yuv2rgb.h

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/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#ifndef __YUV2RGB_H__
#define __YUV2RGB_H__
 
#include <cuda_runtime.h>
 
#include "cyber/common/log.h"
 
namespace apollo {
namespace drivers {
namespace camera {
 
class CudaConvertHandler {
public:
    CudaConvertHandler(unsigned int width, unsigned int height);
 
    CudaConvertHandler() {}
 
    ~CudaConvertHandler();
 
    bool Init();
 
    void Process(unsigned char* src, unsigned char* dst, bool zero_copy=false);
 
    bool Destory();
 
private:
    unsigned int width_;
    unsigned int height_;
 
    unsigned int process_unit_len_ = 4;
    unsigned int width_factor_ = 2;
    unsigned int block_width_ = 12;
    unsigned int block_height_ = 10;
 
    dim3 block_size_;
    dim3 grid_size_;
 
    unsigned char* d_src_ = nullptr;
 
    size_t plane_size_;
 
    cudaStream_t stream_;
};
 
void cuda_convert_yuv_to_rgb(unsigned char* src, unsigned char* dst, unsigned int width, unsigned int height);
 
}  // namespace camera
}  // namespace drivers
}  // namespace apollo
 
#endif