0b4cd5d5
 Hu Chunming
完成轨迹定时抓拍
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#include "utils.h"
#include <map>
#include <iostream>
#include <fstream>
#include <unistd.h>
#include <cstring>
#include <dirent.h>
#include <vector>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>
#include "sy_errorinfo.h"
#include "acl/acl.h"
#include "acl/ops/acl_dvpp.h"
#include <algorithm>
#include <math.h>
using namespace std;
aclrtRunMode Utils::runMode_ = ACL_DEVICE;
void* Utils::CopyDataHostToDvpp(void* data, int size) {
void* buffer = nullptr;
auto aclRet = acldvppMalloc(&buffer, size);
//debug====================================================
aclrtMemset(buffer,size, 0, size);
//debug end================================================
if (aclRet != ACL_SUCCESS) {
ERROR_LOG("acl malloc dvpp data failed, dataSize=%u, ret=%d",
size, aclRet);
return nullptr;
}
// INFO_LOG("malloc dvpp memory size %d ok", size);
// copy input to device memory
aclRet = aclrtMemcpy(buffer, size, data, size, ACL_MEMCPY_HOST_TO_DEVICE);
if (aclRet != ACL_SUCCESS) {
ERROR_LOG("acl memcpy data to dvpp failed, size %u, error %d", size, aclRet);
acldvppFree(buffer);
return nullptr;
}
//INFO_LOG("copy data to dvpp ok");
return buffer;
}
void* Utils::CopyDataDeviceToDvpp(void* data, int size) {
void* buffer = nullptr;
auto aclRet = acldvppMalloc(&buffer, size);
//debug====================================================
aclrtMemset(buffer,size, 0, size);
//debug end================================================
if (aclRet != ACL_SUCCESS) {
ERROR_LOG("acl malloc dvpp data failed, dataSize=%u, ret=%d",
size, aclRet);
return nullptr;
}
// INFO_LOG("malloc dvpp memory size %d ok", size);
// copy input to device memory
aclRet = aclrtMemcpy(buffer, size, data, size, ACL_MEMCPY_DEVICE_TO_DEVICE);
if (aclRet != ACL_SUCCESS) {
ERROR_LOG("acl memcpy data to dvpp failed, size %u, error %d", size, aclRet);
acldvppFree(buffer);
return nullptr;
}
//INFO_LOG("copy data to dvpp ok");
return buffer;
}
int Utils::CopysyImageDataToDvpp(ImageData& imageDevice, sy_img srcImage) {
aclError ret = aclrtGetRunMode(&runMode_);
if (ret != ACL_SUCCESS) {
ERROR_LOG("acl get run mode failed");
return SY_FAILED;
}
void* buffer = nullptr;
//230316 ascend310p兼容=================================================
uint32_t alignWidth = 0, alignHeight = 0;
auto socVersion = aclrtGetSocName();
if (strncmp(socVersion, "Ascend310P3", sizeof("Ascend310P3") - 1) == 0) {
alignWidth = ALIGN_UP64(srcImage.w_); // 64-byte alignment
alignHeight = ALIGN_UP16(srcImage.h_); // 16-byte alignment
} else {
alignWidth = ALIGN_UP128(srcImage.w_); // 128-byte alignment
alignHeight = ALIGN_UP16(srcImage.h_); // 16-byte alignment
}
if (alignWidth == 0 || alignHeight == 0) {
ERROR_LOG("Input image width %d or height %d invalid",srcImage.w_, srcImage.h_);
return SY_FAILED;
}
//=====================================================================
uint32_t size = YUV420SP_SIZE(alignWidth, alignHeight);
// cout << srcImage.w_ << " " << srcImage.h_ << " "<< alignWidth << " "<< alignHeight << " " << size << endl;
if (runMode_ == ACL_HOST){
// printf("1111111111\n");
buffer = Utils::CopyDataHostToDvpp(srcImage.data_, size);
if (buffer == nullptr) {
ERROR_LOG("Copy image to device failed");
return SY_FAILED;
}
}
else{
// printf("2222222222\n");
buffer = Utils::CopyDataDeviceToDvpp(srcImage.data_, size);
if (buffer == nullptr) {
ERROR_LOG("Copy image to device failed");
return SY_FAILED;
}
}
imageDevice.width = srcImage.w_;
imageDevice.height = srcImage.h_;
imageDevice.alignWidth = alignWidth;
imageDevice.alignHeight = alignHeight;
imageDevice.size = size;
imageDevice.data.reset((uint8_t*)buffer, [](uint8_t* p) { acldvppFree((void *)p); });
return SY_SUCCESS;
}
int Utils::CopyImageDataToDvpp(ImageData& imageDevice, ImageData srcImage) {
aclError ret = aclrtGetRunMode(&runMode_);
if (ret != ACL_SUCCESS) {
ERROR_LOG("acl get run mode failed");
return SY_FAILED;
}
void* buffer = nullptr;
if (runMode_ == ACL_HOST){
buffer = Utils::CopyDataHostToDvpp(srcImage.data.get(), srcImage.size);
if (buffer == nullptr) {
ERROR_LOG("Copy image to device failed");
return SY_FAILED;
}
}
else{
buffer = Utils::CopyDataDeviceToDvpp(srcImage.data.get(), srcImage.size);
