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dl and ur may still be flipped

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Comma Device 2020-11-23 20:16:20 +00:00
parent 94fb82e644
commit ea06d77d2b
1 changed files with 11 additions and 30 deletions
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41
selfdrive/modeld/models/dmonitoring.cc
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@ -114,8 +114,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
resized_width, resized_height,
mode);
// new, with prerotate
// 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);
@ -127,7 +126,8 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
resized_y_buf_rot, resized_height,
resized_u_buf_rot, resized_height/2,
resized_v_buf_rot, resized_height/2,
resized_width, resized_height, libyuv::kRotate90);
// 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);
@ -136,13 +136,13 @@ 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 + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r) + (2*c*resized_height)]);
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 + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r+1) + (2*c*resized_height)]);
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*resized_height+1)]);
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_rot[(2*r+1) + (2*c*resized_height+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_rot[(resized_width*resized_height) + r + (c*resized_height/2)]);
// V
@ -150,34 +150,15 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
}
}
// old rotation
/*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
// yuvframe2tensor, normalize
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)]);
// 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)]);
// 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)]);
// 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]);
// 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]);
}
}*/
//printf("preprocess completed. %d \n", yuv_buf_len);
//FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
//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);