73 lines
2.6 KiB
C++
73 lines
2.6 KiB
C++
#include "selfdrive/modeld/models/commonmodel.h"
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#include <algorithm>
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#include <cassert>
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#include <cmath>
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#include <cstring>
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#include "selfdrive/common/clutil.h"
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#include "selfdrive/common/mat.h"
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#include "selfdrive/common/timing.h"
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ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
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input_frames = std::make_unique<float[]>(buf_size);
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q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
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y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
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u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
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v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
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net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
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transform_init(&transform, context, device_id);
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loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
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}
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float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, const mat3 &projection, cl_mem *output) {
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transform_queue(&this->transform, q,
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yuv_cl, frame_width, frame_height,
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y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
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if (output == NULL) {
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loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
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std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
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CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
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clFinish(q);
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return &input_frames[0];
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} else {
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loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
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// NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
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clFinish(q);
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return NULL;
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}
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}
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ModelFrame::~ModelFrame() {
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transform_destroy(&transform);
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loadyuv_destroy(&loadyuv);
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CL_CHECK(clReleaseMemObject(net_input_cl));
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CL_CHECK(clReleaseMemObject(v_cl));
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CL_CHECK(clReleaseMemObject(u_cl));
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CL_CHECK(clReleaseMemObject(y_cl));
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CL_CHECK(clReleaseCommandQueue(q));
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}
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void softmax(const float* input, float* output, size_t len) {
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const float max_val = *std::max_element(input, input + len);
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float denominator = 0;
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for(int i = 0; i < len; i++) {
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float const v_exp = expf(input[i] - max_val);
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denominator += v_exp;
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output[i] = v_exp;
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}
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const float inv_denominator = 1. / denominator;
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for(int i = 0; i < len; i++) {
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output[i] *= inv_denominator;
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}
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}
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float sigmoid(float input) {
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return 1 / (1 + expf(-input));
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}
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