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Model and YUV pipeline to uint8 (#33671)

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* 78cec5a0-577b-49ac-b443-f7cd327649bd/400

* bump tinygrad
This commit is contained in:
Harald Schäfer
2024-09-28 18:34:31 -07:00
committed by GitHub
parent 4da090a4e1
commit edf9522bc0
7 changed files with 23 additions and 25 deletions
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selfdrive/modeld/models/commonmodel.cc
+7 -7
View File
@@ -7,28 +7,28 @@
#include "common/clutil.h"
ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
input_frames = std::make_unique<float[]>(buf_size);
input_frames = std::make_unique<uint8_t[]>(buf_size);
q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(uint8_t), NULL, &err));
transform_init(&transform, context, device_id);
loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
}
float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
transform_queue(&this->transform, q,
yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
if (output == NULL) {
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(uint8_t) * MODEL_FRAME_SIZE);
CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
clFinish(q);
return &input_frames[0];
} else {
selfdrive/modeld/models/commonmodel.h
+2 -2
View File
@@ -20,7 +20,7 @@ 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;
@@ -32,5 +32,5 @@ private:
LoadYUVState loadyuv;
cl_command_queue q;
cl_mem y_cl, u_cl, v_cl, net_input_cl;
std::unique_ptr<float[]> input_frames;
std::unique_ptr<uint8_t[]> input_frames;
};
selfdrive/modeld/models/commonmodel.pxd
+1 -1
View File
@@ -15,4 +15,4 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
cppclass ModelFrame:
int buf_size
ModelFrame(cl_device_id, cl_context)
float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
selfdrive/modeld/models/commonmodel_pyx.pyx
+2 -2
View File
@@ -35,11 +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)
selfdrive/modeld/models/supercombo.onnx
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
size 62486347
oid sha256:47417a13d8a8d6af6a1562834eee538e3b43242c6e277ab6f1978a78a6785b7d
size 62486469
selfdrive/modeld/transforms/loadyuv.cl
+8 -10
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
@@ -25,21 +24,20 @@ __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,
__kernel void copy(__global uchar8 * inout,
int in_offset)
{
const int gid = get_global_id(0);
tinygrad_repo
+1 -1
Submodule tinygrad_repo updated: 3e15fa0dae...9dda6d260d