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97 lines
3.0 KiB
97 lines
3.0 KiB
6 years ago
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#include "common/timing.h"
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#include "model.h"
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#ifdef BIGMODEL
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#define MODEL_WIDTH 864
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#define MODEL_HEIGHT 288
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#define MODEL_NAME "driving_bigmodel_dlc"
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#else
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#define MODEL_WIDTH 320
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#define MODEL_HEIGHT 160
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#define MODEL_NAME "driving_model_dlc"
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#endif
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#define OUTPUT_SIZE 161
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#ifdef TEMPORAL
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#define TEMPORAL_SIZE 512
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#else
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#define TEMPORAL_SIZE 0
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#endif
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extern const uint8_t driving_model_data[] asm("_binary_" MODEL_NAME "_start");
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extern const uint8_t driving_model_end[] asm("_binary_" MODEL_NAME "_end");
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const size_t driving_model_size = driving_model_end - driving_model_data;
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void model_init(ModelState* s, cl_device_id device_id, cl_context context, int temporal) {
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model_input_init(&s->in, MODEL_WIDTH, MODEL_HEIGHT, device_id, context);
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const int output_size = OUTPUT_SIZE + TEMPORAL_SIZE;
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s->output = (float*)malloc(output_size * sizeof(float));
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memset(s->output, 0, output_size * sizeof(float));
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s->m = new SNPEModel(driving_model_data, driving_model_size, s->output, output_size);
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#ifdef TEMPORAL
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assert(temporal);
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s->m->addRecurrent(&s->output[OUTPUT_SIZE], TEMPORAL_SIZE);
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#else
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assert(!temporal);
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#endif
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}
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ModelData 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) {
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struct {
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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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} net_outputs = {NULL};
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//for (int i = 0; i < OUTPUT_SIZE + TEMPORAL_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n");
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float *net_input_buf = model_input_prepare(&s->in, q, yuv_cl, width, height, transform);
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s->m->execute(net_input_buf);
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// net outputs
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net_outputs.path = &s->output[0];
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net_outputs.left_lane = &s->output[51];
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net_outputs.right_lane = &s->output[51+53];
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net_outputs.lead = &s->output[51+53+53];
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ModelData model = {0};
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for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
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model.path.points[i] = net_outputs.path[i];
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model.left_lane.points[i] = net_outputs.left_lane[i] + 1.8;
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model.right_lane.points[i] = net_outputs.right_lane[i] - 1.8;
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}
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model.path.std = sqrt(2.) / net_outputs.path[MODEL_PATH_DISTANCE];
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model.left_lane.std = sqrt(2.) / net_outputs.left_lane[MODEL_PATH_DISTANCE];
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model.right_lane.std = sqrt(2.) / net_outputs.right_lane[MODEL_PATH_DISTANCE];
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float softmax_buff[2];
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model.path.prob = 1.;
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softmax(&net_outputs.left_lane[MODEL_PATH_DISTANCE + 1], softmax_buff, 2);
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model.left_lane.prob = softmax_buff[0];
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softmax(&net_outputs.right_lane[MODEL_PATH_DISTANCE + 1], softmax_buff, 2);
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model.right_lane.prob = softmax_buff[0];
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const double max_dist = 140.0;
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model.lead.dist = net_outputs.lead[0] * max_dist;
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model.lead.dist = model.lead.dist > 0. ? model.lead.dist : 0.;
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model.lead.std = max_dist * sqrt(2.) / net_outputs.lead[1];
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softmax(&net_outputs.lead[2], softmax_buff, 2);
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model.lead.prob = softmax_buff[0];
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return model;
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}
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void model_free(ModelState* s) {
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model_input_free(&s->in);
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delete s->m;
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}
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