You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
135 lines
4.4 KiB
135 lines
4.4 KiB
import os
|
|
import subprocess
|
|
from cffi import FFI
|
|
from common.basedir import BASEDIR
|
|
|
|
# Initialize visiontest. Ignore output.
|
|
_visiond_dir = os.path.dirname(os.path.abspath(__file__))
|
|
_libvisiontest = "libvisiontest.so"
|
|
try: # bacause this crashes somtimes when running pipeline
|
|
subprocess.check_output(["make", "-C", _visiond_dir, "-f",
|
|
os.path.join(_visiond_dir, "visiontest.mk"),
|
|
_libvisiontest])
|
|
except Exception:
|
|
pass
|
|
|
|
|
|
class VisionTest():
|
|
"""A version of the vision model that can be run on a desktop.
|
|
|
|
WARNING: This class is not thread safe. VisionTest objects cannot be
|
|
created or used on multiple threads simultaneously.
|
|
"""
|
|
|
|
ffi = FFI()
|
|
ffi.cdef("""
|
|
typedef unsigned char uint8_t;
|
|
|
|
struct VisionTest;
|
|
typedef struct VisionTest VisionTest;
|
|
|
|
VisionTest* visiontest_create(int temporal_model, int disable_model,
|
|
int input_width, int input_height,
|
|
int model_input_width, int model_input_height);
|
|
void visiontest_destroy(VisionTest* visiontest);
|
|
|
|
void visiontest_transform(VisionTest* vt, const uint8_t* yuv_data,
|
|
uint8_t* out_y, uint8_t* out_u, uint8_t* out_v,
|
|
const float* transform);
|
|
""")
|
|
|
|
clib = ffi.dlopen(os.path.join(_visiond_dir, _libvisiontest))
|
|
|
|
def __init__(self, input_size, model_input_size, model):
|
|
"""Create a wrapper around visiond for off-device python code.
|
|
|
|
Inputs:
|
|
input_size: The size of YUV images passed to transform.
|
|
model_input_size: The size of YUV images passed to the model.
|
|
model: The name of the model to use. "temporal", "yuv", or None to disable the
|
|
model (used to disable OpenCL).
|
|
"""
|
|
self._input_size = input_size
|
|
self._model_input_size = model_input_size
|
|
|
|
if model is None:
|
|
disable_model = 1
|
|
temporal_model = 0
|
|
elif model == "yuv":
|
|
disable_model = 0
|
|
temporal_model = 0
|
|
elif model == "temporal":
|
|
disable_model = 0
|
|
temporal_model = 1
|
|
else:
|
|
raise ValueError("Bad model name: {}".format(model))
|
|
|
|
prevdir = os.getcwd()
|
|
os.chdir(_visiond_dir) # tmp hack to find kernels
|
|
os.environ['BASEDIR'] = BASEDIR
|
|
self._visiontest_c = self.clib.visiontest_create(
|
|
temporal_model, disable_model, self._input_size[0], self._input_size[1],
|
|
self._model_input_size[0], self._model_input_size[1])
|
|
os.chdir(prevdir)
|
|
|
|
@property
|
|
def input_size(self):
|
|
return self._input_size
|
|
|
|
@property
|
|
def model_input_size(self):
|
|
return self._model_input_size
|
|
|
|
def transform(self, yuv_data, transform):
|
|
y_len = self.model_input_size[0] * self.model_input_size[1]
|
|
t_y_ptr = bytearray(y_len)
|
|
t_u_ptr = bytearray(y_len // 4)
|
|
t_v_ptr = bytearray(y_len // 4)
|
|
|
|
self.transform_output_buffer(yuv_data, t_y_ptr, t_u_ptr, t_v_ptr,
|
|
transform)
|
|
|
|
return t_y_ptr, t_u_ptr, t_v_ptr
|
|
|
|
def transform_contiguous(self, yuv_data, transform):
|
|
y_ol = self.model_input_size[0] * self.model_input_size[1]
|
|
uv_ol = y_ol // 4
|
|
result = bytearray(y_ol * 3 // 2)
|
|
result_view = memoryview(result)
|
|
t_y_ptr = result_view[:y_ol]
|
|
t_u_ptr = result_view[y_ol:y_ol + uv_ol]
|
|
t_v_ptr = result_view[y_ol + uv_ol:]
|
|
|
|
self.transform_output_buffer(yuv_data, t_y_ptr, t_u_ptr, t_v_ptr,
|
|
transform)
|
|
return result
|
|
|
|
def transform_output_buffer(self, yuv_data, y_out, u_out, v_out,
|
|
transform):
|
|
assert len(yuv_data) == self.input_size[0] * self.input_size[1] * 3 / 2
|
|
|
|
cast = self.ffi.cast
|
|
from_buffer = self.ffi.from_buffer
|
|
yuv_ptr = cast("unsigned char*", from_buffer(yuv_data))
|
|
transform_ptr = self.ffi.new("float[]", transform)
|
|
|
|
y_out_ptr = cast("unsigned char*", from_buffer(y_out))
|
|
u_out_ptr = cast("unsigned char*", from_buffer(u_out))
|
|
v_out_ptr = cast("unsigned char*", from_buffer(v_out))
|
|
|
|
self.clib.visiontest_transform(self._visiontest_c, yuv_ptr, y_out_ptr,
|
|
u_out_ptr, v_out_ptr, transform_ptr)
|
|
|
|
def close(self):
|
|
self.clib.visiontest_destroy(self._visiontest_c)
|
|
self._visiontest_c = None
|
|
|
|
def __enter__(self):
|
|
return self
|
|
|
|
def __exit__(self, exc_type, exc_value, traceback):
|
|
self.close()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
VisionTest((560, 304), (320, 160), "temporal")
|
|
|