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59 lines
2.7 KiB
59 lines
2.7 KiB
#include "selfdrive/modeld/models/commonmodel.h"
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#include <cassert>
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#include <cmath>
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#include <cstring>
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#include "common/clutil.h"
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ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
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input_frames = std::make_unique<uint8_t[]>(buf_size);
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input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
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q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
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y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
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u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
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v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
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img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
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region.origin = 4 * 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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transform_init(&transform, context, device_id);
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loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
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}
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cl_mem* ModelFrame::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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transform_queue(&this->transform, q,
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yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
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y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
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for (int i = 0; i < 4; 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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uint8_t* ModelFrame::buffer_from_cl(cl_mem *in_frames) {
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CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, MODEL_FRAME_SIZE * 2 * sizeof(uint8_t), &input_frames[0], 0, nullptr, nullptr));
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clFinish(q);
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return &input_frames[0];
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}
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ModelFrame::~ModelFrame() {
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transform_destroy(&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(clReleaseMemObject(v_cl));
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CL_CHECK(clReleaseMemObject(u_cl));
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CL_CHECK(clReleaseMemObject(y_cl));
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CL_CHECK(clReleaseCommandQueue(q));
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} |