├── CMakeLists.txt
├── LICENSE
├── README.md
├── configs
├── fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f1.py
├── valid_c_idx.tensor
├── x.tensor
└── y.tensor
├── demo
├── 1.png
└── sample0_vis_int8_head.png
├── docker
├── dockerfile
└── readme.md
├── example-data
├── 0-FRONT.jpg
├── 1-FRONT_RIGHT.jpg
├── 2-FRONT_LEFT.jpg
├── 3-BACK.jpg
├── 4-BACK_LEFT.jpg
├── 5-BACK_RIGHT.jpg
├── anchors.tensor
├── example-data.pth
├── images.tensor
├── sample0_vis.png
├── valid_c_idx.tensor
└── y.tensor
├── include_ros
├── fastbev_plugin.hpp
└── fastbev_ros.hpp
├── launch
└── fastbev_node.launch
├── models
└── run.md
├── package.xml
├── ptq
├── dump-data.py
├── export_onnx.py
├── lean
│ ├── __init__.py
│ ├── exptool.py
│ ├── funcs.py
│ ├── quantize.py
│ ├── tensor.py
│ └── train.py
├── ptq_bev.py
└── tensor.py
├── run.md
├── scripts
└── vis_boxes.py
├── src
├── 01test.cpp
├── common
│ ├── check.hpp
│ ├── dtype.hpp
│ ├── launch.cuh
│ ├── tensor.cu
│ ├── tensor.hpp
│ ├── tensorrt.cpp
│ ├── tensorrt.hpp
│ ├── timer.hpp
│ ├── visualize.cu
│ └── visualize.hpp
├── cv2stb.cpp
├── fastbev
│ ├── fastbev.cpp
│ ├── fastbev.hpp
│ ├── fastbev_post.cpp
│ ├── fastbev_post.hpp
│ ├── fastbev_pre.cpp
│ ├── fastbev_pre.hpp
│ ├── normalization.cu
│ ├── normalization.hpp
│ ├── postprecess.cpp
│ ├── postprecess.hpp
│ ├── vtransform.cu
│ └── vtransform.hpp
├── main.cpp
└── stb2cv.cpp
├── src_ros
├── demo.cpp
├── fastbev_plugin.cpp
├── fastbev_ros.cpp
└── fastbev_ros_node.cpp
├── third_party
├── 3DSparseConvolution
│ ├── .gitignore
│ ├── Makefile
│ ├── README.md
│ ├── libspconv
│ │ ├── include
│ │ │ └── spconv
│ │ │ │ ├── check.hpp
│ │ │ │ ├── engine.hpp
│ │ │ │ ├── memory.hpp
│ │ │ │ ├── tensor.hpp
│ │ │ │ ├── timer.hpp
│ │ │ │ └── version.hpp
│ │ └── lib
│ │ │ ├── aarch64
│ │ │ └── libspconv.so
│ │ │ └── x86_64
│ │ │ └── libspconv.so
│ ├── src
│ │ ├── main.cpp
│ │ ├── pyscn.cpp
│ │ ├── voxelization.cu
│ │ └── voxelization.cuh
│ ├── tool
│ │ ├── bevfusion-export
│ │ │ ├── ReadME.md
│ │ │ ├── data
│ │ │ │ ├── camera.lidar.features.pth
│ │ │ │ └── input.pth
│ │ │ ├── export-scn.py
│ │ │ ├── export-transfuser.py
│ │ │ ├── exptool.py
│ │ │ ├── funcs.py
│ │ │ └── tensor.py
│ │ ├── centerpoint-export
│ │ │ ├── export-scn.py
│ │ │ ├── exptool.py
│ │ │ └── funcs.py
│ │ ├── code.format.sh
│ │ ├── compare.py
│ │ ├── draw.perf.py
│ │ ├── export-helper.py
│ │ ├── pytest.py
│ │ ├── requirements.txt
│ │ └── tensor.py
│ └── workspace
│ │ ├── bevfusion
│ │ ├── bevfusion.scn.xyz.onnx
│ │ ├── bevfusion.scn.zyx.onnx
│ │ ├── infer.xyz.coors
│ │ ├── infer.xyz.dense
│ │ ├── infer.xyz.voxels
│ │ ├── infer.zyx.coors
│ │ ├── infer.zyx.dense
│ │ └── infer.zyx.voxels
│ │ ├── centerpoint
│ │ ├── centerpoint.scn.PTQ.onnx
│ │ ├── centerpoint.scn.onnx
│ │ ├── in_features.torch.fp16.tensor
│ │ ├── in_indices_xyz.torch.int32.tensor
│ │ ├── in_indices_zyx.torch.int32.tensor
│ │ └── out_dense.torch.fp16.tensor
│ │ ├── ff9eff4389a740848f9a56ad749a4ae8.bin
│ │ ├── perf-float16-bevfusion-xyz.log
│ │ ├── perf-float16-bevfusion-zyx.log
│ │ ├── perf-float16-centerpoint-zyx.log
│ │ ├── perf-int8.log
│ │ └── perf.png
├── cuOSD
│ ├── .gitignore
│ ├── Makefile
│ ├── README.md
│ ├── data
│ │ ├── assets
│ │ │ ├── mask.nv12
│ │ │ └── sample.nv12
│ │ ├── image
│ │ │ ├── nv12_3840x2160.yuv
│ │ │ └── output.png
│ │ ├── my.nvfont
│ │ ├── simfang.ttf
│ │ ├── simhei.ttf
│ │ ├── std-random-boxes-1920x1080.txt
│ │ └── std-random-boxes.txt
│ ├── imgs
│ │ ├── blur-faces.jpg
│ │ ├── cuosd.png
│ │ ├── faces.jpg
│ │ └── input.png
│ ├── src
│ │ ├── cuosd.cpp
│ │ ├── cuosd.h
│ │ ├── cuosd_kernel.cu
│ │ ├── cuosd_kernel.h
│ │ ├── memory.hpp
│ │ └── textbackend
│ │ │ ├── backend.cpp
│ │ │ ├── backend.hpp
│ │ │ ├── pango-cairo.cpp
│ │ │ ├── pango-cairo.hpp
│ │ │ ├── stb.cpp
│ │ │ ├── stb.hpp
│ │ │ └── stb_truetype.h
│ └── test
│ │ ├── cuosd
│ │ └── __init__.py
│ │ ├── gpu_image.cu
│ │ ├── gpu_image.h
│ │ ├── main.cpp
│ │ ├── make-random-boxes.py
│ │ ├── perf-std.sh
│ │ ├── perf.sh
│ │ ├── pycuosd.cpp
│ │ ├── pytest.py
│ │ └── stb_image_write.h
└── stb
│ ├── .github
│ ├── CONTRIBUTING.md
│ ├── ISSUE_TEMPLATE
│ │ ├── bug_report.md
│ │ ├── config.yml
│ │ └── feature_request.md
│ ├── PULL_REQUEST_TEMPLATE.md
│ └── workflows
│ │ └── ci-fuzz.yml
│ ├── .travis.yml
│ ├── LICENSE
│ ├── README.md
│ ├── data
│ ├── atari_8bit_font_revised.png
│ ├── easy_font_raw.png
│ ├── herringbone
│ │ ├── license.txt
│ │ ├── template_caves_limit_connectivity.png
│ │ ├── template_caves_tiny_corridors.png
│ │ ├── template_corner_caves.png
│ │ ├── template_horizontal_corridors_v1.png
│ │ ├── template_horizontal_corridors_v2.png
│ │ ├── template_horizontal_corridors_v3.png
│ │ ├── template_limit_connectivity_fat.png
│ │ ├── template_limited_connectivity.png
│ │ ├── template_maze_2_wide.png
│ │ ├── template_maze_plus_2_wide.png
│ │ ├── template_open_areas.png
│ │ ├── template_ref2_corner_caves.png
│ │ ├── template_rooms_and_corridors.png
│ │ ├── template_rooms_and_corridors_2_wide_diagonal_bias.png
│ │ ├── template_rooms_limit_connectivity.png
│ │ ├── template_round_rooms_diagonal_corridors.png
│ │ ├── template_sean_dungeon.png
│ │ ├── template_simple_caves_2_wide.png
│ │ └── template_square_rooms_with_random_rects.png
│ ├── map_01.png
│ ├── map_02.png
│ └── map_03.png
│ ├── deprecated
│ ├── rrsprintf.h
│ ├── stb.h
│ ├── stb_image.c
│ ├── stretch_test.c
│ ├── stretchy_buffer.h
│ └── stretchy_buffer.txt
│ ├── docs
│ ├── other_libs.md
│ ├── stb_howto.txt
│ ├── stb_voxel_render_interview.md
│ └── why_public_domain.md
│ ├── stb_c_lexer.h
│ ├── stb_connected_components.h
│ ├── stb_divide.h
│ ├── stb_ds.h
│ ├── stb_dxt.h
│ ├── stb_easy_font.h
│ ├── stb_herringbone_wang_tile.h
│ ├── stb_hexwave.h
│ ├── stb_image.h
│ ├── stb_image_resize.h
│ ├── stb_image_write.h
│ ├── stb_include.h
│ ├── stb_leakcheck.h
│ ├── stb_perlin.h
│ ├── stb_rect_pack.h
│ ├── stb_sprintf.h
│ ├── stb_textedit.h
│ ├── stb_tilemap_editor.h
│ ├── stb_truetype.h
│ ├── stb_vorbis.c
│ ├── stb_voxel_render.h
│ ├── tests
│ ├── Makefile
│ ├── c_lexer_test.c
│ ├── c_lexer_test.dsp
│ ├── caveview
│ │ ├── README.md
│ │ ├── cave_main.c
│ │ ├── cave_mesher.c
│ │ ├── cave_parse.c
│ │ ├── cave_parse.h
│ │ ├── cave_render.c
│ │ ├── caveview.dsp
│ │ ├── caveview.dsw
│ │ ├── caveview.h
│ │ ├── glext.h
│ │ ├── glext_list.h
│ │ ├── main.c
│ │ ├── stb_gl.h
│ │ ├── stb_glprog.h
│ │ └── win32
│ │ │ └── SDL_windows_main.c
│ ├── fuzz_main.c
│ ├── grid_reachability.c
│ ├── herringbone.dsp
│ ├── herringbone_generator.c
│ ├── herringbone_map.c
│ ├── herringbone_map.dsp
│ ├── image_test.c
│ ├── image_test.dsp
│ ├── image_write_test.c
│ ├── ossfuzz.sh
│ ├── oversample
│ │ ├── README.md
│ │ ├── main.c
│ │ ├── oversample.dsp
│ │ ├── oversample.dsw
│ │ ├── oversample.exe
│ │ └── stb_wingraph.h
│ ├── pbm
│ │ ├── basi0g16.pgm
│ │ ├── basi2c16.ppm
│ │ ├── cdfn2c08.ppm
│ │ ├── cdun2c08.ppm
│ │ ├── comment.pgm
│ │ └── ctfn0g04.pgm
│ ├── pg_test
│ │ └── pg_test.c
│ ├── pngsuite
│ │ ├── 16bit
│ │ │ ├── basi0g16.png
│ │ │ ├── basi2c16.png
│ │ │ ├── basi4a16.png
│ │ │ ├── basi6a16.png
│ │ │ ├── basn0g16.png
│ │ │ ├── basn2c16.png
│ │ │ ├── basn4a16.png
│ │ │ ├── basn6a16.png
│ │ │ ├── bgai4a16.png
│ │ │ ├── bgan6a16.png
│ │ │ ├── bggn4a16.png
│ │ │ ├── bgyn6a16.png
│ │ │ ├── oi1n0g16.png
│ │ │ ├── oi1n2c16.png
│ │ │ ├── oi2n0g16.png
│ │ │ ├── oi2n2c16.png
│ │ │ ├── oi4n0g16.png
│ │ │ ├── oi4n2c16.png
│ │ │ ├── oi9n0g16.png
│ │ │ ├── oi9n2c16.png
│ │ │ ├── tbbn2c16.png
