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Revert "dmonitoring/DriverView: get crop_rect & transform by video size (#23014)"

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This reverts commit 1af715d6a2.
This commit is contained in:
Willem Melching
2021-12-08 19:13:38 +01:00
parent 1af715d6a2
commit b5fdf646ff
3 changed files with 32 additions and 24 deletions
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selfdrive/modeld/models/dmonitoring.cc
+13 -7
View File
@@ -3,7 +3,6 @@
#include "libyuv.h"
#include "selfdrive/common/mat.h"
#include "selfdrive/common/modeldata.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/timing.h"
#include "selfdrive/hardware/hw.h"
@@ -68,14 +67,21 @@ void crop_yuv(uint8_t *raw, int width, int height, uint8_t *y, uint8_t *u, uint8
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) {
Rect crop_rect;
if (width == TICI_CAM_WIDTH) {
const int cropped_height = tici_dm_crop::width / 1.33;
crop_rect = {tici_dm_crop::x_offset + (width - tici_dm_crop::width) / 2,
tici_dm_crop::y_offset + (height - cropped_height) / 2,
cropped_height / 2, cropped_height};
if (Hardware::TICI()) {
const int full_width_tici = 1928;
const int full_height_tici = 1208;
const int adapt_width_tici = 954;
const int x_offset_tici = -72;
const int y_offset_tici = -144;
const int cropped_height = adapt_width_tici / 1.33;
crop_rect = {full_width_tici / 2 - adapt_width_tici / 2 + x_offset_tici,
full_height_tici / 2 - cropped_height / 2 + y_offset_tici,
cropped_height / 2,
cropped_height};
if (!s->is_rhd) {
crop_rect.x += tici_dm_crop::width - crop_rect.w;
crop_rect.x += adapt_width_tici - crop_rect.w;
}
} else {
const int adapt_width = 372;
crop_rect = {0, 0, adapt_width, height};