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214 lines
10 KiB
214 lines
10 KiB
#include <string.h>
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#include "dmonitoring.h"
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#include "common/mat.h"
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#include "common/timing.h"
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#include "common/params.h"
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#include <libyuv.h>
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#define MODEL_WIDTH 320
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#define MODEL_HEIGHT 640
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#define FULL_W 852 // should get these numbers from camerad
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#if defined(QCOM) || defined(QCOM2)
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#define input_lambda(x) (x - 128.f) * 0.0078125f
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#else
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#define input_lambda(x) x // for non SNPE running platforms, assume keras model instead has lambda layer
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#endif
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void dmonitoring_init(DMonitoringModelState* s) {
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#if defined(QCOM) || defined(QCOM2)
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const char* model_path = "../../models/dmonitoring_model_q.dlc";
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#else
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const char* model_path = "../../models/dmonitoring_model.dlc";
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#endif
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int runtime = USE_DSP_RUNTIME;
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s->m = new DefaultRunModel(model_path, (float*)&s->output, OUTPUT_SIZE, runtime);
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s->is_rhd = Params().read_db_bool("IsRHD");
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}
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template <class T>
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static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
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if (buf.size() < size) {
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buf.resize(size);
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}
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return buf.data();
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}
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DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) {
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uint8_t *raw_buf = (uint8_t*) stream_buf;
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uint8_t *raw_y_buf = raw_buf;
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uint8_t *raw_u_buf = raw_y_buf + (width * height);
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uint8_t *raw_v_buf = raw_u_buf + ((width/2) * (height/2));
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#ifndef QCOM2
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const int cropped_width = height/2;
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const int cropped_height = height;
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const int global_x_offset = 0;
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const int global_y_offset = 0;
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const int crop_x_offset = width - cropped_width;
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const int crop_y_offset = 0;
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#else
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const int full_width_tici = 1928;
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const int full_height_tici = 1208;
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const int adapt_width_tici = 636;
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const int cropped_height = adapt_width_tici / 1.33;
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const int cropped_width = cropped_height / 2;
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const int global_x_offset = full_width_tici / 2 - adapt_width_tici / 2;
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const int global_y_offset = full_height_tici / 2 - cropped_height / 2;
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const int crop_x_offset = adapt_width_tici - cropped_width;
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const int crop_y_offset = 0;
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#endif
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int resized_width = MODEL_WIDTH;
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int resized_height = MODEL_HEIGHT;
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uint8_t *cropped_y_buf = get_buffer(s->cropped_buf, cropped_width*cropped_height*3/2);
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uint8_t *cropped_u_buf = cropped_y_buf + (cropped_width * cropped_height);
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uint8_t *cropped_v_buf = cropped_u_buf + ((cropped_width/2) * (cropped_height/2));
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if (!s->is_rhd) {
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for (int r = 0; r < cropped_height/2; r++) {
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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);
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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);
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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);
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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);
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}
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} else {
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uint8_t *premirror_cropped_y_buf = get_buffer(s->premirror_cropped_buf, cropped_width*cropped_height*3/2);
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uint8_t *premirror_cropped_u_buf = premirror_cropped_y_buf + (cropped_width * cropped_height);
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uint8_t *premirror_cropped_v_buf = premirror_cropped_u_buf + ((cropped_width/2) * (cropped_height/2));
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for (int r = 0; r < cropped_height/2; r++) {
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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);
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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);
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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);
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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);
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}
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libyuv::I420Mirror(premirror_cropped_y_buf, cropped_width,
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premirror_cropped_u_buf, cropped_width/2,
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premirror_cropped_v_buf, cropped_width/2,
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cropped_y_buf, cropped_width,
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cropped_u_buf, cropped_width/2,
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cropped_v_buf, cropped_width/2,
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cropped_width, cropped_height);
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}
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uint8_t *resized_buf = get_buffer(s->resized_buf, resized_width*resized_height*3/2);
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uint8_t *resized_y_buf = resized_buf;
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uint8_t *resized_u_buf = resized_y_buf + (resized_width * resized_height);
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uint8_t *resized_v_buf = resized_u_buf + ((resized_width/2) * (resized_height/2));
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libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
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libyuv::I420Scale(cropped_y_buf, cropped_width,
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cropped_u_buf, cropped_width/2,
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cropped_v_buf, cropped_width/2,
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cropped_width, cropped_height,
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resized_y_buf, resized_width,
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resized_u_buf, resized_width/2,
