mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-20 13:32:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove get_model_yuv_transform function (#28568)

Browse Source 
* remove yuv_transform from update_calibration

* Remove get_model_yuv_transform entirely
This commit is contained in:
Mitchell Goff
2023-06-21 20:02:44 -07:00
committed by GitHub
parent d8aab568c6
commit ae5bfcf248
5 changed files with 1 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/modeldata.h
-11
View File
@@ -33,14 +33,3 @@ const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
0.0, 567.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
static inline mat3 get_model_yuv_transform() {
float db_s = 1.0;
const mat3 transform = (mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0
}};
// Can this be removed since scale is 1?
return transform_scale_buffer(transform, db_s);
}
selfdrive/modeld/modeld.cc
+1 -2
View File
@@ -53,8 +53,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
for (int i=0; i<3*3; i++) {
transform.v[i] = warp_matrix(i / 3, i % 3);
}
static const mat3 yuv_transform = get_model_yuv_transform();
return matmul3(yuv_transform, transform);
return transform;
}
system/camerad/cameras/camera_common.cc
-2
View File
@@ -82,8 +82,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
rgb_width = ci->frame_width;
rgb_height = ci->frame_height;
yuv_transform = get_model_yuv_transform();
int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width));
system/camerad/cameras/camera_common.h
-2
View File
@@ -91,8 +91,6 @@ public:
std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
int rgb_width, rgb_height, rgb_stride;
mat3 yuv_transform;
CameraBuf() = default;
~CameraBuf();
void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type);
system/camerad/cameras/camera_qcom2.cc
-4
View File
@@ -1242,10 +1242,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
framed.setImage(get_raw_frame_image(b));
}
LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
if (c == &s->road_cam) {
framed.setTransform(b->yuv_transform.v);
LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera");
}
if (c->camera_id == CAMERA_ID_AR0231) {
ar0231_process_registers(s, c, framed);