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98 lines
3.2 KiB
98 lines
3.2 KiB
import os
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import numpy as np
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import hashlib
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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.common.transformations.camera import DEVICE_CAMERAS
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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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# TODO: check all sensors
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TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
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cam = DEVICE_CAMERAS[("tici", "ar0231")]
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FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height)
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FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4
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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 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/process_raw.cl')) as f:
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build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \
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f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \
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f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \
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' -DSENSOR_ID=1 -DVIGNETTING=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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imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args)
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return ctx, imgproc_prg
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def proc_frame(ctx, imgproc_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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krn = imgproc_prg.process_raw
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krn.set_scalar_arg_dtypes([None, None, np.int32])
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local_worksize = (20, 20) if TICI else (4, 4)
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ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1)
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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::2].reshape((UV_HEIGHT, UV_WIDTH))
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v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].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 imgproc_replay(lr):
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ctx, imgproc_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 = proc_frame(ctx, imgproc_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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# load logs
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lr = list(LogReader(TEST_ROUTE))
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# run replay
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out_frames = imgproc_replay(lr)
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all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames])
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pix_hash = hashlib.sha1(all_pix).hexdigest()
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with open('imgproc_replay_ref_hash') as f:
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ref_hash = f.read()
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if pix_hash != ref_hash:
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print("result changed! please check kernel")
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print(f"ref: {ref_hash}")
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print(f"new: {pix_hash}")
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else:
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print("test passed")
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