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dmoniitoring: new function crop_yuv (#20344)

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* crop_yuv

* shorten variables name

* space
old-commit-hash: fb37af00d4
commatwo_master
Dean Lee 5 years ago committed by GitHub
parent 7083aea085
commit f0565ee578
1 changed files with 44 additions and 47 deletions
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  1. 91
      selfdrive/modeld/models/dmonitoring.cc

91
selfdrive/modeld/models/dmonitoring.cc
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@ -41,70 +41,67 @@ static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int h
return std::make_tuple(y, u, v); return std::make_tuple(y, u, v);
} }
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) { struct Rect {int x, y, w, h;};
uint8_t *raw_buf = (uint8_t*) stream_buf; 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_buf = raw_buf; uint8_t *raw_y = raw;
uint8_t *raw_u_buf = raw_y_buf + (width * height); uint8_t *raw_u = raw_y + (width * height);
uint8_t *raw_v_buf = raw_u_buf + ((width/2) * (height/2)); 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) {
#ifndef QCOM2 #ifndef QCOM2
const int cropped_width = height/2; Rect crop_rect = {0, 0, height / 2, height};
const int cropped_height = height; if (!s->is_rhd) {
const int global_x_offset = 0; crop_rect.x += width - crop_rect.w;
const int global_y_offset = 0; }
const int crop_x_offset = width - cropped_width;
const int crop_y_offset = 0;
#else #else
const int full_width_tici = 1928; const int full_width_tici = 1928;
const int full_height_tici = 1208; const int full_height_tici = 1208;
const int adapt_width_tici = 668; const int adapt_width_tici = 668;
const int cropped_height = adapt_width_tici / 1.33; const int cropped_height = adapt_width_tici / 1.33;
const int cropped_width = cropped_height / 2; Rect crop_rect = {full_width_tici / 2 - adapt_width_tici / 2,
const int global_x_offset = full_width_tici / 2 - adapt_width_tici / 2; full_height_tici / 2 - cropped_height / 2 - 196,
const int global_y_offset = full_height_tici / 2 - cropped_height / 2; cropped_height / 2,
const int crop_x_offset = adapt_width_tici - cropped_width + 32; cropped_height};
const int crop_y_offset = -196; if (!s->is_rhd) {
crop_rect.x += adapt_width_tici - crop_rect.w + 32;
}
#endif #endif
int resized_width = MODEL_WIDTH; int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT; int resized_height = MODEL_HEIGHT;
auto [cropped_y_buf, cropped_u_buf, cropped_v_buf] = get_yuv_buf(s->cropped_buf, cropped_width, cropped_height); auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h);
if (!s->is_rhd) { if (!s->is_rhd) {
for (int r = 0; r < cropped_height/2; r++) { crop_yuv((uint8_t *)stream_buf, width, height, cropped_y, cropped_u, cropped_v, crop_rect);
memcpy(cropped_y_buf + 2*r*cropped_width, raw_y_buf + (2*r + global_y_offset + crop_y_offset)*width + global_x_offset + crop_x_offset, cropped_width);
memcpy(cropped_y_buf + (2*r+1)*cropped_width, raw_y_buf + (2*r + global_y_offset + crop_y_offset + 1)*width + global_x_offset + crop_x_offset, cropped_width);
memcpy(cropped_u_buf + r*(cropped_width/2), raw_u_buf + (r + (global_y_offset + crop_y_offset)/2)*width/2 + (global_x_offset + crop_x_offset)/2, cropped_width/2);
memcpy(cropped_v_buf + r*(cropped_width/2), raw_v_buf + (r + (global_y_offset + crop_y_offset)/2)*width/2 + (global_x_offset + crop_x_offset)/2, cropped_width/2);
}
} else { } else {
auto [premirror_cropped_y_buf, premirror_cropped_u_buf, premirror_cropped_v_buf] = get_yuv_buf(s->premirror_cropped_buf, cropped_width, cropped_height); auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h);
for (int r = 0; r < cropped_height/2; r++) { crop_yuv((uint8_t *)stream_buf, width, height, mirror_y, mirror_u, mirror_v, crop_rect);
memcpy(premirror_cropped_y_buf + (2*r)*cropped_width, raw_y_buf + (2*r + global_y_offset + crop_y_offset)*width + global_x_offset, cropped_width); libyuv::I420Mirror(mirror_y, crop_rect.w,
memcpy(premirror_cropped_y_buf + (2*r+1)*cropped_width, raw_y_buf + (2*r + global_y_offset + crop_y_offset + 1)*width + global_x_offset, cropped_width); mirror_u, crop_rect.w / 2,
memcpy(premirror_cropped_u_buf + r*(cropped_width/2), raw_u_buf + (r + (global_y_offset + crop_y_offset)/2)*width/2 + global_x_offset/2, cropped_width/2); mirror_v, crop_rect.w / 2,
memcpy(premirror_cropped_v_buf + r*(cropped_width/2), raw_v_buf + (r + (global_y_offset + crop_y_offset)/2)*width/2 + global_x_offset/2, cropped_width/2); cropped_y, crop_rect.w,
} cropped_u, crop_rect.w / 2,
libyuv::I420Mirror(premirror_cropped_y_buf, cropped_width, cropped_v, crop_rect.w / 2,
premirror_cropped_u_buf, cropped_width/2, crop_rect.w, crop_rect.h);
premirror_cropped_v_buf, cropped_width/2,
cropped_y_buf, cropped_width,
cropped_u_buf, cropped_width/2,
cropped_v_buf, cropped_width/2,
cropped_width, cropped_height);
} }
auto [resized_buf, resized_u_buf, resized_v_buf] = get_yuv_buf(s->resized_buf, resized_width, resized_height); auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
uint8_t *resized_y_buf = resized_buf; uint8_t *resized_y = resized_buf;
libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear; libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
libyuv::I420Scale(cropped_y_buf, cropped_width, libyuv::I420Scale(cropped_y, crop_rect.w,
cropped_u_buf, cropped_width/2, cropped_u, crop_rect.w / 2,
cropped_v_buf, cropped_width/2, cropped_v, crop_rect.w / 2,
cropped_width, cropped_height, crop_rect.w, crop_rect.h,
resized_y_buf, resized_width, resized_y, resized_width,
resized_u_buf, resized_width/2, resized_u, resized_width / 2,
resized_v_buf, resized_width/2, resized_v, resized_width / 2,
resized_width, resized_height, resized_width, resized_height,
mode); mode);

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