38 lines
1004 B
C
38 lines
1004 B
C
#pragma once
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#include <float.h>
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#include <stdlib.h>
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#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
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#ifdef __APPLE__
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#include <OpenCL/cl.h>
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#else
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#include <CL/cl.h>
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#endif
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#include "selfdrive/common/mat.h"
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#include "selfdrive/modeld/transforms/loadyuv.h"
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#include "selfdrive/modeld/transforms/transform.h"
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const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
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void softmax(const float* input, float* output, size_t len);
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float softplus(float input);
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float sigmoid(float input);
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typedef struct ModelFrame {
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Transform transform;
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int width, height;
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cl_mem y_cl, u_cl, v_cl;
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LoadYUVState loadyuv;
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cl_mem net_input;
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size_t net_input_size;
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} ModelFrame;
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void frame_init(ModelFrame* frame, int width, int height,
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cl_device_id device_id, cl_context context);
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float *frame_prepare(ModelFrame* frame, cl_command_queue q,
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cl_mem yuv_cl, int width, int height,
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const mat3 &transform);
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void frame_free(ModelFrame* frame);
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