Run yapf on all python files in the repo
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I221e04c3f517fab8535b22551553799e0fee7a80
diff --git a/y2020/vision/sift/demo_sift_training.py b/y2020/vision/sift/demo_sift_training.py
index 67874c9..4e9c306 100644
--- a/y2020/vision/sift/demo_sift_training.py
+++ b/y2020/vision/sift/demo_sift_training.py
@@ -8,87 +8,89 @@
import frc971.vision.sift.TrainingData as TrainingData
import frc971.vision.sift.Feature as Feature
+
def main():
- image4_cleaned_path = sys.argv[1]
- output_path = sys.argv[2]
+ image4_cleaned_path = sys.argv[1]
+ output_path = sys.argv[2]
- image4_cleaned = cv2.imread(image4_cleaned_path)
+ image4_cleaned = cv2.imread(image4_cleaned_path)
- image = cv2.cvtColor(image4_cleaned, cv2.COLOR_BGR2GRAY)
- image = cv2.resize(image, (640, 480))
- sift = cv2.SIFT_create()
- keypoints, descriptors = sift.detectAndCompute(image, None)
+ image = cv2.cvtColor(image4_cleaned, cv2.COLOR_BGR2GRAY)
+ image = cv2.resize(image, (640, 480))
+ sift = cv2.SIFT_create()
+ keypoints, descriptors = sift.detectAndCompute(image, None)
- fbb = flatbuffers.Builder(0)
+ fbb = flatbuffers.Builder(0)
- features_vector = []
+ features_vector = []
- for keypoint, descriptor in zip(keypoints, descriptors):
- Feature.FeatureStartDescriptorVector(fbb, len(descriptor))
- for n in reversed(descriptor):
- assert n == round(n)
- fbb.PrependUint8(int(round(n)))
- descriptor_vector = fbb.EndVector()
+ for keypoint, descriptor in zip(keypoints, descriptors):
+ Feature.FeatureStartDescriptorVector(fbb, len(descriptor))
+ for n in reversed(descriptor):
+ assert n == round(n)
+ fbb.PrependUint8(int(round(n)))
+ descriptor_vector = fbb.EndVector()
- Feature.FeatureStart(fbb)
+ Feature.FeatureStart(fbb)
- Feature.FeatureAddDescriptor(fbb, descriptor_vector)
- Feature.FeatureAddX(fbb, keypoint.pt[0])
- Feature.FeatureAddY(fbb, keypoint.pt[1])
- Feature.FeatureAddSize(fbb, keypoint.size)
- Feature.FeatureAddAngle(fbb, keypoint.angle)
- Feature.FeatureAddResponse(fbb, keypoint.response)
- Feature.FeatureAddOctave(fbb, keypoint.octave)
+ Feature.FeatureAddDescriptor(fbb, descriptor_vector)
+ Feature.FeatureAddX(fbb, keypoint.pt[0])
+ Feature.FeatureAddY(fbb, keypoint.pt[1])
+ Feature.FeatureAddSize(fbb, keypoint.size)
+ Feature.FeatureAddAngle(fbb, keypoint.angle)
+ Feature.FeatureAddResponse(fbb, keypoint.response)
+ Feature.FeatureAddOctave(fbb, keypoint.octave)
- features_vector.append(Feature.FeatureEnd(fbb))
+ features_vector.append(Feature.FeatureEnd(fbb))
- TrainingImage.TrainingImageStartFeaturesVector(fbb, len(features_vector))
- for feature in reversed(features_vector):
- fbb.PrependUOffsetTRelative(feature)
- features_vector_table = fbb.EndVector()
+ TrainingImage.TrainingImageStartFeaturesVector(fbb, len(features_vector))
+ for feature in reversed(features_vector):
+ fbb.PrependUOffsetTRelative(feature)
+ features_vector_table = fbb.EndVector()
- TrainingImage.TrainingImageStart(fbb)
- TrainingImage.TrainingImageAddFeatures(fbb, features_vector_table)
- # TODO(Brian): Fill out the transformation matrices.
- training_image_offset = TrainingImage.TrainingImageEnd(fbb)
+ TrainingImage.TrainingImageStart(fbb)
+ TrainingImage.TrainingImageAddFeatures(fbb, features_vector_table)
+ # TODO(Brian): Fill out the transformation matrices.
