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camera_qcom: move opencl stuff into class LapConv (#20180)

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* class RGB2Gray

* rename Rgb2Grey to LapConv

* rebase master

* rebase master
pull/59/head
Dean Lee 5 years ago committed by GitHub
parent 90310042cb
commit 59698344a2
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5 changed files with 92 additions and 75 deletions
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  1. 1
      selfdrive/camerad/cameras/camera_common.h
  2. 67
      selfdrive/camerad/cameras/camera_qcom.cc
  3. 8
      selfdrive/camerad/cameras/camera_qcom.h
  4. 70
      selfdrive/camerad/imgproc/utils.cc
  5. 21
      selfdrive/camerad/imgproc/utils.h

1
selfdrive/camerad/cameras/camera_common.h
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@ -10,7 +10,6 @@
#include "common/queue.h"
#include "visionbuf.h"
#include "common/visionimg.h"
#include "imgproc/utils.h"
#include "messaging.hpp"
#include "transforms/rgb_to_yuv.h"

67
selfdrive/camerad/cameras/camera_qcom.cc
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@ -185,17 +185,6 @@ static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int c
s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type, camera_release_buffer);
}
cl_program build_conv_program(cl_device_id device_id, cl_context context, int image_w, int image_h, int filter_size) {
char args[4096];
snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DIMAGE_W=%d -DIMAGE_H=%d -DFLIP_RB=%d "
"-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d",
image_w, image_h, 1,
filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w);
return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
}
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
char project_name[1024] = {0};
property_get("ro.boot.project_name", project_name, "");
@ -239,19 +228,8 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
s->focus_bufs[i].allocate(0xb80);
s->stats_bufs[i].allocate(0xb80);
}
const int width = s->road_cam.buf.rgb_width/NUM_SEGMENTS_X;
const int height = s->road_cam.buf.rgb_height/NUM_SEGMENTS_Y;
s->prg_rgb_laplacian = build_conv_program(device_id, ctx, width, height, 3);
s->krnl_rgb_laplacian = CL_CHECK_ERR(clCreateKernel(s->prg_rgb_laplacian, "rgb2gray_conv2d", &err));
// TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter
s->rgb_conv_roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
width * height * 3 * sizeof(uint8_t), NULL, &err));
s->rgb_conv_result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
width * height * sizeof(int16_t), NULL, &err));
s->rgb_conv_filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
9 * sizeof(int16_t), (void*)&lapl_conv_krnl, &err));
std::fill_n(s->lapres, std::size(s->lapres), 16160);
s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, 3);
}
static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
@ -1176,40 +1154,6 @@ static void ops_thread(MultiCameraState *s) {
}
}
static void update_lapmap(MultiCameraState *s, const CameraBuf *b, const int cnt) {
const size_t width = b->rgb_width / NUM_SEGMENTS_X;
const size_t height = b->rgb_height / NUM_SEGMENTS_Y;
static std::unique_ptr<uint8_t[]> rgb_roi_buf = std::make_unique<uint8_t[]>(width * height * 3);
static std::unique_ptr<int16_t[]> conv_result = std::make_unique<int16_t[]>(width * height);
// sharpness scores
const int roi_id = cnt % std::size(s->lapres); // rolling roi
const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
const uint8_t *rgb_addr_offset = (uint8_t *)b->cur_rgb_buf->addr + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
for (int i = 0; i < height; ++i) {
memcpy(rgb_roi_buf.get() + i * width * 3, rgb_addr_offset + i * FULL_STRIDE_X * 3, width * 3);
}
constexpr int conv_cl_localMemSize = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));
CL_CHECK(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0, width * height * 3 * sizeof(uint8_t), rgb_roi_buf.get(), 0, 0, 0));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 3, conv_cl_localMemSize, 0));
cl_event conv_event;
CL_CHECK(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
(size_t[]){width, height}, (size_t[]){CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE}, 0, 0, &conv_event));
clWaitForEvents(1, &conv_event);
CL_CHECK(clReleaseEvent(conv_event));
CL_CHECK(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
width * height * sizeof(int16_t), conv_result.get(), 0, 0, 0));
s->lapres[roi_id] = get_lapmap_one(conv_result.get(), width, height);
}
static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t lapres_size) {
const float lens_true_pos = c->lens_true_pos.load();
int self_recover = c->self_recover.load();
@ -1238,7 +1182,8 @@ void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
// called by processing_thread
void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
const CameraBuf *b = &c->buf;
update_lapmap(s, b, cnt);
const int roi_id = cnt % std::size(s->lapres); // rolling roi
s->lapres[roi_id] = s->lap_conv->Update(b->q, (uint8_t *)b->cur_rgb_buf->addr, roi_id);
setup_self_recover(c, &s->lapres[0], std::size(s->lapres));
MessageBuilder msg;
@ -1341,12 +1286,8 @@ void cameras_close(MultiCameraState *s) {
s->focus_bufs[i].free();
s->stats_bufs[i].free();
}
CL_CHECK(clReleaseMemObject(s->rgb_conv_roi_cl));
CL_CHECK(clReleaseMemObject(s->rgb_conv_result_cl));
CL_CHECK(clReleaseMemObject(s->rgb_conv_filter_cl));
CL_CHECK(clReleaseKernel(s->krnl_rgb_laplacian));
CL_CHECK(clReleaseProgram(s->prg_rgb_laplacian));
delete s->lap_conv;
delete s->sm;
delete s->pm;
}

