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