│ │ │ ├── tbgn2c16.png
│ │ │ └── tbwn0g16.png
│ │ ├── PngSuite.LICENSE
│ │ ├── corrupt
│ │ │ ├── xc1n0g08.png
│ │ │ ├── xc9n2c08.png
│ │ │ ├── xcrn0g04.png
│ │ │ ├── xcsn0g01.png
│ │ │ ├── xd0n2c08.png
│ │ │ ├── xd3n2c08.png
│ │ │ ├── xd9n2c08.png
│ │ │ ├── xdtn0g01.png
│ │ │ ├── xhdn0g08.png
│ │ │ ├── xlfn0g04.png
│ │ │ ├── xs1n0g01.png
│ │ │ ├── xs2n0g01.png
│ │ │ ├── xs4n0g01.png
│ │ │ └── xs7n0g01.png
│ │ ├── iphone
│ │ │ ├── iphone_basi0g01.png
│ │ │ ├── iphone_basi0g02.png
│ │ │ ├── iphone_basi3p02.png
│ │ │ ├── iphone_bgwn6a08.png
│ │ │ ├── iphone_bgyn6a16.png
│ │ │ ├── iphone_tbyn3p08.png
│ │ │ └── iphone_z06n2c08.png
│ │ ├── primary
│ │ │ ├── basi0g01.png
│ │ │ ├── basi0g02.png
│ │ │ ├── basi0g04.png
│ │ │ ├── basi0g08.png
│ │ │ ├── basi2c08.png
│ │ │ ├── basi3p01.png
│ │ │ ├── basi3p02.png
│ │ │ ├── basi3p04.png
│ │ │ ├── basi3p08.png
│ │ │ ├── basi4a08.png
│ │ │ ├── basi6a08.png
│ │ │ ├── basn0g01.png
│ │ │ ├── basn0g02.png
│ │ │ ├── basn0g04.png
│ │ │ ├── basn0g08.png
│ │ │ ├── basn2c08.png
│ │ │ ├── basn3p01.png
│ │ │ ├── basn3p02.png
│ │ │ ├── basn3p04.png
│ │ │ ├── basn3p08.png
│ │ │ ├── basn4a08.png
│ │ │ ├── basn6a08.png
│ │ │ ├── bgai4a08.png
│ │ │ ├── bgan6a08.png
│ │ │ ├── bgbn4a08.png
│ │ │ ├── bgwn6a08.png
│ │ │ ├── s01i3p01.png
│ │ │ ├── s01n3p01.png
│ │ │ ├── s02i3p01.png
│ │ │ ├── s02n3p01.png
│ │ │ ├── s03i3p01.png
│ │ │ ├── s03n3p01.png
│ │ │ ├── s04i3p01.png
│ │ │ ├── s04n3p01.png
│ │ │ ├── s05i3p02.png
│ │ │ ├── s05n3p02.png
│ │ │ ├── s06i3p02.png
│ │ │ ├── s06n3p02.png
│ │ │ ├── s07i3p02.png
│ │ │ ├── s07n3p02.png
│ │ │ ├── s08i3p02.png
│ │ │ ├── s08n3p02.png
│ │ │ ├── s09i3p02.png
│ │ │ ├── s09n3p02.png
│ │ │ ├── s32i3p04.png
│ │ │ ├── s32n3p04.png
│ │ │ ├── s33i3p04.png
│ │ │ ├── s33n3p04.png
│ │ │ ├── s34i3p04.png
│ │ │ ├── s34n3p04.png
│ │ │ ├── s35i3p04.png
│ │ │ ├── s35n3p04.png
│ │ │ ├── s36i3p04.png
│ │ │ ├── s36n3p04.png
│ │ │ ├── s37i3p04.png
│ │ │ ├── s37n3p04.png
│ │ │ ├── s38i3p04.png
│ │ │ ├── s38n3p04.png
│ │ │ ├── s39i3p04.png
│ │ │ ├── s39n3p04.png
│ │ │ ├── s40i3p04.png
│ │ │ ├── s40n3p04.png
│ │ │ ├── tbbn0g04.png
│ │ │ ├── tbbn3p08.png
│ │ │ ├── tbgn3p08.png
│ │ │ ├── tbrn2c08.png
│ │ │ ├── tbwn3p08.png
│ │ │ ├── tbyn3p08.png
│ │ │ ├── tm3n3p02.png
│ │ │ ├── tp0n0g08.png
│ │ │ ├── tp0n2c08.png
│ │ │ ├── tp0n3p08.png
│ │ │ ├── tp1n3p08.png
│ │ │ ├── z00n2c08.png
│ │ │ ├── z03n2c08.png
│ │ │ ├── z06n2c08.png
│ │ │ └── z09n2c08.png
│ │ ├── primary_check
│ │ │ ├── basi0g01.png
│ │ │ ├── basi0g02.png
│ │ │ ├── basi0g04.png
│ │ │ ├── basi0g08.png
│ │ │ ├── basi2c08.png
│ │ │ ├── basi3p01.png
│ │ │ ├── basi3p02.png
│ │ │ ├── basi3p04.png
│ │ │ ├── basi3p08.png
│ │ │ ├── basi4a08.png
│ │ │ ├── basi6a08.png
│ │ │ ├── basn0g01.png
│ │ │ ├── basn0g02.png
│ │ │ ├── basn0g04.png
│ │ │ ├── basn0g08.png
│ │ │ ├── basn2c08.png
│ │ │ ├── basn3p01.png
│ │ │ ├── basn3p02.png
│ │ │ ├── basn3p04.png
│ │ │ ├── basn3p08.png
│ │ │ ├── basn4a08.png
│ │ │ ├── basn6a08.png
│ │ │ ├── bgai4a08.png
│ │ │ ├── bgan6a08.png
│ │ │ ├── bgbn4a08.png
│ │ │ ├── bgwn6a08.png
│ │ │ ├── s01i3p01.png
│ │ │ ├── s01n3p01.png
│ │ │ ├── s02i3p01.png
│ │ │ ├── s02n3p01.png
│ │ │ ├── s03i3p01.png
│ │ │ ├── s03n3p01.png
│ │ │ ├── s04i3p01.png
│ │ │ ├── s04n3p01.png
│ │ │ ├── s05i3p02.png
│ │ │ ├── s05n3p02.png
│ │ │ ├── s06i3p02.png
│ │ │ ├── s06n3p02.png
│ │ │ ├── s07i3p02.png
│ │ │ ├── s07n3p02.png
│ │ │ ├── s08i3p02.png
│ │ │ ├── s08n3p02.png
│ │ │ ├── s09i3p02.png
│ │ │ ├── s09n3p02.png
│ │ │ ├── s32i3p04.png
│ │ │ ├── s32n3p04.png
│ │ │ ├── s33i3p04.png
│ │ │ ├── s33n3p04.png
│ │ │ ├── s34i3p04.png
│ │ │ ├── s34n3p04.png
│ │ │ ├── s35i3p04.png
│ │ │ ├── s35n3p04.png
│ │ │ ├── s36i3p04.png
│ │ │ ├── s36n3p04.png
│ │ │ ├── s37i3p04.png
│ │ │ ├── s37n3p04.png
│ │ │ ├── s38i3p04.png
│ │ │ ├── s38n3p04.png
│ │ │ ├── s39i3p04.png
│ │ │ ├── s39n3p04.png
│ │ │ ├── s40i3p04.png
│ │ │ ├── s40n3p04.png
│ │ │ ├── tbbn0g04.png
│ │ │ ├── tbbn3p08.png
│ │ │ ├── tbgn3p08.png
│ │ │ ├── tbrn2c08.png
│ │ │ ├── tbwn3p08.png
│ │ │ ├── tbyn3p08.png
│ │ │ ├── tm3n3p02.png
│ │ │ ├── tp0n0g08.png
│ │ │ ├── tp0n2c08.png
│ │ │ ├── tp0n3p08.png
│ │ │ ├── tp1n3p08.png
│ │ │ ├── z00n2c08.png
│ │ │ ├── z03n2c08.png
│ │ │ ├── z06n2c08.png
│ │ │ └── z09n2c08.png
│ │ └── unused
│ │ │ ├── ccwn2c08.png
│ │ │ ├── ccwn3p08.png
│ │ │ ├── cdfn2c08.png
│ │ │ ├── cdhn2c08.png
│ │ │ ├── cdsn2c08.png
│ │ │ ├── cdun2c08.png
│ │ │ ├── ch1n3p04.png
│ │ │ ├── ch2n3p08.png
│ │ │ ├── cm0n0g04.png
│ │ │ ├── cm7n0g04.png
│ │ │ ├── cm9n0g04.png
│ │ │ ├── cs3n2c16.png
│ │ │ ├── cs3n3p08.png
│ │ │ ├── cs5n2c08.png
│ │ │ ├── cs5n3p08.png
│ │ │ ├── cs8n2c08.png
│ │ │ ├── cs8n3p08.png
│ │ │ ├── ct0n0g04.png
│ │ │ ├── ct1n0g04.png
│ │ │ ├── cten0g04.png
│ │ │ ├── ctfn0g04.png
│ │ │ ├── ctgn0g04.png
│ │ │ ├── cthn0g04.png
│ │ │ ├── ctjn0g04.png
│ │ │ ├── ctzn0g04.png
│ │ │ ├── f00n0g08.png
│ │ │ ├── f00n2c08.png
│ │ │ ├── f01n0g08.png
│ │ │ ├── f01n2c08.png
│ │ │ ├── f02n0g08.png
│ │ │ ├── f02n2c08.png
│ │ │ ├── f03n0g08.png
│ │ │ ├── f03n2c08.png
│ │ │ ├── f04n0g08.png
│ │ │ ├── f04n2c08.png
│ │ │ ├── f99n0g04.png
│ │ │ ├── g03n0g16.png
│ │ │ ├── g03n2c08.png
│ │ │ ├── g03n3p04.png
│ │ │ ├── g04n0g16.png
│ │ │ ├── g04n2c08.png
│ │ │ ├── g04n3p04.png
│ │ │ ├── g05n0g16.png
│ │ │ ├── g05n2c08.png
│ │ │ ├── g05n3p04.png
│ │ │ ├── g07n0g16.png
│ │ │ ├── g07n2c08.png
│ │ │ ├── g07n3p04.png
│ │ │ ├── g10n0g16.png
│ │ │ ├── g10n2c08.png
│ │ │ ├── g10n3p04.png
│ │ │ ├── g25n0g16.png
│ │ │ ├── g25n2c08.png
│ │ │ ├── g25n3p04.png
│ │ │ ├── pp0n2c16.png
│ │ │ ├── pp0n6a08.png
│ │ │ ├── ps1n0g08.png
│ │ │ ├── ps1n2c16.png
│ │ │ ├── ps2n0g08.png
│ │ │ └── ps2n2c16.png
│ ├── prerelease
│ │ └── stb_lib.h
│ ├── resample_test.cpp
│ ├── resample_test_c.c
│ ├── resize.dsp
│ ├── sdf
│ │ ├── sdf_test.c
│ │ ├── sdf_test_arial_16.png
│ │ ├── sdf_test_times_16.png
│ │ └── sdf_test_times_50.png
│ ├── stb.c
│ ├── stb.dsp
│ ├── stb.dsw
│ ├── stb_c_lexer_fuzzer.cpp
│ ├── stb_cpp.cpp
│ ├── stb_cpp.dsp
│ ├── stb_png.dict
│ ├── stb_static.c
│ ├── stbi_read_fuzzer.c
│ ├── stblib.dsp
│ ├── stblib_test.c
│ ├── stblib_test_companion.c
│ ├── stretch_test.dsp
│ ├── test.sbm
│ ├── test_c_compilation.c
│ ├── test_c_lexer.c
│ ├── test_cpp_compilation.cpp
│ ├── test_ds.c
│ ├── test_ds_cpp.cpp
│ ├── test_dxt.c
│ ├── test_easyfont.c
│ ├── test_image.c
│ ├── test_image_write.c
│ ├── test_perlin.c
│ ├── test_siphash.c
│ ├── test_sprintf.c
│ ├── test_truetype.c
│ ├── test_vorbis.c
│ ├── test_voxel.c
│ ├── textedit_sample.c
│ ├── tilemap_editor_integration_example.c
│ ├── truetype_test_win32.c
│ └── vorbseek
│ │ ├── vorbseek.c
│ │ └── vorbseek.dsp
│ └── tools
│ ├── README.footer.md
│ ├── README.header.md
│ ├── README.list
│ ├── build_matrix.c
│ ├── easy_font_maker.c
│ ├── make_readme.c
│ ├── make_readme.dsp
│ ├── mr.bat
│ ├── trailing_whitespace.c
│ ├── unicode.c
│ └── unicode
│ └── unicode.dsp
└── tool
├── build_trt_engine.sh
├── build_trt_engine_src.sh
├── cudasm.sh
├── draw.py
├── environment.sh
├── requirements.txt
└── run.sh
/LICENSE:
--------------------------------------------------------------------------------
1 | BSD 3-Clause License
2 |
3 | Copyright (c) 2024, lin
4 |
5 | Redistribution and use in source and binary forms, with or without
6 | modification, are permitted provided that the following conditions are met:
7 |
8 | 1. Redistributions of source code must retain the above copyright notice, this
9 | list of conditions and the following disclaimer.
