mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-11 10:43:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

FrogPilot 0.9.7

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/models/commonmodel_pyx.pyx
+4 -6
View File
@@ -1,5 +1,5 @@
# distutils: language = c++
# cython: c_string_encoding=ascii
# cython: c_string_encoding=ascii, language_level=3
import numpy as np
cimport numpy as cnp
@@ -8,10 +8,8 @@ from libc.string cimport memcpy
from msgq.visionipc.visionipc cimport cl_mem
from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame
from .commonmodel cimport mat3, ModelFrame as cppModelFrame
def sigmoid(x):
return cppSigmoid(x)
cdef class CLContext(BaseCLContext):
def __cinit__(self):
@@ -37,11 +35,11 @@ cdef class ModelFrame:
def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
cdef mat3 cprojection
memcpy(cprojection.v, &projection[0], 9*sizeof(float))
cdef float * data
cdef unsigned char * data
if output is None:
data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
else:
data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
if not data:
return None
return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)