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simplify two nonsense

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pull/24762/head
ZwX1616 3 years ago
parent ac6ab2ddc7
commit 439862c7db
2 changed files with 14 additions and 80 deletions
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  1. 92
      selfdrive/modeld/models/dmonitoring.cc
  2. 2
      selfdrive/modeld/models/dmonitoring.h

92
selfdrive/modeld/models/dmonitoring.cc
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@ -10,7 +10,7 @@
#include "selfdrive/modeld/models/dmonitoring.h"
constexpr int MODEL_WIDTH = 320;
constexpr int MODEL_WIDTH = 1024;
constexpr int MODEL_HEIGHT = 640;
template <class T>
@ -23,12 +23,6 @@ static inline void init_yuv_buf(std::vector<uint8_t> &buf, const int width, int
uint8_t *y = get_buffer(buf, width * height * 3 / 2);
uint8_t *u = y + width * height;
uint8_t *v = u + (width / 2) * (height / 2);
// needed on comma two to make the padded border black
// equivalent to RGB(0,0,0) in YUV space
memset(y, 16, width * height);
memset(u, 128, (width / 2) * (height / 2));
memset(v, 128, (width / 2) * (height / 2));
}
void dmonitoring_init(DMonitoringModelState* s) {
@ -54,86 +48,28 @@ static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int h
return std::make_tuple(y, u, v);
}
struct Rect {int x, y, w, h;};
void crop_yuv(uint8_t *raw, int width, int height, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) {
uint8_t *raw_y = raw;
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, float *calib) {
uint8_t *raw_y = (uint8_t *) raw;
uint8_t *raw_u = raw_y + (width * height);
uint8_t *raw_v = raw_u + ((width / 2) * (height / 2));
for (int r = 0; r < rect.h / 2; r++) {
memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * width + rect.x, rect.w);
memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * width + rect.x, rect.w);
memcpy(u + r * (rect.w / 2), raw_u + (r + (rect.y / 2)) * width / 2 + (rect.x / 2), rect.w / 2);
memcpy(v + r * (rect.w / 2), raw_v + (r + (rect.y / 2)) * width / 2 + (rect.x / 2), rect.w / 2);
}
}
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, float *calib) {
Rect crop_rect;
if (width == TICI_CAM_WIDTH) {
const int cropped_height = tici_dm_crop::width / 1.33;
crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
cropped_height / 2,
cropped_height};
if (!s->is_rhd) {
crop_rect.x += tici_dm_crop::width - crop_rect.w;
}
} else {
const int adapt_width = 372;
crop_rect = {0, 0, adapt_width, height};
if (!s->is_rhd) {
crop_rect.x += width - crop_rect.w;
}
}
int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h);
if (!s->is_rhd) {
crop_yuv((uint8_t *)stream_buf, width, height, cropped_y, cropped_u, cropped_v, crop_rect);
} else {
auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h);
crop_yuv((uint8_t *)stream_buf, width, height, mirror_y, mirror_u, mirror_v, crop_rect);
libyuv::I420Mirror(mirror_y, crop_rect.w,
mirror_u, crop_rect.w / 2,
mirror_v, crop_rect.w / 2,
cropped_y, crop_rect.w,
cropped_u, crop_rect.w / 2,
cropped_v, crop_rect.w / 2,
crop_rect.w, crop_rect.h);
}
auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
uint8_t *resized_y = resized_buf;
libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
if (Hardware::TICI()) {
libyuv::I420Scale(cropped_y, crop_rect.w,
cropped_u, crop_rect.w / 2,
cropped_v, crop_rect.w / 2,
crop_rect.w, crop_rect.h,
resized_y, resized_width,
resized_u, resized_width / 2,
resized_v, resized_width / 2,
resized_width, resized_height,
mode);
} else {
const int source_height = 0.7*resized_height;
const int extra_height = (resized_height - source_height) / 2;
const int extra_width = (resized_width - source_height / 2) / 2;
const int source_width = source_height / 2 + extra_width;
libyuv::I420Scale(cropped_y, crop_rect.w,
cropped_u, crop_rect.w / 2,
cropped_v, crop_rect.w / 2,
crop_rect.w, crop_rect.h,
resized_y + extra_height * resized_width, resized_width,
resized_u + extra_height / 2 * resized_width / 2, resized_width / 2,
resized_v + extra_height / 2 * resized_width / 2, resized_width / 2,
source_width, source_height,
mode);
}
int yuv_buf_len = (1024/2) * (640/2) * 6; // Y|u|v -> y|y|y|y|u|v
libyuv::I420Scale(raw_y, width,
raw_u, width / 2,
raw_v, width / 2,
s->is_rhd ? -width:width, height,
resized_y, resized_width,
resized_u, resized_width / 2,
resized_v, resized_width / 2,
resized_width, resized_height,
mode);
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
// one shot conversion, O(n) anyway
// yuvframe2tensor, normalize

2
selfdrive/modeld/models/dmonitoring.h
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@ -38,8 +38,6 @@ typedef struct DMonitoringModelState {
bool is_rhd;
float output[OUTPUT_SIZE];
std::vector<uint8_t> resized_buf;
std::vector<uint8_t> cropped_buf;
std::vector<uint8_t> premirror_cropped_buf;
std::vector<float> net_input_buf;
float calib[CALIB_LEN];
float tensor[UINT8_MAX + 1];

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