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pull/24762/head
Comma Device 3 years ago
parent f62b55d183
commit b445e50033
4 changed files with 25 additions and 68 deletions
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  1. 4
      models/dmonitoring_model_q.dlc
  2. 2
      selfdrive/modeld/SConscript
  3. 83
      selfdrive/modeld/models/dmonitoring.cc
  4. 4
      selfdrive/modeld/models/dmonitoring.h

4
models/dmonitoring_model_q.dlc
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:b6159d44f43b69f4e4884e8ff9b3a0fe8d0f5f076416b34704ed91e99a48e36a
size 3474928
oid sha256:95a69358bc59b32a9b6c437c87c88d1142ef82828ce6811719193076da8a835c
size 3334269

2
selfdrive/modeld/SConscript
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@ -32,7 +32,7 @@ thneed_src = [
use_thneed = not GetOption('no_thneed')
if arch == "aarch64" or arch == "larch64":
libs += ['gsl', 'CB']
libs += ['gsl', 'CB', 'jpeg']
libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
if use_thneed:

83
selfdrive/modeld/models/dmonitoring.cc
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@ -10,8 +10,8 @@
#include "selfdrive/modeld/models/dmonitoring.h"
constexpr int MODEL_WIDTH = 704;
constexpr int MODEL_HEIGHT = 448;
constexpr int MODEL_WIDTH = 1440;
constexpr int MODEL_HEIGHT = 960;
template <class T>
static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
@ -21,9 +21,6 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
void dmonitoring_init(DMonitoringModelState* s) {
s->is_rhd = Params().getBool("IsRHD");
for (int x = 0; x < std::size(s->tensor); ++x) {
s->tensor[x] = (x - 128.f) * 0.0078125f;
}
#ifdef USE_ONNX_MODEL
s->m = new ONNXModel("../../models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
@ -42,65 +39,27 @@ static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int h
}
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, float *calib) {
uint8_t *raw_y = (uint8_t *) stream_buf;
uint8_t *raw_u = raw_y + (width * height);
uint8_t *raw_v = raw_u + ((width / 2) * (height / 2));
int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
auto [resized_y, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterLinear;
if (!s->is_rhd) {
libyuv::I420Scale(raw_y, width,
raw_u, width / 2,
raw_v, width / 2,
width, height,
resized_y, resized_width,
resized_u, resized_width / 2,
resized_v, resized_width / 2,
resized_width, resized_height,
mode);
} else {
auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_resized_buf, resized_width, resized_height);
libyuv::I420Scale(raw_y, width,
raw_u, width / 2,
raw_v, width / 2,
width, height,
mirror_y, resized_width,
mirror_u, resized_width / 2,
mirror_v, resized_width / 2,
resized_width, resized_height,
mode);
libyuv::I420Mirror(mirror_y, resized_width,
mirror_u, resized_width / 2,
mirror_v, resized_width / 2,
resized_y, resized_width,
resized_u, resized_width / 2,
resized_v, resized_width / 2,
resized_width, resized_height);
}
int v_off = height - MODEL_HEIGHT;
int h_off = (width - MODEL_WIDTH) / 2;
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v, frame2tensor done in dsp
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
uint8_t *raw_buf = (uint8_t *) stream_buf;
auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, MODEL_WIDTH, MODEL_HEIGHT);
float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
// one shot conversion, O(n) anyway
// yuvframe2tensor, normalize
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
for (int c = 0; c < MODEL_WIDTH/2; c++) {
// Y_ul
net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]];
// Y_dl
net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]];
// Y_ur
net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]];
// Y_dr
net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]];
// U
net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]];
// V
net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]];
}
}
libyuv::ConvertToI420(raw_buf, (width/2)*(height/2)*6,
cropped_y, MODEL_WIDTH,
cropped_u, MODEL_WIDTH/2,
cropped_v, MODEL_WIDTH/2,
h_off, v_off,
width, height,
MODEL_WIDTH, MODEL_HEIGHT,
libyuv::kRotate0,
libyuv::FOURCC_I420);
// snpe UserBufferEncodingUnsigned8Bit doesn't work
// fast float conversion instead, also scales to 0-1
libyuv::ByteToFloat(cropped_y, net_input_buf, 0.003921569f, yuv_buf_len);
// printf("preprocess completed. %d \n", yuv_buf_len);
// FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");

4
selfdrive/modeld/models/dmonitoring.h
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@ -37,11 +37,9 @@ typedef struct DMonitoringModelState {
RunModel *m;
bool is_rhd;
float output[OUTPUT_SIZE];
std::vector<uint8_t> resized_buf;
std::vector<uint8_t> premirror_resized_buf;
std::vector<uint8_t> cropped_buf;
std::vector<float> net_input_buf;
float calib[CALIB_LEN];
float tensor[UINT8_MAX + 1];
} DMonitoringModelState;
void dmonitoring_init(DMonitoringModelState* s);

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