You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
88 lines
2.5 KiB
88 lines
2.5 KiB
#ifndef MODEL_H
|
|
#define MODEL_H
|
|
|
|
// gate this here
|
|
#define TEMPORAL
|
|
#define DESIRE
|
|
#define TRAFFIC_CONVENTION
|
|
|
|
|
|
#include "common/mat.h"
|
|
#include "common/util.h"
|
|
#include "common/modeldata.h"
|
|
|
|
#include "commonmodel.h"
|
|
#include "runners/run.h"
|
|
|
|
#include <memory>
|
|
#include "messaging.hpp"
|
|
|
|
#define MODEL_NAME "supercombo_dlc"
|
|
|
|
#define MODEL_WIDTH 512
|
|
#define MODEL_HEIGHT 256
|
|
#define MODEL_FRAME_SIZE MODEL_WIDTH * MODEL_HEIGHT * 3 / 2
|
|
#define DESIRE_LEN 8
|
|
#define TRAFFIC_CONVENTION_LEN 2
|
|
|
|
#define PLAN_MHP_N 5
|
|
#define PLAN_MHP_COLUMNS 30
|
|
#define PLAN_MHP_VALS 30*33
|
|
#define PLAN_MHP_SELECTION 1
|
|
#define PLAN_MHP_GROUP_SIZE (2*PLAN_MHP_VALS + PLAN_MHP_SELECTION)
|
|
|
|
#define LEAD_MHP_N 5
|
|
#define LEAD_MHP_VALS 4
|
|
#define LEAD_MHP_SELECTION 3
|
|
#define LEAD_MHP_GROUP_SIZE (2*LEAD_MHP_VALS + LEAD_MHP_SELECTION)
|
|
|
|
#define POSE_SIZE 12
|
|
|
|
#define MODEL_FREQ 20
|
|
|
|
struct ModelDataRaw {
|
|
float *plan;
|
|
float *lane_lines;
|
|
float *lane_lines_prob;
|
|
float *road_edges;
|
|
float *lead;
|
|
float *lead_prob;
|
|
float *desire_state;
|
|
float *meta;
|
|
float *desire_pred;
|
|
float *pose;
|
|
};
|
|
|
|
|
|
typedef struct ModelState {
|
|
ModelFrame frame;
|
|
float *output;
|
|
float *input_frames;
|
|
RunModel *m;
|
|
#ifdef DESIRE
|
|
std::unique_ptr<float[]> prev_desire;
|
|
std::unique_ptr<float[]> pulse_desire;
|
|
#endif
|
|
#ifdef TRAFFIC_CONVENTION
|
|
std::unique_ptr<float[]> traffic_convention;
|
|
#endif
|
|
} ModelState;
|
|
|
|
void model_init(ModelState* s, cl_device_id device_id,
|
|
cl_context context, int temporal);
|
|
ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
|
|
cl_mem yuv_cl, int width, int height,
|
|
mat3 transform, void* sock, float *desire_in);
|
|
void model_free(ModelState* s);
|
|
void poly_fit(float *in_pts, float *in_stds, float *out);
|
|
|
|
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, const float* raw_pred,
|
|
uint64_t timestamp_eof, float model_execution_time);
|
|
void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, const float* raw_pred,
|
|
uint64_t timestamp_eof, float model_execution_time);
|
|
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
|
|
uint64_t timestamp_eof);
|
|
#endif
|
|
|