openpilot/selfdrive/camerad/transforms/rgb_to_yuv.cc

36 lines
1.3 KiB
C++

#include "rgb_to_yuv.h"
#include <assert.h>
Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
assert(width % 2 == 0 && height % 2 == 0);
char args[1024];
snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero "
#ifdef CL_DEBUG
"-DCL_DEBUG "
#endif
"-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
width, height, width / 2, height / 2, rgb_stride, width * height);
cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
CL_CHECK(clReleaseProgram(prg));
work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4;
work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4;
}
Rgb2Yuv::~Rgb2Yuv() {
CL_CHECK(clReleaseKernel(krnl));
}
void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl));
CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl));
cl_event event;
CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
CL_CHECK(clWaitForEvents(1, &event));
CL_CHECK(clReleaseEvent(event));
}