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2024-04-27 03:27:27 -05:00
parent 886a019ad5
commit c22b4866eb
55 changed files with 49557 additions and 116523 deletions
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74
selfdrive/modeld/transforms/loadyuv.cc Normal file
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#include "selfdrive/modeld/transforms/loadyuv.h"
#include <cassert>
#include <cstdio>
#include <cstring>
void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
memset(s, 0, sizeof(*s));
s->width = width;
s->height = height;
char args[1024];
snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
width, height);
cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
// done with this
CL_CHECK(clReleaseProgram(prg));
}
void loadyuv_destroy(LoadYUVState* s) {
CL_CHECK(clReleaseKernel(s->loadys_krnl));
CL_CHECK(clReleaseKernel(s->loaduv_krnl));
CL_CHECK(clReleaseKernel(s->copy_krnl));
}
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
cl_mem out_cl, bool do_shift) {
cl_int global_out_off = 0;
if (do_shift) {
// shift the image in slot 1 to slot 0, then place the new image in slot 1
global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
const size_t copy_work_size = global_out_off/8;
CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
&copy_work_size, NULL, 0, 0, NULL));
}
CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
const size_t loadys_work_size = (s->width*s->height)/8;
CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
&loadys_work_size, NULL, 0, 0, NULL));
const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
global_out_off += (s->width*s->height);
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
&loaduv_work_size, NULL, 0, 0, NULL));
global_out_off += (s->width/2)*(s->height/2);
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
&loaduv_work_size, NULL, 0, 0, NULL));
}

16
selfdrive/modeld/transforms/loadyuv.h Normal file
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#pragma once
#include "common/clutil.h"
typedef struct {
int width, height;
cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
} LoadYUVState;
void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
void loadyuv_destroy(LoadYUVState* s);
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
cl_mem out_cl, bool do_shift = false);

97
selfdrive/modeld/transforms/transform.cc Normal file
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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));
}

25
selfdrive/modeld/transforms/transform.h Normal file
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#pragma once
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#include "common/mat.h"
typedef struct {
cl_kernel krnl;
cl_mem m_y_cl, m_uv_cl;
} Transform;
void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
void transform_destroy(Transform* transform);
void transform_queue(Transform* s, cl_command_queue q,
cl_mem 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);