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- # distutils: language = c++
- # cython: c_string_encoding=ascii
- import numpy as np
- cimport numpy as cnp
- from libc.string cimport memcpy
- from cereal.visionipc.visionipc cimport cl_mem
- from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
- from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
- from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame
- def sigmoid(x):
- return cppSigmoid(x)
- cdef class CLContext(BaseCLContext):
- def __cinit__(self):
- self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
- self.context = cl_create_context(self.device_id)
- cdef class CLMem:
- @staticmethod
- cdef create(void * cmem):
- mem = CLMem()
- mem.mem = <cl_mem*> cmem
- return mem
- cdef class ModelFrame:
- cdef cppModelFrame * frame
- def __cinit__(self, CLContext context):
- self.frame = new cppModelFrame(context.device_id, context.context)
- def __dealloc__(self):
- del self.frame
- def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
- cdef mat3 cprojection
- memcpy(cprojection.v, &projection[0], 9*sizeof(float))
- cdef float * data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
- if not data:
- return None
- return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
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