openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#ifndef SNPEMODEL_H
#define SNPEMODEL_H
#include <SNPE/SNPE.hpp>
#include <SNPE/SNPEBuilder.hpp>
#include <SNPE/SNPEFactory.hpp>
#include <DlContainer/IDlContainer.hpp>
#include <DlSystem/DlError.hpp>
#include <DlSystem/ITensor.hpp>
#include <DlSystem/ITensorFactory.hpp>
#include <DlSystem/IUserBuffer.hpp>
#include <DlSystem/IUserBufferFactory.hpp>
class SNPEModel {
public:
SNPEModel(const uint8_t *model_data, const size_t model_size, float *output, size_t output_size);
void addRecurrent(float *state, int state_size);
void execute(float *net_input_buf);
private:
// snpe model stuff
std::unique_ptr<zdl::SNPE::SNPE> snpe;
// snpe input stuff
zdl::DlSystem::UserBufferMap inputMap;
std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
// snpe output stuff
zdl::DlSystem::UserBufferMap outputMap;
std::unique_ptr<zdl::DlSystem::IUserBuffer> outputBuffer;
float *output;
// recurrent
std::unique_ptr<zdl::DlSystem::IUserBuffer> recurrentBuffer;
};
#endif