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tici: add (somewhat) broken camerad support (#1300)

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* capnparm

* building in progress

* scons build works

* that script fixes opencl

* start new camera code

* includes and more camera scripts

* control c works now

* no device control yet

* phy too

* just one camera for now

* fix capnparm

* hmm, the inits are needed

* more cameras

* link stop start

* doesn't work yet

* fix ion on qcom2

* start poll ish

* 4 pictures and done

* no jpeg

* it works to picture

* destroy sync obj

* both work for now

* defined QCOM2

* fix fd leak

* run modeld

* 10 bit mode

* real frame stride

* needs digital gain

* dnew

* no color correcting on new

* that snpe doesn't work

* qcom2 gate

* cleanups

* oops, fix aarch64 detector

* update cereal

* modeld works with SNPE

* fix driver monitoring model

Co-authored-by: Tici <robbe@comma.ai>
This commit is contained in:
George Hotz
2020-03-31 16:34:55 -07:00
committed by GitHub
parent 746f7ed9b1
commit 8db0993663
94 changed files with 5198 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/SConscript
+2
View File
@@ -11,6 +11,8 @@ common_src = [
if arch == "aarch64":
libs += ['gsl', 'CB', 'gnustl_shared']
elif arch == "larch64":
libs += ['gsl', 'CB', 'symphony-cpu', 'pthread']
else:
libs += ['symphony-cpu', 'pthread']
selfdrive/modeld/dmonitoringmodeld
+1 -1
View File
@@ -1,5 +1,5 @@
#!/bin/sh
export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$HOME/openpilot/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
export ADSP_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/"
exec ./_dmonitoringmodeld
selfdrive/modeld/modeld
+1 -1
View File
@@ -1,4 +1,4 @@
#!/bin/sh
export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$HOME/openpilot/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
exec ./_modeld
selfdrive/modeld/models/dmonitoring.cc
+2 -2
View File
@@ -10,14 +10,14 @@
#define MODEL_HEIGHT 320
#define FULL_W 426
#ifdef QCOM
#if defined(QCOM) || defined(QCOM2)
#define input_lambda(x) (x - 128.f) * 0.0078125f
#else
#define input_lambda(x) x // for non SNPE running platforms, assume keras model instead has lambda layer
#endif
void dmonitoring_init(DMonitoringModelState* s) {
#ifdef QCOM
#if defined(QCOM) || defined(QCOM2)
const char* model_path = "../../models/dmonitoring_model_q.dlc";
#else
const char* model_path = "../../models/dmonitoring_model.dlc";