164 lines
7.7 KiB
C++
164 lines
7.7 KiB
C++
#include <string.h>
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#include "monitoring.h"
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#include "common/mat.h"
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#include "common/timing.h"
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// #include <fastcv.h>
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#include <libyuv.h>
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#define MODEL_WIDTH 160
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#define MODEL_HEIGHT 320
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#define FULL_W 426
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void monitoring_init(MonitoringState* s) {
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s->m = new DefaultRunModel("../../models/monitoring_model_q.dlc", (float*)&s->output, OUTPUT_SIZE, USE_DSP_RUNTIME);
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}
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MonitoringResult monitoring_eval_frame(MonitoringState* 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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int cropped_width = height/2;
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int cropped_height = height;
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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_buf = new uint8_t[cropped_width*cropped_height*3/2];
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uint8_t *cropped_y_buf = cropped_buf;
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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 (true) {
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for (int r = 0; r < height/2; r++) {
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memcpy(cropped_y_buf + 2*r*cropped_width, raw_y_buf + 2*r*width + (width - cropped_width), cropped_width);
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memcpy(cropped_y_buf + (2*r+1)*cropped_width, raw_y_buf + (2*r+1)*width + (width - cropped_width), cropped_width);
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memcpy(cropped_u_buf + r*cropped_width/2, raw_u_buf + r*width/2 + ((width/2) - (cropped_width/2)), cropped_width/2);
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memcpy(cropped_v_buf + r*cropped_width/2, raw_v_buf + r*width/2 + ((width/2) - (cropped_width/2)), cropped_width/2);
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}
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} else {
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// not tested
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uint8_t *premirror_cropped_buf = new uint8_t[cropped_width*cropped_height*3/2];
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uint8_t *premirror_cropped_y_buf = premirror_cropped_buf;
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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 < height/2; r++) {
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memcpy(premirror_cropped_y_buf + 2*r*cropped_width, raw_y_buf + 2*r*width, cropped_width);
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memcpy(premirror_cropped_y_buf + (2*r+1)*cropped_width, raw_y_buf + (2*r+1)*width, cropped_width);
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memcpy(premirror_cropped_u_buf + r*cropped_width/2, raw_u_buf + r*width/2, cropped_width/2);
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memcpy(premirror_cropped_v_buf + r*cropped_width/2, raw_v_buf + r*width/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 = new uint8_t[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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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 = new float[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 r = 0; r < MODEL_HEIGHT/2; r++) {
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for (int c = 0; c < MODEL_WIDTH/2; c++) {
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// Y_ul
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net_input_buf[(c*MODEL_HEIGHT/2) + r] = (resized_buf[(2*r*resized_width) + (2*c)] - 128.f) * 0.0078125f;
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// Y_ur
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net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(2*r*resized_width) + (2*c+1)] - 128.f) * 0.0078125f;
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// Y_dl
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(2*r*resized_width+1) + (2*c)] - 128.f) * 0.0078125f;
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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))] = (resized_buf[(2*r*resized_width+1) + (2*c+1)] - 128.f) * 0.0078125f;
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// U
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c] - 128.f) * 0.0078125f;
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// V
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net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = (resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c] - 128.f) * 0.0078125f;
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}
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}
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// FILE *dump_yuv_file = fopen("/sdcard/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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// FILE *dump_yuv_file2 = fopen("/sdcard/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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delete[] cropped_buf;
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delete[] resized_buf;
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s->m->execute(net_input_buf);
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delete[] net_input_buf;
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MonitoringResult 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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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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return ret;
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}
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void monitoring_publish(PubSocket* sock, uint32_t frame_id, const MonitoringResult res) {
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// make msg
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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto framed = event.initDriverMonitoring();
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framed.setFrameId(frame_id);
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kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
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kj::ArrayPtr<const float> face_orientation_std(&res.face_orientation_meta[0], ARRAYSIZE(res.face_orientation_meta));
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kj::ArrayPtr<const float> face_position(&res.face_position[0], ARRAYSIZE(res.face_position));
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kj::ArrayPtr<const float> face_position_std(&res.face_position_meta[0], ARRAYSIZE(res.face_position_meta));
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framed.setFaceOrientation(face_orientation);
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framed.setFaceOrientationStd(face_orientation_std);
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framed.setFacePosition(face_position);
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framed.setFacePositionStd(face_position_std);
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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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// send message
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auto words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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sock->send((char*)bytes.begin(), bytes.size());
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}
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void monitoring_free(MonitoringState* s) {
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delete s->m;
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}
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