+ training_image_offset = TrainingImage.TrainingImageEnd(fbb)
- TrainingData.TrainingDataStartImagesVector(fbb, 1)
- fbb.PrependUOffsetTRelative(training_image_offset)
- images_offset = fbb.EndVector()
+ TrainingData.TrainingDataStartImagesVector(fbb, 1)
+ fbb.PrependUOffsetTRelative(training_image_offset)
+ images_offset = fbb.EndVector()
- TrainingData.TrainingDataStart(fbb)
- TrainingData.TrainingDataAddImages(fbb, images_offset)
- fbb.Finish(TrainingData.TrainingDataEnd(fbb))
+ TrainingData.TrainingDataStart(fbb)
+ TrainingData.TrainingDataAddImages(fbb, images_offset)
+ fbb.Finish(TrainingData.TrainingDataEnd(fbb))
- bfbs = fbb.Output()
+ bfbs = fbb.Output()
- output_prefix = [
- b'#ifndef Y2020_VISION_SIFT_DEMO_SIFT_H_',
- b'#define Y2020_VISION_SIFT_DEMO_SIFT_H_',
- b'#include <string_view>',
- b'namespace frc971 {',
- b'namespace vision {',
- b'inline std::string_view DemoSiftData() {',
- ]
- output_suffix = [
- b' return std::string_view(kData, sizeof(kData));',
- b'}',
- b'} // namespace vision',
- b'} // namespace frc971',
- b'#endif // Y2020_VISION_SIFT_DEMO_SIFT_H_',
- ]
+ output_prefix = [
+ b'#ifndef Y2020_VISION_SIFT_DEMO_SIFT_H_',
+ b'#define Y2020_VISION_SIFT_DEMO_SIFT_H_',
+ b'#include <string_view>',
+ b'namespace frc971 {',
+ b'namespace vision {',
+ b'inline std::string_view DemoSiftData() {',
+ ]
+ output_suffix = [
+ b' return std::string_view(kData, sizeof(kData));',
+ b'}',
+ b'} // namespace vision',
+ b'} // namespace frc971',
+ b'#endif // Y2020_VISION_SIFT_DEMO_SIFT_H_',
+ ]
- with open(output_path, 'wb') as output:
- for line in output_prefix:
- output.write(line)
- output.write(b'\n')
- output.write(b'alignas(64) static constexpr char kData[] = "')
- for byte in fbb.Output():
- output.write(b'\\x' + (b'%x' % byte).zfill(2))
- output.write(b'";\n')
- for line in output_suffix:
- output.write(line)
- output.write(b'\n')
+ with open(output_path, 'wb') as output:
+ for line in output_prefix:
+ output.write(line)
+ output.write(b'\n')
+ output.write(b'alignas(64) static constexpr char kData[] = "')
+ for byte in fbb.Output():
+ output.write(b'\\x' + (b'%x' % byte).zfill(2))
+ output.write(b'";\n')
+ for line in output_suffix:
+ output.write(line)
+ output.write(b'\n')
+
if __name__ == '__main__':
- main()
+ main()
diff --git a/y2020/vision/sift/fast_gaussian_runner.py b/y2020/vision/sift/fast_gaussian_runner.py
index d812f3f..9767300 100755
--- a/y2020/vision/sift/fast_gaussian_runner.py
+++ b/y2020/vision/sift/fast_gaussian_runner.py
@@ -8,190 +8,211 @@
from bazel_tools.tools.python.runfiles import runfiles
+
def main(params):
- r = runfiles.Create()
- generator = r.Rlocation('org_frc971/y2020/vision/sift/fast_gaussian_generator')
+ r = runfiles.Create()
+ generator = r.Rlocation(
+ 'org_frc971/y2020/vision/sift/fast_gaussian_generator')
- ruledir = sys.argv[2]
- target_cpu = sys.argv[3]
+ ruledir = sys.argv[2]
+ target_cpu = sys.argv[3]
- target = {
- 'aarch64': 'arm-64-linux-no_asserts',
- 'armv7': 'arm-32-linux-no_asserts',
- 'k8': 'x86-64-linux-no_asserts',
- }[target_cpu]
+ target = {
+ 'aarch64': 'arm-64-linux-no_asserts',
+ 'armv7': 'arm-32-linux-no_asserts',
+ 'k8': 'x86-64-linux-no_asserts',
+ }[target_cpu]
- commands = []
+ commands = []
- amd64_debian_sysroot = r.Rlocation('amd64_debian_sysroot/usr/lib/x86_64-linux-gnu/libc.so.6').rsplit('/', 4)[0]
- env = os.environ.copy()
- env['LD_LIBRARY_PATH'] = ':'.join([
- # TODO(brian): Figure this out again. It is a bit aggressive.
