ZwX1616
1 year ago
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b02a0e19db
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1d574673a1
1 changed files with 0 additions and 196 deletions
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#!/usr/bin/env python3 |
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import os |
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import sys |
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import bz2 |
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import numpy as np |
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import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl` |
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from openpilot.system.hardware import PC, TICI |
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from openpilot.common.basedir import BASEDIR |
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from openpilot.tools.lib.openpilotci import BASE_URL |
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from openpilot.common.git import get_commit |
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from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb |
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from openpilot.tools.lib.logreader import LogReader |
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from openpilot.tools.lib.filereader import FileReader |
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TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0" |
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FRAME_WIDTH = 1928 |
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FRAME_HEIGHT = 1208 |
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FRAME_STRIDE = 2896 |
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UV_WIDTH = FRAME_WIDTH // 2 |
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UV_HEIGHT = FRAME_HEIGHT // 2 |
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UV_SIZE = UV_WIDTH * UV_HEIGHT |
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def get_frame_fn(ref_commit, test_route, tici=True): |
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return f"{test_route}_debayer{'_tici' if tici else ''}_{ref_commit}.bz2" |
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def bzip_frames(frames): |
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data = b'' |
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for y, u, v in frames: |
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data += y.tobytes() |
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data += u.tobytes() |
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data += v.tobytes() |
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return bz2.compress(data) |
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def unbzip_frames(url): |
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with FileReader(url) as f: |
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dat = f.read() |
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data = bz2.decompress(dat) |
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res = [] |
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for y_start in range(0, len(data), FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2): |
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u_start = y_start + FRAME_WIDTH * FRAME_HEIGHT |
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v_start = u_start + UV_SIZE |
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y = np.frombuffer(data[y_start: u_start], dtype=np.uint8).reshape((FRAME_HEIGHT, FRAME_WIDTH)) |
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u = np.frombuffer(data[u_start: v_start], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH)) |
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v = np.frombuffer(data[v_start: v_start + UV_SIZE], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH)) |
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res.append((y, u, v)) |
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return res |
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def init_kernels(frame_offset=0): |
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ctx = cl.create_some_context(interactive=False) |
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with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f: |
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build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \ |
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f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0' |
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if PC: |
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build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0' |
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debayer_prg = cl.Program(ctx, f.read()).build(options=build_args) |
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return ctx, debayer_prg |
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def debayer_frame(ctx, debayer_prg, data, rgb=False): |
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q = cl.CommandQueue(ctx) |
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yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8) |
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cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data) |
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yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2) |
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local_worksize = (20, 20) if TICI else (4, 4) |
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ev1 = debayer_prg.debayer10(q, (UV_WIDTH, UV_HEIGHT), local_worksize, cam_g, yuv_g) |
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cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait() |
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cl.enqueue_barrier(q) |
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y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH)) |
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u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT:FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE].reshape((UV_HEIGHT, UV_WIDTH)) |
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v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE:].reshape((UV_HEIGHT, UV_WIDTH)) |
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if rgb: |
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return yuv_to_rgb(y, u, v) |
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else: |
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return y, u, v |
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def debayer_replay(lr): |
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ctx, debayer_prg = init_kernels() |
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frames = [] |
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for m in lr: |
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if m.which() == 'roadCameraState': |
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cs = m.roadCameraState |
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if cs.image: |
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data = np.frombuffer(cs.image, dtype=np.uint8) |
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img = debayer_frame(ctx, debayer_prg, data) |
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frames.append(img) |
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return frames |
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if __name__ == "__main__": |
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update = "--update" in sys.argv |
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replay_dir = os.path.dirname(os.path.abspath(__file__)) |
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ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit") |
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# load logs |
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lr = list(LogReader(TEST_ROUTE)) |
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# run replay |
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frames = debayer_replay(lr) |
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# get diff |
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failed = False |
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diff = '' |
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yuv_i = ['y', 'u', 'v'] |
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if not update: |
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with open(ref_commit_fn) as f: |
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ref_commit = f.read().strip() |
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frame_fn = get_frame_fn(ref_commit, TEST_ROUTE, tici=TICI) |
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try: |
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cmp_frames = unbzip_frames(BASE_URL + frame_fn) |
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if len(frames) != len(cmp_frames): |
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failed = True |
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diff += 'amount of frames not equal\n' |
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for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames, strict=True)): |
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for j in range(3): |
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fr = frame[j] |
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cmp_f = cmp_frame[j] |
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if fr.shape != cmp_f.shape: |
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failed = True |
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diff += f'frame shapes not equal for ({i}, {yuv_i[j]})\n' |
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diff += f'{ref_commit}: {cmp_f.shape}\n' |
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diff += f'HEAD: {fr.shape}\n' |
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elif not np.array_equal(fr, cmp_f): |
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failed = True |
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if np.allclose(fr, cmp_f, atol=1): |
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diff += f'frames not equal for ({i}, {yuv_i[j]}), but are all close\n' |
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else: |
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diff += f'frames not equal for ({i}, {yuv_i[j]})\n' |
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frame_diff = np.abs(np.subtract(fr, cmp_f)) |
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diff_len = len(np.nonzero(frame_diff)[0]) |
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if diff_len > 10000: |
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diff += f'different at a large amount of pixels ({diff_len})\n' |
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else: |
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diff += 'different at (frame, yuv, pixel, ref, HEAD):\n' |
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for k in zip(*np.nonzero(frame_diff), strict=True): |
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diff += f'{i}, {yuv_i[j]}, {k}, {cmp_f[k]}, {fr[k]}\n' |
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if failed: |
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print(diff) |
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with open("debayer_diff.txt", "w") as f: |
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f.write(diff) |
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except Exception as e: |
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print(str(e)) |
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failed = True |
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# upload new refs |
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if update or (failed and TICI): |
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from openpilot.tools.lib.openpilotci import upload_file |
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print("Uploading new refs") |
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frames_bzip = bzip_frames(frames) |
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new_commit = get_commit() |
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frame_fn = os.path.join(replay_dir, get_frame_fn(new_commit, TEST_ROUTE, tici=TICI)) |
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with open(frame_fn, "wb") as f2: |
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f2.write(frames_bzip) |
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try: |
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upload_file(frame_fn, os.path.basename(frame_fn)) |
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except Exception as e: |
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print("failed to upload", e) |
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if update: |
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with open(ref_commit_fn, 'w') as f: |
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f.write(str(new_commit)) |
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print("\nNew ref commit: ", new_commit) |
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sys.exit(int(failed)) |
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