mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-03-01 10:53:53 +08:00
7222d0f20d
* cleanup include path * continue * format includes * fix testraw.cc * remove include path from SConstruct * regroup * rebase master * almost done * apply review * rename FileReader.xx to filereader.xx * rename Unlogger.x->unlogger.x * rename FrameReader.xx -> framereader.xx * apply reviews * ui.h * continue * fix framebuffer.cc build error:mv util.h up * full path to msm_media_info * fix qcom2 camerad Co-authored-by: Comma Device <device@comma.ai>
43 lines
879 B
C++
43 lines
879 B
C++
#pragma once
|
|
|
|
#include <stddef.h>
|
|
#include <stdint.h>
|
|
|
|
#include <vector>
|
|
|
|
#include "selfdrive/common/clutil.h"
|
|
|
|
#define NUM_SEGMENTS_X 8
|
|
#define NUM_SEGMENTS_Y 6
|
|
|
|
#define ROI_X_MIN 1
|
|
#define ROI_X_MAX 6
|
|
#define ROI_Y_MIN 2
|
|
#define ROI_Y_MAX 3
|
|
|
|
#define LM_THRESH 120
|
|
#define LM_PREC_THRESH 0.9 // 90 perc is blur
|
|
|
|
// only apply to QCOM
|
|
#define FULL_STRIDE_X 1280
|
|
#define FULL_STRIDE_Y 896
|
|
|
|
#define CONV_LOCAL_WORKSIZE 16
|
|
|
|
class LapConv {
|
|
public:
|
|
LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size);
|
|
~LapConv();
|
|
uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id);
|
|
|
|
private:
|
|
cl_mem roi_cl, result_cl, filter_cl;
|
|
cl_program prg;
|
|
cl_kernel krnl;
|
|
const int width, height;
|
|
std::vector<uint8_t> roi_buf;
|
|
std::vector<int16_t> result_buf;
|
|
};
|
|
|
|
bool is_blur(const uint16_t *lapmap, const size_t size);
|