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Remove visiontest files (#24219)

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old-commit-hash: 6dfdb04cb4
taco
Gijs Koning 3 years ago committed by GitHub
parent 3444349242
commit 0df47e8325
3 changed files with 0 additions and 350 deletions
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  1. 111
      selfdrive/modeld/visiontest.c
  2. 104
      selfdrive/modeld/visiontest.mk
  3. 135
      selfdrive/modeld/visiontest.py

111
selfdrive/modeld/visiontest.c
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#include <assert.h>
#include <stdio.h>
#include <string.h>
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#include "selfdrive/common/clutil.h"
#include "selfdrive/modeld/transforms/transform.h"
typedef struct {
int disable_model;
Transform transform;
int in_width;
int in_height;
int out_width;
int out_height;
cl_context context;
cl_command_queue command_queue;
cl_device_id device_id;
size_t in_yuv_size;
cl_mem in_yuv_cl;
cl_mem out_y_cl, out_u_cl, out_v_cl;
} VisionTest;
void initialize_opencl(VisionTest* visiontest) {
// init cl
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_CPU);
visiontest->context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
visiontest->device_id = device_id;
}
VisionTest* visiontest_create(int temporal_model, int disable_model,
int input_width, int input_height,
int model_input_width, int model_input_height) {
VisionTest* const vt = calloc(1, sizeof(*vt));
assert(vt);
vt->disable_model = disable_model;
vt->in_width = input_width;
vt->in_height = input_height;
vt->out_width = model_input_width;
vt->out_height = model_input_height;
initialize_opencl(vt);
transform_init(&vt->transform, vt->context, vt->device_id);
assert((vt->in_width%2) == 0 && (vt->in_height%2) == 0);
vt->in_yuv_size = vt->in_width*vt->in_height*3/2;
vt->in_yuv_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
vt->in_yuv_size, NULL, &err));
vt->out_y_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
vt->out_width*vt->out_width, NULL, &err));
vt->out_u_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
vt->out_width*vt->out_width/4, NULL, &err));
vt->out_v_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE,
vt->out_width*vt->out_width/4, NULL, &err));
vt->command_queue = CL_CHECK_ERR(clCreateCommandQueue(vt->context, vt->device_id, 0, &err));
return vt;
}
void visiontest_destroy(VisionTest* vt) {
transform_destroy(&vt->transform);
CL_CHECK(clReleaseMemObject(vt->in_yuv_cl));
CL_CHECK(clReleaseMemObject(vt->out_y_cl));
CL_CHECK(clReleaseMemObject(vt->out_u_cl));
CL_CHECK(clReleaseMemObject(vt->out_v_cl));
CL_CHECK(clReleaseCommandQueue(vt->command_queue));
CL_CHECK(clReleaseContext(vt->context));
free(vt);
}
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) {
CL_CHECK(clEnqueueWriteBuffer(vt->command_queue, vt->in_yuv_cl, CL_FALSE,
0, vt->in_yuv_size, yuv_data, 0, NULL, NULL));
mat3 transform_m = *(const mat3*)transform;
transform_queue(&vt->transform, vt->command_queue,
vt->in_yuv_cl, vt->in_width, vt->in_height,
vt->out_y_cl, vt->out_u_cl, vt->out_v_cl,
vt->out_width, vt->out_height,
transform_m);
CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_y_cl, CL_FALSE,
0, vt->out_width*vt->out_height, out_y,
0, NULL, NULL));
CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_u_cl, CL_FALSE,
0, vt->out_width*vt->out_height/4, out_u,
0, NULL, NULL));
CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_v_cl, CL_FALSE,
0, vt->out_width*vt->out_height/4, out_v,
0, NULL, NULL));
clFinish(vt->command_queue);
}

104
selfdrive/modeld/visiontest.mk
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CC:=clang
CXX:=clang++
OPT_FLAGS:=-O2 -g -ggdb3
UNAME_S := $(shell uname -s)
ifeq ($(UNAME_S),Linux)
SHARED_FLAGS=-Wl,--whole-archive $^ -Wl,--no-whole-archive
endif
ifeq ($(UNAME_S),Darwin)
SHARED_FLAGS=-Wl,-force_load $^
endif
PHONELIBS := ../../third_party
BASEDIR := ../..
WARN_FLAGS = -Werror=implicit-function-declaration \
-Werror=incompatible-pointer-types \
-Werror=int-conversion \
-Werror=return-type \
-Werror=format-extra-args
CFLAGS = -std=gnu11 -g -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
CXXFLAGS = -std=c++1z -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
EIGEN_FLAGS = -I$(PHONELIBS)/eigen
CEREAL_LIBS = $(BASEDIR)/cereal/libmessaging.a
OPENCV_LIBS = -lopencv_video -lopencv_core -lopencv_imgproc
ifeq ($(UNAME_S),Darwin)
VT_LDFLAGS += $(PHONELIBS)/capnp-c/mac/lib/libcapnp_c.a \
$(PHONELIBS)/zmq/mac/lib/libzmq.a \
-framework OpenCL
OPENCV_LIBS += -L/usr/local/opt/opencv@2/lib
OPENCV_FLAGS += -I/usr/local/opt/opencv@2/include
else
VT_LDFLAGS += $(CEREAL_LIBS) \
-L/system/vendor/lib64 \
-L$(BASEDIR)/external/zmq/lib/ \
-l:libzmq.a \
-lOpenCL
endif
.PHONY: all visiontest clean test
all: visiontest
libvisiontest_inputs := visiontest.c \
transforms/transform.cc \
transforms/loadyuv.cc \
../common/clutil.cc \
$(BASEDIR)/selfdrive/common/util.c \
$(CEREAL_OBJS)
visiontest: libvisiontest.so
all-tests := $(addsuffix .test, $(basename $(wildcard test_*)))
%.o: %.cc
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) -MMD \
-I. -I.. -I../.. \
-Wall \
-I$(BASEDIR)/ -I$(BASEDIR)/selfdrive -I$(BASEDIR)/selfdrive/common \
$(EIGEN_FLAGS) \
$(OPENCV_FLAGS) \
$(CEREAL_CXXFLAGS) \
-c -o '$@' '$<'
%.o: %.c
@echo "[ CXX ] $@"
$(CC) $(CFLAGS) -MMD \
-I. -I.. -I../.. \
-Wall \
-I$(BASEDIR)/ -I$(BASEDIR)/selfdrive -I$(BASEDIR)/selfdrive/common \
$(CEREAL_CFLAGS) \
-c -o '$@' '$<'
libvisiontest.so: $(libvisiontest_inputs)
$(eval $@_TMP := $(shell mktemp))
$(CC) -std=gnu11 -shared -fPIC -O2 -g \
-Werror=implicit-function-declaration -Werror=incompatible-pointer-types \
-Werror=int-conversion -Wno-pointer-to-int-cast \
-I. \
$^ -o $($@_TMP) \
-I$(PHONELIBS)/opencl/include \
-I$(BASEDIR)/selfdrive/common \
$(CEREAL_CXXFLAGS) \
$(CEREAL_CFLAGS) \
-I$(BASEDIR)/external/zmq/include \
-I$(BASEDIR)/ -I$(BASEDIR)/selfdrive \
-lstdc++ \
$(VT_LDFLAGS) \
-lm -lpthread
mv $($@_TMP) $@
test : $(all-tests)
test_%.test : test_%
@./'$<' || echo FAIL
clean:
rm -rf *.o *.so *.a

135
selfdrive/modeld/visiontest.py
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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: # because this crashes sometimes 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(f"Bad model name: {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")
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