openpilot_comma/selfdrive/modeld/models/commonmodel.c

#include "commonmodel.h"

#include <czmq.h>
#include "cereal/gen/c/log.capnp.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;
  frame->device_id = device_id;
  frame->context = context;

  transform_init(&frame->transform, context, device_id);
  frame->transformed_width = width;
  frame->transformed_height = height;

  frame->transformed_y_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
                                       frame->transformed_width*frame->transformed_height, NULL, &err);
  assert(err == 0);
  frame->transformed_u_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
                                       (frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err);
  assert(err == 0);
  frame->transformed_v_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
                                       (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(frame->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;
  int i = 0;
  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);
}


float sigmoid(float input) {
  return 1 / (1 + expf(-input));
}

float softplus(float input) {
  return log1p(expf(input));
}