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test_debayer.py some PC fixes (#24449)

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* test_debayer.py some PC fixes

* fix rgb shape
This commit is contained in:
Willem Melching
2022-05-06 16:32:44 +02:00
committed by GitHub
parent e6f9f12d1c
commit 85975e3dd9
2 changed files with 18 additions and 7 deletions
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selfdrive/test/process_replay/.gitignore
+1
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@@ -1 +1,2 @@
fakedata/
debayer_diff.txt
selfdrive/test/process_replay/test_debayer.py
+17 -7
View File
@@ -24,9 +24,11 @@ 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:
@@ -35,6 +37,7 @@ def bzip_frames(frames):
data += v.tobytes()
return bz2.compress(data)
def unbzip_frames(url):
with FileReader(url) as f:
dat = f.read()
@@ -54,14 +57,15 @@ def unbzip_frames(url):
return res
def init_kernels():
ctx = cl.create_some_context()
def init_kernels(frame_offset=0):
ctx = cl.create_some_context(interactive=False)
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'
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'
build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
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:
@@ -72,7 +76,8 @@ def init_kernels():
return ctx, debayer_prg, rgb_to_yuv_prg
def debayer_frame(ctx, debayer_prg, rgb_to_yuv_prg, data):
def debayer_frame(ctx, debayer_prg, rgb_to_yuv_prg, data, rgb=False):
q = cl.CommandQueue(ctx)
rgb_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT * 3, dtype=np.uint8)
@@ -101,7 +106,11 @@ def debayer_frame(ctx, debayer_prg, rgb_to_yuv_prg, data):
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
if rgb:
return rgb_buff.reshape((FRAME_HEIGHT, FRAME_WIDTH, 3))[:, :, (2, 1, 0)]
else:
return y, u, v
def debayer_replay(lr):
ctx, debayer_prg, rgb_to_yuv_prg = init_kernels()
@@ -118,6 +127,7 @@ def debayer_replay(lr):
return frames
if __name__ == "__main__":
update = "--update" in sys.argv
replay_dir = os.path.dirname(os.path.abspath(__file__))
@@ -179,7 +189,7 @@ if __name__ == "__main__":
failed = True
# upload new refs
if update or failed:
if update or (failed and TICI):
from selfdrive.test.openpilotci import upload_file
print("Uploading new refs")