- #amd64_debian_sysroot + '/lib/x86_64-linux-gnu',
- #amd64_debian_sysroot + '/lib',
- #amd64_debian_sysroot + '/usr/lib/x86_64-linux-gnu',
- #amd64_debian_sysroot + '/usr/lib',
- ])
+ amd64_debian_sysroot = r.Rlocation(
+ 'amd64_debian_sysroot/usr/lib/x86_64-linux-gnu/libc.so.6').rsplit(
+ '/', 4)[0]
+ env = os.environ.copy()
+ env['LD_LIBRARY_PATH'] = ':'.join([
+ # TODO(brian): Figure this out again. It is a bit aggressive.
+ #amd64_debian_sysroot + '/lib/x86_64-linux-gnu',
+ #amd64_debian_sysroot + '/lib',
+ #amd64_debian_sysroot + '/usr/lib/x86_64-linux-gnu',
+ #amd64_debian_sysroot + '/usr/lib',
+ ])
- all_header = [
- '#ifndef Y2020_VISION_SIFT_FAST_GAUSSIAN_ALL_H_',
- '#define Y2020_VISION_SIFT_FAST_GAUSSIAN_ALL_H_',
- '#include "HalideBuffer.h"',
- ]
+ all_header = [
+ '#ifndef Y2020_VISION_SIFT_FAST_GAUSSIAN_ALL_H_',
+ '#define Y2020_VISION_SIFT_FAST_GAUSSIAN_ALL_H_',
+ '#include "HalideBuffer.h"',
+ ]
- for cols, rows in params['sizes']:
- for sigma, sigma_name, filter_width in params['sigmas']:
- name = "fast_gaussian_%dx%d_%s" % (cols, rows, sigma_name)
+ for cols, rows in params['sizes']:
+ for sigma, sigma_name, filter_width in params['sigmas']:
+ name = "fast_gaussian_%dx%d_%s" % (cols, rows, sigma_name)
- commands.append([
- generator,
- '-g', 'gaussian_generator',
- '-o', ruledir,
- '-f', name,
- '-e', 'o,h,html',
- 'target=%s-no_runtime' % target,
- 'cols=%s' % cols,
- 'rows=%s' % rows,
- 'sigma=%s' % sigma,
- 'filter_width=%s' % filter_width,
- ])
- all_header += [
- '#include "y2020/vision/sift/%s.h"' % name,
- ]
+ commands.append([
+ generator,
+ '-g',
+ 'gaussian_generator',
+ '-o',
+ ruledir,
+ '-f',
+ name,
+ '-e',
+ 'o,h,html',
+ 'target=%s-no_runtime' % target,
+ 'cols=%s' % cols,
+ 'rows=%s' % rows,
+ 'sigma=%s' % sigma,
+ 'filter_width=%s' % filter_width,
+ ])
+ all_header += [
+ '#include "y2020/vision/sift/%s.h"' % name,
+ ]
- name = "fast_gaussian_subtract_%dx%d_%s" % (cols, rows, sigma_name)
+ name = "fast_gaussian_subtract_%dx%d_%s" % (cols, rows, sigma_name)
- commands.append([
- generator,
- '-g', 'gaussian_and_subtract_generator',
- '-o', ruledir,
- '-f', name,
- '-e', 'o,h,html',
- 'target=%s-no_runtime' % target,
- 'cols=%s' % cols,
- 'rows=%s' % rows,
- 'sigma=%s' % sigma,
- 'filter_width=%s' % filter_width,
- ])
- all_header += [
- '#include "y2020/vision/sift/%s.h"' % name,
- ]
+ commands.append([
+ generator,
+ '-g',
+ 'gaussian_and_subtract_generator',
+ '-o',
+ ruledir,
+ '-f',
+ name,
+ '-e',
+ 'o,h,html',
+ 'target=%s-no_runtime' % target,
+ 'cols=%s' % cols,
+ 'rows=%s' % rows,
+ 'sigma=%s' % sigma,
+ 'filter_width=%s' % filter_width,
+ ])
+ all_header += [
+ '#include "y2020/vision/sift/%s.h"' % name,
+ ]
- name = 'fast_subtract_%dx%d' % (cols, rows)
+ name = 'fast_subtract_%dx%d' % (cols, rows)
+ commands.append([
+ generator,
+ '-g',
+ 'subtract_generator',
+ '-o',
+ ruledir,
+ '-f',
+ name,
+ '-e',
+ 'o,h,html',
