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camerad: log debayer + yuv processing time (#23894) 

* camerad: log debayer + yuv processing time

* bump cereal
pull/23896/head
Willem Melching 2022-03-02 13:56:00 +01:00 committed by GitHub
parent 7e6903b58f
commit aabd9a0dff
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 8 additions and 1 deletions
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2
cereal

@ -1 +1 @@
Subproject commit f16d2a211bd5d79b5094ac1abc22d7a5241df101
Subproject commit 80a5b91e34ecac3e0d504c35f76dd25a34467672

5
selfdrive/camerad/cameras/camera_common.cc
View File

@ -161,6 +161,8 @@ bool CameraBuf::acquire() {
cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl;
cl_event event;
float start_time = millis_since_boot();
if (debayer) {
float gain = 0.0;
@ -181,6 +183,8 @@ bool CameraBuf::acquire() {
cur_yuv_buf = vipc_server->get_buffer(yuv_type);
rgb2yuv->queue(q, cur_rgb_buf->buf_cl, cur_yuv_buf->buf_cl);
cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
VisionIpcBufExtra extra = {
cur_frame_data.frame_id,
cur_frame_data.timestamp_sof,
@ -219,6 +223,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
framed.setLensPos(frame_data.lens_pos);
framed.setLensErr(frame_data.lens_err);
framed.setLensTruePos(frame_data.lens_true_pos);
framed.setProcessingTime(frame_data.processing_time);
}
kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {

2
selfdrive/camerad/cameras/camera_common.h
View File

@ -75,6 +75,8 @@ typedef struct FrameMetadata {
unsigned int lens_pos;
float lens_err;
float lens_true_pos;
float processing_time;
} FrameMetadata;
typedef struct CameraExpInfo {