From 1d574673a16cc31b7a255609e07775c3579eef15 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 10 Apr 2024 16:30:35 -0700 Subject: [PATCH] not anymore relevant --- selfdrive/test/process_replay/test_debayer.py | 196 ------------------ 1 file changed, 196 deletions(-) delete mode 100755 selfdrive/test/process_replay/test_debayer.py diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py deleted file mode 100755 index 805d73db88..0000000000 --- a/selfdrive/test/process_replay/test_debayer.py +++ /dev/null @@ -1,196 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import bz2 -import numpy as np - -import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl` - -from openpilot.system.hardware import PC, TICI -from openpilot.common.basedir import BASEDIR -from openpilot.tools.lib.openpilotci import BASE_URL -from openpilot.common.git import get_commit -from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.filereader import FileReader - -TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0" - -FRAME_WIDTH = 1928 -FRAME_HEIGHT = 1208 -FRAME_STRIDE = 2896 - -UV_WIDTH = FRAME_WIDTH // 2 -UV_HEIGHT = FRAME_HEIGHT // 2 -UV_SIZE = UV_WIDTH * UV_HEIGHT - - -def get_frame_fn(ref_commit, test_route, tici=True): - return f"{test_route}_debayer{'_tici' if tici else ''}_{ref_commit}.bz2" - - -def bzip_frames(frames): - data = b'' - for y, u, v in frames: - data += y.tobytes() - data += u.tobytes() - data += v.tobytes() - return bz2.compress(data) - - -def unbzip_frames(url): - with FileReader(url) as f: - dat = f.read() - - data = bz2.decompress(dat) - - res = [] - for y_start in range(0, len(data), FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2): - u_start = y_start + FRAME_WIDTH * FRAME_HEIGHT - v_start = u_start + UV_SIZE - - y = np.frombuffer(data[y_start: u_start], dtype=np.uint8).reshape((FRAME_HEIGHT, FRAME_WIDTH)) - u = np.frombuffer(data[u_start: v_start], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH)) - v = np.frombuffer(data[v_start: v_start + UV_SIZE], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH)) - - res.append((y, u, v)) - - return res - - -def init_kernels(frame_offset=0): - ctx = cl.create_some_context(interactive=False) - - with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f: - build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \ - f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0' - if PC: - build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0' - debayer_prg = cl.Program(ctx, f.read()).build(options=build_args) - - return ctx, debayer_prg - -def debayer_frame(ctx, debayer_prg, data, rgb=False): - q = cl.CommandQueue(ctx) - - yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8) - - cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data) - yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2) - - local_worksize = (20, 20) if TICI else (4, 4) - ev1 = debayer_prg.debayer10(q, (UV_WIDTH, UV_HEIGHT), local_worksize, cam_g, yuv_g) - cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait() - cl.enqueue_barrier(q) - - y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH)) - u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT:FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE].reshape((UV_HEIGHT, UV_WIDTH)) - v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE:].reshape((UV_HEIGHT, UV_WIDTH)) - - if rgb: - return yuv_to_rgb(y, u, v) - else: - return y, u, v - - -def debayer_replay(lr): - ctx, debayer_prg = init_kernels() - - frames = [] - for m in lr: - if m.which() == 'roadCameraState': - cs = m.roadCameraState - if cs.image: - data = np.frombuffer(cs.image, dtype=np.uint8) - img = debayer_frame(ctx, debayer_prg, data) - - frames.append(img) - - return frames - - -if __name__ == "__main__": - update = "--update" in sys.argv - replay_dir = os.path.dirname(os.path.abspath(__file__)) - ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit") - - # load logs - lr = list(LogReader(TEST_ROUTE)) - - # run replay - frames = debayer_replay(lr) - - # get diff - failed = False - diff = '' - yuv_i = ['y', 'u', 'v'] - if not update: - with open(ref_commit_fn) as f: - ref_commit = f.read().strip() - frame_fn = get_frame_fn(ref_commit, TEST_ROUTE, tici=TICI) - - try: - cmp_frames = unbzip_frames(BASE_URL + frame_fn) - - if len(frames) != len(cmp_frames): - failed = True - diff += 'amount of frames not equal\n' - - for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames, strict=True)): - for j in range(3): - fr = frame[j] - cmp_f = cmp_frame[j] - if fr.shape != cmp_f.shape: - failed = True - diff += f'frame shapes not equal for ({i}, {yuv_i[j]})\n' - diff += f'{ref_commit}: {cmp_f.shape}\n' - diff += f'HEAD: {fr.shape}\n' - elif not np.array_equal(fr, cmp_f): - failed = True - if np.allclose(fr, cmp_f, atol=1): - diff += f'frames not equal for ({i}, {yuv_i[j]}), but are all close\n' - else: - diff += f'frames not equal for ({i}, {yuv_i[j]})\n' - - frame_diff = np.abs(np.subtract(fr, cmp_f)) - diff_len = len(np.nonzero(frame_diff)[0]) - if diff_len > 10000: - diff += f'different at a large amount of pixels ({diff_len})\n' - else: - diff += 'different at (frame, yuv, pixel, ref, HEAD):\n' - for k in zip(*np.nonzero(frame_diff), strict=True): - diff += f'{i}, {yuv_i[j]}, {k}, {cmp_f[k]}, {fr[k]}\n' - - if failed: - print(diff) - with open("debayer_diff.txt", "w") as f: - f.write(diff) - except Exception as e: - print(str(e)) - failed = True - - # upload new refs - if update or (failed and TICI): - from openpilot.tools.lib.openpilotci import upload_file - - print("Uploading new refs") - - frames_bzip = bzip_frames(frames) - - new_commit = get_commit() - frame_fn = os.path.join(replay_dir, get_frame_fn(new_commit, TEST_ROUTE, tici=TICI)) - with open(frame_fn, "wb") as f2: - f2.write(frames_bzip) - - try: - upload_file(frame_fn, os.path.basename(frame_fn)) - except Exception as e: - print("failed to upload", e) - - if update: - with open(ref_commit_fn, 'w') as f: - f.write(str(new_commit)) - - print("\nNew ref commit: ", new_commit) - - sys.exit(int(failed))