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208 lines
6.3 KiB
208 lines
6.3 KiB
#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <eigen3/Eigen/Dense>
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#include "visionbuf.h"
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#include "visionipc_client.h"
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#include "common/swaglog.h"
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#include "common/clutil.h"
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#include "common/util.h"
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#include "models/driving.h"
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#include "messaging.hpp"
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ExitHandler do_exit;
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// globals
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bool run_model;
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mat3 cur_transform;
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pthread_mutex_t transform_lock;
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void* live_thread(void *arg) {
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set_thread_name("live");
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set_realtime_priority(50);
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SubMaster sm({"liveCalibration"});
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/*
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import numpy as np
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from common.transformations.model import medmodel_frame_from_road_frame
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medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
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ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
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*/
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Eigen::Matrix<float, 3, 3> ground_from_medmodel_frame;
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ground_from_medmodel_frame <<
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0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
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-1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
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-1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
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Eigen::Matrix<float, 3, 3> fcam_intrinsics;
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#ifndef QCOM2
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fcam_intrinsics <<
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910.0, 0.0, 582.0,
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0.0, 910.0, 437.0,
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0.0, 0.0, 1.0;
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float db_s = 0.5; // debayering does a 2x downscale
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#else
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fcam_intrinsics <<
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2648.0, 0.0, 1928.0/2,
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0.0, 2648.0, 1208.0/2,
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0.0, 0.0, 1.0;
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float db_s = 1.0;
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#endif
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mat3 yuv_transform = transform_scale_buffer((mat3){{
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0,
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}}, db_s);
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while (!do_exit) {
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if (sm.update(100) > 0){
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auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
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Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
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for (int i = 0; i < 4*3; i++){
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extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
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}
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auto camera_frame_from_road_frame = fcam_intrinsics * extrinsic_matrix_eigen;
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Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
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camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
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camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
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camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
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auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
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mat3 transform = {};
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for (int i=0; i<3*3; i++) {
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transform.v[i] = warp_matrix(i / 3, i % 3);
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}
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mat3 model_transform = matmul3(yuv_transform, transform);
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pthread_mutex_lock(&transform_lock);
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cur_transform = model_transform;
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run_model = true;
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pthread_mutex_unlock(&transform_lock);
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}
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}
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return NULL;
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}
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int main(int argc, char **argv) {
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int err;
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set_realtime_priority(54);
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#ifdef QCOM
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set_core_affinity(2);
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#elif QCOM2
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// CPU usage is much lower when pinned to a single big core
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set_core_affinity(4);
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#endif
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pthread_mutex_init(&transform_lock, NULL);
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// start calibration thread
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pthread_t live_thread_handle;
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err = pthread_create(&live_thread_handle, NULL, live_thread, NULL);
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assert(err == 0);
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// messaging
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PubMaster pm({"modelV2", "cameraOdometry"});
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SubMaster sm({"lateralPlan", "roadCameraState"});
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// cl init
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cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
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cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
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// init the models
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ModelState model;
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model_init(&model, device_id, context);
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LOGW("models loaded, modeld starting");
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VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true, device_id, context);
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while (!do_exit){
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if (!vipc_client.connect(false)){
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util::sleep_for(100);
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continue;
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}
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break;
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}
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// loop
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while (!do_exit) {
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VisionBuf *b = &vipc_client.buffers[0];
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LOGW("connected with buffer size: %d (%d x %d)", b->len, b->width, b->height);
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// setup filter to track dropped frames
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const float dt = 1. / MODEL_FREQ;
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const float ts = 10.0; // filter time constant (s)
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const float frame_filter_k = (dt / ts) / (1. + dt / ts);
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float frames_dropped = 0;
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uint32_t frame_id = 0, last_vipc_frame_id = 0;
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double last = 0;
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int desire = -1;
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uint32_t run_count = 0;
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while (!do_exit) {
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VisionIpcBufExtra extra;
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VisionBuf *buf = vipc_client.recv(&extra);
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if (buf == nullptr){
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continue;
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}
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pthread_mutex_lock(&transform_lock);
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mat3 model_transform = cur_transform;
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const bool run_model_this_iter = run_model;
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pthread_mutex_unlock(&transform_lock);
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if (sm.update(0) > 0){
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// TODO: path planner timeout?
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desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
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frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
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}
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double mt1 = 0, mt2 = 0;
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if (run_model_this_iter) {
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run_count++;
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float vec_desire[DESIRE_LEN] = {0};
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if (desire >= 0 && desire < DESIRE_LEN) {
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vec_desire[desire] = 1.0;
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}
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mt1 = millis_since_boot();
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ModelDataRaw model_buf =
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model_eval_frame(&model, buf->buf_cl, buf->width, buf->height,
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model_transform, vec_desire);
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mt2 = millis_since_boot();
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float model_execution_time = (mt2 - mt1) / 1000.0;
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// tracked dropped frames
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uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
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frames_dropped = (1. - frame_filter_k) * frames_dropped + frame_filter_k * (float)std::min(vipc_dropped_frames, 10U);
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if (run_count < 10) frames_dropped = 0; // let frame drops warm up
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float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
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model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time,
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kj::ArrayPtr<const float>(model.output.data(), model.output.size()));
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posenet_publish(pm, extra.frame_id, vipc_dropped_frames, model_buf, extra.timestamp_eof);
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LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_ratio);
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last = mt1;
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last_vipc_frame_id = extra.frame_id;
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}
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}
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}
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model_free(&model);
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LOG("joining live_thread");
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err = pthread_join(live_thread_handle, NULL);
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assert(err == 0);
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CL_CHECK(clReleaseContext(context));
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pthread_mutex_destroy(&transform_lock);
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return 0;
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}
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