fill_frame_image: reduce function parameters (#19736)
* reduce function paramaters * add assert * Trigger Buildalbatross
parent
1b3c93813d
commit
ea9835f293
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@ -215,25 +215,25 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
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framed.setGainFrac(frame_data.gain_frac);
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}
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void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride) {
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if (dat != nullptr) {
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int scale = env_scale;
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int x_min = env_xmin; int y_min = env_ymin; int x_max = w-1; int y_max = h-1;
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if (env_xmax != -1) x_max = env_xmax;
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if (env_ymax != -1) y_max = env_ymax;
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int new_width = (x_max - x_min + 1) / scale;
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int new_height = (y_max - y_min + 1) / scale;
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uint8_t *resized_dat = new uint8_t[new_width*new_height*3];
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void fill_frame_image(cereal::FrameData::Builder &framed, const CameraBuf *b) {
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assert(b->cur_rgb_buf);
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const uint8_t *dat = (const uint8_t *)b->cur_rgb_buf->addr;
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int scale = env_scale;
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int x_min = env_xmin; int y_min = env_ymin; int x_max = b->rgb_width-1; int y_max = b->rgb_height-1;
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if (env_xmax != -1) x_max = env_xmax;
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if (env_ymax != -1) y_max = env_ymax;
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int new_width = (x_max - x_min + 1) / scale;
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int new_height = (y_max - y_min + 1) / scale;
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uint8_t *resized_dat = new uint8_t[new_width*new_height*3];
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int goff = x_min*3 + y_min*stride;
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for (int r=0;r<new_height;r++) {
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for (int c=0;c<new_width;c++) {
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memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*stride*scale+c*3*scale], 3*sizeof(uint8_t));
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}
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int goff = x_min*3 + y_min*b->rgb_stride;
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for (int r=0;r<new_height;r++) {
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for (int c=0;c<new_width;c++) {
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memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*b->rgb_stride*scale+c*3*scale], 3*sizeof(uint8_t));
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}
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framed.setImage(kj::arrayPtr((const uint8_t*)resized_dat, new_width*new_height*3));
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delete[] resized_dat;
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}
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framed.setImage(kj::arrayPtr((const uint8_t*)resized_dat, new_width*new_height*3));
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delete[] resized_dat;
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}
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static void create_thumbnail(MultiCameraState *s, const CameraBuf *b) {
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@ -411,7 +411,7 @@ void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, i
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framed.setFrameType(cereal::FrameData::FrameType::FRONT);
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fill_frame_data(framed, b->cur_frame_data, cnt);
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if (env_send_front) {
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fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
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fill_frame_image(framed, b);
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}
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pm->send("frontFrame", msg);
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}
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@ -134,7 +134,7 @@ public:
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typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
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void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt);
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void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride);
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void fill_frame_image(cereal::FrameData::Builder &framed, const CameraBuf *b);
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void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
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std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
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CameraState *cs, process_thread_cb callback);
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@ -1658,7 +1658,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
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auto framed = msg.initEvent().initFrame();
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fill_frame_data(framed, b->cur_frame_data, cnt);
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if (env_send_rear) {
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fill_frame_image(framed, (uint8_t *)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
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fill_frame_image(framed, b);
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}
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framed.setFocusVal(s->rear.focus);
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framed.setFocusConf(s->rear.confidence);
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@ -1103,7 +1103,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
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auto framed = c == &s->rear ? msg.initEvent().initFrame() : msg.initEvent().initWideFrame();
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fill_frame_data(framed, b->cur_frame_data, cnt);
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if ((c == &s->rear && env_send_rear) || (c == &s->wide && env_send_wide)) {
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fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
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fill_frame_image(framed, b);
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}
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if (c == &s->rear) {
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framed.setTransform(b->yuv_transform.v);
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