do destroy images

Author: Comma Device

selfdrive/ui/qt/widgets/cameraview.cc

@@ -235,7 +235,7 @@ void CameraViewWidget::paintGL() {
 
 #ifdef QCOM2
   glActiveTexture(GL_TEXTURE0);
-  glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->fd]);
+  glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]);
   assert(glGetError() == GL_NO_ERROR);
 #else
   glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
@@ -270,10 +270,15 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   stream_stride = vipc_client->buffers[0].stride;
 
 #ifdef QCOM2
-  EGLDisplay display = eglGetCurrentDisplay();
+  egl_display = eglGetCurrentDisplay();
+
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+  }
   egl_images.clear();
+
   for (int i = 0; i < vipc_client->num_buffers; i++) {  // import buffers into OpenGL
-    int fd = vipc_client->buffers[i].fd;
+    int fd = dup(vipc_client->buffers[i].fd);  // eglDestroyImageKHR will close, so duplicate
     EGLint img_attrs[] = {
       EGL_WIDTH, (int)vipc_client->buffers[i].width,
       EGL_HEIGHT, (int)vipc_client->buffers[i].height,
@@ -286,7 +291,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
       EGL_DMA_BUF_PLANE1_PITCH_EXT, (int)vipc_client->buffers[i].stride,
       EGL_NONE
     };
-    egl_images[fd] = eglCreateImageKHR(display, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, 0, img_attrs);
+    egl_images[i] = eglCreateImageKHR(egl_display, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, 0, img_attrs);
     assert(eglGetError() == EGL_SUCCESS);
   }
 #else
@@ -341,4 +346,11 @@ void CameraViewWidget::vipcThread() {
       emit vipcThreadFrameReceived(buf, meta_main.frame_id);
     }
   }
+
+#ifdef QCOM2
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+  }
+  egl_images.clear();
+#endif
 }

selfdrive/ui/qt/widgets/cameraview.h

@@ -57,6 +57,7 @@ class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   QColor bg = QColor("#000000");
 
 #ifdef QCOM2
+  EGLDisplay egl_display;
   std::map<int, EGLImageKHR> egl_images;
 #endif