          if (desire >= 0 && desire < DESIRE_LEN) {
            vec_desire[desire] = 1.0;
          }
  
          mat3 model_transform = matmul3(yuv_transform, transform);
          
          mt1 = millis_since_boot();
  
          // TODO: don't make copies!
          memcpy(yuv_ion.addr, buf->addr, buf_info.buf_len);
  
 
</s> remove       mat3 transform = cur_transform;
 </s> add       mat3 model_transform = cur_transform; </s> remove   // 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);

 </s> add 
          if (desire >= 0 && desire < DESIRE_LEN) {
            vec_desire[desire] = 1.0;
          }
  


          mt1 = millis_since_boot();
  
          // TODO: don't make copies!
          memcpy(yuv_ion.addr, buf->addr, buf_info.buf_len);
  
keep keep keep keep replace replace keep keep keep keep keep
 move matmul3 into live_thread (#2069) 
selfdrive/modeld/modeld.cc