convert mat.h to a c++ header file (#2499)
parent
dca6f61db9
commit
519c043a63
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@ -391,7 +391,7 @@ selfdrive/modeld/constants.py
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selfdrive/modeld/modeld
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selfdrive/modeld/dmonitoringmodeld
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selfdrive/modeld/models/commonmodel.c
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selfdrive/modeld/models/commonmodel.cc
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selfdrive/modeld/models/commonmodel.h
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selfdrive/modeld/models/driving.cc
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selfdrive/modeld/models/driving.h
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@ -400,7 +400,8 @@ selfdrive/modeld/models/dmonitoring.h
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selfdrive/modeld/transforms/loadyuv.[c,h]
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selfdrive/modeld/transforms/loadyuv.cl
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selfdrive/modeld/transforms/transform.[c,h]
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selfdrive/modeld/transforms/transform.cc
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selfdrive/modeld/transforms/transform.h
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selfdrive/modeld/transforms/transform.cl
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selfdrive/modeld/thneed/thneed.*
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@ -1,5 +1,4 @@
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#ifndef COMMON_MAT_H
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#define COMMON_MAT_H
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#pragma once
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typedef struct vec3 {
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float v[3];
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@ -17,7 +16,7 @@ typedef struct mat4 {
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float v[4*4];
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} mat4;
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static inline mat3 matmul3(const mat3 a, const mat3 b) {
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static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
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mat3 ret = {{0.0}};
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for (int r=0; r<3; r++) {
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for (int c=0; c<3; c++) {
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@ -31,7 +30,7 @@ static inline mat3 matmul3(const mat3 a, const mat3 b) {
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return ret;
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}
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static inline vec3 matvecmul3(const mat3 a, const vec3 b) {
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static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
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vec3 ret = {{0.0}};
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for (int r=0; r<3; r++) {
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for (int c=0; c<3; c++) {
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@ -41,7 +40,7 @@ static inline vec3 matvecmul3(const mat3 a, const vec3 b) {
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return ret;
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}
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static inline mat4 matmul(const mat4 a, const mat4 b) {
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static inline mat4 matmul(const mat4 &a, const mat4 &b) {
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mat4 ret = {{0.0}};
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for (int r=0; r<4; r++) {
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for (int c=0; c<4; c++) {
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@ -55,7 +54,7 @@ static inline mat4 matmul(const mat4 a, const mat4 b) {
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return ret;
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}
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static inline vec4 matvecmul(const mat4 a, const vec4 b) {
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static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
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vec4 ret = {{0.0}};
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for (int r=0; r<4; r++) {
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for (int c=0; c<4; c++) {
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@ -67,7 +66,7 @@ static inline vec4 matvecmul(const mat4 a, const vec4 b) {
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// scales the input and output space of a transformation matrix
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// that assumes pixel-center origin.
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static inline mat3 transform_scale_buffer(const mat3 in, float s) {
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static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
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// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
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mat3 transform_out = {{
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@ -84,5 +83,3 @@ static inline mat3 transform_scale_buffer(const mat3 in, float s) {
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return matmul3(transform_in, matmul3(in, transform_out));
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}
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#endif
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@ -6,10 +6,10 @@ libs = [cereal, messaging, common, 'OpenCL', 'SNPE', 'symphony-cpu', 'capnp', 'z
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TEST_THNEED = False
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common_src = [
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"models/commonmodel.c",
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"models/commonmodel.cc",
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"runners/snpemodel.cc",
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"transforms/loadyuv.c",
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"transforms/transform.c"
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"transforms/transform.cc"
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]
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if arch == "aarch64":
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@ -99,14 +99,14 @@ void transform_queue(Transform* s,
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err = clSetKernelArg(s->krnl, 10, sizeof(cl_mem), &s->m_y_cl);
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assert(err == 0);
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const size_t work_size_y[2] = {out_y_width, out_y_height};
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const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
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err = clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
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(const size_t*)&work_size_y, NULL, 0, 0, NULL);
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assert(err == 0);
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const size_t work_size_uv[2] = {out_uv_width, out_uv_height};
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const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
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err = clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_uv_width);
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assert(err == 0);
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@ -48,7 +48,7 @@ endif
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all: visiontest
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libvisiontest_inputs := visiontest.c \
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transforms/transform.c \
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transforms/transform.cc \
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transforms/loadyuv.c \
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../common/clutil.c \
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$(BASEDIR)/selfdrive/common/util.c \
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