modeld: update live calibration in main thread (#23235)

* update live calibration in main thread

* static ground_from_medmodel_frame

* more static

* cleanup

* no lambda

* trigger ci
old-commit-hash: ffc2f64f19

selfdrive/modeld/modeld.cc

@@ -14,64 +14,46 @@
 #include "selfdrive/modeld/models/driving.h"
 
 ExitHandler do_exit;
-// globals
-bool live_calib_seen;
-mat3 cur_transform;
-std::mutex transform_lock;
-
-void calibration_thread(bool wide_camera) {
-  util::set_thread_name("calibration");
-  util::set_realtime_priority(50);
-
-  SubMaster sm({"liveCalibration"});
 
+mat3 update_calibration(cereal::LiveCalibrationData::Reader live_calib, bool wide_camera) {
   /*
      import numpy as np
      from common.transformations.model import medmodel_frame_from_road_frame
      medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
      ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
   */
-  Eigen::Matrix<float, 3, 3> ground_from_medmodel_frame;
+  static const auto ground_from_medmodel_frame = (Eigen::Matrix<float, 3, 3>() << 
-  ground_from_medmodel_frame <<
     0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
     -1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
-    -1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
+    -1.84808520e-20, 9.00738606e-04, -4.28751576e-02).finished();
 
-  Eigen::Matrix<float, 3, 3> cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  static const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
-  const mat3 yuv_transform = get_model_yuv_transform();
+  static const mat3 yuv_transform = get_model_yuv_transform();
 
-  while (!do_exit) {
+  auto extrinsic_matrix = live_calib.getExtrinsicMatrix();
-    sm.update(100);
+  Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
-    if(sm.updated("liveCalibration")) {
+  for (int i = 0; i < 4*3; i++) {
-      auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
+    extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
-      Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
-      for (int i = 0; i < 4*3; i++) {
-        extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
-      }
-
-      auto camera_frame_from_road_frame = cam_intrinsics * extrinsic_matrix_eigen;
-      Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
-      camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
-      camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
-      camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
-
-      auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
-      mat3 transform = {};
-      for (int i=0; i<3*3; i++) {
-        transform.v[i] = warp_matrix(i / 3, i % 3);
-      }
-      mat3 model_transform = matmul3(yuv_transform, transform);
-      std::lock_guard lk(transform_lock);
-      cur_transform = model_transform;
-      live_calib_seen = true;
-    }
   }
+
+  auto camera_frame_from_road_frame = cam_intrinsics * extrinsic_matrix_eigen;
+  Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
+  camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
+  camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
+  camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
+
+  auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
+  mat3 transform = {};
+  for (int i=0; i<3*3; i++) {
+    transform.v[i] = warp_matrix(i / 3, i % 3);
+  }
+  return matmul3(yuv_transform, transform);
 }
 
-void run_model(ModelState &model, VisionIpcClient &vipc_client) {
+void run_model(ModelState &model, VisionIpcClient &vipc_client, bool wide_camera) {
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
-  SubMaster sm({"lateralPlan", "roadCameraState"});
+  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration"});
 
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
@@ -80,20 +62,22 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
   double last = 0;
   uint32_t run_count = 0;
 
+  mat3 model_transform = {};
+  bool live_calib_seen = false;
+
   while (!do_exit) {
     VisionIpcBufExtra extra = {};
     VisionBuf *buf = vipc_client.recv(&extra);
     if (buf == nullptr) continue;
 
-    transform_lock.lock();
-    mat3 model_transform = cur_transform;
-    bool valid = live_calib_seen;
-    transform_lock.unlock();
-
     // TODO: path planner timeout?
     sm.update(0);
     int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
     frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
+    if (sm.updated("liveCalibration")) {
+      model_transform = update_calibration(sm["liveCalibration"].getLiveCalibration(), wide_camera);
+      live_calib_seen = true;
+    }
 
     float vec_desire[DESIRE_LEN] = {0};
     if (desire >= 0 && desire < DESIRE_LEN) {
@@ -118,8 +102,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
     float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
 
     model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time,
-                  kj::ArrayPtr<const float>(model.output.data(), model.output.size()), valid);
+                  kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
-    posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, valid);
+    posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, live_calib_seen);
 
     //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
     last = mt1;
@@ -138,9 +122,6 @@ int main(int argc, char **argv) {
 
   bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
 
-  // start calibration thread
-  std::thread thread = std::thread(calibration_thread, wide_camera);
-
   // cl init
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
   cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
@@ -160,12 +141,10 @@ int main(int argc, char **argv) {
   if (vipc_client.connected) {
     const VisionBuf *b = &vipc_client.buffers[0];
     LOGW("connected with buffer size: %d (%d x %d)", b->len, b->width, b->height);
-    run_model(model, vipc_client);
+    run_model(model, vipc_client, wide_camera);
   }
 
   model_free(&model);
-  LOG("joining calibration thread");
-  thread.join();
   CL_CHECK(clReleaseContext(context));
   return 0;
 }