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- #include "selfdrive/modeld/transforms/transform.h"
- #include <cassert>
- #include <cstring>
- #include "common/clutil.h"
- void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
- memset(s, 0, sizeof(*s));
- cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
- s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
- // done with this
- CL_CHECK(clReleaseProgram(prg));
- s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
- s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
- }
- void transform_destroy(Transform* s) {
- CL_CHECK(clReleaseMemObject(s->m_y_cl));
- CL_CHECK(clReleaseMemObject(s->m_uv_cl));
- CL_CHECK(clReleaseKernel(s->krnl));
- }
- void transform_queue(Transform* s,
- cl_command_queue q,
- cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
- cl_mem out_y, cl_mem out_u, cl_mem out_v,
- int out_width, int out_height,
- const mat3& projection) {
- const int zero = 0;
- // sampled using pixel center origin
- // (because that's how fastcv and opencv does it)
- mat3 projection_y = projection;
- // in and out uv is half the size of y.
- mat3 projection_uv = transform_scale_buffer(projection, 0.5);
- CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
- CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
- const int in_y_width = in_width;
- const int in_y_height = in_height;
- const int in_y_px_stride = 1;
- const int in_uv_width = in_width/2;
- const int in_uv_height = in_height/2;
- const int in_uv_px_stride = 2;
- const int in_u_offset = in_uv_offset;
- const int in_v_offset = in_uv_offset + 1;
- const int out_y_width = out_width;
- const int out_y_height = out_height;
- const int out_uv_width = out_width/2;
- const int out_uv_height = out_height/2;
- CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src
- CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride
- CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride
- CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset
- CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows
- CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols
- CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst
- CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride
- CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
- CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows
- CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols
- CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M
- const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
- CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
- (const size_t*)&work_size_y, NULL, 0, 0, NULL));
- const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
- CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride
- CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset
- CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows
- CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols
- CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst
- CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride
- CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
- CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows
- CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols
- CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M
- CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
- (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
- CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset
- CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst
- CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
- (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
- }
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