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modeld: cleanup commonmodel (#32618)

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cleanup
old-commit-hash: 2482ed085ebfd2c09394ce59900348334772d58f
This commit is contained in:
Dean Lee
2024-06-05 02:20:17 +08:00
committed by GitHub
parent cf8885b596
commit 6e4c3ddb40
2 changed files with 0 additions and 27 deletions
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selfdrive/modeld/models/commonmodel.cc
-18
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@@ -1,13 +1,10 @@
#include "selfdrive/modeld/models/commonmodel.h"
#include <algorithm>
#include <cassert>
#include <cmath>
#include <cstring>
#include "common/clutil.h"
#include "common/mat.h"
#include "common/timing.h"
ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
input_frames = std::make_unique<float[]>(buf_size);
@@ -52,21 +49,6 @@ ModelFrame::~ModelFrame() {
CL_CHECK(clReleaseCommandQueue(q));
}
void softmax(const float* input, float* output, size_t len) {
const float max_val = *std::max_element(input, input + len);
float denominator = 0;
for (int i = 0; i < len; i++) {
float const v_exp = expf(input[i] - max_val);
denominator += v_exp;
output[i] = v_exp;
}
const float inv_denominator = 1. / denominator;
for (int i = 0; i < len; i++) {
output[i] *= inv_denominator;
}
}
float sigmoid(float input) {
return 1 / (1 + expf(-input));
}
selfdrive/modeld/models/commonmodel.h
-9
View File
@@ -13,20 +13,11 @@
#endif
#include "common/mat.h"
#include "cereal/messaging/messaging.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);
template<class T, size_t size>
constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
return kj::ArrayPtr(arr.data(), arr.size());
}
class ModelFrame {
public:
ModelFrame(cl_device_id device_id, cl_context context);