+ 'target=%s-no_runtime' % target,
+ 'cols=%s' % cols,
+ 'rows=%s' % rows,
+ ])
+ all_header += [
+ '#include "y2020/vision/sift/%s.h"' % name,
+ ]
commands.append([
generator,
- '-g', 'subtract_generator',
- '-o', ruledir,
- '-f', name,
- '-e', 'o,h,html',
- 'target=%s-no_runtime' % target,
- 'cols=%s' % cols,
- 'rows=%s' % rows,
+ '-r',
+ 'fast_gaussian_runtime',
+ '-o',
+ ruledir,
+ '-e',
+ 'o',
+ 'target=%s' % target,
])
+
all_header += [
- '#include "y2020/vision/sift/%s.h"' % name,
+ 'namespace frc971 {',
+ 'namespace vision {',
+ '// 0 is success. 1 is non-implemented size. Negative is a Halide error.',
+ 'inline int DoGeneratedFastGaussian(',
+ ' Halide::Runtime::Buffer<const int16_t, 2> input,',
+ ' Halide::Runtime::Buffer<int16_t, 2> output,',
+ ' double sigma) {',
]
- commands.append([
- generator,
- '-r', 'fast_gaussian_runtime',
- '-o', ruledir,
- '-e', 'o',
- 'target=%s' % target,
- ])
- all_header += [
- 'namespace frc971 {',
- 'namespace vision {',
- '// 0 is success. 1 is non-implemented size. Negative is a Halide error.',
- 'inline int DoGeneratedFastGaussian(',
- ' Halide::Runtime::Buffer<const int16_t, 2> input,',
- ' Halide::Runtime::Buffer<int16_t, 2> output,',
- ' double sigma) {',
- ]
+ for sigma, sigma_name, filter_width in params['sigmas']:
+ for cols, rows in params['sizes']:
+ name = "fast_gaussian_%dx%d_%s" % (cols, rows, sigma_name)
+ all_header += [
+ ' if (input.dim(0).extent() == %s' % cols,
+ ' && input.dim(1).extent() == %s' % rows,
+ ' && sigma == %s) {' % sigma,
+ ' return %s(input, output);' % name,
+ ' }',
+ ]
- for sigma, sigma_name, filter_width in params['sigmas']:
- for cols, rows in params['sizes']:
- name = "fast_gaussian_%dx%d_%s" % (cols, rows, sigma_name)
- all_header += [
- ' if (input.dim(0).extent() == %s' % cols,
- ' && input.dim(1).extent() == %s' % rows,
- ' && sigma == %s) {' % sigma,
- ' return %s(input, output);' % name,
- ' }',
- ]
-
- all_header += [
- ' return 1;',
- '}',
- 'inline int DoGeneratedFastGaussianAndSubtract(',
- ' Halide::Runtime::Buffer<const int16_t, 2> input,',
- ' Halide::Runtime::Buffer<int16_t, 2> blurred,',
- ' Halide::Runtime::Buffer<int16_t, 2> difference,',
- ' double sigma) {',
- ]
-
- for sigma, sigma_name, filter_width in params['sigmas']:
- for cols, rows in params['sizes']:
- name = "fast_gaussian_subtract_%dx%d_%s" % (cols, rows, sigma_name)
- all_header += [
- ' if (input.dim(0).extent() == %s' % cols,
- ' && input.dim(1).extent() == %s' % rows,
- ' && sigma == %s) {' % sigma,
- ' return %s(input, blurred, difference);' % name,
- ' }',
- ]
-
- all_header += [
- ' return 1;',
- '}',
- 'inline int DoGeneratedFastSubtract('
- ' Halide::Runtime::Buffer<const int16_t, 2> input_a,',
- ' Halide::Runtime::Buffer<const int16_t, 2> input_b,',
- ' Halide::Runtime::Buffer<int16_t, 2> output) {',
- ]
- for cols, rows in params['sizes']:
- name = 'fast_subtract_%dx%d' % (cols, rows)
all_header += [
