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FrogPilot 0.9.7

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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/transforms/loadyuv.cc
+12 -10
View File
@@ -33,17 +33,8 @@ void loadyuv_destroy(LoadYUVState* s) {
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
cl_mem out_cl, bool do_shift) {
cl_mem out_cl) {
cl_int global_out_off = 0;
if (do_shift) {
// shift the image in slot 1 to slot 0, then place the new image in slot 1
global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
const size_t copy_work_size = global_out_off/8;
CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
&copy_work_size, NULL, 0, 0, NULL));
}
CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
@@ -72,3 +63,14 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
&loaduv_work_size, NULL, 0, 0, NULL));
}
void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
size_t src_offset, size_t dst_offset, size_t size) {
CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
const size_t copy_work_size = size/8;
CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
&copy_work_size, NULL, 0, 0, NULL));
}
selfdrive/modeld/transforms/loadyuv.cl
+12 -12
View File
@@ -1,7 +1,7 @@
#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
__kernel void loadys(__global uchar8 const * const Y,
__global float * out,
__global uchar * out,
int out_offset)
{
const int gid = get_global_id(0);
@@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y,
const int ox = ois % TRANSFORMED_WIDTH;
const uchar8 ys = Y[gid];
const float8 ysf = convert_float8(ys);
// 02
// 13
__global float* outy0;
__global float* outy1;
__global uchar* outy0;
__global uchar* outy1;
if ((oy & 1) == 0) {
outy0 = out + out_offset; //y0
outy1 = out + out_offset + UV_SIZE*2; //y2
@@ -25,23 +24,24 @@ __kernel void loadys(__global uchar8 const * const Y,
outy1 = out + out_offset + UV_SIZE*3; //y3
}
vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
}
__kernel void loaduv(__global uchar8 const * const in,
__global float8 * out,
__global uchar8 * out,
int out_offset)
{
const int gid = get_global_id(0);
const uchar8 inv = in[gid];
const float8 outv = convert_float8(inv);
out[gid + out_offset / 8] = outv;
out[gid + out_offset / 8] = inv;
}
__kernel void copy(__global float8 * inout,
int in_offset)
__kernel void copy(__global uchar8 * in,
__global uchar8 * out,
int in_offset,
int out_offset)
{
const int gid = get_global_id(0);
inout[gid] = inout[gid + in_offset / 8];
out[gid + out_offset / 8] = in[gid + in_offset / 8];
}
selfdrive/modeld/transforms/loadyuv.h
+5 -1
View File
@@ -13,4 +13,8 @@ void loadyuv_destroy(LoadYUVState* s);
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
cl_mem out_cl, bool do_shift = false);
cl_mem out_cl);
void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
size_t src_offset, size_t dst_offset, size_t size);