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https://github.com/dragonpilot/dragonpilot.git
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ea800c8f74
version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-27T06:11:06 dp-dev(priv2) master commit: 0a08aa2b73a505e11e4c98ac6c5989464b7d339f
49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
#pragma once
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#include <cfloat>
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#include <cstdlib>
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#include <memory>
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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 "common/mat.h"
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#include "cereal/messaging/messaging.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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template<class T, size_t size>
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constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
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return kj::ArrayPtr(arr.data(), arr.size());
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}
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class ModelFrame {
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public:
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ModelFrame(cl_device_id device_id, cl_context context);
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~ModelFrame();
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float* prepare(cl_mem yuv_cl, int width, int height, const mat3& transform, cl_mem *output);
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const int MODEL_WIDTH = 512;
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const int MODEL_HEIGHT = 256;
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const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
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const int buf_size = MODEL_FRAME_SIZE * 2;
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private:
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Transform transform;
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LoadYUVState loadyuv;
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cl_command_queue q;
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cl_mem y_cl, u_cl, v_cl, net_input_cl;
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std::unique_ptr<float[]> input_frames;
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};
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