openpilot_comma/selfdrive/modeld/models/commonmodel.h

#pragma once

#include <cfloat>
#include <cstdlib>

#include <memory>

#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif

#include "common/mat.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/modeld/transforms/transform.h"

const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;

void softmax(const float* input, float* output, size_t len);
float sigmoid(float input);

template<class T, size_t size>
constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
  return kj::ArrayPtr(arr.data(), arr.size());
}

class ModelFrame {
public:
  ModelFrame(cl_device_id device_id, cl_context context);
  ~ModelFrame();
  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);

  const int MODEL_WIDTH = 512;
  const int MODEL_HEIGHT = 256;
  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
  const int buf_size = MODEL_FRAME_SIZE * 2;

private:
  Transform transform;
  LoadYUVState loadyuv;
  cl_command_queue q;
  cl_mem y_cl, u_cl, v_cl, net_input_cl;
  std::unique_ptr<float[]> input_frames;
};