LapConv: remove hardcoded FULL_STRIDE_X (#23200)

* fix wroing stride_x

* remove hardcoded rgb_stride

selfdrive/camerad/cameras/camera_qcom.cc

@@ -227,7 +227,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
     s->stats_bufs[i].allocate(0xb80);
   }
   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);
+  s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, s->road_cam.buf.rgb_stride, 3);
 }
 
 static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {

selfdrive/camerad/imgproc/utils.cc

@@ -55,8 +55,8 @@ static cl_program build_conv_program(cl_device_id device_id, cl_context context,
   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), 
+LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size)
+    : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), rgb_stride(rgb_stride),
       roi_buf(width * height * 3), result_buf(width * height) {
 
   prg = build_conv_program(device_id, ctx, width, height, filter_size);
@@ -81,9 +81,9 @@ uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int r
   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;
+  const uint8_t *rgb_offset = rgb_buf + y_offset * height * rgb_stride + 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);
+    memcpy(&roi_buf[i * width * 3], &rgb_offset[i * rgb_stride], width * 3);
   }
 
   constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));

selfdrive/camerad/imgproc/utils.h

@@ -16,16 +16,11 @@
 
 #define LM_THRESH 120
 #define LM_PREC_THRESH 0.9 // 90 perc is blur
-
-// only apply to QCOM
-#define FULL_STRIDE_X 1280
-#define FULL_STRIDE_Y 896
-
 #define CONV_LOCAL_WORKSIZE 16
 
 class LapConv {
 public:
-  LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size);
+  LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size);
   ~LapConv();
   uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id);
 
@@ -34,6 +29,7 @@ private:
   cl_program prg;
   cl_kernel krnl;
   const int width, height;
+  const int rgb_stride;
   std::vector<uint8_t> roi_buf;
   std::vector<int16_t> result_buf;
 };