- ' if (input_a.dim(0).extent() == %s' % cols,
- ' && input_a.dim(1).extent() == %s) {' % rows,
- ' return %s(input_a, input_b, output);' % name,
- ' }',
+ ' return 1;',
+ '}',
+ 'inline int DoGeneratedFastGaussianAndSubtract(',
+ ' Halide::Runtime::Buffer<const int16_t, 2> input,',
+ ' Halide::Runtime::Buffer<int16_t, 2> blurred,',
+ ' Halide::Runtime::Buffer<int16_t, 2> difference,',
+ ' double sigma) {',
]
- all_header += [
- ' return 1;',
- '}',
- '} // namespace vision',
- '} // namespace frc971',
- '#endif // Y2020_VISION_SIFT_FAST_GAUSSIAN_ALL_H_',
- ]
- with open(os.path.join(ruledir, 'fast_gaussian_all.h'), 'w') as f:
- f.writelines([line + '\n' for line in all_header])
+ for sigma, sigma_name, filter_width in params['sigmas']:
+ for cols, rows in params['sizes']:
+ name = "fast_gaussian_subtract_%dx%d_%s" % (cols, rows, sigma_name)
+ all_header += [
+ ' if (input.dim(0).extent() == %s' % cols,
+ ' && input.dim(1).extent() == %s' % rows,
+ ' && sigma == %s) {' % sigma,
+ ' return %s(input, blurred, difference);' % name,
+ ' }',
+ ]
- commands_lock = threading.Lock()
- success = [True]
+ all_header += [
+ ' return 1;',
+ '}',
+ 'inline int DoGeneratedFastSubtract('
+ ' Halide::Runtime::Buffer<const int16_t, 2> input_a,',
+ ' Halide::Runtime::Buffer<const int16_t, 2> input_b,',
+ ' Halide::Runtime::Buffer<int16_t, 2> output) {',
+ ]
+ for cols, rows in params['sizes']:
+ name = 'fast_subtract_%dx%d' % (cols, rows)
+ all_header += [
+ ' if (input_a.dim(0).extent() == %s' % cols,
+ ' && input_a.dim(1).extent() == %s) {' % rows,
+ ' return %s(input_a, input_b, output);' % name,
+ ' }',
+ ]
+ all_header += [
+ ' return 1;',
+ '}',
+ '} // namespace vision',
+ '} // namespace frc971',
+ '#endif // Y2020_VISION_SIFT_FAST_GAUSSIAN_ALL_H_',
+ ]
- def run_commands():
- while True:
- with commands_lock:
- if not commands:
- return
- if not success[0]:
- return
- command = commands.pop()
- try:
- subprocess.check_call(command, env=env)
- except:
- with commands_lock:
- success[0] = False
- raise
- threads = [threading.Thread(target=run_commands) for _ in range(4)]
- for thread in threads:
- thread.start()
- for thread in threads:
- thread.join()
- if not success[0]:
- sys.exit(1)
+ with open(os.path.join(ruledir, 'fast_gaussian_all.h'), 'w') as f:
+ f.writelines([line + '\n' for line in all_header])
+
+ commands_lock = threading.Lock()
+ success = [True]
+
+ def run_commands():
+ while True:
+ with commands_lock:
+ if not commands:
+ return
+ if not success[0]:
+ return
+ command = commands.pop()
+ try:
+ subprocess.check_call(command, env=env)
+ except:
+ with commands_lock:
+ success[0] = False
+ raise
+
+ threads = [threading.Thread(target=run_commands) for _ in range(4)]
+ for thread in threads:
+ thread.start()
+ for thread in threads:
+ thread.join()
+ if not success[0]:
+ sys.exit(1)
+
if __name__ == '__main__':
- main(json.loads(sys.argv[1]))
+ main(json.loads(sys.argv[1]))