64 lines
1.2 KiB
C++
64 lines
1.2 KiB
C++
#pragma once
|
|
#include "visionipc.h"
|
|
|
|
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
|
#ifdef __APPLE__
|
|
#include <OpenCL/cl.h>
|
|
#else
|
|
#include <CL/cl.h>
|
|
#endif
|
|
|
|
#define VISIONBUF_SYNC_FROM_DEVICE 0
|
|
#define VISIONBUF_SYNC_TO_DEVICE 1
|
|
|
|
enum VisionStreamType {
|
|
VISION_STREAM_RGB_BACK,
|
|
VISION_STREAM_RGB_FRONT,
|
|
VISION_STREAM_RGB_WIDE,
|
|
VISION_STREAM_YUV_BACK,
|
|
VISION_STREAM_YUV_FRONT,
|
|
VISION_STREAM_YUV_WIDE,
|
|
VISION_STREAM_MAX,
|
|
};
|
|
|
|
class VisionBuf {
|
|
public:
|
|
size_t len = 0;
|
|
size_t mmap_len = 0;
|
|
void * addr = nullptr;
|
|
int fd = 0;
|
|
|
|
bool rgb = false;
|
|
size_t width = 0;
|
|
size_t height = 0;
|
|
size_t stride = 0;
|
|
|
|
// YUV
|
|
uint8_t * y = nullptr;
|
|
uint8_t * u = nullptr;
|
|
uint8_t * v = nullptr;
|
|
|
|
// Visionipc
|
|
uint64_t server_id = 0;
|
|
size_t idx = 0;
|
|
VisionStreamType type;
|
|
|
|
// OpenCL
|
|
cl_mem buf_cl = nullptr;
|
|
cl_command_queue copy_q = nullptr;
|
|
|
|
// ion
|
|
int handle = 0;
|
|
bool owner = false;
|
|
|
|
void allocate(size_t len);
|
|
void import();
|
|
void init_cl(cl_device_id device_id, cl_context ctx);
|
|
void init_rgb(size_t width, size_t height, size_t stride);
|
|
void init_yuv(size_t width, size_t height);
|
|
void sync(int dir);
|
|
void free();
|
|
};
|
|
|
|
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|