10 |
11 | 2. Redistributions in binary form must reproduce the above copyright notice,
12 | this list of conditions and the following disclaimer in the documentation
13 | and/or other materials provided with the distribution.
14 |
15 | 3. Neither the name of the copyright holder nor the names of its
16 | contributors may be used to endorse or promote products derived from
17 | this software without specific prior written permission.
18 |
19 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
23 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
24 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
25 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
26 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29 |
--------------------------------------------------------------------------------
/README.md:
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1 | # FastBEV-ROS-TensorRT
2 |
3 | This repository contains source code and models for FastBEV online real-time inference using CUDA, TensorRT & ROS, including ROS1 & ROS2.
4 |
5 |
6 | + Supports ROS2. please switch to the [galactic-devel branch](https://github.com/linClubs/FastBEV-ROS-TensorRT/tree/galactic-devel)
7 |
8 | + reference [CUDA-FastBEV](https://github.com/Mandylove1993/CUDA-FastBEV)
9 |
10 | ---
11 |
12 | + demo
13 |
14 | Testing on the Nuscenes dataset.
15 |
16 | ~~~python
17 | roslaunch fastbev fastbev_node.launch
18 | ~~~
19 |
20 |
21 |
22 | 
23 |
24 |
25 |
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/docker/readme.md:
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1 | ~~~python
2 | # 1 拉取docker镜像
3 | docker pull hylin123/conda-cuda11.3-cudnn8.6.0:v2.0
4 |
5 | # 2 创建docker容器
6 | sudo docker run -it --gpus all -v /tmp/.X11-unix:/tmp/.X11-unix --env="DISPLAY=$DISPLAY" -v ~/Documents/share:/root/share --name bev hylin123/conda-cuda11.3-cudnn8.6.0:v2.0 /bin/bash
7 |
8 | # 3 更新apt列表
9 | apt update
10 |
11 | # 4 激活虚拟环境
12 | conda activate bev
13 |
14 | # 5 查看bev环境中包
15 | pip list
16 |
17 | # 显示如下
18 | Package Version
19 | ----------------- --------------
20 | numpy 1.24.4
21 | Pillow 10.0.1
22 | pip 23.2.1
23 | setuptools 68.0.0
24 | torch 1.10.0+cu113
25 | torchaudio 0.10.0+rocm4.1
26 | torchvision 0.11.0+cu113
27 | typing_extensions 4.8.0
28 | wheel 0.38.4
29 | ~~~
30 |
31 | ~~~python
32 | # 1 安装 git
33 | apt install git
34 |
35 | # 2 下载源码 目前默认是dev2.1
36 | git clone https://github.com/HuangJunJie2017/BEVDet.git
37 |
38 | # 3 查看代码版本号 显示dev2.1版本
39 | git checkout
40 |
41 | # 4 安装openlib相关库 mmcv-full安装耗时比较长，只要鼠标没卡住都是正常
42 | pip install mmcv-full==1.5.3 onnxruntime-gpu==1.8.1 mmdet==2.25.1 mmsegmentation==0.25.0
43 |
44 | # 5 安装mmdet3d
45 | pip install -e -v .
46 |
47 | # 6 安装其他依赖
48 | pip install pycuda lyft_dataset_sdk networkx==2.2 numba==0.53.0 numpy==1.23.4 nuscenes-devkit plyfile scikit-image tensorboard trimesh==2.35.39 -i https://pypi.tuna.tsinghua.edu.cn/simple
49 | ~~~
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/include_ros/fastbev_plugin.hpp:
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1 | #ifndef fastbev_plugin_h
2 | #define fastbev_plugin_h
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include
10 |
11 | #include
12 | #include
13 | #include
14 |
15 | #include "fastbev/fastbev.hpp"
16 | #include "common/check.hpp"
17 | #include "common/tensor.hpp"
18 | #include "common/timer.hpp"
19 | #include "common/visualize.hpp"
20 |
21 | // const int final_height = 256;
22 | // const int final_weith = 704;
23 |
24 | class FastBEVNode
25 | {
26 | private:
27 | std::string pkg_path_;
28 | std::string model_name_;
29 | std::string precision_;
30 | std::string config_path_;
31 |
32 |
33 | std::shared_ptr core;
34 | cudaStream_t stream;
35 | public:
36 | std::vector stb_images;
37 |
38 | public:
39 | FastBEVNode(const std::string &pkg_path, const std::string &model_name, const std::string &precision);
40 | ~FastBEVNode();
41 | unsigned char* cv2stb(cv::Mat cv_img);
42 | // 读取图像， 读取6张图像文件
43 | std::vector load_images(const std::string& root);
44 | // 用6张mat喂图像 默认fr在fb前面
45 | std::vector load_images(const cv::Mat& img_f, const cv::Mat& img_fr, const cv::Mat& img_fl,
46 | const cv::Mat& img_b, const cv::Mat& img_bl, const cv::Mat& img_br);
47 |
48 | void free_images(std::vector& images);
49 | void readParam(const std::string &config_path, nv::Tensor &valid_x, nv::Tensor &valid_y, nv::Tensor &valid_c_idx);
50 |
51 | std::shared_ptr create_core(const std::string& model, const std::string& precision);
52 |
53 | std::vector inference();
54 |
55 | void SaveBoxPred(std::vector boxes, std::string file_name);
56 | cv::Mat draw_boxes(std::vector bboxes);
57 | };
58 |
59 | #endif
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/include_ros/fastbev_ros.hpp:
--------------------------------------------------------------------------------
1 | #ifndef fastbev_ros_h
2 | #define fastbev_ros_h
3 | #include "fastbev_plugin.hpp"
4 |
5 | #include
6 |
7 | // #include
8 | #include
9 | // #include
10 | #include
11 | #include
12 |
13 |
14 | // message_filters消息同步器
15 | #include
16 | #include
17 | #include // 时间接近
18 |
19 |
20 | class ROSNode
21 | {
22 | private:
23 | ros::NodeHandle n_;
24 | std::string pkg_path_, model_name_, precision_;
25 |
26 | using ImageMsg = sensor_msgs::Image;
27 | ros::Publisher pub_img_;
28 | // rclcpp::Publisher::SharedPtr pub_img_;
29 |
30 | typedef message_filters::sync_policies::ApproximateTime<
31 | ImageMsg, ImageMsg,ImageMsg,ImageMsg, ImageMsg,ImageMsg> MySyncPolicy;
32 | typedef message_filters::Synchronizer Sync;
33 | std::shared_ptr sync_;
34 |
35 | // message_filters::Subscriber sub_cloud_;
36 | message_filters::Subscriber sub_img_f_;
37 | message_filters::Subscriber sub_img_fl_;
38 | message_filters::Subscriber sub_img_fr_;
39 | message_filters::Subscriber sub_img_b_;
40 | message_filters::Subscriber sub_img_bl_;
41 | message_filters::Subscriber sub_img_br_;
42 |
43 | std::shared_ptr fastbev_node_;
44 |
45 | public:
46 | ROSNode(const std::string &pkg_path, const std::string &model_name, const std::string &precision);
47 | ~ROSNode(){};
48 | void callback(const ImageMsg::ConstPtr& msg_f_img,
49 | const ImageMsg::ConstPtr& msg_fl_img,
50 | const ImageMsg::ConstPtr& msg_fr_img,
51 | const ImageMsg::ConstPtr& msg_b_img,
52 | const ImageMsg::ConstPtr& msg_bl_img,
53 | const ImageMsg::ConstPtr& msg_br_img);
54 | };
55 | #endif
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/launch/fastbev_node.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
10 |
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/models/run.md:
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1 |
2 |
3 | ~~~python
4 | ...
5 | ├──model
6 | ├──resnet18
7 | ├── build
8 | ├── fastbev_post_trt_decode.json
9 | ├── fastbev_post_trt_decode.log
10 | ├── fastbev_post_trt_decode.plan
11 | ├── fastbev_pre_trt.json
12 | ├── fastbev_pre_trt.log
13 | └── fastbev_pre_trt.plan
14 | ...
15 | ~~~
16 |
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/ptq/lean/__init__.py:
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/ptq/lean/tensor.py:
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1 | import numpy as np
2 |
3 | def save(tensor, file):
4 |
5 | if not isinstance(tensor, np.ndarray):
6 | import torch
7 | if isinstance(tensor, torch.Tensor):
8 | tensor = tensor.detach().cpu().data.numpy()
9 | else:
10 | tensor = np.array(tensor)
11 |
12 | dtype_map = {"float32" : 3, "float16" : 2, "int32" : 1, "int64" : 4, "uint64": 5, "uint32": 6, "int8": 7, "uint8": 8}
13 | if str(tensor.dtype) not in dtype_map:
14 | raise RuntimeError(f"Unsupport dtype {tensor.dtype}")
15 |
16 | magic_number = 0x33ff1101
17 | with open(file, "wb") as f:
18 | head = np.array([magic_number, tensor.ndim, dtype_map[str(tensor.dtype)]], dtype=np.int32).tobytes()
19 | f.write(head)
20 |
21 | dims = np.array(tensor.shape, dtype=np.int32).tobytes()
22 | f.write(dims)
23 |
24 | data = tensor.tobytes()
25 | f.write(data)
26 |
27 |
28 | def load(file, return_torch=False):
29 |
30 | dtype_for_integer_mapping = {3: np.float32, 2: np.float16, 1: np.int32, 4: np.int64, 5: np.uint64, 6: np.uint32, 7: np.int8, 8: np.uint8}
31 | dtype_size_mapping = {np.float32 : 4, np.float16 : 2, np.int32 : 4, np.int64 : 8, np.uint64 : 8, np.uint32 : 4, np.int8 : 1, np.uint8 : 1}
32 |
33 | with open(file, "rb") as f:
34 | magic_number, ndim, dtype_integer = np.frombuffer(f.read(12), dtype=np.int32)
35 | if dtype_integer not in dtype_for_integer_mapping:
36 | raise RuntimeError(f"Can not find match dtype for index {dtype_integer}")
37 |
38 | dtype = dtype_for_integer_mapping[dtype_integer]
39 | magic_number_std = 0x33ff1101
40 | assert magic_number == magic_number_std, f"this file is not tensor file"
41 | dims = np.frombuffer(f.read(ndim * 4), dtype=np.int32)
42 | volumn = np.cumprod(dims)[-1]
43 | data = np.frombuffer(f.read(volumn * dtype_size_mapping[dtype]), dtype=dtype).reshape(*dims)
44 |
45 | if return_torch:
46 | import torch
47 | return torch.from_numpy(data)
48 | return data
49 |
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/run.md:
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1 |
2 | # 生成模型
3 |
4 | ~~~python
5 | # 1 修改修改environment.sh文件下TensorRT, CUDA, cudnn路径
6 | 主要是TensorRT的路径 , cuda和cudnn一般都安装在/usr/local,基本不用修改
7 |
8 | # 2 选择模型和精度 模型resnet18/resnet18int8/resnet18int8head 精度fp16/int8
9 | # 修改environment.sh下的DEBUG_MODEL和DEBUG_PRECISION变量的值
10 | # export DEBUG_MODEL=resnet18
11 | # export DEBUG_PRECISION=fp16
12 |
13 | # 3 生成模型 在该工程下执行
14 | ./tool/build_trt_engine.sh
15 | ~~~
16 |
17 | + 执行完`build_trt_engine.sh`脚本时,耗时比较久, 跟显卡算力有关。选择`resnet18`模型生成目录结构如下:
18 |
19 | ~~~python
20 | ...
