From ad8ab75edeef9442aee2e7170170530ef0b181cf Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 21:58:21 +0800 Subject: [PATCH] commonmodel.h: move global model size into class ModelFrame (#23193) * move to class ModelFrame * remove defines in dmonitoring as well Co-authored-by: Willem Melching old-commit-hash: 13ad02bc064e87516539cb42d3e7e41bc3b56b28 --- selfdrive/modeld/models/commonmodel.h | 11 +++++------ selfdrive/modeld/models/dmonitoring.cc | 5 ++--- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index d7904489b1..19af75eef4 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -16,10 +16,6 @@ #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" -constexpr int MODEL_WIDTH = 512; -constexpr int MODEL_HEIGHT = 256; -constexpr int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; - const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL; void softmax(const float* input, float* output, size_t len); @@ -27,14 +23,17 @@ float softplus(float input); float sigmoid(float input); class ModelFrame { - public: +public: ModelFrame(cl_device_id device_id, cl_context context); ~ModelFrame(); float* prepare(cl_mem yuv_cl, int width, int height, 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: +private: Transform transform; LoadYUVState loadyuv; cl_command_queue q; diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index de07ffd38b..2acdf7d2b7 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -10,9 +10,8 @@ #include "selfdrive/modeld/models/dmonitoring.h" -#define MODEL_WIDTH 320 -#define MODEL_HEIGHT 640 -#define FULL_W 852 // should get these numbers from camerad +constexpr int MODEL_WIDTH = 320; +constexpr int MODEL_HEIGHT = 640; template static inline T *get_buffer(std::vector &buf, const size_t size) {