nopenpilot/selfdrive/modeld/models/commonmodel.h

42 lines
1009 B
C++

#pragma once
#include <cfloat>
#include <cstdlib>
#include <memory>
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#include "selfdrive/common/mat.h"
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/modeld/transforms/transform.h"
const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
void softmax(const float* input, float* output, size_t len);
float sigmoid(float input);
class ModelFrame {
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:
Transform transform;
LoadYUVState loadyuv;
cl_command_queue q;
cl_mem y_cl, u_cl, v_cl, net_input_cl;
std::unique_ptr<float[]> input_frames;
};