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dmoniitoring: new function crop_yuv (#20344)

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* crop_yuv

* shorten variables name

* space
pull/20479/head
Dean Lee 4 years ago committed by GitHub
parent 588778e168
commit fb37af00d4
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1 changed files with 44 additions and 47 deletions
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  1. 95
      selfdrive/modeld/models/dmonitoring.cc

95
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);
}
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 [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 [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;
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);

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