21 | ├──model
22 | ├──resnet18
23 | ├── build
24 | ├── fastbev_post_trt_decode.json
25 | ├── fastbev_post_trt_decode.log
26 | ├── fastbev_post_trt_decode.plan
27 | ├── fastbev_pre_trt.json
28 | ├── fastbev_pre_trt.log
29 | └── fastbev_pre_trt.plan
30 | ...
31 | ~~~
32 |
33 | ~~~
34 | /usr/bin/ld: 找不到 -lspconv
35 | ~~~
36 |
37 |
38 | ~~~python
39 | /usr/bin/ld: 找不到 -lnvinfer
40 | cmakelists.txt中添加：
41 | link_directories( ${TensorRT_Lib})
42 | # libnvinfer.so
43 |
44 | /usr/bin/ld: 找不到 -lcublasLt
45 | cmakelists.txt中添加：
46 | link_directories( ${CUDA_Lib})
47 | # libcublasLt.so
48 |
49 | # 报错3 编译2次就好
50 | Error generating
51 | /root/share/bevfusion_ws/src/FastBEV-ROS-TensorRT/build/CMakeFiles/fastbev.dir/third_party/cuOSD/src/./fastbev_generated_cuosd_kernel.cu.o
52 | ~~~
53 |
54 | # 可视化
55 |
56 | ~~~python
57 | python tool/draw.py
58 | ~~~
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/scripts/vis_boxes.py:
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1 | import open3d as o3d
2 | import numpy as np
3 |
4 | point_cloud = o3d.geometry.PointCloud()
5 |
6 | point_cloud.points = o3d.utility.Vector3dVector(valid_points1[:, :])
7 |
8 | point_cloud.colors = o3d.utility.Vector3dVector(colors[valid_points[:, 8].astype(np.int32)])
9 |
10 | vis = o3d.visualization.Visualizer()
11 | vis.create_window()
12 | vis.add_geometry(point_cloud)
13 |
14 | for i, box in enumerate(bboxes):
15 | b = o3d.geometry.OrientedBoundingBox()
16 | b.center = box[:3]
17 | b.extent = box[3:6]
18 | # with heading
19 | R = o3d.geometry.OrientedBoundingBox.get_rotation_matrix_from_xyz((0, 0, box[6]))
20 | b.rotate(R, b.center)
21 |
22 | vis.add_geometry(b)
23 | vis.get_render_option().background_color = np.asarray([0, 0, 0]) # 设置一些渲染属性
24 | vis.run()
25 | vis.destroy_window()
26 |
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/src/common/dtype.hpp:
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1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef __DTYPE_HPP__
25 | #define __DTYPE_HPP__
26 |
27 | namespace nvtype {
28 |
29 | struct Int2 {
30 | int x, y;
31 |
32 | Int2() = default;
33 | Int2(int x, int y = 0) : x(x), y(y) {}
34 | };
35 |
36 | struct Int3 {
37 | int x, y, z;
38 |
39 | Int3() = default;
40 | Int3(int x, int y = 0, int z = 0) : x(x), y(y), z(z) {}
41 | };
42 |
43 | struct Float2 {
44 | float x, y;
45 |
46 | Float2() = default;
47 | Float2(float x, float y = 0) : x(x), y(y) {}
48 | };
49 |
50 | struct Float3 {
51 | float x, y, z;
52 |
53 | Float3() = default;
54 | Float3(float x, float y = 0, float z = 0) : x(x), y(y), z(z) {}
55 | };
56 |
57 | struct Float4 {
58 | float x, y, z, w;
59 |
60 | Float4() = default;
61 | Float4(float x, float y = 0, float z = 0, float w = 0) : x(x), y(y), z(z), w(w) {}
62 | };
63 |
64 | // It is only used to specify the type only, while hoping to avoid header file contamination.
65 | typedef struct {
66 | unsigned short __x;
67 | } half;
68 |
69 | }; // namespace nvtype
70 |
71 | #endif // __DTYPE_HPP__
--------------------------------------------------------------------------------
/src/common/tensorrt.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef __TENSORRT_HPP__
25 | #define __TENSORRT_HPP__
26 |
27 | #include
28 | #include
29 | #include
30 |
31 | namespace TensorRT {
32 |
33 | enum class DType : int { FLOAT = 0, HALF = 1, INT8 = 2, INT32 = 3, BOOL = 4, UINT8 = 5 };
34 |
35 | class Engine {
36 | public:
37 | virtual bool forward(const std::vector &bindings, void *stream = nullptr, void *input_consum_event = nullptr) = 0;
38 | virtual int index(const std::string &name) = 0;
39 | virtual std::vector run_dims(const std::string &name) = 0;
40 | virtual std::vector run_dims(int ibinding) = 0;
41 | virtual std::vector static_dims(const std::string &name) = 0;
42 | virtual std::vector static_dims(int ibinding) = 0;
43 | virtual int numel(const std::string &name) = 0;
44 | virtual int numel(int ibinding) = 0;
45 | virtual int num_bindings() = 0;
46 | virtual bool is_input(int ibinding) = 0;
47 | virtual bool set_run_dims(const std::string &name, const std::vector &dims) = 0;
48 | virtual bool set_run_dims(int ibinding, const std::vector &dims) = 0;
49 | virtual DType dtype(const std::string &name) = 0;
50 | virtual DType dtype(int ibinding) = 0;
51 | virtual bool has_dynamic_dim() = 0;
52 | virtual void print(const char *name = "TensorRT-Engine") = 0;
53 | };
54 |
55 | std::shared_ptr load(const std::string &file);
56 | }; // namespace TensorRT
57 |
58 | #endif // __TENSORRT_HPP__
--------------------------------------------------------------------------------
/src/common/timer.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef __TIMER_HPP__
25 | #define __TIMER_HPP__
26 |
27 | #include "check.hpp"
28 |
29 | namespace nv {
30 |
31 | class EventTimer {
32 | public:
33 | EventTimer() {
34 | checkRuntime(cudaEventCreate(&begin_));
35 | checkRuntime(cudaEventCreate(&end_));
36 | }
37 |
38 | virtual ~EventTimer() {
39 | checkRuntime(cudaEventDestroy(begin_));
40 | checkRuntime(cudaEventDestroy(end_));
41 | }
42 |
43 | void start(cudaStream_t stream) { checkRuntime(cudaEventRecord(begin_, stream)); }
44 |
45 | float stop(const char* prefix = "timer") {
46 | float times = 0;
47 | checkRuntime(cudaEventRecord(end_, stream_));
48 | checkRuntime(cudaEventSynchronize(end_));
49 | checkRuntime(cudaEventElapsedTime(×, begin_, end_));
50 | printf("[⏰ %s]: \t%.5f ms\n", prefix, times);
51 | return times;
52 | }
53 |
54 | private:
55 | cudaStream_t stream_ = nullptr;
56 | cudaEvent_t begin_ = nullptr, end_ = nullptr;
57 | };
58 |
59 | }; // namespace nv
60 |
61 | #endif // __TIMER_HPP__
--------------------------------------------------------------------------------
/src/cv2stb.cpp:
--------------------------------------------------------------------------------
1 | #include "stb_image.h"
2 | #include
3 |
4 | int main() {
5 | std::string img_path = "/home/lin/code/CUDA-FastBEV/example-data/0-FRONT.jpg";
6 | cv::Mat cv_img = cv::imread(img_path, cv::IMREAD_UNCHANGED);
7 |
8 | if (!cv_img.empty())
9 | {
10 |
11 | int w = cv_img.cols;
12 | int h = cv_img.rows;
13 | int c = cv_img.channels();
14 | std::vector buffer;
15 | cv::imencode(".jpg", cv_img, buffer);
16 |
17 | // 使用stbi_load函数加载图像数据
18 | unsigned char* stbi_data;
19 | stbi_data = stbi_load_from_memory(buffer.data(), buffer.size(), &w, &h, &c, 0);
20 |
21 |
22 | if (stbi_data != nullptr)
23 | {
24 | // 在这里使用加载的图像数据
25 | // ...
