mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-04 21:12:07 +08:00
HaraldSchafer
89b03fa2ee
* template funcion fill_meta * add function get_plan_max_idx * add function get_mdn_max_idx * remove temp builder variables * get_mdn_max_idx->get_lead_data * get_pan_max_idx->get_plan_data * fill_lane_line * combine fill_lane_line&fill_path into one function * fill_lead_vw * using unique_ptr * prefer using constexpr * more constexpr,remove duplicate defined TRAJECTORY_SIZE * remove suffix _arr from variable name * misc * remove extern c * refactor model_publish * remove unused paramaters * traffic_convention to c style array * c style array:prev_desire&pulse_desire * fix error&make easy for review * const mat3 &transform * move cl_command_queue into ModelState * use maco LEAD_MHP_SELECTION * move constexpr from .h to .cc * remove #define MODEL_NAME * modeldata.h: contexpr * remove param temporal from model_init * helper function get_best_data * fix probs * int Co-authored-by: deanlee <deanlee3@gmail.com> old-commit-hash: 630c7309a560e573a9398acd77c96aedcb65dfae
60 lines
1.7 KiB
C++
60 lines
1.7 KiB
C++
#pragma once
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// gate this here
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#define TEMPORAL
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#define DESIRE
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#define TRAFFIC_CONVENTION
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#include "common/mat.h"
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#include "common/util.h"
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#include "common/modeldata.h"
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#include "commonmodel.h"
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#include "runners/run.h"
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#include <memory>
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#include "messaging.hpp"
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constexpr int DESIRE_LEN = 8;
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constexpr int TRAFFIC_CONVENTION_LEN = 2;
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constexpr int MODEL_FREQ = 20;
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struct ModelDataRaw {
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float *plan;
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float *lane_lines;
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float *lane_lines_prob;
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float *road_edges;
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float *lead;
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float *lead_prob;
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float *desire_state;
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float *meta;
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float *desire_pred;
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float *pose;
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};
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typedef struct ModelState {
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ModelFrame frame;
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std::unique_ptr<float[]> output;
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std::unique_ptr<float[]> input_frames;
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std::unique_ptr<RunModel> m;
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cl_command_queue q;
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#ifdef DESIRE
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float prev_desire[DESIRE_LEN] = {};
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float pulse_desire[DESIRE_LEN] = {};
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#endif
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#ifdef TRAFFIC_CONVENTION
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float traffic_convention[TRAFFIC_CONVENTION_LEN] = {};
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#endif
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} ModelState;
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void model_init(ModelState* s, cl_device_id device_id, cl_context context);
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ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height,
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const mat3 &transform, float *desire_in);
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void model_free(ModelState* s);
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void poly_fit(float *in_pts, float *in_stds, float *out);
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void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop,
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const ModelDataRaw &net_outputs, const float *raw_pred, uint64_t timestamp_eof,
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float model_execution_time);
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void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
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const ModelDataRaw &net_outputs, uint64_t timestamp_eof);
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