mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-21 20:33:53 +08:00
ea5b8cdfb1
* rgb to nv12 * nv12 works (w memcpy) * correct now * no copy * fix nv12 with fast debayer * reverts of unused stuff * ui use nv12 * comment out thumbnails for now * rebase fix * dm read nv12 * model read nv12 * fix ffmpeg encoder * thumbnails from nv12 * replay to nv12 * python framereader support nv12 * remove hardcoded frame/buffer sizes * fix build * ffmpeg encoder fix buffers * small cleanup * reduce power usage test * fix cpu usage test * fix snapshot * fix loggerd test * bump cereal Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Joost Wooning <jwooning@gmail.com>
42 lines
1.0 KiB
C++
42 lines
1.0 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 "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 sigmoid(float input);
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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, int frame_stride, int frame_uv_offset, 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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