sadmen
/
jyoung
mirror of https://github.com/jyoung8607/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

camerad: encapsulating event management within the ImgProc Class (#33119)

Browse Source 
Encapsulating Event Management Within the ImgProc Class
slow-your-roll
Dean Lee 1 year ago committed by GitHub
parent 8f3fc699d4
commit 2189164d45
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 7 additions and 6 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 13
      system/camerad/cameras/camera_common.cc

13
system/camerad/cameras/camera_common.cc
Unescape View File

@ -37,7 +37,7 @@ public:
} }
void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *imgproc_event, int expo_time) { void runKernel(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl)); CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl)); CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time)); CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time));
@ -45,7 +45,11 @@ public:
const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)}; const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)};
const int imgproc_local_worksize = 16; const int imgproc_local_worksize = 16;
const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize}; const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize};
CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, imgproc_event));
cl_event event;
CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
clWaitForEvents(1, &event);
CL_CHECK(clReleaseEvent(event));
} }
~ImgProc() { ~ImgProc() {
@ -116,10 +120,7 @@ bool CameraBuf::acquire() {
cur_camera_buf = &camera_bufs[cur_buf_idx]; cur_camera_buf = &camera_bufs[cur_buf_idx];
double start_time = millis_since_boot(); double start_time = millis_since_boot();
cl_event event; imgproc->runKernel(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
imgproc->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event, cur_frame_data.integ_lines);
clWaitForEvents(1, &event);
CL_CHECK(clReleaseEvent(event));
cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
VisionIpcBufExtra extra = { VisionIpcBufExtra extra = {

Write Preview
Loading…
Cancel
Save