Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

commonmodel.h: move global model size into class ModelFrame #23193

Merged
merged 2 commits into from
Dec 13, 2021
Merged

commonmodel.h: move global model size into class ModelFrame #23193

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
061d7f1
move to class ModelFrame
deanlee Dec 11, 2021
fbde569
remove defines in dmonitoring as well
pd0wm Dec 13, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 5 additions & 6 deletions selfdrive/modeld/models/commonmodel.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,25 +16,24 @@
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/modeld/transforms/transform.h"

constexpr int MODEL_WIDTH = 512;
constexpr int MODEL_HEIGHT = 256;
constexpr int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;

const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;

void softmax(const float* input, float* output, size_t len);
float softplus(float input);
float sigmoid(float input);

class ModelFrame {
public:
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:
private:
Transform transform;
LoadYUVState loadyuv;
cl_command_queue q;
Expand Down
5 changes: 2 additions & 3 deletions selfdrive/modeld/models/dmonitoring.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,8 @@

#include "selfdrive/modeld/models/dmonitoring.h"

#define MODEL_WIDTH 320
#define MODEL_HEIGHT 640
#define FULL_W 852 // should get these numbers from camerad
constexpr int MODEL_WIDTH = 320;
constexpr int MODEL_HEIGHT = 640;

template <class T>
static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
Expand Down