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https://github.com/dragonpilot/dragonpilot.git
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630c7309a5
* template funcion fill_meta * add function get_plan_max_idx * add function get_mdn_max_idx * remove temp builder variables * get_mdn_max_idx->get_lead_data * get_pan_max_idx->get_plan_data * fill_lane_line * combine fill_lane_line&fill_path into one function * fill_lead_vw * using unique_ptr * prefer using constexpr * more constexpr,remove duplicate defined TRAJECTORY_SIZE * remove suffix _arr from variable name * misc * remove extern c * refactor model_publish * remove unused paramaters * traffic_convention to c style array * c style array:prev_desire&pulse_desire * fix error&make easy for review * const mat3 &transform * move cl_command_queue into ModelState * use maco LEAD_MHP_SELECTION * move constexpr from .h to .cc * remove #define MODEL_NAME * modeldata.h: contexpr * remove param temporal from model_init * helper function get_best_data * fix probs * int Co-authored-by: deanlee <deanlee3@gmail.com>
36 lines
1018 B
C
36 lines
1018 B
C
#pragma once
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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 <float.h>
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#include <stdlib.h>
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#include "common/mat.h"
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#include "transforms/transform.h"
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#include "transforms/loadyuv.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 transformed_width, transformed_height;
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cl_mem transformed_y_cl, transformed_u_cl, transformed_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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