From da45d91928ec98dec7197bec5e4e81c8313e320a Mon Sep 17 00:00:00 2001 From: deanlee Date: Sat, 12 Dec 2020 18:04:00 +0000 Subject: [PATCH] rgb_addr --- selfdrive/camerad/cameras/camera_qcom.cc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index ca07db5ee0..8e9b0152bf 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -2063,6 +2063,7 @@ void camera_process_front(MultiCameraState *s, CameraState *c, int cnt) { void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) { const CameraBuf *b = &c->buf; + const uint8_t *rgb_addr = (uint8_t*)b->cur_rgb_buf->addr; // sharpness scores const int roi_id = cnt % ARRAYSIZE(s->lapres); // rolling roi const int roi_x_offset = roi_id % (ROI_X_MAX - ROI_X_MIN + 1); @@ -2072,7 +2073,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) { const size_t height = b->rgb_height / NUM_SEGMENTS_Y; for (int r = 0; r < height; r++) { memcpy(s->rgb_roi_buf.get() + r * width * 3, - (uint8_t *)b->cur_rgb_buf->addr + (ROI_Y_MIN + roi_y_offset) * height * FULL_STRIDE_X * 3 + + rgb_addr + (ROI_Y_MIN + roi_y_offset) * height * FULL_STRIDE_X * 3 + (ROI_X_MIN + roi_x_offset) * width * 3 + r * FULL_STRIDE_X * 3, width * 3); } @@ -2124,7 +2125,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) { auto framed = msg.initEvent().initFrame(); fill_frame_data(framed, b->cur_frame_data, cnt); if (env_send_rear) { - fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride); + fill_frame_image(framed, rgb_addr, b->rgb_width, b->rgb_height, b->rgb_stride); } framed.setFocusVal(s->rear.focus); framed.setFocusConf(s->rear.confidence); @@ -2135,7 +2136,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) { } if (cnt % 100 == 3) { - create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr); + create_thumbnail(s, c, rgb_addr); } if (cnt % 3 == 0) {