dragonpilot - 基於 openpilot 的開源駕駛輔助系統
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
#pragma once
|
|
|
|
|
|
|
|
|
|
#include <inttypes.h>
|
|
|
|
|
#include <stdbool.h>
|
|
|
|
|
|
|
|
|
|
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
|
|
|
|
#ifdef __APPLE__
|
|
|
|
|
#include <OpenCL/cl.h>
|
|
|
|
|
#else
|
|
|
|
|
#include <CL/cl.h>
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#include "selfdrive/common/mat.h"
|
|
|
|
|
|
|
|
|
|
typedef struct {
|
|
|
|
|
cl_kernel krnl;
|
|
|
|
|
cl_mem m_y_cl, m_uv_cl;
|
|
|
|
|
} Transform;
|
|
|
|
|
|
|
|
|
|
void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
|
|
|
|
|
|
|
|
|
|
void transform_destroy(Transform* transform);
|
|
|
|
|
|
|
|
|
|
void transform_queue(Transform* s, cl_command_queue q,
|
|
|
|
|
cl_mem yuv, int in_width, int in_height,
|
|
|
|
|
cl_mem out_y, cl_mem out_u, cl_mem out_v,
|
|
|
|
|
int out_width, int out_height,
|
|
|
|
|
const mat3& projection);
|
