modeld: cleanup commonmodel (#32618)

cleanup

selfdrive/modeld/models/commonmodel.cc

@@ -1,13 +1,10 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 
-#include <algorithm>
 #include <cassert>
 #include <cmath>
 #include <cstring>
 
 #include "common/clutil.h"
-#include "common/mat.h"
-#include "common/timing.h"
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   input_frames = std::make_unique<float[]>(buf_size);
@@ -52,21 +49,6 @@ ModelFrame::~ModelFrame() {
   CL_CHECK(clReleaseCommandQueue(q));
 }
 
-void softmax(const float* input, float* output, size_t len) {
-  const float max_val = *std::max_element(input, input + len);
-  float denominator = 0;
-  for (int i = 0; i < len; i++) {
-    float const v_exp = expf(input[i] - max_val);
-    denominator += v_exp;
-    output[i] = v_exp;
-  }
-
-  const float inv_denominator = 1. / denominator;
-  for (int i = 0; i < len; i++) {
-    output[i] *= inv_denominator;
-  }
-}
-
 float sigmoid(float input) {
   return 1 / (1 + expf(-input));
 }

selfdrive/modeld/models/commonmodel.h

@@ -13,20 +13,11 @@
 #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);