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https://jihulab.com/mr-one/openpilot.git
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Comma Device
21c4dd2b41
Applied upstream commit 94a32493e (modeld_v2 chestnut support). Skipped CI workflow files (deleted in this fork). Replaced vendored tinygrad_repo with submodule commit 66ee3cfb4. Rebuilt libparams_c.so for new ModelManager/USBGPU params.
115 lines
3.3 KiB
Python
115 lines
3.3 KiB
Python
import ast, pathlib, unittest
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import numpy as np
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from PIL import Image
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from tinygrad import Tensor, Context
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from tinygrad.helpers import getenv
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from test.helpers import slow
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from extra.models.efficientnet import EfficientNet
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from extra.models.vit import ViT
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from extra.models.resnet import ResNet50
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def _load_labels():
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labels_filename = pathlib.Path(__file__).parent / 'efficientnet/imagenet1000_clsidx_to_labels.txt'
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return ast.literal_eval(labels_filename.read_text())
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_LABELS = _load_labels()
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def preprocess(img, new=False):
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# preprocess image
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aspect_ratio = img.size[0] / img.size[1]
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img = img.resize((int(224*max(aspect_ratio,1.0)), int(224*max(1.0/aspect_ratio,1.0))))
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img = np.array(img)
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y0, x0 =(np.asarray(img.shape)[:2] - 224) // 2
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img = img[y0: y0 + 224, x0: x0 + 224]
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# low level preprocess
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if new:
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img = img.astype(np.float32)
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img -= [127.0, 127.0, 127.0]
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img /= [128.0, 128.0, 128.0]
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img = img[None]
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else:
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img = np.moveaxis(img, [2, 0, 1], [0, 1, 2])
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img = img.astype(np.float32)[:3].reshape(1, 3, 224, 224)
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img /= 255.0
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img -= np.array([0.485, 0.456, 0.406]).reshape((1, -1, 1, 1))
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img /= np.array([0.229, 0.224, 0.225]).reshape((1, -1, 1, 1))
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return img
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def _infer(model: EfficientNet, img):
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with Context(TRAINING=0):
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out = model.forward(Tensor(img)).argmax(axis=-1)
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return out.tolist()
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chicken_img = preprocess(Image.open(pathlib.Path(__file__).parent / 'efficientnet/Chicken.jpg'))
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car_img = preprocess(Image.open(pathlib.Path(__file__).parent / 'efficientnet/car.jpg'))
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class TestEfficientNet(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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cls.model = EfficientNet(number=getenv("NUM"))
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cls.model.load_from_pretrained()
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@classmethod
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def tearDownClass(cls):
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del cls.model
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@slow
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def test_chicken(self):
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labels = _infer(self.model, chicken_img)
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self.assertEqual(_LABELS[labels[0]], "hen")
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@slow
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def test_car(self):
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labels = _infer(self.model, car_img)
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self.assertEqual(_LABELS[labels[0]], "sports car, sport car")
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def test_chicken_car(self):
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labels = _infer(self.model, np.concatenate([chicken_img, car_img], axis=0))
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self.assertEqual(_LABELS[labels[0]], "hen")
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self.assertEqual(_LABELS[labels[1]], "sports car, sport car")
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@unittest.skip("these pretrained models are no longer available")
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class TestViT(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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cls.model = ViT()
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cls.model.load_from_pretrained()
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@classmethod
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def tearDownClass(cls):
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del cls.model
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def test_chicken(self):
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labels = _infer(self.model, chicken_img)
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self.assertEqual(_LABELS[labels[0]], "cock")
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def test_car(self):
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labels = _infer(self.model, car_img)
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self.assertEqual(_LABELS[labels[0]], "racer, race car, racing car")
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class TestResNet(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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cls.model = ResNet50()
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cls.model.load_from_pretrained()
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@classmethod
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def tearDownClass(cls):
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del cls.model
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def test_chicken(self):
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labels = _infer(self.model, chicken_img)
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# NOTE: logits for these two are close
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self.assertIn(_LABELS[labels[0]], ("hen", "cock"))
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def test_car(self):
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labels = _infer(self.model, car_img)
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self.assertEqual(_LABELS[labels[0]], "sports car, sport car")
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if __name__ == '__main__':
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unittest.main()
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