spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

camerad: cache rgb_roi_buf&conv_result (#1979) 

lgtm
pull/1985/head
Dean Lee 2020-08-06 04:39:03 +08:00 committed by GitHub
parent f61dcb6e12
commit c1e7b761a9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
selfdrive/camerad/main.cc
View File

@ -345,6 +345,11 @@ void* processing_thread(void *arg) {
err = set_realtime_priority(51);
LOG("setpriority returns %d", err);
#if defined(QCOM) && !defined(QCOM_REPLAY)
std::unique_ptr<uint8_t[]> rgb_roi_buf = std::make_unique<uint8_t[]>((s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)*3);
std::unique_ptr<int16_t[]> conv_result = std::make_unique<int16_t[]>((s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y));
#endif
// init cl stuff
#ifdef __APPLE__
cl_command_queue q = clCreateCommandQueue(s->context, s->device_id, 0, &err);
@ -416,13 +421,12 @@ void* processing_thread(void *arg) {
/*double t10 = millis_since_boot();*/
// cache rgb roi and write to cl
uint8_t *rgb_roi_buf = new uint8_t[(s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)*3];
int roi_id = cnt % ((ROI_X_MAX-ROI_X_MIN+1)*(ROI_Y_MAX-ROI_Y_MIN+1)); // rolling roi
int roi_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
int roi_y_offset = roi_id / (ROI_X_MAX-ROI_X_MIN+1);
for (int r=0;r<(s->rgb_height/NUM_SEGMENTS_Y);r++) {
memcpy(rgb_roi_buf + r * (s->rgb_width/NUM_SEGMENTS_X) * 3,
memcpy(rgb_roi_buf.get() + r * (s->rgb_width/NUM_SEGMENTS_X) * 3,
(uint8_t *) s->rgb_bufs[rgb_idx].addr + \
(ROI_Y_MIN + roi_y_offset) * s->rgb_height/NUM_SEGMENTS_Y * FULL_STRIDE_X * 3 + \
(ROI_X_MIN + roi_x_offset) * s->rgb_width/NUM_SEGMENTS_X * 3 + r * FULL_STRIDE_X * 3,
@ -430,7 +434,7 @@ void* processing_thread(void *arg) {
}
err = clEnqueueWriteBuffer (q, s->rgb_conv_roi_cl, true, 0,
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), rgb_roi_buf, 0, 0, 0);
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), rgb_roi_buf.get(), 0, 0, 0);
assert(err == 0);
/*double t11 = millis_since_boot();
@ -453,24 +457,20 @@ void* processing_thread(void *arg) {
clWaitForEvents(1, &conv_event);
clReleaseEvent(conv_event);
int16_t *conv_result = new int16_t[(s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)];
err = clEnqueueReadBuffer(q, s->rgb_conv_result_cl, true, 0,
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), conv_result, 0, 0, 0);
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), conv_result.get(), 0, 0, 0);
assert(err == 0);
/*t11 = millis_since_boot();
printf("conv time: %f ms\n", t11 - t10);
t10 = millis_since_boot();*/
get_lapmap_one(conv_result, &s->lapres[roi_id], s->rgb_width/NUM_SEGMENTS_X, s->rgb_height/NUM_SEGMENTS_Y);
get_lapmap_one(conv_result.get(), &s->lapres[roi_id], s->rgb_width/NUM_SEGMENTS_X, s->rgb_height/NUM_SEGMENTS_Y);
/*t11 = millis_since_boot();
printf("pool time: %f ms\n", t11 - t10);
t10 = millis_since_boot();*/
delete [] rgb_roi_buf;
delete [] conv_result;
/*t11 = millis_since_boot();
printf("process time: %f ms\n ----- \n", t11 - t10);
t10 = millis_since_boot();*/