Skip to content

Commit

Permalink
modeld: update live calibration in main thread (commaai#23235)
Browse files Browse the repository at this point in the history 
* update live calibration in main thread

* static ground_from_medmodel_frame

* more static

* cleanup

* no lambda

* trigger ci
  • Loading branch information
@deanlee
deanlee authored Dec 17, 2021
1 parent cf46622 commit ffc2f64
Showing 1 changed file with 34 additions and 55 deletions.
89 changes: 34 additions & 55 deletions selfdrive/modeld/modeld.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,64 +14,46 @@
#include "selfdrive/modeld/models/driving.h"

ExitHandler do_exit;
// globals
bool live_calib_seen;
mat3 cur_transform;
std::mutex transform_lock;

void calibration_thread(bool wide_camera) {
util::set_thread_name("calibration");
util::set_realtime_priority(50);

SubMaster sm({"liveCalibration"});

mat3 update_calibration(cereal::LiveCalibrationData::Reader live_calib, bool wide_camera) {
/*
import numpy as np
from common.transformations.model import medmodel_frame_from_road_frame
medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
*/
Eigen::Matrix<float, 3, 3> ground_from_medmodel_frame;
ground_from_medmodel_frame <<
static const auto ground_from_medmodel_frame = (Eigen::Matrix<float, 3, 3>() <<
0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
-1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
-1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
-1.84808520e-20, 9.00738606e-04, -4.28751576e-02).finished();

Eigen::Matrix<float, 3, 3> cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
const mat3 yuv_transform = get_model_yuv_transform();
static const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
static const mat3 yuv_transform = get_model_yuv_transform();

while (!do_exit) {
sm.update(100);
if(sm.updated("liveCalibration")) {
auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
for (int i = 0; i < 4*3; i++) {
extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
}

auto camera_frame_from_road_frame = cam_intrinsics * extrinsic_matrix_eigen;
Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);

auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
mat3 transform = {};
for (int i=0; i<3*3; i++) {
transform.v[i] = warp_matrix(i / 3, i % 3);
}
mat3 model_transform = matmul3(yuv_transform, transform);
std::lock_guard lk(transform_lock);
cur_transform = model_transform;
live_calib_seen = true;
}
auto extrinsic_matrix = live_calib.getExtrinsicMatrix();
Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
for (int i = 0; i < 4*3; i++) {
extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
}

auto camera_frame_from_road_frame = cam_intrinsics * extrinsic_matrix_eigen;
Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);

auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
mat3 transform = {};
for (int i=0; i<3*3; i++) {
transform.v[i] = warp_matrix(i / 3, i % 3);
}
return matmul3(yuv_transform, transform);
}

void run_model(ModelState &model, VisionIpcClient &vipc_client) {
void run_model(ModelState &model, VisionIpcClient &vipc_client, bool wide_camera) {
// messaging
PubMaster pm({"modelV2", "cameraOdometry"});
SubMaster sm({"lateralPlan", "roadCameraState"});
SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration"});

// setup filter to track dropped frames
FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
Expand All @@ -80,20 +62,22 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
double last = 0;
uint32_t run_count = 0;

mat3 model_transform = {};
bool live_calib_seen = false;

while (!do_exit) {
VisionIpcBufExtra extra = {};
VisionBuf *buf = vipc_client.recv(&extra);
if (buf == nullptr) continue;

transform_lock.lock();
mat3 model_transform = cur_transform;
bool valid = live_calib_seen;
transform_lock.unlock();

// TODO: path planner timeout?
sm.update(0);
int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
if (sm.updated("liveCalibration")) {
model_transform = update_calibration(sm["liveCalibration"].getLiveCalibration(), wide_camera);
live_calib_seen = true;
}

float vec_desire[DESIRE_LEN] = {0};
if (desire >= 0 && desire < DESIRE_LEN) {
Expand All @@ -118,8 +102,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
float frame_drop_ratio = frames_dropped / (1 + frames_dropped);

model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time,
kj::ArrayPtr<const float>(model.output.data(), model.output.size()), valid);
posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, valid);
kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, live_calib_seen);

//printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
last = mt1;
Expand All @@ -138,9 +122,6 @@ int main(int argc, char **argv) {

bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;

// start calibration thread
std::thread thread = std::thread(calibration_thread, wide_camera);

// cl init
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
Expand All @@ -160,12 +141,10 @@ int main(int argc, char **argv) {
if (vipc_client.connected) {
const VisionBuf *b = &vipc_client.buffers[0];
LOGW("connected with buffer size: %d (%d x %d)", b->len, b->width, b->height);
run_model(model, vipc_client);
run_model(model, vipc_client, wide_camera);
}

model_free(&model);
LOG("joining calibration thread");
thread.join();
CL_CHECK(clReleaseContext(context));
return 0;
}

0 comments on commit ffc2f64

Please sign in to comment.