diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index a105ed751ef28a..f72927ba9ae0b7 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -82,11 +82,10 @@ def __init__(self): self.queue = cl.CommandQueue(self.ctx) cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " - # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed - kernel_fn = os.path.join(BASEDIR, "system", "camerad", "transforms", "rgb_to_yuv.cl") + kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl") with open(kernel_fn) as f: prg = cl.Program(self.ctx, f.read()).build(cl_arg) - self.krnl = prg.rgb_to_yuv + self.krnl = prg.rgb_to_nv12 self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4 self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4 diff --git a/system/camerad/transforms/rgb_to_yuv.cl b/tools/sim/rgb_to_nv12.cl similarity index 75% rename from system/camerad/transforms/rgb_to_yuv.cl rename to tools/sim/rgb_to_nv12.cl index 60dbdb4d5e3849..54816d5d7d5202 100644 --- a/system/camerad/transforms/rgb_to_yuv.cl +++ b/tools/sim/rgb_to_nv12.cl @@ -29,23 +29,21 @@ inline void convert_4_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1, c vstore4(yy, 0, out_yuv + yi); } -inline void convert_uv(__global uchar * out_yuv, int ui, int vi, +inline void convert_uv(__global uchar * out_yuv, int uvi, const uchar8 rgbs1, const uchar8 rgbs2) { // U & V: average of 2x2 pixels square const short ab = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); const short ag = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4); const short ar = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5); #ifdef CL_DEBUG - if(ui >= RGB_SIZE + RGB_SIZE / 4) - printf("U overflow, %d >= %d\n", ui, RGB_SIZE + RGB_SIZE / 4); - if(vi >= RGB_SIZE + RGB_SIZE / 2) - printf("V overflow, %d >= %d\n", vi, RGB_SIZE + RGB_SIZE / 2); + if(uvi >= RGB_SIZE + RGB_SIZE / 2) + printf("UV overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2); #endif - out_yuv[ui] = RGB_TO_U(ar, ag, ab); - out_yuv[vi] = RGB_TO_V(ar, ag, ab); + out_yuv[uvi] = RGB_TO_U(ar, ag, ab); + out_yuv[uvi+1] = RGB_TO_V(ar, ag, ab); } -inline void convert_2_uvs(__global uchar * out_yuv, int ui, int vi, +inline void convert_2_uvs(__global uchar * out_yuv, int uvi, const uchar8 rgbs1, const uchar8 rgbs2, const uchar8 rgbs3, const uchar8 rgbs4) { // U & V: average of 2x2 pixels square const short ab1 = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); @@ -54,25 +52,20 @@ inline void convert_2_uvs(__global uchar * out_yuv, int ui, int vi, const short ab2 = AVERAGE(rgbs1.s6, rgbs3.s1, rgbs2.s6, rgbs4.s1); const short ag2 = AVERAGE(rgbs1.s7, rgbs3.s2, rgbs2.s7, rgbs4.s2); const short ar2 = AVERAGE(rgbs3.s0, rgbs3.s3, rgbs4.s0, rgbs4.s3); - uchar2 u2 = (uchar2)( + uchar4 uv = (uchar4)( RGB_TO_U(ar1, ag1, ab1), - RGB_TO_U(ar2, ag2, ab2) - ); - uchar2 v2 = (uchar2)( RGB_TO_V(ar1, ag1, ab1), + RGB_TO_U(ar2, ag2, ab2), RGB_TO_V(ar2, ag2, ab2) ); #ifdef CL_DEBUG1 - if(ui > RGB_SIZE + RGB_SIZE / 4 - 2) - printf("U 2 overflow, %d >= %d\n", ui, RGB_SIZE + RGB_SIZE / 4 - 2); - if(vi > RGB_SIZE + RGB_SIZE / 2 - 2) - printf("V 2 overflow, %d >= %d\n", vi, RGB_SIZE + RGB_SIZE / 2 - 2); + if(uvi > RGB_SIZE + RGB_SIZE / 2 - 4) + printf("UV2 overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2 - 2); #endif - vstore2(u2, 0, out_yuv + ui); - vstore2(v2, 0, out_yuv + vi); + vstore4(uv, 0, out_yuv + uvi); } -__kernel void rgb_to_yuv(__global uchar const * const rgb, +__kernel void rgb_to_nv12(__global uchar const * const rgb, __global uchar * out_yuv) { const int dx = get_global_id(0); @@ -81,8 +74,7 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, const int row = mul24(dy, 4); // Current row in rgb image const int bgri_start = mad24(row, RGB_STRIDE, mul24(col, 3)); // Start offset of rgb data being converted const int yi_start = mad24(row, WIDTH, col); // Start offset in the target yuv buffer - int ui = mad24(row / 2, UV_WIDTH, RGB_SIZE + col / 2); - int vi = mad24(row / 2 , UV_WIDTH, RGB_SIZE + UV_WIDTH * UV_HEIGHT + col / 2); + int uvi = mad24(row / 2, WIDTH, RGB_SIZE + col); int num_col = min(WIDTH - col, 4); int num_row = min(HEIGHT - row, 4); if(num_row == 4) { @@ -99,15 +91,15 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); convert_4_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0, rgbs2_1); convert_4_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0, rgbs3_1); - convert_2_uvs(out_yuv, ui, vi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); - convert_2_uvs(out_yuv, ui + UV_WIDTH, vi + UV_WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1); + convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); + convert_2_uvs(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1); } else if(num_col == 2) { convert_2_ys(out_yuv, yi_start, rgbs0_0); convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); convert_2_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0); convert_2_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0); - convert_uv(out_yuv, ui, vi, rgbs0_0, rgbs1_0); - convert_uv(out_yuv, ui + UV_WIDTH, vi + UV_WIDTH, rgbs2_0, rgbs3_0); + convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); + convert_uv(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0); } } else { const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start); @@ -117,11 +109,11 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, if(num_col == 4) { convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1); convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); - convert_2_uvs(out_yuv, ui, vi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); + convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); } else if(num_col == 2) { convert_2_ys(out_yuv, yi_start, rgbs0_0); convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); - convert_uv(out_yuv, ui, vi, rgbs0_0, rgbs1_0); + convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); } } }