Gijs Koning
3 years ago
committed by
GitHub
parent
3444349242
commit
0df47e8325
3 changed files with 0 additions and 350 deletions
@ -1,111 +0,0 @@ |
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#include <assert.h> |
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#include <stdio.h> |
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#include <string.h> |
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#define CL_USE_DEPRECATED_OPENCL_1_2_APIS |
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#ifdef __APPLE__ |
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#include <OpenCL/cl.h> |
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#else |
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#include <CL/cl.h> |
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#endif |
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#include "selfdrive/common/clutil.h" |
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#include "selfdrive/modeld/transforms/transform.h" |
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typedef struct { |
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int disable_model; |
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Transform transform; |
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int in_width; |
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int in_height; |
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int out_width; |
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int out_height; |
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cl_context context; |
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cl_command_queue command_queue; |
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cl_device_id device_id; |
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size_t in_yuv_size; |
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cl_mem in_yuv_cl; |
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cl_mem out_y_cl, out_u_cl, out_v_cl; |
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} VisionTest; |
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void initialize_opencl(VisionTest* visiontest) { |
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// init cl
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cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_CPU); |
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visiontest->context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); |
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visiontest->device_id = device_id; |
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} |
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VisionTest* visiontest_create(int temporal_model, int disable_model, |
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int input_width, int input_height, |
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int model_input_width, int model_input_height) { |
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VisionTest* const vt = calloc(1, sizeof(*vt)); |
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assert(vt); |
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vt->disable_model = disable_model; |
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vt->in_width = input_width; |
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vt->in_height = input_height; |
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vt->out_width = model_input_width; |
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vt->out_height = model_input_height; |
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initialize_opencl(vt); |
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transform_init(&vt->transform, vt->context, vt->device_id); |
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assert((vt->in_width%2) == 0 && (vt->in_height%2) == 0); |
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vt->in_yuv_size = vt->in_width*vt->in_height*3/2; |
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vt->in_yuv_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE, |
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vt->in_yuv_size, NULL, &err)); |
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vt->out_y_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE, |
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vt->out_width*vt->out_width, NULL, &err)); |
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vt->out_u_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE, |
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vt->out_width*vt->out_width/4, NULL, &err)); |
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vt->out_v_cl = CL_CHECK_ERR(clCreateBuffer(vt->context, CL_MEM_READ_WRITE, |
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vt->out_width*vt->out_width/4, NULL, &err)); |
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vt->command_queue = CL_CHECK_ERR(clCreateCommandQueue(vt->context, vt->device_id, 0, &err)); |
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return vt; |
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} |
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void visiontest_destroy(VisionTest* vt) { |
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transform_destroy(&vt->transform); |
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CL_CHECK(clReleaseMemObject(vt->in_yuv_cl)); |
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CL_CHECK(clReleaseMemObject(vt->out_y_cl)); |
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CL_CHECK(clReleaseMemObject(vt->out_u_cl)); |
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CL_CHECK(clReleaseMemObject(vt->out_v_cl)); |
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CL_CHECK(clReleaseCommandQueue(vt->command_queue)); |
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CL_CHECK(clReleaseContext(vt->context)); |
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free(vt); |
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} |
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void visiontest_transform(VisionTest* vt, const uint8_t* yuv_data, |
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uint8_t* out_y, uint8_t* out_u, uint8_t* out_v, |
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const float* transform) { |
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CL_CHECK(clEnqueueWriteBuffer(vt->command_queue, vt->in_yuv_cl, CL_FALSE, |
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0, vt->in_yuv_size, yuv_data, 0, NULL, NULL)); |
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mat3 transform_m = *(const mat3*)transform; |
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transform_queue(&vt->transform, vt->command_queue, |
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vt->in_yuv_cl, vt->in_width, vt->in_height, |
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vt->out_y_cl, vt->out_u_cl, vt->out_v_cl, |
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vt->out_width, vt->out_height, |
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transform_m); |
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CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_y_cl, CL_FALSE, |
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0, vt->out_width*vt->out_height, out_y, |
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0, NULL, NULL)); |
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CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_u_cl, CL_FALSE, |
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0, vt->out_width*vt->out_height/4, out_u, |
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0, NULL, NULL)); |
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CL_CHECK(clEnqueueReadBuffer(vt->command_queue, vt->out_v_cl, CL_FALSE, |
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0, vt->out_width*vt->out_height/4, out_v, |
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0, NULL, NULL)); |
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clFinish(vt->command_queue); |
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} |
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@ -1,104 +0,0 @@ |
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CC:=clang
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CXX:=clang++
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OPT_FLAGS:=-O2 -g -ggdb3
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UNAME_S := $(shell uname -s)
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ifeq ($(UNAME_S),Linux) |
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SHARED_FLAGS=-Wl,--whole-archive $^ -Wl,--no-whole-archive
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endif |
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ifeq ($(UNAME_S),Darwin) |
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SHARED_FLAGS=-Wl,-force_load $^
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endif |
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PHONELIBS := ../../third_party
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BASEDIR := ../..
