IQ.Pilot Release Commit @ 0798119

2026-08-22 23:42:42 -05:00
commit b42569dbca
4529 changed files with 1132125 additions and 0 deletions
--- a/iqpilot/selfdrive/iqmodeld/native/iqmodel.h
+++ b/iqpilot/selfdrive/iqmodeld/native/iqmodel.h
@@ -0,0 +1,81 @@
+/*
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+*/
+#pragma once
+
+#include <cassert>
+#include <cfloat>
+#include <cstdlib>
+#include <memory>
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include "common/mat.h"
+#include "iqpilot/selfdrive/iqmodeld/transforms/warp_geometry.h"
+#include "iqpilot/selfdrive/iqmodeld/transforms/yuv.h"
+
+class FrameCropperBase {
+public:
+  FrameCropperBase(cl_device_id device_id, cl_context context);
+  virtual ~FrameCropperBase();
+  virtual cl_mem *project_to_cl(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection) = 0;
+
+  uint8_t *copy_to_host(cl_mem *source_frames, int buffer_size) {
+    CL_CHECK(clEnqueueReadBuffer(work_queue_, *source_frames, CL_TRUE, 0, buffer_size, staging_bytes_.get(), 0, nullptr, nullptr));
+    clFinish(work_queue_);
+    return &staging_bytes_[0];
+  }
+
+  int buf_size;
+
+protected:
+  cl_command_queue work_queue_;
+  std::unique_ptr<uint8_t[]> staging_bytes_;
+  cl_mem y_plane_tile_cl_;
+  cl_mem u_plane_tile_cl_;
+  cl_mem v_plane_tile_cl_;
+  WarpSamplerState sampler_state_;
+
+  void configure_planar_tiles(cl_device_id device_id, cl_context context, int output_width, int output_height);
+  void release_planar_tiles();
+  void project_frame(cl_mem yuv_cl, int output_width, int output_height,
+                     int frame_width, int frame_height, int frame_stride, int frame_uv_offset,
+                     const mat3 &projection);
+};
+
+class RoadHistoryAssembler : public FrameCropperBase {
+public:
+  RoadHistoryAssembler(cl_device_id device_id, cl_context context, uint8_t history_slots);
+  ~RoadHistoryAssembler() override;
+  cl_mem *project_to_cl(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection) override;
+
+  static constexpr int kOutputWidth = 512;
+  static constexpr int kOutputHeight = 256;
+  static constexpr int kFrameBytes = kOutputWidth * kOutputHeight * 3 / 2;
+  static constexpr int kExportBytes = kFrameBytes * 2;
+
+private:
+  PackedFrameKernels packer_;
+  cl_mem timeline_cl_;
+  cl_mem latest_slot_cl_;
+  cl_mem publish_pair_cl_;
+  cl_buffer_region latest_region_;
+  size_t frame_bytes_;
+  uint8_t history_slots_;
+};
+
+class CabinFrameSampler : public FrameCropperBase {
+public:
+  CabinFrameSampler(cl_device_id device_id, cl_context context);
+  ~CabinFrameSampler() override;
+  cl_mem *project_to_cl(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection) override;
+
+  static constexpr int kOutputWidth = 1440;
+  static constexpr int kOutputHeight = 960;
+  static constexpr int kExportBytes = kOutputWidth * kOutputHeight;
+};