43 lines
879 B
C++
43 lines
879 B
C++
#pragma once
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#include <stddef.h>
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#include <stdint.h>
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#include <vector>
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#include "selfdrive/common/clutil.h"
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#define NUM_SEGMENTS_X 8
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#define NUM_SEGMENTS_Y 6
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#define ROI_X_MIN 1
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#define ROI_X_MAX 6
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#define ROI_Y_MIN 2
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#define ROI_Y_MAX 3
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#define LM_THRESH 120
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#define LM_PREC_THRESH 0.9 // 90 perc is blur
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// only apply to QCOM
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#define FULL_STRIDE_X 1280
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#define FULL_STRIDE_Y 896
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#define CONV_LOCAL_WORKSIZE 16
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class LapConv {
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public:
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LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size);
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~LapConv();
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uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id);
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private:
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cl_mem roi_cl, result_cl, filter_cl;
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cl_program prg;
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cl_kernel krnl;
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const int width, height;
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std::vector<uint8_t> roi_buf;
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std::vector<int16_t> result_buf;
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};
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bool is_blur(const uint16_t *lapmap, const size_t size);
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