mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-02 03:52:11 +08:00
Adeeb Shihadeh
d9d57e5d6f
* Revert "Replace ThneedModel with TinygradModel (#33532)" This reverts commitda952e9b64. * Revert "camerad: move E + D cams image pipelines to the IFE (#33959)" This reverts commitf2a1cce42b.
38 lines
1006 B
C++
38 lines
1006 B
C++
#pragma once
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#include <cfloat>
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#include <cstdlib>
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#include <memory>
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#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
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#ifdef __APPLE__
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#include <OpenCL/cl.h>
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#else
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#include <CL/cl.h>
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#endif
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#include "common/mat.h"
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#include "selfdrive/modeld/transforms/loadyuv.h"
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#include "selfdrive/modeld/transforms/transform.h"
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class ModelFrame {
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public:
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ModelFrame(cl_device_id device_id, cl_context context);
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~ModelFrame();
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uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
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const int MODEL_WIDTH = 512;
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const int MODEL_HEIGHT = 256;
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const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
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const int buf_size = MODEL_FRAME_SIZE * 2;
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const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
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private:
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Transform transform;
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LoadYUVState loadyuv;
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cl_command_queue q;
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cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
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cl_buffer_region region;
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std::unique_ptr<uint8_t[]> input_frames;
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}; |