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move matmul3 into live_thread (#2069)

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This commit is contained in:
Dean Lee
2020-08-24 20:00:00 +08:00
committed by GitHub
parent a3f5643019
commit de7b901dc1
1 changed files with 13 additions and 14 deletions
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selfdrive/modeld/modeld.cc
+13 -14
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@@ -43,6 +43,13 @@ void* live_thread(void *arg) {
0.0, 910.0, 437.0,
0.0, 0.0, 1.0;
// debayering does a 2x downscale
mat3 yuv_transform = transform_scale_buffer((mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
}}, 0.5);
while (!do_exit) {
if (sm.update(10) > 0){
@@ -59,12 +66,13 @@ void* live_thread(void *arg) {
camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
pthread_mutex_lock(&transform_lock);
mat3 transform = {};
for (int i=0; i<3*3; i++) {
cur_transform.v[i] = warp_matrix(i / 3, i % 3);
transform.v[i] = warp_matrix(i / 3, i % 3);
}
mat3 model_transform = matmul3(yuv_transform, transform);
pthread_mutex_lock(&transform_lock);
cur_transform = model_transform;
run_model = true;
pthread_mutex_unlock(&transform_lock);
}
@@ -109,13 +117,6 @@ int main(int argc, char **argv) {
model_init(&model, device_id, context, true);
LOGW("models loaded, modeld starting");
// debayering does a 2x downscale
mat3 yuv_transform = transform_scale_buffer((mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0,
}}, 0.5);
// loop
VisionStream stream;
while (!do_exit) {
@@ -151,7 +152,7 @@ int main(int argc, char **argv) {
}
pthread_mutex_lock(&transform_lock);
mat3 transform = cur_transform;
mat3 model_transform = cur_transform;
const bool run_model_this_iter = run_model;
pthread_mutex_unlock(&transform_lock);
@@ -168,8 +169,6 @@ int main(int argc, char **argv) {
vec_desire[desire] = 1.0;
}
mat3 model_transform = matmul3(yuv_transform, transform);
mt1 = millis_since_boot();
// TODO: don't make copies!