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36 lines
686 B
36 lines
686 B
#pragma once
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#include <stdbool.h>
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#ifdef __APPLE__
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#include <OpenCL/cl.h>
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#else
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#include <CL/cl.h>
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#endif
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#include "camera_common.h"
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#define FRAME_BUF_COUNT 16
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typedef struct CameraState {
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CameraInfo ci;
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int fps;
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float digital_gain;
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mat3 transform;
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CameraBuf buf;
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} CameraState;
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typedef struct MultiCameraState {
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CameraState rear;
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CameraState front;
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SubMaster *sm;
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PubMaster *pm;
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} MultiCameraState;
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void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx);
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void cameras_open(MultiCameraState *s);
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void cameras_run(MultiCameraState *s);
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void cameras_close(MultiCameraState *s);
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void camera_autoexposure(CameraState *s, float grey_frac);
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