modeldata.h: new function get_model_yuv_transform (#20257)

selfdrive/camerad/cameras/camera_common.cc

@@ -22,6 +22,7 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
+#include "modeldata.h"
 #include "imgproc/utils.h"
 
 static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b, const CameraState *s) {
@@ -69,16 +70,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
     rgb_width = ci->frame_width / 2;
     rgb_height = ci->frame_height / 2;
   }
-  float db_s = 0.5;
-#else
-  float db_s = 1.0;
 #endif
-  const mat3 transform = (mat3){{
+  yuv_transform = get_model_yuv_transform(ci->bayer);
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  }};
-  yuv_transform = ci->bayer ? transform_scale_buffer(transform, db_s) : transform;
 
   vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);
   rgb_stride = vipc_server->get_buffer(rgb_type)->stride;

selfdrive/common/modeldata.h

@@ -34,5 +34,19 @@ const mat3 fcam_intrinsic_matrix = (mat3){{
 }};
 #endif
 
+static inline mat3 get_model_yuv_transform(bool bayer = true) {
+#ifndef QCOM2
+  float db_s = 0.5; // debayering does a 2x downscale
+#else
+  float db_s = 1.0;
+#endif
+  const mat3 transform = (mat3){{
+    1.0, 0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0, 0.0, 1.0
+  }};
+  return bayer ? transform_scale_buffer(transform, db_s) : transform;
+}
+
 #endif
 

selfdrive/modeld/modeld.cc

@@ -37,17 +37,7 @@ void* live_thread(void *arg) {
     -1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
 
   Eigen::Matrix<float, 3, 3> fcam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(fcam_intrinsic_matrix.v);
-#ifndef QCOM2
+  const mat3 yuv_transform = get_model_yuv_transform();
-  float db_s = 0.5; // debayering does a 2x downscale
-#else
-  float db_s = 1.0;
-#endif
-
-  mat3 yuv_transform = transform_scale_buffer((mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0,
-  }}, db_s);
 
   while (!do_exit) {
     if (sm.update(100) > 0){