75 lines
2.9 KiB
C++
75 lines
2.9 KiB
C++
#include "selfdrive/modeld/transforms/loadyuv.h"
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#include <cassert>
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#include <cstdio>
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#include <cstring>
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void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
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memset(s, 0, sizeof(*s));
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s->width = width;
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s->height = height;
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char args[1024];
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snprintf(args, sizeof(args),
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"-cl-fast-relaxed-math -cl-denorms-are-zero "
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"-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
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width, height);
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cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
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s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
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s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
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s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
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// done with this
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CL_CHECK(clReleaseProgram(prg));
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}
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void loadyuv_destroy(LoadYUVState* s) {
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CL_CHECK(clReleaseKernel(s->loadys_krnl));
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CL_CHECK(clReleaseKernel(s->loaduv_krnl));
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CL_CHECK(clReleaseKernel(s->copy_krnl));
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}
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void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
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cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
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cl_mem out_cl, bool do_shift) {
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cl_int global_out_off = 0;
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if (do_shift) {
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// shift the image in slot 1 to slot 0, then place the new image in slot 1
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global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
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CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
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CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
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const size_t copy_work_size = global_out_off/8;
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CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
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©_work_size, NULL, 0, 0, NULL));
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}
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CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
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CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
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CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
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const size_t loadys_work_size = (s->width*s->height)/8;
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CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
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&loadys_work_size, NULL, 0, 0, NULL));
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const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
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global_out_off += (s->width*s->height);
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CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
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CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
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CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
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CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
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&loaduv_work_size, NULL, 0, 0, NULL));
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global_out_off += (s->width/2)*(s->height/2);
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CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
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CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
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CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
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CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
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&loaduv_work_size, NULL, 0, 0, NULL));
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}
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