26 | // 释放stbi_load函数分配的内存
27 | stbi_image_free(stbi_data);
28 | }
29 | else
30 | {
31 | // 加载图像失败
32 | }
33 | }
34 | else
35 | {
36 | // 读取图像失败
37 | }
38 |
39 | return 0;
40 | }
41 |
--------------------------------------------------------------------------------
/src/fastbev/fastbev.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * @Author: Mandy
3 | * @Date: 2023-08-13 13:19:20
4 | * @Last Modified by: Mandy
5 | * @Last Modified time: 2023-08-13 17:46:43
6 | */
7 | #ifndef __FASTBEV_HPP__
8 | #define __FASTBEV_HPP__
9 |
10 | #include "fastbev_pre.hpp"
11 | #include "vtransform.hpp"
12 | #include "normalization.hpp"
13 | #include "postprecess.hpp"
14 |
15 | namespace fastbev {
16 |
17 | struct CoreParameter {
18 | std::string pre_model;
19 | std::string post_model;
20 | pre::NormalizationParameter normalize;
21 | pre::GeometryParameter geo_param;
22 | post::transbbox::TransBBoxParameter transbbox;
23 | };
24 |
25 | class Core {
26 | public:
27 | virtual std::vector forward(const unsigned char **camera_images, void *stream ) = 0;
28 |
29 | virtual void print() = 0;
30 | virtual void set_timer(bool enable) = 0;
31 |
32 | virtual void update(const float *valid_c_idx, const int64_t *valid_x, const int64_t *valid_y, void* stream = nullptr) = 0;
33 |
34 | };
35 |
36 | std::shared_ptr create_core(const CoreParameter ¶m);
37 |
38 | }; // namespace fastbev
39 |
40 | #endif // __FASTBEV_HPP__
--------------------------------------------------------------------------------
/src/fastbev/fastbev_post.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * @Author: Mandy
3 | * @Date: 2023-08-13 13:10:57
4 | * @Last Modified by: Mandy
5 | * @Last Modified time: 2023-08-13 13:10:57
6 | */
7 | #ifndef __FUSEHEAD_HPP__
8 | #define __FUSEHEAD_HPP__
9 |
10 | #include
11 | #include
12 | #include
13 |
14 | #include "common/dtype.hpp"
15 |
16 | namespace fastbev {
17 | namespace post {
18 |
19 | struct BindingOut{
20 | float* cls_scores;
21 | int32_t* dir_cls_scores;
22 | float* bbox_preds;
23 | };
24 |
25 | class Transfusion {
26 | public:
27 | virtual BindingOut forward(const nvtype::half* camera_bev, void* stream) = 0;
28 | virtual void print() = 0;
29 | virtual std::vector> output_shape() = 0;
30 | };
31 |
32 | std::shared_ptr create_transfusion(const std::string& model);
33 |
34 | }; // namespace post
35 | }; // namespace fastbev
36 |
37 | #endif // __FUSEHEAD_HPP__
--------------------------------------------------------------------------------
/src/fastbev/fastbev_pre.cpp:
--------------------------------------------------------------------------------
1 | /*
2 | * @Author: Mandy
3 | * @Date: 2023-08-13 13:18:55
4 | * @Last Modified by: Mandy
5 | * @Last Modified time: 2023-08-13 13:18:55
6 | */
7 | #include
8 |
9 | #include
10 |
11 | #include "fastbev_pre.hpp"
12 | #include "common/check.hpp"
13 | #include "common/launch.cuh"
14 | #include "common/tensorrt.hpp"
15 |
16 | namespace fastbev {
17 | namespace pre {
18 |
19 | class BackboneImplement : public Backbone {
20 | public:
21 | virtual ~BackboneImplement() {
22 | if (feature_) checkRuntime(cudaFree(feature_));
23 | }
24 |
25 | bool init(const std::string& model) {
26 | engine_ = TensorRT::load(model);
27 | if (engine_ == nullptr) return false;
28 |
29 | feature_dims_ = engine_->static_dims(1);
30 | int32_t volumn = std::accumulate(feature_dims_.begin(), feature_dims_.end(), 1, std::multiplies());
31 | checkRuntime(cudaMalloc(&feature_, volumn * sizeof(nvtype::half)));
32 |
33 | return true;
34 | }
35 |
36 | virtual void print() override { engine_->print("Camerea Backbone"); }
37 |
38 | virtual void forward(const nvtype::half* images, void* stream = nullptr) override {
39 |
40 |
41 | engine_->forward({images, feature_}, static_cast(stream));
42 | }
43 |
44 | virtual nvtype::half* feature() override { return feature_; }
45 | virtual std::vector feature_shape() override { return feature_dims_; }
46 |
47 | private:
48 | std::shared_ptr engine_;
49 | nvtype::half* feature_ = nullptr;
50 | std::vector feature_dims_;
51 | };
52 |
53 | std::shared_ptr create_backbone(const std::string& model) {
54 | std::shared_ptr instance(new BackboneImplement());
55 | if (!instance->init(model)) {
56 | instance.reset();
57 | }
58 | return instance;
59 | }
60 |
61 | }; // namespace pre
62 | }; // namespace fastbev
--------------------------------------------------------------------------------
/src/fastbev/fastbev_pre.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * @Author: Mandy
3 | * @Date: 2023-08-13 13:19:07
4 | * @Last Modified by: Mandy
5 | * @Last Modified time: 2023-08-13 13:19:07
6 | */
7 | #ifndef __CAMERA_BACKBONE_HPP__
8 | #define __CAMERA_BACKBONE_HPP__
9 |
10 | #include
11 | #include
12 | #include
13 | #include "common/tensor.hpp"
14 |
15 | #include "common/dtype.hpp"
16 | #include
17 |
18 | namespace fastbev {
19 | namespace pre {
20 |
21 | class Backbone {
22 | public:
23 | virtual void forward(const nvtype::half* images, void* stream = nullptr) = 0;
24 | virtual nvtype::half* feature() = 0;
25 | virtual std::vector feature_shape() = 0;
26 | virtual void print() = 0;
27 | };
28 |
29 | std::shared_ptr create_backbone(const std::string& model);
30 |
31 | }; // namespace pre
32 | }; // namespace fastbev
33 |
34 | #endif // __CAMERA_BACKBONE_HPP__
--------------------------------------------------------------------------------
/src/fastbev/postprecess.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * @Author: Mandy
3 | * @Date: 2023-08-13 13:19:34
4 | * @Last Modified by: Mandy
5 | * @Last Modified time: 2023-08-13 13:19:34
6 | */
7 | #ifndef __HEAD_TRANSBBOX_HPP__
8 | #define __HEAD_TRANSBBOX_HPP__
9 |
10 | #include
11 | #include
12 | #include
13 |
14 | #include "common/dtype.hpp"
15 | #include "fastbev_post.hpp"
16 |
17 | namespace fastbev {
18 | namespace post {
19 | namespace transbbox {
20 |
21 | template std::vector argsort(const std::vector& array)
22 | {
23 | const int array_len(array.size());
24 | std::vector array_index(array_len, 0);
25 | for (int i = 0; i < array_len; ++i)
26 | array_index[i] = i;
27 |
28 | std::sort(array_index.begin(), array_index.end(),
29 | [&array](int pos1, int pos2) {return (array[pos1] > array[pos2]); });
30 |
31 | return array_index;
32 | }
33 |
34 | struct TransBBoxParameter {
35 | bool sorted_bboxes = true;
36 | float confidence_threshold = 0.0f;
37 | float score_thr = 0.5f;
38 | int max_num = 500;
39 | float dir_offset = 0.7854;
40 | float dir_limit_offset = 0.0f;
41 | float nms_radius_thr_list[10] = {4.0f, 12.0f, 10.0f, 10.0f, 12.0f, 0.85f, 0.85f, 0.175f, 0.175f, 1.0f};
42 | float nms_thr_list[10] = {0.2f, 0.2f, 0.2f, 0.2f, 0.2f, 0.2f, 0.2f, 0.5f, 0.5f, 0.2f};
43 | float nms_rescale_factor[10] = {1.0f, 0.7f, 0.55f, 0.4f, 0.7f, 1.0f, 1.0f, 4.5f, 9.0f, 1.0f};
44 | };
45 |
46 | struct Position {
47 | float x, y, z;
48 | };
49 |
50 | struct Size {
51 | float w, l, h; // x, y, z
52 | };
53 |
54 | struct Velocity {
55 | float vx, vy;
56 | };
57 |
58 | struct BoundingBox {
59 | Position position;
60 | Size size;
61 | Velocity velocity;
62 | float z_rotation;
63 | float score;
64 | int id;
65 | };
66 |
67 | class TransBBox {
68 | public:
69 | virtual std::vector forward(const BindingOut bindings, void* stream,
70 | bool sorted_by_conf = false) = 0;
71 | };
72 |
73 | std::shared_ptr create_transbbox(const TransBBoxParameter& param, std::vector> bingingshape);
74 |
75 | }; // namespace transbbox
76 | }; // namespace post
77 | }; // namespace fastbev
78 |
79 | #endif // __HEAD_TRANSBBOX_HPP__
--------------------------------------------------------------------------------
/src/fastbev/vtransform.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * @Author: Mandy
3 | * @Date: 2023-08-13 13:19:43
4 | * @Last Modified by: Mandy
5 | * @Last Modified time: 2023-08-13 17:45:23
6 | */
7 | #ifndef __CAMERA_VTRANSFORM_HPP__
8 | #define __CAMERA_VTRANSFORM_HPP__
9 |
10 | #include
11 | #include
12 | #include
13 | #include "common/tensor.hpp"
14 |
15 | #include "common/dtype.hpp"
16 |
17 | namespace fastbev {
18 | namespace pre {
19 |
20 | struct GeometryParameter {
21 | int feat_width;
22 | int feat_height;
23 | int volum_z;
24 | int volum_x;
25 | int volum_y;
26 | int num_camera;
27 | int32_t valid_points;
28 | };
29 |
30 | class VTransform {
31 | public:
32 | virtual nvtype::half* forward(const nvtype::half* camera_feature, void* stream = nullptr) = 0;
33 | virtual void update(const float* valid_c_idx, const int64_t* valid_x, const int64_t* valid_y, void* stream = nullptr) = 0;
34 | virtual std::vector shape() = 0;
35 | };
36 |
37 | std::shared_ptr create_vtrans(const std::vector& feature_shape, GeometryParameter param);
38 |
39 | }; // namespace pre
40 | }; // namespace fastbev
41 |
42 | #endif // __CAMERA_VTRANSFORM_HPP__
--------------------------------------------------------------------------------
/src/stb2cv.cpp:
--------------------------------------------------------------------------------
1 | #define STB_IMAGE_IMPLEMENTATION
2 | #include "stb_image.h"
3 | #include
4 | #include
5 |
6 |
7 | int main()
8 | {
9 | int width, height, channels;
10 | std::string img_path = "/home/lin/code/CUDA-FastBEV/example-data/0-FRONT.jpg";
11 | unsigned char* image = stbi_load(img_path.c_str(), &width, &height, &channels, 0);
12 |
13 | std::cout << "width: " << width << std::endl;
14 | std::cout << "height: " << height << std::endl;
15 | std::cout << "channels:" << channels << std::endl;
16 |
17 | cv::Mat img = cv::Mat::zeros(height, width, CV_8UC3);
18 |
19 | if (image != nullptr)
20 | {
21 | img.data = image;
22 | cv::cvtColor(img, img, cv::COLOR_RGB2BGR);
23 |
24 | cv::Mat cv_img(height, width, CV_8UC3, image);
25 | // 在这里使用图像数据进行显示或处理
26 | std::cout << "成功加载图像！" << std::endl;
27 |
28 | cv::imshow("img", img);
29 | cv::imshow("cv_img", cv_img);
30 | cv::waitKey();
31 |
32 | stbi_image_free(image);
33 |
34 |
35 | } else {
36 | std::cout << "无法加载图像。" << std::endl;
37 | }
38 |
39 | return 0;
40 | }
41 |
--------------------------------------------------------------------------------
/src_ros/fastbev_ros_node.cpp:
--------------------------------------------------------------------------------
1 | #include "fastbev_ros.hpp"
2 | #include
3 |
4 | int main(int argc, char **argv)
5 | {
6 | ros::init(argc, argv, "fastbev_node");
7 | ros::NodeHandle n;
8 | std::string pkg_path = ros::package::getPath("fastbev");
9 | std::string model_name;
10 | std::string precision;
11 |
12 | n.param("model_name", model_name, "resnet18");
13 | n.param("precision", precision, "fp16");
14 |
15 | std::cout << "\033[1;32m--pkg_path: " << pkg_path << "\033[0m" << std::endl;
16 | std::cout << "\033[1;32m--model_name: " << model_name << "\033[0m" << std::endl;
17 | std::cout << "\033[1;32m--precision : " << precision << "\033[0m" << std::endl;
18 |
19 | auto fastbev_node = std::make_shared(pkg_path, model_name, precision);
20 | ros::spin();
21 | return 0;
22 | }
--------------------------------------------------------------------------------
/third_party/3DSparseConvolution/.gitignore:
--------------------------------------------------------------------------------
1 | objs
2 | tool/__pycache__/
3 | tool/deploy/__pycache__/
4 | workspace/lib
5 | workspace/*.pth
6 | workspace/pro
7 | nuscenes
8 | tool/*.so
9 | workspace/centerpoint/output.zyx.dense
10 | workspace/centerpoint/out_dense.py.fp16.tensor
11 | workspace/bevfusion/output.zyx.dense
12 | workspace/bevfusion/output.xyz.dense
13 | src/pybind11.hpp
--------------------------------------------------------------------------------
/third_party/3DSparseConvolution/libspconv/include/spconv/timer.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef __SPCONV_TIMER_HPP__
25 | #define __SPCONV_TIMER_HPP__
26 |
27 | #include
28 |
29 | #include "check.hpp"
30 |
31 | namespace spconv {
32 |
33 | class EventTimer {
34 | public:
35 | EventTimer() {
36 | checkRuntime(cudaEventCreate(&begin_));
37 | checkRuntime(cudaEventCreate(&end_));
38 | }
39 |
40 | virtual ~EventTimer() {
41 | checkRuntime(cudaEventDestroy(begin_));
42 | checkRuntime(cudaEventDestroy(end_));
43 | }
44 |
45 | void start(void *stream) {
46 | stream_ = (cudaStream_t)stream;
47 | checkRuntime(cudaEventRecord(begin_, (cudaStream_t)stream));
48 | }
49 |
50 | float stop(const char *prefix, bool print = true) {
51 | float times = 0;
52 | checkRuntime(cudaEventRecord(end_, stream_));
53 | checkRuntime(cudaEventSynchronize(end_));
54 | checkRuntime(cudaEventElapsedTime(×, begin_, end_));
55 | if (print) printf("[Times %s]: %.3f ms\n", prefix, times);
56 | return times;
57 | }
58 |
59 | private:
60 | cudaStream_t stream_ = nullptr;
61 | cudaEvent_t begin_ = nullptr, end_ = nullptr;
62 | };
63 |
64 | }; // namespace spconv
65 |
66 | #endif // #ifndef __SPCONV_TIMER_HPP__
--------------------------------------------------------------------------------
/third_party/3DSparseConvolution/libspconv/include/spconv/version.hpp:
--------------------------------------------------------------------------------
1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
4 | *
5 | * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
6 | * property and proprietary rights in and to this material, related
7 | * documentation and any modifications thereto. Any use, reproduction,
8 | * disclosure or distribution of this material and related documentation
9 | * without an express license agreement from NVIDIA CORPORATION or
10 | * its affiliates is strictly prohibited.