8
selfdrive/camerad/cameras/camera_qcom.h
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@ -16,6 +16,7 @@
#include "common/mat.h"
#include "common/util.h"
#include "imgproc/utils.h"
#include "camera_common.h"
@ -93,22 +94,17 @@ typedef struct MultiCameraState {
unique_fd ispif_fd;
unique_fd msmcfg_fd;
unique_fd v4l_fd;
cl_mem rgb_conv_roi_cl, rgb_conv_result_cl, rgb_conv_filter_cl;
uint16_t lapres[(ROI_X_MAX-ROI_X_MIN+1)*(ROI_Y_MAX-ROI_Y_MIN+1)];
VisionBuf focus_bufs[FRAME_BUF_COUNT];
VisionBuf stats_bufs[FRAME_BUF_COUNT];
cl_program prg_rgb_laplacian;
cl_kernel krnl_rgb_laplacian;
CameraState road_cam;
CameraState driver_cam;
SubMaster *sm;
PubMaster *pm;
LapConv *lap_conv;
} MultiCameraState;
void actuator_move(CameraState *s, uint16_t target);

70
selfdrive/camerad/imgproc/utils.cc
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@ -1,7 +1,14 @@
#include "utils.h"
#include <assert.h>
#include <stdio.h>
#include <string.h>
#include <algorithm>
#include <cmath>
const int16_t lapl_conv_krnl[9] = {0, 1, 0,
1, -4, 1,
0, 1, 0};
// calculate score based on laplacians in one area
uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch) {
const int size = x_pitch * y_pitch;
@ -34,4 +41,65 @@ bool is_blur(const uint16_t *lapmap, const size_t size) {
}
}
return (bad_sum > LM_PREC_THRESH);
}
}
static cl_program build_conv_program(cl_device_id device_id, cl_context context, int image_w, int image_h, int filter_size) {
char args[4096];
snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DIMAGE_W=%d -DIMAGE_H=%d -DFLIP_RB=%d "
"-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d",
image_w, image_h, 1,
filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w);
return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
}
LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size)
: width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y),
roi_buf(width * height * 3), result_buf(width * height) {
prg = build_conv_program(device_id, ctx, width, height, filter_size);
krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb2gray_conv2d", &err));
// TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter
roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, roi_buf.size() * sizeof(roi_buf[0]), NULL, &err));
result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, result_buf.size() * sizeof(result_buf[0]), NULL, &err));
filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
9 * sizeof(int16_t), (void *)&lapl_conv_krnl, &err));
}
LapConv::~LapConv() {
CL_CHECK(clReleaseMemObject(roi_cl));
CL_CHECK(clReleaseMemObject(result_cl));
CL_CHECK(clReleaseMemObject(filter_cl));
CL_CHECK(clReleaseKernel(krnl));
CL_CHECK(clReleaseProgram(prg));
}
uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id) {
// sharpness scores
const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
const uint8_t *rgb_offset = rgb_buf + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
for (int i = 0; i < height; ++i) {
memcpy(&roi_buf[i * width * 3], &rgb_offset[i * FULL_STRIDE_X * 3], width * 3);
}
constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));
const size_t global_work_size[] = {(size_t)width, (size_t)height};
const size_t local_work_size[] = {CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE};
CL_CHECK(clEnqueueWriteBuffer(q, roi_cl, true, 0, roi_buf.size() * sizeof(roi_buf[0]), roi_buf.data(), 0, 0, 0));
CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), (void *)&roi_cl));
CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), (void *)&result_cl));
CL_CHECK(clSetKernelArg(krnl, 2, sizeof(cl_mem), (void *)&filter_cl));
CL_CHECK(clSetKernelArg(krnl, 3, local_mem_size, 0));
cl_event conv_event;
CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, global_work_size, local_work_size, 0, 0, &conv_event));
CL_CHECK(clWaitForEvents(1, &conv_event));
CL_CHECK(clReleaseEvent(conv_event));
CL_CHECK(clEnqueueReadBuffer(q, result_cl, true, 0,
result_buf.size() * sizeof(result_buf[0]), result_buf.data(), 0, 0, 0));
return get_lapmap_one(result_buf.data(), width, height);
}

21
selfdrive/camerad/imgproc/utils.h
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@ -2,6 +2,9 @@
#include <stdint.h>
#include <stddef.h>
#include <vector>
#include "clutil.h"
#define NUM_SEGMENTS_X 8
#define NUM_SEGMENTS_Y 6
@ -19,9 +22,19 @@
#define CONV_LOCAL_WORKSIZE 16
const int16_t lapl_conv_krnl[9] = {0, 1, 0,
1, -4, 1,
0, 1, 0};
class LapConv {
public:
LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size);
~LapConv();
uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id);
private:
cl_mem roi_cl, result_cl, filter_cl;
cl_program prg;
cl_kernel krnl;
const int width, height;
std::vector<uint8_t> roi_buf;
std::vector<int16_t> result_buf;
};
uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch);
bool is_blur(const uint16_t *lapmap, const size_t size);

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