spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

commonmodel.h: move global model size into class ModelFrame (#23193) 

* move to class ModelFrame

* remove defines in dmonitoring as well

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/23195/head
Dean Lee 2021-12-13 21:58:21 +08:00 committed by GitHub
parent 4aa291c406
commit 13ad02bc06
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 7 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
selfdrive/modeld/models/commonmodel.h
View File

@ -16,10 +16,6 @@
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/modeld/transforms/transform.h"
constexpr int MODEL_WIDTH = 512;
constexpr int MODEL_HEIGHT = 256;
constexpr int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
void softmax(const float* input, float* output, size_t len);
@ -27,14 +23,17 @@ float softplus(float input);
float sigmoid(float input);
class ModelFrame {
public:
public:
ModelFrame(cl_device_id device_id, cl_context context);
~ModelFrame();
float* prepare(cl_mem yuv_cl, int width, int height, const mat3& transform, cl_mem *output);
const int MODEL_WIDTH = 512;
const int MODEL_HEIGHT = 256;
const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
const int buf_size = MODEL_FRAME_SIZE * 2;
private:
private:
Transform transform;
LoadYUVState loadyuv;
cl_command_queue q;

5
selfdrive/modeld/models/dmonitoring.cc
View File

@ -10,9 +10,8 @@
#include "selfdrive/modeld/models/dmonitoring.h"
#define MODEL_WIDTH 320
#define MODEL_HEIGHT 640
#define FULL_W 852 // should get these numbers from camerad
constexpr int MODEL_WIDTH = 320;
constexpr int MODEL_HEIGHT = 640;
template <class T>
static inline T *get_buffer(std::vector<T> &buf, const size_t size) {