11 | */
12 |
13 | #ifndef __SPCONV_VERSION_HPP__
14 | #define __SPCONV_VERSION_HPP__
15 |
16 | #define NVSPCONV_MAJOR 1
17 | #define NVSPCONV_MINOR 0
18 | #define NVSPCONV_REL 1
19 | #define NVSPCONV_STR(v) #v
20 | #define NVSPCONV_VERSION_COMBIN(major, minor, rel) \
21 | (NVSPCONV_STR(major) "." NVSPCONV_STR(minor) "." NVSPCONV_STR(rel))
22 | #define NVSPCONV_VERSION NVSPCONV_VERSION_COMBIN(NVSPCONV_MAJOR, NVSPCONV_MINOR, NVSPCONV_REL)
23 |
24 | #endif // #ifndef __SPCONV_VERSION_HPP__
--------------------------------------------------------------------------------
/third_party/3DSparseConvolution/libspconv/lib/aarch64/libspconv.so:
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/third_party/3DSparseConvolution/src/voxelization.cuh:
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1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef VOXELIZATION_CUH
25 | #define VOXELIZATION_CUH
26 |
27 | #include
28 | #include
29 |
30 | #include
31 |
32 | enum class IndiceOrder : int { ZYX = 0, XYZ = 1 };
33 |
34 | class Voxelization {
35 | private:
36 | unsigned int *point2voxel_offset_;
37 | unsigned int *hash_table_;
38 | float *voxels_temp_;
39 |
40 | unsigned int *d_real_num_voxels_;
41 | unsigned int *h_real_num_voxels_;
42 | half *d_voxel_features_;
43 | unsigned int *d_voxel_num_;
44 | unsigned int *d_voxel_indices_;
45 |
46 | unsigned int hash_table_size_;
47 | unsigned int voxels_temp_size_;
48 | unsigned int voxel_features_size_;
49 | unsigned int voxel_idxs_size_;
50 | unsigned int voxel_num_size_;
51 |
52 | public:
53 | ~Voxelization();
54 | Voxelization();
55 |
56 | int alloc_resource();
57 | int generateVoxels(const half *points, size_t points_size, IndiceOrder order,
58 | cudaStream_t stream_ = 0);
59 | unsigned int getOutput(half **d_voxel_features, unsigned int **d_voxel_indices,
60 | std::vector &sparse_shape);
61 | };
62 |
63 | #endif // VOXELIZATION_CUH
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/third_party/3DSparseConvolution/tool/bevfusion-export/ReadME.md:
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1 | # Export ONNX (Deprecated)
2 | - For more detail, please refer to [here](/CUDA-BEVFusion/qat).
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/third_party/3DSparseConvolution/tool/bevfusion-export/data/camera.lidar.features.pth:
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/third_party/3DSparseConvolution/tool/code.format.sh:
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1 | #!/bin/bash
2 | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | # SPDX-License-Identifier: MIT
4 | #
5 | # Permission is hereby granted, free of charge, to any person obtaining a
6 | # copy of this software and associated documentation files (the "Software"),
7 | # to deal in the Software without restriction, including without limitation
8 | # the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | # and/or sell copies of the Software, and to permit persons to whom the
10 | # Software is furnished to do so, subject to the following conditions:
11 | #
12 | # The above copyright notice and this permission notice shall be included in
13 | # all copies or substantial portions of the Software.
14 | #
15 | # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | # DEALINGS IN THE SOFTWARE.
22 |
23 | find ./src/* -regex '.*\.\(cpp\|hpp\|cc\|cxx\|cu\|cuh\|h\)' | xargs clang-format -i \
24 | -style="{BasedOnStyle: google, IndentWidth: 2, ColumnLimit: 100}"
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/third_party/3DSparseConvolution/tool/pytest.py:
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1 | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
2 | # SPDX-License-Identifier: MIT
3 | #
4 | # Permission is hereby granted, free of charge, to any person obtaining a
5 | # copy of this software and associated documentation files (the "Software"),
6 | # to deal in the Software without restriction, including without limitation
7 | # the rights to use, copy, modify, merge, publish, distribute, sublicense,
8 | # and/or sell copies of the Software, and to permit persons to whom the
9 | # Software is furnished to do so, subject to the following conditions:
10 | #
11 | # The above copyright notice and this permission notice shall be included in
12 | # all copies or substantial portions of the Software.
13 | #
14 | # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
15 | # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
16 | # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
17 | # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
18 | # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
19 | # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
20 | # DEALINGS IN THE SOFTWARE.
21 |
22 | import pyscn
23 | import numpy as np
24 | import tensor
25 |
26 | workdir = "workspace/centerpoint"
27 | inference_type = "fp16" # fp16 or int8
28 | features = tensor.load(f"{workdir}/in_features.torch.fp16.tensor")
29 | indices = tensor.load(f"{workdir}/in_indices_zyx.torch.int32.tensor")
30 |
31 | pyscn.set_verbose(True)
32 | model = pyscn.SCNModel(f"{workdir}/centerpoint.scn.PTQ.onnx", inference_type)
33 | features, indices = model.forward(features, indices, [41, 1440, 1440], 0)
34 |
35 | tensor.save(features, f"{workdir}/out_dense.py.fp16.tensor")
36 | print(f"[PASSED 🤗].\nTo verify result:\n python tool/compare.py {workdir}/out_dense.py.fp16.tensor {workdir}/out_dense.torch.fp16.tensor --detail")
37 | del model
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/third_party/3DSparseConvolution/tool/requirements.txt:
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1 | addict==2.4.0
2 | terminaltables==3.1.10
3 | numpy==1.22.3
4 | onnx==1.12.0
5 | onnx_simplifier==0.4.8
6 | onnxsim==0.4.10
7 | onnxruntime==1.13.1
8 | spconv_cu114==2.2.6
9 | torch>=1.11.0
10 | pyquaternion==0.9.9
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/third_party/cuOSD/.gitignore:
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1 | *.png
2 | *.jpg
3 | ./cuosd
4 | libcuosd.so
5 | objs
6 | *.so
7 | __pycache__
8 | !imgs/input.png
9 | !imgs/faces.jpg
10 | !imgs/cuosd.png
11 | !imgs/blur-faces.jpg
12 | !data/image/output.png
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/third_party/cuOSD/data/std-random-boxes-1920x1080.txt:
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1 | 1920,1080
2 |
3 | # type, left, top, right, bottom, thickness, name, confidence, font_size
4 | detbox,740,704,790,759,1,horse,0.95,5
5 | detbox,266,976,342,1061,1,airplane,0.66,5
6 | detbox,840,420,896,496,1,vase,0.09,5
7 | detbox,759,203,810,299,1,fork,0.39,5
8 | detbox,1335,429,1414,491,1,toaster,0.06,5
9 | detbox,260,159,312,217,1,sandwich,0.03,5
10 | detbox,1197,223,1283,316,1,cake,0.73,5
11 | detbox,415,50,474,132,1,knife,0.29,5
12 | detbox,1202,325,1280,399,1,tie,0.98,5
13 | detbox,564,182,663,271,1,toothbrush,0.94,5
14 | detbox,1752,680,1841,748,1,skateboard,0.91,5
15 | detbox,369,451,451,550,1,fork,0.44,5
16 | detbox,361,350,460,405,1,cow,0.48,5
17 | detbox,520,375,594,464,1,hair drier,0.49,5
18 | detbox,898,789,977,881,1,teddy bear,0.69,5
19 | detbox,471,761,569,849,1,dining table,0.35,5
20 | detbox,1617,60,1669,116,1,hair drier,0.89,5
21 | detbox,1587,680,1676,777,1,toaster,0.45,5
22 | detbox,1579,408,1663,484,1,cell phone,0.19,5
23 | detbox,1509,337,1589,402,1,apple,0.12,5
24 | detbox,1572,130,1650,188,1,donut,0.21,5
25 | detbox,388,878,450,972,1,bottle,0.54,5
26 | detbox,1368,822,1430,910,1,airplane,0.47,5
27 | detbox,985,447,1076,510,1,banana,0.21,5
28 | detbox,1324,249,1375,321,1,cup,0.35,5
29 | detbox,1417,76,1501,144,1,snowboard,0.88,5
30 | detbox,835,646,919,740,1,giraffe,0.42,5
31 | detbox,1510,852,1563,909,1,person,0.28,5
32 | detbox,1652,257,1715,321,1,bottle,0.40,5
33 | detbox,1112,864,1200,925,1,oven,0.77,5
34 | detbox,1296,30,1388,113,1,oven,0.49,5
35 | detbox,1743,268,1808,341,1,orange,0.40,5
36 | detbox,578,794,649,882,1,hot dog,0.23,5
37 | detbox,149,500,242,577,1,dining table,0.44,5
38 | detbox,1268,908,1342,981,1,knife,0.24,5
39 | detbox,660,943,759,1016,1,broccoli,0.91,5
40 | detbox,780,955,846,1024,1,couch,0.04,5
41 | detbox,742,824,828,896,1,keyboard,0.91,5
42 | detbox,1453,460,1524,537,1,horse,0.87,5
43 | detbox,371,645,436,730,1,bed,0.23,5
44 | detbox,786,314,853,411,1,baseball bat,0.60,5
45 | detbox,135,660,226,731,1,kite,0.81,5
46 | detbox,841,204,906,287,1,remote,0.09,5
47 | detbox,1022,766,1087,858,1,cat,0.69,5
48 | detbox,336,148,411,227,1,tennis racket,0.79,5
49 | detbox,1576,978,1655,1055,1,kite,0.75,5
50 | detbox,1267,154,1349,212,1,microwave,0.72,5
51 | detbox,1273,591,1331,666,1,orange,0.49,5
52 | detbox,34,380,93,454,1,backpack,0.72,5
53 | detbox,1740,143,1813,217,1,traffic light,0.75,5
54 |
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/third_party/cuOSD/data/std-random-boxes.txt:
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1 | 1280,720
2 |
3 | # type, left, top, right, bottom, thickness, name, confidence, font_size
4 | detbox,489,457,539,512,1,horse,0.95,5
5 | detbox,176,623,252,708,1,airplane,0.66,5
6 | detbox,553,271,609,347,1,vase,0.09,5
7 | detbox,501,131,552,227,1,fork,0.39,5
8 | detbox,872,279,951,341,1,toaster,0.06,5
9 | detbox,174,106,226,164,1,sandwich,0.03,5
10 | detbox,780,144,866,237,1,cake,0.73,5
11 | detbox,275,36,334,118,1,knife,0.29,5
12 | detbox,125,491,185,578,1,zebra,0.56,5
13 | detbox,356,117,452,208,1,motorcycle,0.92,5
14 | detbox,123,259,203,343,1,bottle,0.65,5
15 | detbox,542,531,641,590,1,chair,0.40,5
16 | detbox,336,555,388,640,1,cat,0.96,5
17 | detbox,1208,109,1268,167,1,truck,0.50,5
18 | detbox,1162,490,1248,574,1,sports ball,0.49,5
19 | detbox,1033,432,1122,529,1,toaster,0.45,5
20 | detbox,1029,264,1113,340,1,cell phone,0.19,5
21 | detbox,941,36,1005,104,1,cat,0.73,5
22 | detbox,1077,142,1137,204,1,bottle,0.54,5
23 | detbox,898,524,960,612,1,airplane,0.47,5
24 | detbox,642,291,733,354,1,banana,0.21,5
25 | detbox,872,163,923,235,1,cup,0.35,5
26 | detbox,576,13,650,77,1,person,0.28,5
