    ModelState model;
    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) {
      VisionStreamBufs buf_info;
      err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
 
</s> remove         mat3 model_transform = matmul3(yuv_transform, transform);
        
 </s> add  </s> remove       mat3 transform = cur_transform;
 </s> add       mat3 model_transform = cur_transform;
    ModelState model;
    model_init(&model, device_id, context, true);
    LOGW("models loaded, modeld starting");
  







    // loop
    VisionStream stream;
    while (!do_exit) {
      VisionStreamBufs buf_info;
      err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
keep keep keep keep replace replace replace replace replace replace replace keep keep keep keep keep
 move matmul3 into live_thread (#2069) 
selfdrive/modeld/modeld.cc