spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Prerotate dmonitoringmodeld input (#2606) 

* not tested, but something like this

* more like this

* dl and ur may still be flipped

* they were flipped

* Revert "they were flipped"

This reverts commit fbd477bb44.

Co-authored-by: Comma Device <device@comma.ai>
pull/2612/head
George Hotz 2020-11-23 17:42:01 -08:00 committed by GitHub
parent 238751e784
commit 327aa123f4
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 27 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
selfdrive/modeld/models/dmonitoring.cc
View File

@ -114,6 +114,21 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
resized_width, resized_height,
mode);
// prerotate to be cache aware
uint8_t *resized_buf_rot = get_buffer(s->resized_buf_rot, resized_width*resized_height*3/2);
uint8_t *resized_y_buf_rot = resized_buf_rot;
uint8_t *resized_u_buf_rot = resized_y_buf_rot + (resized_width * resized_height);
uint8_t *resized_v_buf_rot = resized_u_buf_rot + ((resized_width/2) * (resized_height/2));
libyuv::I420Rotate(resized_y_buf, resized_width,
resized_u_buf, resized_width/2,
resized_v_buf, resized_width/2,
resized_y_buf_rot, resized_height,
resized_u_buf_rot, resized_height/2,
resized_v_buf_rot, resized_height/2,
// negative height causes a vertical flip to match previous
resized_width, -resized_height, libyuv::kRotate90);
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
// one shot conversion, O(n) anyway
@ -121,17 +136,17 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
for (int c = 0; c < MODEL_WIDTH/2; c++) {
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
// Y_ul
net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
// Y_ur
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
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]);
// Y_dl
net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
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]);
// Y_ur
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]);
// Y_dr
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
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]);
// U
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
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)]);
// V
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
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)]);
}
}
@ -140,6 +155,10 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
//fwrite(raw_buf, height*width*3/2, sizeof(uint8_t), dump_yuv_file);
//fclose(dump_yuv_file);
// *** testing ***
// idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
// imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
//FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
//fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
//fclose(dump_yuv_file2);

1
selfdrive/modeld/models/dmonitoring.h
View File

@ -29,6 +29,7 @@ typedef struct DMonitoringModelState {
bool is_rhd;
float output[OUTPUT_SIZE];
std::vector<uint8_t> resized_buf;
std::vector<uint8_t> resized_buf_rot;
std::vector<uint8_t> cropped_buf;
std::vector<uint8_t> premirror_cropped_buf;
std::vector<float> net_input_buf;