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dmonitoring : use memory cache to avoid malloc/free on every frame (#1599)

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* use memory cache

* use template function to return buffer

* inline function

* const size_t

* use std::vector instead of kj::array
old-commit-hash: cdb48cc180bd22fbad75785d07a7f47da959880c
This commit is contained in:
Dean Lee
2020-06-02 05:00:43 +08:00
committed by GitHub
parent 3e630fce60
commit dbc8ca1d26
2 changed files with 18 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/models/dmonitoring.cc
+12 -11
View File
@@ -26,6 +26,14 @@ void dmonitoring_init(DMonitoringModelState* s) {
s->is_rhd_checked = false;
}
template <class T>
static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
if (buf.size() < size) {
buf.resize(size);
}
return buf.data();
}
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) {
uint8_t *raw_buf = (uint8_t*) stream_buf;
@@ -39,8 +47,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
uint8_t *cropped_buf = new uint8_t[cropped_width*cropped_height*3/2];
uint8_t *cropped_y_buf = cropped_buf;
uint8_t *cropped_y_buf = get_buffer(s->cropped_buf, cropped_width*cropped_height*3/2);
uint8_t *cropped_u_buf = cropped_y_buf + (cropped_width * cropped_height);
uint8_t *cropped_v_buf = cropped_u_buf + ((cropped_width/2) * (cropped_height/2));
@@ -53,8 +60,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
}
} else {
// not tested
uint8_t *premirror_cropped_buf = new uint8_t[cropped_width*cropped_height*3/2];
uint8_t *premirror_cropped_y_buf = premirror_cropped_buf;
uint8_t *premirror_cropped_y_buf = get_buffer(s->premirror_cropped_buf, cropped_width*cropped_height*3/2);
uint8_t *premirror_cropped_u_buf = premirror_cropped_y_buf + (cropped_width * cropped_height);
uint8_t *premirror_cropped_v_buf = premirror_cropped_u_buf + ((cropped_width/2) * (cropped_height/2));
for (int r = 0; r < height/2; r++) {
@@ -70,10 +76,9 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
cropped_u_buf, cropped_width/2,
cropped_v_buf, cropped_width/2,
cropped_width, cropped_height);
delete[] premirror_cropped_buf;
}
uint8_t *resized_buf = new uint8_t[resized_width*resized_height*3/2];
uint8_t *resized_buf = get_buffer(s->resized_buf, resized_width*resized_height*3/2);
uint8_t *resized_y_buf = resized_buf;
uint8_t *resized_u_buf = resized_y_buf + (resized_width * resized_height);
uint8_t *resized_v_buf = resized_u_buf + ((resized_width/2) * (resized_height/2));
@@ -90,8 +95,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
mode);
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
float *net_input_buf = new float[yuv_buf_len];
float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
// one shot conversion, O(n) anyway
// yuvframe2tensor, normalize
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
@@ -120,10 +124,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
//fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
//fclose(dump_yuv_file2);
delete[] cropped_buf;
delete[] resized_buf;
s->m->execute(net_input_buf, yuv_buf_len);
delete[] net_input_buf;
DMonitoringResult ret = {0};
memcpy(&ret.face_orientation, &s->output[0], sizeof ret.face_orientation);
selfdrive/modeld/models/dmonitoring.h
+6 -5
View File
@@ -1,10 +1,8 @@
#ifndef DMONITORING_H
#define DMONITORING_H
#pragma once
#include <vector>
#include "common/util.h"
#include "commonmodel.h"
#include "runners/run.h"
#include "messaging.hpp"
#ifdef __cplusplus
@@ -31,6 +29,10 @@ typedef struct DMonitoringModelState {
bool is_rhd;
bool is_rhd_checked;
float output[OUTPUT_SIZE];
std::vector<uint8_t> resized_buf;
std::vector<uint8_t> cropped_buf;
std::vector<uint8_t> premirror_cropped_buf;
std::vector<float> net_input_buf;
} DMonitoringModelState;
void dmonitoring_init(DMonitoringModelState* s);
@@ -42,4 +44,3 @@ void dmonitoring_free(DMonitoringModelState* s);
}
#endif
#endif