27 | detbox,34,576,117,661,1,laptop,0.94,5
28 | detbox,675,148,744,231,1,hot dog,0.05,5
29 | detbox,1021,364,1117,425,1,traffic light,0.02,5
30 | detbox,1118,213,1170,291,1,orange,0.20,5
31 | detbox,1130,330,1228,419,1,wine glass,0.43,5
32 | detbox,419,632,488,693,1,pizza,0.77,5
33 | detbox,1085,570,1160,636,1,toilet,0.35,5
34 | detbox,83,392,167,466,1,wine glass,0.85,5
35 | detbox,401,463,466,515,1,hair drier,0.82,5
36 | detbox,614,389,698,450,1,zebra,0.26,5
37 | detbox,561,96,633,155,1,clock,0.36,5
38 | detbox,993,566,1051,620,1,spoon,0.57,5
39 | detbox,919,342,1017,415,1,donut,0.72,5
40 | detbox,288,424,361,492,1,baseball bat,0.97,5
41 | detbox,458,280,531,365,1,refrigerator,0.54,5
42 | detbox,671,10,745,86,1,mouse,0.69,5
43 | detbox,201,394,264,466,1,broccoli,0.19,5
44 | detbox,724,490,798,551,1,microwave,0.27,5
45 | detbox,857,393,908,489,1,bench,0.03,5
46 | detbox,816,72,885,124,1,bird,0.95,5
47 | detbox,468,553,521,609,1,skateboard,0.33,5
48 | detbox,739,600,830,668,1,bear,0.88,5
49 | detbox,192,11,246,89,1,cow,0.82,5
50 | detbox,767,287,832,341,1,wine glass,0.86,5
51 | detbox,309,233,384,312,1,mouse,0.44,5
52 | detbox,515,615,576,710,1,remote,0.28,5
53 | detbox,414,374,492,428,1,cow,0.64,5
54 |
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/third_party/cuOSD/src/textbackend/backend.cpp:
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1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #include "backend.hpp"
25 |
26 | #ifdef ENABLE_TEXT_BACKEND_PANGO
27 | #include "pango-cairo.hpp"
28 | #endif
29 |
30 | #ifdef ENABLE_TEXT_BACKEND_STB
31 | #include "stb.hpp"
32 | #endif
33 |
34 | #include
35 | #include
36 |
37 | const char* text_backend_type_name(TextBackendType backend){
38 |
39 | switch(backend){
40 | case TextBackendType::PangoCairo: return "PangoCairo";
41 | case TextBackendType::StbTrueType: return "StbTrueType";
42 | default: return "Unknow";
43 | }
44 | }
45 |
46 | std::shared_ptr create_text_backend(TextBackendType backend){
47 |
48 | switch(backend){
49 |
50 | #ifdef ENABLE_TEXT_BACKEND_PANGO
51 | case TextBackendType::PangoCairo: return create_pango_cairo_backend();
52 | #endif
53 |
54 | #ifdef ENABLE_TEXT_BACKEND_STB
55 | case TextBackendType::StbTrueType: return create_stb_backend();
56 | #endif
57 |
58 | default:
59 | printf("Unsupport text backend: %s\n", text_backend_type_name(backend));
60 | return nullptr;
61 | }
62 | }
63 |
64 | std::string concat_font_name_size(const char* name, int size){
65 | std::stringstream ss;
66 | ss << name;
67 | ss << " ";
68 | ss << size;
69 | return ss.str();
70 | }
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/third_party/cuOSD/src/textbackend/pango-cairo.hpp:
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1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef BACKEND_PANGO_CAIRO_HPP
25 | #define BACKEND_PANGO_CAIRO_HPP
26 |
27 | #include "backend.hpp"
28 |
29 | #ifdef ENABLE_TEXT_BACKEND_PANGO
30 | std::shared_ptr create_pango_cairo_backend();
31 | #endif // ENABLE_TEXT_BACKEND_PANGO
32 |
33 | #endif // BACKEND_PANGO_CAIRO_HPP
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/third_party/cuOSD/src/textbackend/stb.hpp:
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1 | /*
2 | * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | * SPDX-License-Identifier: MIT
4 | *
5 | * Permission is hereby granted, free of charge, to any person obtaining a
6 | * copy of this software and associated documentation files (the "Software"),
7 | * to deal in the Software without restriction, including without limitation
8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | * and/or sell copies of the Software, and to permit persons to whom the
10 | * Software is furnished to do so, subject to the following conditions:
11 | *
12 | * The above copyright notice and this permission notice shall be included in
13 | * all copies or substantial portions of the Software.
14 | *
15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | * DEALINGS IN THE SOFTWARE.
22 | */
23 |
24 | #ifndef BACKEND_STB_HPP
25 | #define BACKEND_STB_HPP
26 |
27 | #include "backend.hpp"
28 |
29 | #ifdef ENABLE_TEXT_BACKEND_STB
30 | std::shared_ptr create_stb_backend();
31 | #endif // ENABLE_TEXT_BACKEND_STB
32 |
33 | #endif // BACKEND_STB_HPP
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/third_party/cuOSD/test/perf-std.sh:
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1 | #!/bin/bash
2 | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
3 | # SPDX-License-Identifier: MIT
4 | #
5 | # Permission is hereby granted, free of charge, to any person obtaining a
6 | # copy of this software and associated documentation files (the "Software"),
7 | # to deal in the Software without restriction, including without limitation
8 | # the rights to use, copy, modify, merge, publish, distribute, sublicense,
9 | # and/or sell copies of the Software, and to permit persons to whom the
10 | # Software is furnished to do so, subject to the following conditions:
11 | #
12 | # The above copyright notice and this permission notice shall be included in
13 | # all copies or substantial portions of the Software.
14 | #
15 | # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
18 | # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
20 | # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
21 | # DEALINGS IN THE SOFTWARE.
22 |
23 | ./cuosd comp --rectangle
24 | ./cuosd comp --text
25 | ./cuosd comp --line
26 | ./cuosd comp --circle
27 | ./cuosd comp --arrow
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/third_party/stb/.github/CONTRIBUTING.md:
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1 | Pull Requests and Issues are both welcome.
2 |
3 | # Responsiveness
4 |
5 | General priority order is:
6 |
7 | * Crashes
8 | * Security issues in stb_image
9 | * Bugs
10 | * Security concerns in other libs
11 | * Warnings
12 | * Enhancements (new features, performance improvement, etc)
13 |
14 | Pull requests get priority over Issues. Some pull requests I take
15 | as written; some I modify myself; some I will request changes before
16 | accepting them. Because I've ended up supporting a lot of libraries
17 | (20 as I write this, with more on the way), I am somewhat slow to
18 | address things. Many issues have been around for a long time.
19 |
20 | # Pull requests
21 |
22 | * Make sure you're using a special branch just for this pull request. (Sometimes people unknowingly use a default branch, then later update that branch, which updates the pull request with the other changes if it hasn't been merged yet.)
23 | * Do NOT update the version number in the file. (This just causes conflicts.)
24 | * Do add your name to the list of contributors. (Don't worry about the formatting.) I'll try to remember to add it if you don't, but I sometimes forget as it's an extra step.
25 | * Your change needs to compile as both C and C++. Pre-C99 compilers should be supported (e.g. declare at start of block)
26 |
27 | # Specific libraries
28 |
29 | I generally do not want new file formats for stb_image because
30 | we are trying to improve its security, so increasing its attack
31 | surface is counter-productive.
32 |
33 |
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/third_party/stb/.github/ISSUE_TEMPLATE/bug_report.md:
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1 | ---
2 | name: Bug report
3 | about: if you're having trouble using a library, try the support forum instead
4 | title: ''
5 | labels: ''
6 | assignees: ''
7 |
8 | ---
9 |
10 | **Describe the bug**
11 | A clear and concise description of what the bug is.
12 |
13 | **To Reproduce**
14 | Steps to reproduce the behavior:
15 | 1. Go to '...'
16 | 2. Click on '....'
17 | 3. Scroll down to '....'
18 | 4. See error
19 |
20 | **Expected behavior**
21 | A clear and concise description of what you expected to happen.
22 |
23 | **Screenshots**
24 | If applicable, add screenshots to help explain your problem.
25 |
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/third_party/stb/.github/ISSUE_TEMPLATE/config.yml:
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1 | contact_links:
2 | - name: support forum
3 | url: https://github.com/nothings/stb/discussions/categories/q-a
4 | about: having trouble using an stb library? don't create an issue, post in the forum
5 |
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/third_party/stb/.github/ISSUE_TEMPLATE/feature_request.md:
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1 | ---
2 | name: Feature request
3 | about: Suggest an idea for this project
4 | title: ''
5 | labels: 4 enhancement
6 | assignees: ''
7 |
8 | ---
9 |
10 | **Is your feature request related to a problem? Please describe.**
11 | A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
12 |
13 | **Describe the solution you'd like**
14 | A clear and concise description of what you want to happen.
15 |
16 | **Describe alternatives you've considered**
17 | A clear and concise description of any alternative solutions or features you've considered.
18 |
19 | **Additional context**
20 | Add any other context or screenshots about the feature request here.
21 |
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/third_party/stb/.github/PULL_REQUEST_TEMPLATE.md:
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1 | * Delete this list before clicking CREATE PULL REQUEST
2 | * Make sure you're using a special branch just for this pull request. (Sometimes people unknowingly use a default branch, then later update that branch, which updates the pull request with the other changes if it hasn't been merged yet.)
3 | * Do NOT update the version number in the file. (This just causes conflicts.)
4 | * Do add your name to the list of contributors. (Don't worry about the formatting.) I'll try to remember to add it if you don't, but I sometimes forget as it's an extra step.
5 |
6 | If you get something above wrong, don't fret it, it's not the end of the world.