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WARN_FLAGS = -Werror=implicit-function-declaration \
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-Werror=incompatible-pointer-types \
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-Werror=int-conversion \
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-Werror=return-type \
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-Werror=format-extra-args
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CFLAGS = -std=gnu11 -g -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
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CXXFLAGS = -std=c++1z -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
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EIGEN_FLAGS = -I$(PHONELIBS)/eigen
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CEREAL_LIBS = $(BASEDIR)/cereal/libmessaging.a
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OPENCV_LIBS = -lopencv_video -lopencv_core -lopencv_imgproc
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ifeq ($(UNAME_S),Darwin) |
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VT_LDFLAGS += $(PHONELIBS)/capnp-c/mac/lib/libcapnp_c.a \
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$(PHONELIBS)/zmq/mac/lib/libzmq.a \
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-framework OpenCL
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OPENCV_LIBS += -L/usr/local/opt/opencv@2/lib
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OPENCV_FLAGS += -I/usr/local/opt/opencv@2/include
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else |
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VT_LDFLAGS += $(CEREAL_LIBS) \
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-L/system/vendor/lib64 \
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-L$(BASEDIR)/external/zmq/lib/ \
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-l:libzmq.a \
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-lOpenCL
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endif |
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.PHONY: all visiontest clean test |
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all: visiontest |
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libvisiontest_inputs := visiontest.c \
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transforms/transform.cc \
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transforms/loadyuv.cc \
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../common/clutil.cc \
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$(BASEDIR)/selfdrive/common/util.c \
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$(CEREAL_OBJS)
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visiontest: libvisiontest.so |
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all-tests := $(addsuffix .test, $(basename $(wildcard test_*)))
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%.o: %.cc |
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@echo "[ CXX ] $@"
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$(CXX) $(CXXFLAGS) -MMD \
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-I. -I.. -I../.. \
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-Wall \
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-I$(BASEDIR)/ -I$(BASEDIR)/selfdrive -I$(BASEDIR)/selfdrive/common \
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$(EIGEN_FLAGS) \
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$(OPENCV_FLAGS) \
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$(CEREAL_CXXFLAGS) \
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-c -o '$@' '$<'
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%.o: %.c |
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@echo "[ CXX ] $@"
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$(CC) $(CFLAGS) -MMD \
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-I. -I.. -I../.. \
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-Wall \
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-I$(BASEDIR)/ -I$(BASEDIR)/selfdrive -I$(BASEDIR)/selfdrive/common \
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$(CEREAL_CFLAGS) \
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-c -o '$@' '$<'
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libvisiontest.so: $(libvisiontest_inputs) |
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$(eval $@_TMP := $(shell mktemp))
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$(CC) -std=gnu11 -shared -fPIC -O2 -g \
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-Werror=implicit-function-declaration -Werror=incompatible-pointer-types \
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-Werror=int-conversion -Wno-pointer-to-int-cast \
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-I. \
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$^ -o $($@_TMP) \
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-I$(PHONELIBS)/opencl/include \
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-I$(BASEDIR)/selfdrive/common \
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$(CEREAL_CXXFLAGS) \
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$(CEREAL_CFLAGS) \
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-I$(BASEDIR)/external/zmq/include \
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-I$(BASEDIR)/ -I$(BASEDIR)/selfdrive \
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-lstdc++ \
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$(VT_LDFLAGS) \
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-lm -lpthread
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mv $($@_TMP) $@
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test : $(all-tests) |
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test_%.test : test_% |
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@./'$<' || echo FAIL
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clean: |
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rm -rf *.o *.so *.a
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@ -1,135 +0,0 @@ |
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import os |
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import subprocess |
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from cffi import FFI |
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from common.basedir import BASEDIR |
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# Initialize visiontest. Ignore output. |
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_visiond_dir = os.path.dirname(os.path.abspath(__file__)) |
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_libvisiontest = "libvisiontest.so" |
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try: # because this crashes sometimes when running pipeline |
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subprocess.check_output(["make", "-C", _visiond_dir, "-f", |
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os.path.join(_visiond_dir, "visiontest.mk"), |
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_libvisiontest]) |
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except Exception: |
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pass |
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class VisionTest(): |
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"""A version of the vision model that can be run on a desktop. |
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WARNING: This class is not thread safe. VisionTest objects cannot be |
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created or used on multiple threads simultaneously. |
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""" |
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ffi = FFI() |
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ffi.cdef(""" |
