bps is up

commaai · Oct 12, 2024 · f9b8802 · f9b8802
1 parent 7150c14
commit f9b8802
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Showing 9 changed files with 445 additions and 21 deletions.
diff --git a/system/camerad/.gitignore b/system/camerad/.gitignore
@@ -0,0 +1,3 @@
+bps.h
+blob.h
+/includes/
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
@@ -1,5 +1,7 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
+env['CPPPATH'].append("includes/")
+
 libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
@@ -68,11 +68,14 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
  // RAW frame
  const int frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
  camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
+ camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
  camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
  for (int i = 0; i < frame_buf_count; i++) {
  camera_bufs[i].allocate(frame_size);
+ camera_bufs_raw[i].allocate(frame_size);
  camera_bufs[i].init_cl(device_id, context);
+ camera_bufs_raw[i].init_cl(device_id, context);
  }
  LOGD("allocated %d CL buffers", frame_buf_count);
 
@@ -98,6 +101,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 CameraBuf::~CameraBuf() {
  for (int i = 0; i < frame_buf_count; i++) {
  camera_bufs[i].free();
+ camera_bufs_raw[i].free();
  }
  if (imgproc) delete imgproc;
 }

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
@@ -35,6 +35,7 @@ class CameraBuf {
  FrameMetadata cur_frame_data;
  VisionBuf *cur_yuv_buf;
  VisionBuf *cur_camera_buf;
+ std::unique_ptr<VisionBuf[]> camera_bufs_raw;
  std::unique_ptr<VisionBuf[]> camera_bufs;
  std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
  int out_img_width, out_img_height;