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LapConv: remove hardcoded FULL_STRIDE_X (#23200) 

* fix wroing stride_x

* remove hardcoded rgb_stride
pull/23206/head
Dean Lee 2021-12-13 22:53:44 +08:00 committed by GitHub
parent 8a84263c2d
commit b519acd37b
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 7 additions and 11 deletions
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2
selfdrive/camerad/cameras/camera_qcom.cc
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@ -227,7 +227,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
s->stats_bufs[i].allocate(0xb80);
}
std::fill_n(s->lapres, std::size(s->lapres), 16160);
s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, 3);
s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, s->road_cam.buf.rgb_stride, 3);
}
static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {

8
selfdrive/camerad/imgproc/utils.cc
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@ -55,8 +55,8 @@ static cl_program build_conv_program(cl_device_id device_id, cl_context context,
return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
}
LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size)
: width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y),
LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size)
: width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), rgb_stride(rgb_stride),
roi_buf(width * height * 3), result_buf(width * height) {
prg = build_conv_program(device_id, ctx, width, height, filter_size);
@ -81,9 +81,9 @@ uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int r
const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
const uint8_t *rgb_offset = rgb_buf + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
const uint8_t *rgb_offset = rgb_buf + y_offset * height * rgb_stride + x_offset * width * 3;
for (int i = 0; i < height; ++i) {
memcpy(&roi_buf[i * width * 3], &rgb_offset[i * FULL_STRIDE_X * 3], width * 3);
memcpy(&roi_buf[i * width * 3], &rgb_offset[i * rgb_stride], width * 3);
}
constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));

8
selfdrive/camerad/imgproc/utils.h
View File

@ -16,16 +16,11 @@
#define LM_THRESH 120
#define LM_PREC_THRESH 0.9 // 90 perc is blur
// only apply to QCOM
#define FULL_STRIDE_X 1280
#define FULL_STRIDE_Y 896
#define CONV_LOCAL_WORKSIZE 16
class LapConv {
public:
LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size);
LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size);
~LapConv();
uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id);
@ -34,6 +29,7 @@ private:
cl_program prg;
cl_kernel krnl;
const int width, height;
const int rgb_stride;
std::vector<uint8_t> roi_buf;
std::vector<int16_t> result_buf;
};