mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-16 23:52:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Increase buffer size for image processing in DrivingModelFrameLegacy

Browse Source 
Doubled the buffer size allocated for `img_buffer_cl` to accommodate larger frames and updated the copy operation accordingly. These changes ensure proper handling of image data and improve robustness in frame processing.
This commit is contained in:
DevTekVE
2025-01-01 21:36:30 +01:00
parent aba1f4b5fc
commit 9e7203567e
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/models/commonmodel.cc
+3 -3
View File
@@ -47,7 +47,7 @@ DrivingModelFrame<T>::~DrivingModelFrame() {
DrivingModelFrameLegacy::DrivingModelFrameLegacy(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
input_frames = std::make_unique<float[]>(buf_size);
input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_size_bytes, NULL, &err));
img_buffer_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_size_bytes, NULL, &err));
img_buffer_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT, true);
init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
@@ -55,12 +55,12 @@ DrivingModelFrameLegacy::DrivingModelFrameLegacy(cl_device_id device_id, cl_cont
cl_mem* DrivingModelFrameLegacy::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_cl, img_buffer_cl, 0, buf_size, buf_size, 0, nullptr, nullptr));
CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_cl, img_buffer_cl, 0, frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, img_buffer_cl);
CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_cl, input_frames_cl, 0, 0, frame_size_bytes, 0, nullptr, nullptr));
clFinish(q);
// Return the pointer to the final buffer
return &input_frames_cl;
}