NULL)) {
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return true;
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}
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// Fallback to esp_new_jpeg
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#endif
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return encode_with_esp_new_jpeg(src, src_len, width, height, format, quality, out, out_len, NULL, NULL);
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}
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bool image_to_jpeg_cb(uint8_t* src, size_t src_len, uint16_t width, uint16_t height, v4l2_pix_fmt_t format,
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uint8_t quality, jpg_out_cb cb, void* arg) {
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#if CONFIG_XIAOZHI_ENABLE_HARDWARE_JPEG_ENCODER
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if (encode_with_hw_jpeg(src, src_len, width, height, format, quality, NULL, NULL, cb, arg)) {
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return true;
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}
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// Fallback to esp_new_jpeg
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#endif
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return encode_with_esp_new_jpeg(src, src_len, width, height, format, quality, NULL, NULL, cb, arg);
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}
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