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Calibration Transform: border pad #31495

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merged 1 commit into from
Feb 16, 2024
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Calibration Transform: border pad #31495

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24 changes: 12 additions & 12 deletions selfdrive/modeld/transforms/transform.cl
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Original file line number Diff line number Diff line change
Expand Up @@ -22,20 +22,20 @@ __kernel void warpPerspective(__global const uchar * src,
W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
int X = rint(X0 * W), Y = rint(Y0 * W);

short sx = convert_short_sat(X >> INTER_BITS);
short sy = convert_short_sat(Y >> INTER_BITS);
int sx = convert_short_sat(X >> INTER_BITS);
int sy = convert_short_sat(Y >> INTER_BITS);

short sx_clamp = clamp(sx, 0, src_cols - 1);
short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
short sy_clamp = clamp(sy, 0, src_rows - 1);
short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);

short ay = (short)(Y & (INTER_TAB_SIZE - 1));
short ax = (short)(X & (INTER_TAB_SIZE - 1));

int v0 = (sx >= 0 && sx < src_cols && sy >= 0 && sy < src_rows) ?
convert_int(src[mad24(sy, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
int v1 = (sx+1 >= 0 && sx+1 < src_cols && sy >= 0 && sy < src_rows) ?
convert_int(src[mad24(sy, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
int v2 = (sx >= 0 && sx < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
convert_int(src[mad24(sy+1, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
int v3 = (sx+1 >= 0 && sx+1 < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
convert_int(src[mad24(sy+1, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;

float taby = 1.f/INTER_TAB_SIZE*ay;
float tabx = 1.f/INTER_TAB_SIZE*ax;

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