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84 lines
2.0 KiB
84 lines
2.0 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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#ifdef DESIRE
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#define DESIRE_SIZE 8
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#endif
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#ifdef QCOM
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#include <eigen3/Eigen/Dense>
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#else
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#include <Eigen/Dense>
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#endif
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#include "common/mat.h"
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#include "common/util.h"
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#include "commonmodel.h"
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#include "runners/run.h"
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#include "cereal/gen/cpp/log.capnp.h"
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#include <czmq.h>
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#include <capnp/serialize.h>
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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 MODEL_PATH_DISTANCE 192
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#define POLYFIT_DEGREE 4
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#define SPEED_PERCENTILES 10
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#define DESIRE_LEN 8
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#define DESIRE_PRED_SIZE 32
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#define OTHER_META_SIZE 4
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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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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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float *desire;
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float *pulse_desire;
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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(PubSocket* sock, uint32_t frame_id,
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const ModelDataRaw data, uint64_t timestamp_eof);
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void posenet_publish(PubSocket* sock, uint32_t frame_id,
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const ModelDataRaw data, uint64_t timestamp_eof);
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#endif
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