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typedef unsigned char uint8_t; |
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struct VisionTest; |
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typedef struct VisionTest VisionTest; |
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VisionTest* visiontest_create(int temporal_model, int disable_model, |
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int input_width, int input_height, |
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int model_input_width, int model_input_height); |
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void visiontest_destroy(VisionTest* visiontest); |
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void visiontest_transform(VisionTest* vt, const uint8_t* yuv_data, |
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uint8_t* out_y, uint8_t* out_u, uint8_t* out_v, |
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const float* transform); |
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""") |
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clib = ffi.dlopen(os.path.join(_visiond_dir, _libvisiontest)) |
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def __init__(self, input_size, model_input_size, model): |
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"""Create a wrapper around visiond for off-device python code. |
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Inputs: |
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input_size: The size of YUV images passed to transform. |
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model_input_size: The size of YUV images passed to the model. |
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model: The name of the model to use. "temporal", "yuv", or None to disable the |
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model (used to disable OpenCL). |
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""" |
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self._input_size = input_size |
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self._model_input_size = model_input_size |
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if model is None: |
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disable_model = 1 |
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temporal_model = 0 |
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elif model == "yuv": |
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disable_model = 0 |
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temporal_model = 0 |
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elif model == "temporal": |
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disable_model = 0 |
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temporal_model = 1 |
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else: |
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raise ValueError(f"Bad model name: {model}") |
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prevdir = os.getcwd() |
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os.chdir(_visiond_dir) # tmp hack to find kernels |
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os.environ['BASEDIR'] = BASEDIR |
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self._visiontest_c = self.clib.visiontest_create( |
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temporal_model, disable_model, self._input_size[0], self._input_size[1], |
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self._model_input_size[0], self._model_input_size[1]) |
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os.chdir(prevdir) |
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@property |
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def input_size(self): |
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return self._input_size |
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@property |
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def model_input_size(self): |
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return self._model_input_size |
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def transform(self, yuv_data, transform): |
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y_len = self.model_input_size[0] * self.model_input_size[1] |
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t_y_ptr = bytearray(y_len) |
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t_u_ptr = bytearray(y_len // 4) |
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t_v_ptr = bytearray(y_len // 4) |
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self.transform_output_buffer(yuv_data, t_y_ptr, t_u_ptr, t_v_ptr, |
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transform) |
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return t_y_ptr, t_u_ptr, t_v_ptr |
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def transform_contiguous(self, yuv_data, transform): |
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y_ol = self.model_input_size[0] * self.model_input_size[1] |
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uv_ol = y_ol // 4 |
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result = bytearray(y_ol * 3 // 2) |
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result_view = memoryview(result) |
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t_y_ptr = result_view[:y_ol] |
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t_u_ptr = result_view[y_ol:y_ol + uv_ol] |
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t_v_ptr = result_view[y_ol + uv_ol:] |
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self.transform_output_buffer(yuv_data, t_y_ptr, t_u_ptr, t_v_ptr, |
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transform) |
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return result |
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def transform_output_buffer(self, yuv_data, y_out, u_out, v_out, |
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transform): |
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assert len(yuv_data) == self.input_size[0] * self.input_size[1] * 3 / 2 |
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cast = self.ffi.cast |
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from_buffer = self.ffi.from_buffer |
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yuv_ptr = cast("unsigned char*", from_buffer(yuv_data)) |
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transform_ptr = self.ffi.new("float[]", transform) |
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y_out_ptr = cast("unsigned char*", from_buffer(y_out)) |
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u_out_ptr = cast("unsigned char*", from_buffer(u_out)) |
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v_out_ptr = cast("unsigned char*", from_buffer(v_out)) |
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self.clib.visiontest_transform(self._visiontest_c, yuv_ptr, y_out_ptr, |
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u_out_ptr, v_out_ptr, transform_ptr) |
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def close(self): |
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self.clib.visiontest_destroy(self._visiontest_c) |
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self._visiontest_c = None |
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def __enter__(self): |
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return self |
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def __exit__(self, exc_type, exc_value, traceback): |
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self.close() |
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if __name__ == "__main__": |
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VisionTest((560, 304), (320, 160), "temporal") |
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