112 lines
3.7 KiB
C
112 lines
3.7 KiB
C
#include <assert.h>
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#include <stdio.h>
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#include <string.h>
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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 "selfdrive/common/clutil.h"
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#include "selfdrive/modeld/transforms/transform.h"
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typedef struct {
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int disable_model;
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Transform transform;
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int in_width;
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int in_height;
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int out_width;
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int out_height;
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cl_context context;
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cl_command_queue command_queue;
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cl_device_id device_id;
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size_t in_yuv_size;
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cl_mem in_yuv_cl;
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cl_mem out_y_cl, out_u_cl, out_v_cl;
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} VisionTest;
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void initialize_opencl(VisionTest* visiontest) {
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// init cl
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cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_CPU);
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visiontest->context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
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visiontest->device_id = device_id;
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}
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VisionTest* visiontest_create(int temporal_model, int disable_model,
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int input_width, int input_height,
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int model_input_width, int model_input_height) {
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VisionTest* const vt = calloc(1, sizeof(*vt));
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assert(vt);
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vt->disable_model = disable_model;
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vt->in_width = input_width;
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vt->in_height = input_height;
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vt->out_width = model_input_width;
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vt->out_height = model_input_height;
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initialize_opencl(vt);
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transform_init(&vt->transform, vt->context, vt->device_id);
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assert((vt->in_width%2) == 0 && (vt->in_height%2) == 0);
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vt->in_yuv_size = vt->in_width*vt->in_height*3/2;
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vt->in_yuv_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
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vt->in_yuv_size, NULL, &err));
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vt->out_y_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
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vt->out_width*vt->out_width, NULL, &err));
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vt->out_u_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
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vt->out_width*vt->out_width/4, NULL, &err));
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vt->out_v_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
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vt->out_width*vt->out_width/4, NULL, &err));
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vt->command_queue = CL_CHECK_ERR(clCreateCommandQueue(vt->context, vt->device_id, 0, &err));
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return vt;
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}
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void visiontest_destroy(VisionTest* vt) {
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transform_destroy(&vt->transform);
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CL_CHECK(clReleaseMemObject(vt->in_yuv_cl));
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CL_CHECK(clReleaseMemObject(vt->out_y_cl));
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CL_CHECK(clReleaseMemObject(vt->out_u_cl));
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CL_CHECK(clReleaseMemObject(vt->out_v_cl));
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CL_CHECK(clReleaseCommandQueue(vt->command_queue));
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CL_CHECK(clReleaseContext(vt->context));
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free(vt);
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}
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void visiontest_transform(VisionTest* vt, const uint8_t* yuv_data,
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uint8_t* out_y, uint8_t* out_u, uint8_t* out_v,
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const float* transform) {
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CL_CHECK(clEnqueueWriteBuffer(vt->command_queue, vt->in_yuv_cl, CL_FALSE,
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0, vt->in_yuv_size, yuv_data, 0, NULL, NULL));
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mat3 transform_m = *(const mat3*)transform;
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transform_queue(&vt->transform, vt->command_queue,
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vt->in_yuv_cl, vt->in_width, vt->in_height,
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vt->out_y_cl, vt->out_u_cl, vt->out_v_cl,
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vt->out_width, vt->out_height,
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transform_m);
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CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_y_cl, CL_FALSE,
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0, vt->out_width*vt->out_height, out_y,
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0, NULL, NULL));
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CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_u_cl, CL_FALSE,
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0, vt->out_width*vt->out_height/4, out_u,
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0, NULL, NULL));
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CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_v_cl, CL_FALSE,
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0, vt->out_width*vt->out_height/4, out_v,
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0, NULL, NULL));
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clFinish(vt->command_queue);
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}
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