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FrogPilot 0.9.7

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This commit is contained in:
FrogAi
2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
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selfdrive/modeld/models/commonmodel.h
+6 -6
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@@ -16,23 +16,23 @@
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/modeld/transforms/transform.h"
float sigmoid(float input);
class ModelFrame {
public:
ModelFrame(cl_device_id device_id, cl_context context);
~ModelFrame();
float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, 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;
const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
private:
Transform transform;
LoadYUVState loadyuv;
cl_command_queue q;
cl_mem y_cl, u_cl, v_cl, net_input_cl;
std::unique_ptr<float[]> input_frames;
};
cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
cl_buffer_region region;
std::unique_ptr<uint8_t[]> input_frames;
};