mawei
/
tsl
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Calibration Transform: border pad (#31495) 

old-commit-hash: 900300a928
This commit is contained in:
Harald Schäfer 2024-02-16 15:18:26 -08:00 committed by GitHub
parent 28bd4b70e2
commit 8656ef12c5
1 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
selfdrive/modeld/transforms/transform.cl
View File

@ -22,20 +22,20 @@ __kernel void warpPerspective(__global const uchar * src,
W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
int X = rint(X0 * W), Y = rint(Y0 * W);
short sx = convert_short_sat(X >> INTER_BITS);
short sy = convert_short_sat(Y >> INTER_BITS);
int sx = convert_short_sat(X >> INTER_BITS);
int sy = convert_short_sat(Y >> INTER_BITS);
short sx_clamp = clamp(sx, 0, src_cols - 1);
short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
short sy_clamp = clamp(sy, 0, src_rows - 1);
short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
short ay = (short)(Y & (INTER_TAB_SIZE - 1));
short ax = (short)(X & (INTER_TAB_SIZE - 1));
int v0 = (sx >= 0 && sx < src_cols && sy >= 0 && sy < src_rows) ?
convert_int(src[mad24(sy, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
int v1 = (sx+1 >= 0 && sx+1 < src_cols && sy >= 0 && sy < src_rows) ?
convert_int(src[mad24(sy, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
int v2 = (sx >= 0 && sx < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
convert_int(src[mad24(sy+1, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
int v3 = (sx+1 >= 0 && sx+1 < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
convert_int(src[mad24(sy+1, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
float taby = 1.f/INTER_TAB_SIZE*ay;
float tabx = 1.f/INTER_TAB_SIZE*ax;