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78 lines
2.1 KiB
78 lines
2.1 KiB
#ifndef MODEL_H
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#define MODEL_H
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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 <czmq.h>
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#include <memory>
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#include "messaging.hpp"
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#define MODEL_WIDTH 512
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#define MODEL_HEIGHT 256
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#define MODEL_FRAME_SIZE MODEL_WIDTH * MODEL_HEIGHT * 3 / 2
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#define MODEL_NAME "supercombo_dlc"
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#define DESIRE_LEN 8
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#define TRAFFIC_CONVENTION_LEN 2
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#define LEAD_MDN_N 5 // probs for 5 groups
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#define MDN_VALS 4 // output xyva for each lead group
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#define SELECTION 3 //output 3 group (lead now, in 2s and 6s)
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#define MDN_GROUP_SIZE 11
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#define TIME_DISTANCE 100
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#define POSE_SIZE 12
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#define MODEL_FREQ 20
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#define MAX_FRAME_DROP 0.05
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struct ModelDataRaw {
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float *path;
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float *left_lane;
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float *right_lane;
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float *lead;
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float *long_x;
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float *long_v;
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float *long_a;
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float *desire_state;
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float *meta;
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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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float *output;
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float *input_frames;
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RunModel *m;
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#ifdef DESIRE
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std::unique_ptr<float[]> prev_desire;
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std::unique_ptr<float[]> pulse_desire;
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#endif
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#ifdef TRAFFIC_CONVENTION
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std::unique_ptr<float[]> traffic_convention;
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#endif
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} ModelState;
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void model_init(ModelState* s, cl_device_id device_id,
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cl_context context, int temporal);
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ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
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cl_mem yuv_cl, int width, int height,
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mat3 transform, void* sock, 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,
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uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
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void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
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#endif
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