dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#include <assert.h>
#include <math.h>
#include "commonmodel.h"
#include "common/mat.h"
#include "common/timing.h"
void frame_init(ModelFrame* frame, int width, int height,
cl_device_id device_id, cl_context context) {
int err;
transform_init(&frame->transform, context, device_id);
frame->transformed_width = width;
frame->transformed_height = height;
frame->transformed_y_cl = clCreateBuffer(context, CL_MEM_READ_WRITE,
(size_t)frame->transformed_width*frame->transformed_height, NULL, &err);
assert(err == 0);
frame->transformed_u_cl = clCreateBuffer(context, CL_MEM_READ_WRITE,
(size_t)(frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err);
assert(err == 0);
frame->transformed_v_cl = clCreateBuffer(context, CL_MEM_READ_WRITE,
(size_t)(frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err);
assert(err == 0);
frame->net_input_size = ((width*height*3)/2)*sizeof(float);
frame->net_input = clCreateBuffer(context, CL_MEM_READ_WRITE,
frame->net_input_size, (void*)NULL, &err);
assert(err == 0);
loadyuv_init(&frame->loadyuv, context, device_id, frame->transformed_width, frame->transformed_height);
}
float *frame_prepare(ModelFrame* frame, cl_command_queue q,
cl_mem yuv_cl, int width, int height,
mat3 transform) {
int err;
transform_queue(&frame->transform, q,
yuv_cl, width, height,
frame->transformed_y_cl, frame->transformed_u_cl, frame->transformed_v_cl,
frame->transformed_width, frame->transformed_height,
transform);
loadyuv_queue(&frame->loadyuv, q,
frame->transformed_y_cl, frame->transformed_u_cl, frame->transformed_v_cl,
frame->net_input);
float *net_input_buf = (float *)clEnqueueMapBuffer(q, frame->net_input, CL_TRUE,
CL_MAP_READ, 0, frame->net_input_size,
0, NULL, NULL, &err);
clFinish(q);
return net_input_buf;
}
void frame_free(ModelFrame* frame) {
transform_destroy(&frame->transform);
loadyuv_destroy(&frame->loadyuv);
clReleaseMemObject(frame->net_input);
clReleaseMemObject(frame->transformed_v_cl);
clReleaseMemObject(frame->transformed_u_cl);
clReleaseMemObject(frame->transformed_y_cl);
}
float sigmoid(float input) {
return 1 / (1 + expf(-input));
}
float softplus(float input) {
return log1p(expf(input));
}