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97 lines
4.5 KiB
97 lines
4.5 KiB
#include "selfdrive/modeld/transforms/transform.h"
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#include <cassert>
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#include <cstring>
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#include "common/clutil.h"
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void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
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memset(s, 0, sizeof(*s));
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cl_program prg = cl_program_from_file(ctx, device_id, "transforms/transform.cl", "");
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s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
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// done with this
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CL_CHECK(clReleaseProgram(prg));
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s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
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s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
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}
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void transform_destroy(Transform* s) {
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CL_CHECK(clReleaseMemObject(s->m_y_cl));
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CL_CHECK(clReleaseMemObject(s->m_uv_cl));
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CL_CHECK(clReleaseKernel(s->krnl));
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}
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void transform_queue(Transform* s,
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cl_command_queue q,
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cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
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cl_mem out_y, cl_mem out_u, cl_mem out_v,
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int out_width, int out_height,
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const mat3& projection) {
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const int zero = 0;
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// sampled using pixel center origin
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// (because that's how fastcv and opencv does it)
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mat3 projection_y = projection;
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// in and out uv is half the size of y.
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mat3 projection_uv = transform_scale_buffer(projection, 0.5);
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CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
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CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
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const int in_y_width = in_width;
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const int in_y_height = in_height;
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const int in_y_px_stride = 1;
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const int in_uv_width = in_width/2;
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const int in_uv_height = in_height/2;
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const int in_uv_px_stride = 2;
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const int in_u_offset = in_uv_offset;
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const int in_v_offset = in_uv_offset + 1;
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const int out_y_width = out_width;
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const int out_y_height = out_height;
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const int out_uv_width = out_width/2;
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const int out_uv_height = out_height/2;
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CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src
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CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride
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CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride
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CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset
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CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows
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CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols
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CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst
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CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride
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CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
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CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows
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CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols
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CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M
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const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
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CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
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(const size_t*)&work_size_y, NULL, 0, 0, NULL));
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const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
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CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride
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CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset
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CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows
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CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols
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CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst
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CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride
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CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
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CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows
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CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols
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CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M
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CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
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(const size_t*)&work_size_uv, NULL, 0, 0, NULL));
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CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset
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CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst
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CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
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(const size_t*)&work_size_uv, NULL, 0, 0, NULL));
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}
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