From fb37af00d422d495bf0460f5a4642404aaa67fdc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 31 Mar 2021 11:11:46 +0800 Subject: [PATCH] dmoniitoring: new function crop_yuv (#20344) * crop_yuv * shorten variables name * space --- selfdrive/modeld/models/dmonitoring.cc | 91 +++++++++++++------------- 1 file changed, 44 insertions(+), 47 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index 6cf2d46ee8..08b346aefa 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -41,70 +41,67 @@ static inline auto get_yuv_buf(std::vector &buf, const int width, int h return std::make_tuple(y, u, v); } -DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) { - uint8_t *raw_buf = (uint8_t*) stream_buf; - uint8_t *raw_y_buf = raw_buf; - uint8_t *raw_u_buf = raw_y_buf + (width * height); - uint8_t *raw_v_buf = raw_u_buf + ((width/2) * (height/2)); +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; + 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) { #ifndef QCOM2 - const int cropped_width = height/2; - const int cropped_height = height; - const int global_x_offset = 0; - const int global_y_offset = 0; - const int crop_x_offset = width - cropped_width; - const int crop_y_offset = 0; + Rect crop_rect = {0, 0, height / 2, height}; + if (!s->is_rhd) { + crop_rect.x += width - crop_rect.w; + } #else const int full_width_tici = 1928; const int full_height_tici = 1208; const int adapt_width_tici = 668; - const int cropped_height = adapt_width_tici / 1.33; - const int cropped_width = cropped_height / 2; - const int global_x_offset = full_width_tici / 2 - adapt_width_tici / 2; - const int global_y_offset = full_height_tici / 2 - cropped_height / 2; - const int crop_x_offset = adapt_width_tici - cropped_width + 32; - const int crop_y_offset = -196; + Rect crop_rect = {full_width_tici / 2 - adapt_width_tici / 2, + full_height_tici / 2 - cropped_height / 2 - 196, + cropped_height / 2, + cropped_height}; + if (!s->is_rhd) { + crop_rect.x += adapt_width_tici - crop_rect.w + 32; + } #endif int resized_width = MODEL_WIDTH; 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) { - for (int r = 0; r < cropped_height/2; r++) { - 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); - } + crop_yuv((uint8_t *)stream_buf, width, height, cropped_y, cropped_u, cropped_v, crop_rect); } 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); - for (int r = 0; r < cropped_height/2; r++) { - 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); - 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); - 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); - 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); - } - libyuv::I420Mirror(premirror_cropped_y_buf, cropped_width, - premirror_cropped_u_buf, cropped_width/2, - 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 [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_buf, resized_v_buf] = get_yuv_buf(s->resized_buf, resized_width, resized_height); - uint8_t *resized_y_buf = resized_buf; + 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; - libyuv::I420Scale(cropped_y_buf, cropped_width, - cropped_u_buf, cropped_width/2, - cropped_v_buf, cropped_width/2, - cropped_width, cropped_height, - resized_y_buf, resized_width, - resized_u_buf, resized_width/2, - resized_v_buf, resized_width/2, + 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);