63 lines
2.8 KiB
C++
63 lines
2.8 KiB
C++
#include "selfdrive/modeld/models/commonmodel.h"
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#include <cmath>
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#include <cstring>
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#include "common/clutil.h"
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DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
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input_frames = std::make_unique<uint8_t[]>(buf_size);
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temporal_skip = _temporal_skip;
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input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
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img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
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region.origin = temporal_skip * frame_size_bytes;
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region.size = frame_size_bytes;
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last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err));
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loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
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init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
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}
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cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
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run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
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for (int i = 0; i < temporal_skip; i++) {
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CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
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}
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loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
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copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
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copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
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// NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
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clFinish(q);
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return &input_frames_cl;
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}
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DrivingModelFrame::~DrivingModelFrame() {
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deinit_transform();
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loadyuv_destroy(&loadyuv);
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CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
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CL_CHECK(clReleaseMemObject(last_img_cl));
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CL_CHECK(clReleaseCommandQueue(q));
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}
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MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
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input_frames = std::make_unique<uint8_t[]>(buf_size);
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input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
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init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
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}
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cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
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run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
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clFinish(q);
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return &y_cl;
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}
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MonitoringModelFrame::~MonitoringModelFrame() {
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deinit_transform();
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CL_CHECK(clReleaseCommandQueue(q));
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}
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