mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-26 16:03:54 +08:00
6b020241c9
* refactor add function get_camerabuf_by_type remove cl_free use camera_id move front stuff into frontview_thread bigger refactor more typo rename camerabuf *c to *b cleanup header files remove wideview_thread camera_qcom.c to c++ fix SConscript camera_process_buf space sendrgb same with before do autoexposure in processing_thread correct sendrgb add camera_common.cc move yuv_transform to CameraBuf * use C to keep consitent * rebase master * rebase master * continue refactor * refactor all camera related data&function out of main done * cleanup * -use buf.rgb_width&height * remoe , * rebase master * remove unused std::vector * add func common_camera_process_front * fix max * fix sendrgb * less crap being logged * fix indents * add back thumbnails * thumbnail fixed on tici * junk junk junk * unify api * fix ptr ref * lol! * cleanup * more simplified * typos * remove terminate * use standard polling * ops_thread refactor, too much code! * fix build * ok * assert * listen * incl more * wq! * fix more build * macos * fix exp targets * front is different * const * bye * remath * remove irrelevant * do ops in a thread * fix init * return null * QCOM2 ops * qcom2 build * missing comma Co-authored-by: deanlee <deanlee3@gmail.com> Co-authored-by: Comma Device <device@comma.ai>
122 lines
3.6 KiB
C++
122 lines
3.6 KiB
C++
#include <cassert>
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#ifdef QCOM
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#include <system/graphics.h>
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#include <ui/GraphicBuffer.h>
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#include <ui/PixelFormat.h>
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#include <gralloc_priv.h>
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#include <GLES3/gl3.h>
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#define GL_GLEXT_PROTOTYPES
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#include <GLES2/gl2ext.h>
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#include <EGL/egl.h>
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#define EGL_EGLEXT_PROTOTYPES
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#include <EGL/eglext.h>
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#endif
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#include "common/util.h"
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#include "common/visionbuf.h"
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#include "common/visionimg.h"
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#ifdef QCOM
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using namespace android;
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// from libadreno_utils.so
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extern "C" void compute_aligned_width_and_height(int width,
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int height,
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int bpp,
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int tile_mode,
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int raster_mode,
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int padding_threshold,
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int *aligned_w,
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int *aligned_h);
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#endif
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void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
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#if defined(QCOM) && !defined(QCOM_REPLAY)
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compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
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#else
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*aligned_w = width; *aligned_h = height;
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#endif
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}
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VisionImg visionimg_alloc_rgb24(cl_device_id device_id, cl_context ctx, int width, int height, VisionBuf *out_buf) {
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assert(out_buf != nullptr);
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int aligned_w = 0, aligned_h = 0;
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visionimg_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
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int stride = aligned_w * 3;
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size_t size = (size_t) aligned_w * aligned_h * 3;
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*out_buf = visionbuf_allocate_cl(size, device_id, ctx);
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return (VisionImg){
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.fd = out_buf->fd,
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.format = VISIONIMG_FORMAT_RGB24,
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.width = width,
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.height = height,
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.stride = stride,
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.size = size,
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.bpp = 3,
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};
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}
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#ifdef QCOM
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EGLClientBuffer visionimg_to_egl(const VisionImg *img, void **pph) {
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assert((img->size % img->stride) == 0);
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assert((img->stride % img->bpp) == 0);
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int format = 0;
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if (img->format == VISIONIMG_FORMAT_RGB24) {
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format = HAL_PIXEL_FORMAT_RGB_888;
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} else {
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assert(false);
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}
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private_handle_t* hnd = new private_handle_t(img->fd, img->size,
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private_handle_t::PRIV_FLAGS_USES_ION|private_handle_t::PRIV_FLAGS_FRAMEBUFFER,
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0, format,
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img->stride/img->bpp, img->size/img->stride,
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img->width, img->height);
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GraphicBuffer* gb = new GraphicBuffer(img->width, img->height, (PixelFormat)format,
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GraphicBuffer::USAGE_HW_TEXTURE, img->stride/img->bpp, hnd, false);
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// GraphicBuffer is ref counted by EGLClientBuffer(ANativeWindowBuffer), no need and not possible to release.
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*pph = hnd;
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return (EGLClientBuffer) gb->getNativeBuffer();
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}
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GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
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EGLClientBuffer buf = visionimg_to_egl(img, pph);
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EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
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assert(display != EGL_NO_DISPLAY);
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EGLint img_attrs[] = { EGL_IMAGE_PRESERVED_KHR, EGL_TRUE, EGL_NONE };
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EGLImageKHR image = eglCreateImageKHR(display, EGL_NO_CONTEXT,
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EGL_NATIVE_BUFFER_ANDROID, buf, img_attrs);
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assert(image != EGL_NO_IMAGE_KHR);
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GLuint tex = 0;
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glGenTextures(1, &tex);
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glBindTexture(GL_TEXTURE_2D, tex);
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glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, image);
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*pkhr = image;
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return tex;
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}
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void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
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EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
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assert(display != EGL_NO_DISPLAY);
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eglDestroyImageKHR(display, khr);
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delete (private_handle_t*)ph;
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}
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#endif
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