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ui: async uploading texture with PBO (#22843)

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* async uploading texture using pbo

* use QOpenglBuffer

space

set usage pattern

share context

continue

* space
old-commit-hash: 0dcb089254df1addd20c031f131086632302184f
This commit is contained in:
Dean Lee
2021-11-17 19:01:50 +08:00
committed by GitHub
parent 22ea8f17c2
commit 688b55c8e0
2 changed files with 53 additions and 7 deletions
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selfdrive/ui/qt/widgets/cameraview.cc
+51 -7
View File
@@ -1,5 +1,8 @@
#include "selfdrive/ui/qt/widgets/cameraview.h"
#include <QOpenGLBuffer>
#include <QOffscreenSurface>
namespace {
const char frame_vertex_shader[] =
@@ -197,18 +200,13 @@ void CameraViewWidget::paintGL() {
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
return;
}
std::unique_lock lk(texture_lock);
glViewport(0, 0, width(), height());
glBindVertexArray(frame_vao);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, texture[latest_frame->idx]->frame_tex);
if (!Hardware::EON()) {
// this is handled in ion on QCOM
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, latest_frame->width, latest_frame->height,
GL_RGB, GL_UNSIGNED_BYTE, latest_frame->addr);
}
glUseProgram(program->programId());
glUniform1i(program->uniformLocation("uTexture"), 0);
@@ -251,6 +249,25 @@ void CameraViewWidget::vipcThread() {
VisionStreamType cur_stream_type = stream_type;
std::unique_ptr<VisionIpcClient> vipc_client;
std::unique_ptr<QOpenGLContext> ctx;
std::unique_ptr<QOffscreenSurface> surface;
std::unique_ptr<QOpenGLBuffer> gl_buffer;
if (!Hardware::EON()) {
ctx = std::make_unique<QOpenGLContext>();
ctx->setFormat(context()->format());
ctx->setShareContext(context());
ctx->create();
assert(ctx->isValid());
surface = std::make_unique<QOffscreenSurface>();
surface->setFormat(ctx->format());
surface->create();
ctx->makeCurrent(surface.get());
assert(QOpenGLContext::currentContext() == ctx.get());
initializeOpenGLFunctions();
}
while (!QThread::currentThread()->isInterruptionRequested()) {
if (!vipc_client || cur_stream_type != stream_type) {
cur_stream_type = stream_type;
@@ -262,11 +279,38 @@ void CameraViewWidget::vipcThread() {
QThread::msleep(100);
continue;
}
if (!Hardware::EON()) {
gl_buffer.reset(new QOpenGLBuffer(QOpenGLBuffer::PixelUnpackBuffer));
gl_buffer->create();
gl_buffer->bind();
gl_buffer->setUsagePattern(QOpenGLBuffer::StreamDraw);
gl_buffer->allocate(vipc_client->buffers[0].len);
}
emit vipcThreadConnected(vipc_client.get());
}
if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) {
emit vipcThreadFrameReceived(buf);
if (!Hardware::EON()) {
std::unique_lock lk(texture_lock);
void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
memcpy(texture_buffer, buf->addr, buf->len);
gl_buffer->unmap();
// copy pixels from PBO to texture object
glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
glBindTexture(GL_TEXTURE_2D, 0);
assert(glGetError() == GL_NO_ERROR);
emit vipcThreadFrameReceived(buf);
glFlush();
} else {
emit vipcThreadFrameReceived(buf);
}
}
}
}
selfdrive/ui/qt/widgets/cameraview.h
+2
View File
@@ -48,6 +48,8 @@ protected:
std::atomic<VisionStreamType> stream_type;
QThread *vipc_thread = nullptr;
std::mutex texture_lock;
protected slots:
void vipcConnected(VisionIpcClient *vipc_client);
void vipcFrameReceived(VisionBuf *buf);