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75 lines
2.6 KiB
75 lines
2.6 KiB
#include "commonmodel.h"
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#include <assert.h>
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#include <math.h>
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#include <algorithm>
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#include "selfdrive/common/clutil.h"
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#include "selfdrive/common/mat.h"
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#include "selfdrive/common/timing.h"
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void frame_init(ModelFrame* frame, int width, int height,
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cl_device_id device_id, cl_context context) {
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transform_init(&frame->transform, context, device_id);
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frame->width = width;
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frame->height = height;
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frame->y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (size_t)width*height, NULL, &err));
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frame->u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (size_t)(width/2)*(height/2), NULL, &err));
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frame->v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (size_t)(width/2)*(height/2), NULL, &err));
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frame->net_input_size = ((width*height*3)/2)*sizeof(float);
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frame->net_input = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE,
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frame->net_input_size, (void*)NULL, &err));
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loadyuv_init(&frame->loadyuv, context, device_id, width, height);
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}
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float *frame_prepare(ModelFrame* frame, cl_command_queue q,
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cl_mem yuv_cl, int width, int height,
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const mat3 &transform) {
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transform_queue(&frame->transform, q,
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yuv_cl, width, height,
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frame->y_cl, frame->u_cl, frame->v_cl,
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frame->width, frame->height,
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transform);
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loadyuv_queue(&frame->loadyuv, q,
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frame->y_cl, frame->u_cl, frame->v_cl,
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frame->net_input);
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float *net_input_buf = (float *)CL_CHECK_ERR(clEnqueueMapBuffer(q, frame->net_input, CL_TRUE,
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CL_MAP_READ, 0, frame->net_input_size,
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0, NULL, NULL, &err));
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clFinish(q);
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return net_input_buf;
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}
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void frame_free(ModelFrame* frame) {
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transform_destroy(&frame->transform);
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loadyuv_destroy(&frame->loadyuv);
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CL_CHECK(clReleaseMemObject(frame->net_input));
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CL_CHECK(clReleaseMemObject(frame->v_cl));
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CL_CHECK(clReleaseMemObject(frame->u_cl));
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CL_CHECK(clReleaseMemObject(frame->y_cl));
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}
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void softmax(const float* input, float* output, size_t len) {
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const float max_val = *std::max_element(input, input + len);
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float denominator = 0;
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for(int i = 0; i < len; i++) {
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float const v_exp = expf(input[i] - max_val);
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denominator += v_exp;
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output[i] = v_exp;
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}
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const float inv_denominator = 1. / denominator;
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for(int i = 0; i < len; i++) {
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output[i] *= inv_denominator;
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}
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}
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float sigmoid(float input) {
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return 1 / (1 + expf(-input));
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}
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float softplus(float input) {
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return log1p(expf(input));
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}
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