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resized_v_buf, resized_width/2,
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resized_width, resized_height,
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mode);
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// prerotate to be cache aware
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uint8_t *resized_buf_rot = get_buffer(s->resized_buf_rot, resized_width*resized_height*3/2);
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uint8_t *resized_y_buf_rot = resized_buf_rot;
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uint8_t *resized_u_buf_rot = resized_y_buf_rot + (resized_width * resized_height);
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uint8_t *resized_v_buf_rot = resized_u_buf_rot + ((resized_width/2) * (resized_height/2));
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libyuv::I420Rotate(resized_y_buf, resized_width,
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resized_u_buf, resized_width/2,
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resized_v_buf, resized_width/2,
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resized_y_buf_rot, resized_height,
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resized_u_buf_rot, resized_height/2,
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resized_v_buf_rot, resized_height/2,
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// negative height causes a vertical flip to match previous
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resized_width, -resized_height, libyuv::kRotate90);
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int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
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float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
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// one shot conversion, O(n) anyway
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// yuvframe2tensor, normalize
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for (int c = 0; c < MODEL_WIDTH/2; c++) {
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for (int r = 0; r < MODEL_HEIGHT/2; r++) {
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// Y_ul
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r) + (2*c)*resized_height]);
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// Y_dl
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r+1) + (2*c)*resized_height]);
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// Y_ur
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r) + (2*c+1)*resized_height]);
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// Y_dr
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r+1) + (2*c+1)*resized_height]);
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// U
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(resized_width*resized_height) + r + (c*resized_height/2)]);
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// V
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + r + (c*resized_height/2)]);
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}
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}
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//printf("preprocess completed. %d \n", yuv_buf_len);
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//FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
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//fwrite(raw_buf, height*width*3/2, sizeof(uint8_t), dump_yuv_file);
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//fclose(dump_yuv_file);
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// *** testing ***
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// idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
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// imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
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//FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
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//fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
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//fclose(dump_yuv_file2);
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double t1 = millis_since_boot();
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s->m->execute(net_input_buf, yuv_buf_len);
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double t2 = millis_since_boot();
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DMonitoringResult ret = {0};
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memcpy(&ret.face_orientation, &s->output[0], sizeof ret.face_orientation);
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memcpy(&ret.face_orientation_meta, &s->output[6], sizeof ret.face_orientation_meta);
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memcpy(&ret.face_position, &s->output[3], sizeof ret.face_position);
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memcpy(&ret.face_position_meta, &s->output[9], sizeof ret.face_position_meta);
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memcpy(&ret.face_prob, &s->output[12], sizeof ret.face_prob);
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memcpy(&ret.left_eye_prob, &s->output[21], sizeof ret.left_eye_prob);
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memcpy(&ret.right_eye_prob, &s->output[30], sizeof ret.right_eye_prob);
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memcpy(&ret.left_blink_prob, &s->output[31], sizeof ret.right_eye_prob);
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memcpy(&ret.right_blink_prob, &s->output[32], sizeof ret.right_eye_prob);
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memcpy(&ret.sg_prob, &s->output[33], sizeof ret.sg_prob);
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ret.face_orientation_meta[0] = softplus(ret.face_orientation_meta[0]);
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ret.face_orientation_meta[1] = softplus(ret.face_orientation_meta[1]);
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ret.face_orientation_meta[2] = softplus(ret.face_orientation_meta[2]);
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ret.face_position_meta[0] = softplus(ret.face_position_meta[0]);
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ret.face_position_meta[1] = softplus(ret.face_position_meta[1]);
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ret.dsp_execution_time = (t2 - t1) / 1000.;
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return ret;
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}
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void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, const float* raw_pred, float execution_time){
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// make msg
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MessageBuilder msg;
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auto framed = msg.initEvent().initDriverState();
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framed.setFrameId(frame_id);
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framed.setModelExecutionTime(execution_time);
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framed.setDspExecutionTime(res.dsp_execution_time);
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framed.setFaceOrientation(res.face_orientation);
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framed.setFaceOrientationStd(res.face_orientation_meta);
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framed.setFacePosition(res.face_position);
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framed.setFacePositionStd(res.face_position_meta);
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framed.setFaceProb(res.face_prob);
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framed.setLeftEyeProb(res.left_eye_prob);
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framed.setRightEyeProb(res.right_eye_prob);
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framed.setLeftBlinkProb(res.left_blink_prob);
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framed.setRightBlinkProb(res.right_blink_prob);
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framed.setSgProb(res.sg_prob);
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if (send_raw_pred) {
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framed.setRawPred(kj::arrayPtr((const uint8_t*)raw_pred, OUTPUT_SIZE*sizeof(float)));
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}
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pm.send("driverState", msg);
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}
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void dmonitoring_free(DMonitoringModelState* s) {
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delete s->m;
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}
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