if (buffer == nullptr) {
ERROR_LOG("Copy image to device failed");
return SY_FAILED;
}
}
imageDevice.width = srcImage.width;
imageDevice.height = srcImage.height;
imageDevice.size = srcImage.size;
imageDevice.data.reset((uint8_t*)buffer, [](uint8_t* p) { acldvppFree((void *)p); });
return SY_SUCCESS;
}
void* Utils::CopyDataDeviceToLocal(void* deviceData, uint32_t dataSize) {
uint8_t* buffer = new uint8_t[dataSize];
if (buffer == nullptr) {
ERROR_LOG("New malloc memory failed");
return nullptr;
}
aclError aclRet = aclrtMemcpy(buffer, dataSize, deviceData, dataSize, ACL_MEMCPY_DEVICE_TO_HOST);
if (aclRet != ACL_SUCCESS) {
ERROR_LOG("Copy device data to local failed, aclRet is %d", aclRet);
delete[](buffer);
return nullptr;
}
return (void*)buffer;
}
void* Utils::CopyDataToDevice(void* data, uint32_t dataSize, aclrtMemcpyKind policy) {
void* buffer = nullptr;
aclError aclRet = aclrtMalloc(&buffer, dataSize, ACL_MEM_MALLOC_HUGE_FIRST);
if (aclRet != ACL_SUCCESS) {
ERROR_LOG("malloc device data buffer failed, aclRet is %d", aclRet);
return nullptr;
}
aclRet = aclrtMemcpy(buffer, dataSize, data, dataSize, policy);
if (aclRet != ACL_SUCCESS) {
ERROR_LOG("Copy data to device failed, aclRet is %d", aclRet);
(void)aclrtFree(buffer);
return nullptr;
}
return buffer;
}
void* Utils::CopyDataDeviceToDevice(void* deviceData, uint32_t dataSize) {
return CopyDataToDevice(deviceData, dataSize, ACL_MEMCPY_DEVICE_TO_DEVICE);
}
void* Utils::CopyDataHostToDevice(void* deviceData, uint32_t dataSize) {
return CopyDataToDevice(deviceData, dataSize, ACL_MEMCPY_HOST_TO_DEVICE);
}
int Utils::CopyImageDataToDevice(ImageData& imageDevice, ImageData srcImage, aclrtRunMode mode) {
void * buffer;
if (mode == ACL_HOST)
buffer = Utils::CopyDataHostToDevice(srcImage.data.get(), srcImage.size);
else
buffer = Utils::CopyDataDeviceToDevice(srcImage.data.get(), srcImage.size);
if (buffer == nullptr) {
ERROR_LOG("Copy image to device failed");
return SY_FAILED;
}
imageDevice.width = srcImage.width;
imageDevice.height = srcImage.height;
imageDevice.size = srcImage.size;
imageDevice.data.reset((uint8_t*)buffer, [](uint8_t* p) { aclrtFree((void *)p); });
return SY_SUCCESS;
}
int Utils::ReadImageFile(ImageData& image, std::string fileName) {
struct stat sBuf;
int fileStatus = stat(fileName.data(), &sBuf);
if (fileStatus == -1) {
ERROR_LOG("failed to get file");
return SY_FAILED;
}
if (S_ISREG(sBuf.st_mode) == 0) {
ERROR_LOG("%s is not a file, please enter a file", fileName.c_str());
return SY_FAILED;
}
std::ifstream binFile(fileName, std::ifstream::binary);
if (binFile.is_open() == false) {
ERROR_LOG("open file %s failed", fileName.c_str());
return SY_FAILED;
}
binFile.seekg(0, binFile.end);
uint32_t binFileBufferLen = binFile.tellg();
if (binFileBufferLen == 0) {
ERROR_LOG("binfile is empty, filename is %s", fileName.c_str());
binFile.close();
return SY_FAILED;
}
binFile.seekg(0, binFile.beg);
uint8_t* binFileBufferData = new(std::nothrow) uint8_t[binFileBufferLen];
if (binFileBufferData == nullptr) {
ERROR_LOG("malloc binFileBufferData failed");
binFile.close();
return SY_FAILED;
}
binFile.read((char *)binFileBufferData, binFileBufferLen);
binFile.close();
int32_t ch = 0;
acldvppJpegGetImageInfo(binFileBufferData, binFileBufferLen,
&(image.width), &(image.height), &ch);
image.data.reset(binFileBufferData, [](uint8_t* p) { delete[](p); });
image.size = binFileBufferLen;
return SY_SUCCESS;
}
float Utils::sigmoid(float val){
return 1.0/(1.0+exp(-val));
}
// double Power(double base, int n) {
// double res = 1,curr = base;
// int exponent;
// if(n>0){
// exponent = n;
// }else if(n==0){
// return 1;
// }else{
// exponent = -n;
// }
// while(exponent!=0){
// if((exponent&1)==1)
// res*=curr;
// curr*=curr;// 翻倍
// exponent>>=1;// 右移一位
// }
// return n>=0?res:(1/res);
// }
// float Utils::sigmoid1(float val){
// return 1.0/(1.0+Power(exp(1.),-val));
// }
float FastExp(float x) {
float d;
//将尾数后32位抹零
*(reinterpret_cast<short*>(&d) + 0) = 0;
//计算指数位
*(reinterpret_cast<short*>(&d) + 1) = static_cast<short>(184 * x + (16256-7));
return d;
}
float Utils::FastSigmoid(float x) {
// float x_ = x / 4096.; //int32
float x_ = x;
return 1. / (FastExp(0 - x_) + 1.);
}
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