From 9da9b773eba344e9e59aeaa8a2c0235aadbd1f44 Mon Sep 17 00:00:00 2001 From: Joost Wooning Date: Thu, 5 May 2022 16:05:37 +0200 Subject: [PATCH] test for comparing debayer results to ref commit (#24420) * test for comparing debayering results to ref commit * fix run on device * print more useful diff * limit to diff output * remove env var * ref * more useful diff * use real local work size * remove pyopencl install * update ref * include rgb_to_yuv * fix diff * get kernel build out of loop Co-authored-by: Comma Device --- .../process_replay/debayer_replay_ref_commit | 1 + selfdrive/test/process_replay/test_debayer.py | 205 ++++++++++++++++++ 2 files changed, 206 insertions(+) create mode 100644 selfdrive/test/process_replay/debayer_replay_ref_commit create mode 100755 selfdrive/test/process_replay/test_debayer.py diff --git a/selfdrive/test/process_replay/debayer_replay_ref_commit b/selfdrive/test/process_replay/debayer_replay_ref_commit new file mode 100644 index 0000000000..44fe33001c --- /dev/null +++ b/selfdrive/test/process_replay/debayer_replay_ref_commit @@ -0,0 +1 @@ +1f9907122a9bda9279d73f698addaa0e22796059 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py new file mode 100755 index 0000000000..17fa9afd63 --- /dev/null +++ b/selfdrive/test/process_replay/test_debayer.py @@ -0,0 +1,205 @@ +#!/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 selfdrive.hardware import PC, TICI +from common.basedir import BASEDIR +from selfdrive.test.openpilotci import BASE_URL, get_url +from selfdrive.version import get_commit +from tools.lib.logreader import LogReader +from tools.lib.filereader import FileReader + +TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33" +SEGMENT = 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 = bytes() + 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(): + ctx = cl.create_some_context() + + with open(os.path.join(BASEDIR, 'selfdrive/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} -DCAM_NUM=0' + if PC: + build_args += ' -DHALF_AS_FLOAT=1' + debayer_prg = cl.Program(ctx, f.read()).build(options=build_args) + + with open(os.path.join(BASEDIR, 'selfdrive/camerad/transforms/rgb_to_yuv.cl')) as f: + build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -DWIDTH={FRAME_WIDTH} -DHEIGHT={FRAME_HEIGHT}' + \ + f' -DUV_WIDTH={UV_WIDTH} -DUV_HEIGHT={UV_HEIGHT} -DRGB_STRIDE={FRAME_WIDTH*3}' + \ + f' -DRGB_SIZE={FRAME_WIDTH*FRAME_HEIGHT}' + rgb_to_yuv_prg = cl.Program(ctx, f.read()).build(options=build_args) + + return ctx, debayer_prg, rgb_to_yuv_prg + +def debayer_frame(ctx, debayer_prg, rgb_to_yuv_prg, data): + q = cl.CommandQueue(ctx) + + rgb_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT * 3, dtype=np.uint8) + 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) + rgb_wg = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT * 3) + yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2) + + local_worksize = (16, 16) if TICI else (8, 8) + local_mem = cl.LocalMemory(648 if TICI else 400) + ev1 = debayer_prg.debayer10(q, (FRAME_WIDTH, FRAME_HEIGHT), local_worksize, cam_g, rgb_wg, local_mem, np.float32(42)) + cl.enqueue_copy(q, rgb_buff, rgb_wg, wait_for=[ev1]).wait() + cl.enqueue_barrier(q) + + rgb_rg = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=rgb_buff) + cl.enqueue_barrier(q) + + ev3 = rgb_to_yuv_prg.rgb_to_yuv(q, (FRAME_WIDTH // 4, FRAME_HEIGHT // 4), None, rgb_rg, yuv_g) + cl.enqueue_barrier(q) + + cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev3]).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)) + + return y, u, v + +def debayer_replay(lr): + ctx, debayer_prg, rgb_to_yuv_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, rgb_to_yuv_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(get_url(TEST_ROUTE, SEGMENT))) + + # 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)): + 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 > 1000: + 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)): + 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: + from selfdrive.test.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))