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63 lines
2.2 KiB
63 lines
2.2 KiB
#include "selfdrive/common/visionimg.h"
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#include <cassert>
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#ifdef QCOM
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#include <gralloc_priv.h>
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#include <system/graphics.h>
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#include <ui/GraphicBuffer.h>
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#include <ui/PixelFormat.h>
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#define GL_GLEXT_PROTOTYPES
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#include <GLES2/gl2ext.h>
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using namespace android;
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EGLImageTexture::EGLImageTexture(const VisionBuf *buf) {
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const int bpp = 3;
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assert((buf->len % buf->stride) == 0);
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assert((buf->stride % bpp) == 0);
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const int format = HAL_PIXEL_FORMAT_RGB_888;
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private_handle = new private_handle_t(buf->fd, buf->len,
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private_handle_t::PRIV_FLAGS_USES_ION|private_handle_t::PRIV_FLAGS_FRAMEBUFFER,
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0, format,
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buf->stride/bpp, buf->len/buf->stride,
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buf->width, buf->height);
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// GraphicBuffer is ref counted by EGLClientBuffer(ANativeWindowBuffer), no need and not possible to release.
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GraphicBuffer* gb = new GraphicBuffer(buf->width, buf->height, (PixelFormat)format,
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GraphicBuffer::USAGE_HW_TEXTURE, buf->stride/bpp, (private_handle_t*)private_handle, false);
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EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
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assert(display != EGL_NO_DISPLAY);
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EGLint img_attrs[] = {EGL_IMAGE_PRESERVED_KHR, EGL_TRUE, EGL_NONE};
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img_khr = eglCreateImageKHR(display, EGL_NO_CONTEXT,
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EGL_NATIVE_BUFFER_ANDROID, gb->getNativeBuffer(), img_attrs);
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assert(img_khr != EGL_NO_IMAGE_KHR);
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glGenTextures(1, &frame_tex);
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glBindTexture(GL_TEXTURE_2D, frame_tex);
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glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, img_khr);
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}
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EGLImageTexture::~EGLImageTexture() {
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glDeleteTextures(1, &frame_tex);
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EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
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assert(display != EGL_NO_DISPLAY);
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eglDestroyImageKHR(display, img_khr);
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delete (private_handle_t*)private_handle;
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}
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#else // ifdef QCOM
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EGLImageTexture::EGLImageTexture(const VisionBuf *buf) {
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glGenTextures(1, &frame_tex);
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glBindTexture(GL_TEXTURE_2D, frame_tex);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, buf->width, buf->height, 0, GL_RGB, GL_UNSIGNED_BYTE, nullptr);
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glGenerateMipmap(GL_TEXTURE_2D);
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}
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EGLImageTexture::~EGLImageTexture() {
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glDeleteTextures(1, &frame_tex);
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}
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#endif // ifdef QCOM
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