From 176acbe803b08b985f45f4ed0f5b319b64daa22e Mon Sep 17 00:00:00 2001 From: deanlee Date: Sat, 12 Dec 2020 18:38:22 +0000 Subject: [PATCH] remove variables from struct --- selfdrive/camerad/cameras/camera_qcom.cc | 11 +++-------- selfdrive/camerad/cameras/camera_qcom.h | 4 ---- 2 files changed, 3 insertions(+), 12 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 7a318d76dd..9c0ae8f6a7 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -351,12 +351,6 @@ void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) { rgb_width/NUM_SEGMENTS_X * rgb_height/NUM_SEGMENTS_Y * 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)); - s->conv_cl_localMemSize = ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) ) * ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) ); - s->conv_cl_localMemSize *= 3 * sizeof(uint8_t); - s->conv_cl_globalWorkSize[0] = rgb_width/NUM_SEGMENTS_X; - s->conv_cl_globalWorkSize[1] = rgb_height/NUM_SEGMENTS_Y; - s->conv_cl_localWorkSize[0] = CONV_LOCAL_WORKSIZE; - s->conv_cl_localWorkSize[1] = CONV_LOCAL_WORKSIZE; for (int i=0; ilapres); i++) {s->lapres[i] = 16160;} } @@ -2102,14 +2096,15 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) { memcpy(rgb_roi_buf.get() + r * width * 3, rgb_addr_offset + r * 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, s->conv_cl_localMemSize, 0)); + 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, - s->conv_cl_globalWorkSize, s->conv_cl_localWorkSize, 0, 0, &conv_event)); + (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)); diff --git a/selfdrive/camerad/cameras/camera_qcom.h b/selfdrive/camerad/cameras/camera_qcom.h index 500b1e7ec3..7bef442d36 100644 --- a/selfdrive/camerad/cameras/camera_qcom.h +++ b/selfdrive/camerad/cameras/camera_qcom.h @@ -131,10 +131,6 @@ typedef struct MultiCameraState { cl_program prg_rgb_laplacian; cl_kernel krnl_rgb_laplacian; - int conv_cl_localMemSize; - size_t conv_cl_globalWorkSize[2]; - size_t conv_cl_localWorkSize[2]; - CameraState rear; CameraState front;