openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
__kernel void loadys(__global uchar8 const * const Y,
__global uchar * out,
int out_offset)
{
const int gid = get_global_id(0);
const int ois = gid * 8;
const int oy = ois / TRANSFORMED_WIDTH;
const int ox = ois % TRANSFORMED_WIDTH;
const uchar8 ys = Y[gid];
// 02
// 13
__global uchar* outy0;
__global uchar* outy1;
if ((oy & 1) == 0) {
outy0 = out + out_offset; //y0
outy1 = out + out_offset + UV_SIZE*2; //y2
} else {
outy0 = out + out_offset + UV_SIZE; //y1
outy1 = out + out_offset + UV_SIZE*3; //y3
}
vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
}
__kernel void loaduv(__global uchar8 const * const in,
__global uchar8 * out,
int out_offset)
{
const int gid = get_global_id(0);
const uchar8 inv = in[gid];
out[gid + out_offset / 8] = inv;
}
__kernel void copy(__global uchar8 * inout,
int in_offset)
{
const int gid = get_global_id(0);
inout[gid] = inout[gid + in_offset / 8];
}