7 |
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/third_party/stb/.github/workflows/ci-fuzz.yml:
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1 | name: CIFuzz
2 | on: [pull_request]
3 | jobs:
4 | Fuzzing:
5 | runs-on: ubuntu-latest
6 | steps:
7 | - name: Build Fuzzers
8 | uses: google/oss-fuzz/infra/cifuzz/actions/build_fuzzers@master
9 | with:
10 | oss-fuzz-project-name: 'stb'
11 | dry-run: false
12 | - name: Run Fuzzers
13 | uses: google/oss-fuzz/infra/cifuzz/actions/run_fuzzers@master
14 | with:
15 | oss-fuzz-project-name: 'stb'
16 | fuzz-seconds: 900
17 | dry-run: false
18 | - name: Upload Crash
19 | uses: actions/upload-artifact@v1
20 | if: failure()
21 | with:
22 | name: artifacts
23 | path: ./out/artifacts
24 |
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/third_party/stb/.travis.yml:
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1 | language: C
2 | arch:
3 | - AMD64
4 | - ppc64le
5 | install: true
6 | script:
7 | - cd tests
8 | - make all
9 |
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/third_party/stb/LICENSE:
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1 | This software is available under 2 licenses -- choose whichever you prefer.
2 | ------------------------------------------------------------------------------
3 | ALTERNATIVE A - MIT License
4 | Copyright (c) 2017 Sean Barrett
5 | Permission is hereby granted, free of charge, to any person obtaining a copy of
6 | this software and associated documentation files (the "Software"), to deal in
7 | the Software without restriction, including without limitation the rights to
8 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
9 | of the Software, and to permit persons to whom the Software is furnished to do
10 | so, subject to the following conditions:
11 | The above copyright notice and this permission notice shall be included in all
12 | copies or substantial portions of the Software.
13 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
14 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
15 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
16 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
17 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
18 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
19 | SOFTWARE.
20 | ------------------------------------------------------------------------------
21 | ALTERNATIVE B - Public Domain (www.unlicense.org)
22 | This is free and unencumbered software released into the public domain.
23 | Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
24 | software, either in source code form or as a compiled binary, for any purpose,
25 | commercial or non-commercial, and by any means.
26 | In jurisdictions that recognize copyright laws, the author or authors of this
27 | software dedicate any and all copyright interest in the software to the public
28 | domain. We make this dedication for the benefit of the public at large and to
29 | the detriment of our heirs and successors. We intend this dedication to be an
30 | overt act of relinquishment in perpetuity of all present and future rights to
31 | this software under copyright law.
32 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
33 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
34 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
35 | AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
36 | ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
37 | WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
38 |
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/third_party/stb/data/herringbone/license.txt:
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1 | All files in this directory are in the public domain. Where
2 | a public domain declaration is not recognized, you are granted
3 | a license to freely use, modify, and redistribute them in
4 | any way you choose.
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/third_party/stb/deprecated/stretch_test.c:
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1 | // check that stb_truetype compiles with no stb_rect_pack.h
2 | #define STB_TRUETYPE_IMPLEMENTATION
3 | #include "stb_truetype.h"
4 |
5 | #define STB_DS_IMPLEMENTATION
6 | #include "stb_ds.h"
7 | #include
8 |
9 | int main(int arg, char **argv)
10 | {
11 | int i;
12 | int *arr = NULL;
13 |
14 | for (i=0; i < 1000000; ++i)
15 | arrput(arr, i);
16 |
17 | assert(arrlen(arr) == 1000000);
18 | for (i=0; i < 1000000; ++i)
19 | assert(arr[i] == i);
20 |
21 | arrfree(arr);
22 | arr = NULL;
23 |
24 | for (i=0; i < 1000; ++i)
25 | arrput(arr, 1000);
26 | assert(arrlen(arr) == 1000000);
27 |
28 | return 0;
29 | }
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/third_party/stb/deprecated/stretchy_buffer.txt:
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1 | // stretchy buffer // init: NULL // free: sbfree() // push_back: sbpush() // size: sbcount() //
2 | #define sbfree(a) ((a) ? free(stb__sbraw(a)),0 : 0)
3 | #define sbpush(a,v) (stb__sbmaybegrow(a,1), (a)[stb__sbn(a)++] = (v))
4 | #define sbcount(a) ((a) ? stb__sbn(a) : 0)
5 | #define sbadd(a,n) (stb__sbmaybegrow(a,n), stb__sbn(a)+=(n), &(a)[stb__sbn(a)-(n)])
6 | #define sblast(a) ((a)[stb__sbn(a)-1])
7 |
8 | #include
9 | #define stb__sbraw(a) ((int *) (a) - 2)
10 | #define stb__sbm(a) stb__sbraw(a)[0]
11 | #define stb__sbn(a) stb__sbraw(a)[1]
12 |
13 | #define stb__sbneedgrow(a,n) ((a)==0 || stb__sbn(a)+n >= stb__sbm(a))
14 | #define stb__sbmaybegrow(a,n) (stb__sbneedgrow(a,(n)) ? stb__sbgrow(a,n) : 0)
15 | #define stb__sbgrow(a,n) stb__sbgrowf((void **) &(a), (n), sizeof(*(a)))
16 |
17 | static void stb__sbgrowf(void **arr, int increment, int itemsize)
18 | {
19 | int m = *arr ? 2*stb__sbm(*arr)+increment : increment+1;
20 | void *p = realloc(*arr ? stb__sbraw(*arr) : 0, itemsize * m + sizeof(int)*2);
21 | assert(p);
22 | if (p) {
23 | if (!*arr) ((int *) p)[1] = 0;
24 | *arr = (void *) ((int *) p + 2);
25 | stb__sbm(*arr) = m;
26 | }
27 | }
28 |
29 |
--------------------------------------------------------------------------------
/third_party/stb/docs/other_libs.md:
--------------------------------------------------------------------------------
1 | Moved to https://github.com/nothings/single_file_libs
--------------------------------------------------------------------------------
/third_party/stb/tests/Makefile:
--------------------------------------------------------------------------------
1 | INCLUDES = -I..
2 | CFLAGS = -Wno-pointer-to-int-cast -Wno-int-to-pointer-cast -DSTB_DIVIDE_TEST
3 | CPPFLAGS = -Wno-write-strings -DSTB_DIVIDE_TEST
4 |
5 | # Uncomment this line for reproducing OSS-Fuzz bugs with image_fuzzer
6 | #CFLAGS += -O -fsanitize=address
7 |
8 | all:
9 | $(CC) $(INCLUDES) $(CFLAGS) ../stb_vorbis.c test_c_compilation.c test_c_lexer.c test_dxt.c test_easyfont.c test_image.c test_image_write.c test_perlin.c test_sprintf.c test_truetype.c test_voxel.c -lm
10 | $(CC) $(INCLUDES) $(CPPFLAGS) -std=c++0x test_cpp_compilation.cpp -lm -lstdc++
11 | $(CC) $(INCLUDES) $(CFLAGS) -DIWT_TEST image_write_test.c -lm -o image_write_test
12 | $(CC) $(INCLUDES) $(CFLAGS) fuzz_main.c stbi_read_fuzzer.c -lm -o image_fuzzer
13 |
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/third_party/stb/tests/caveview/cave_parse.h:
--------------------------------------------------------------------------------
1 | #ifndef INCLUDE_CAVE_PARSE_H
2 | #define INCLUDE_CAVE_PARSE_H
3 |
4 | typedef struct
5 | {
6 | unsigned char block;
7 | unsigned char data;
8 | unsigned char light:4;
9 | unsigned char skylight:4;
10 | } raw_block;
11 |
12 | // this is the old fully-decoded chunk
13 | typedef struct
14 | {
15 | int xpos, zpos, max_y;
16 | int height[16][16];
17 | raw_block rb[16][16][256]; // [z][x][y] which becomes [y][x][z] in stb
18 | } chunk;
19 |
20 | chunk *get_decoded_chunk(int chunk_x, int chunk_z);
21 |
22 | #define NUM_SEGMENTS 16
23 | typedef struct
24 | {
25 | int max_y, xpos, zpos;
26 |
27 | unsigned char *blockdata[NUM_SEGMENTS];
28 | unsigned char *data[NUM_SEGMENTS];
29 | unsigned char *skylight[NUM_SEGMENTS];
30 | unsigned char *light[NUM_SEGMENTS];
31 |
32 | void *pointer_to_free;
33 |
34 | int refcount; // this allows multi-threaded building without wrapping in ANOTHER struct
35 | } fast_chunk;
36 |
37 | fast_chunk *get_decoded_fastchunk(int chunk_x, int chunk_z); // cache, never call free()
38 |
39 | fast_chunk *get_decoded_fastchunk_uncached(int chunk_x, int chunk_z);
40 |
41 | #endif
42 |
--------------------------------------------------------------------------------
/third_party/stb/tests/caveview/caveview.dsw:
--------------------------------------------------------------------------------
1 | Microsoft Developer Studio Workspace File, Format Version 6.00
2 | # WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
3 |
4 | ###############################################################################
5 |
6 | Project: "caveview"=.\caveview.dsp - Package Owner=<4>
7 |
8 | Package=<5>
9 | {{{
10 | }}}
11 |
12 | Package=<4>
13 | {{{
14 | }}}
15 |
16 | ###############################################################################
17 |
18 | Global:
19 |
20 | Package=<5>
21 | {{{
22 | }}}
23 |
24 | Package=<3>
25 | {{{
26 | }}}
27 |
28 | ###############################################################################
29 |
30 |
--------------------------------------------------------------------------------
/third_party/stb/tests/caveview/caveview.h:
--------------------------------------------------------------------------------
1 | #ifndef INCLUDE_CAVEVIEW_H
2 | #define INCLUDE_CAVEVIEW_H
3 |
4 | #include "stb.h"
5 |
6 | #include "stb_voxel_render.h"
7 |
8 | typedef struct
9 | {
10 | int cx,cy;
11 |
12 | stbvox_mesh_maker mm;
13 |
14 | uint8 *build_buffer;
15 | uint8 *face_buffer;
16 |
17 | int num_quads;
18 | float transform[3][3];
19 | float bounds[2][3];
20 |
21 | uint8 sv_blocktype[34][34][18];
22 | uint8 sv_lighting [34][34][18];
23 | } raw_mesh;
24 |
25 | // a 3D checkerboard of empty,solid would be: 32x32x255x6/2 ~= 800000
26 | // an all-leaf qchunk would be: 32 x 32 x 255 x 6 ~= 1,600,000
27 |
28 | #define BUILD_QUAD_MAX 400000
29 | #define BUILD_BUFFER_SIZE (4*4*BUILD_QUAD_MAX) // 4 bytes per vertex, 4 vertices per quad
30 | #define FACE_BUFFER_SIZE ( 4*BUILD_QUAD_MAX) // 4 bytes per quad
31 |
32 |
33 | extern void mesh_init(void);
34 | extern void render_init(void);
35 | extern void world_init(void);
36 | extern void ods(char *fmt, ...); // output debug string
37 | extern void reset_cache_size(int size);
38 |
39 |
40 | extern void render_caves(float pos[3]);
41 |
42 |
43 | #include "cave_parse.h" // fast_chunk
44 |
45 | extern fast_chunk *get_converted_fastchunk(int chunk_x, int chunk_y);
46 | extern void build_chunk(int chunk_x, int chunk_y, fast_chunk *fc_table[4][4], raw_mesh *rm);
47 | extern void reset_cache_size(int size);
48 | extern void deref_fastchunk(fast_chunk *fc);
49 |
50 | #endif
--------------------------------------------------------------------------------
/third_party/stb/tests/caveview/glext_list.h:
--------------------------------------------------------------------------------
1 | GLARB(ActiveTexture,ACTIVETEXTURE)
2 | GLARB(ClientActiveTexture,CLIENTACTIVETEXTURE)
3 | GLARB(MultiTexCoord2f,MULTITEXCOORD2F)
4 | GLEXT(TexImage3D,TEXIMAGE3D)
5 | GLEXT(TexSubImage3D,TEXSUBIMAGE3D)
6 | GLEXT(GenerateMipmap,GENERATEMIPMAP)
7 | GLARB(DebugMessageCallback,DEBUGMESSAGECALLBACK)
8 |
9 | GLCORE(VertexAttribIPointer,VERTEXATTRIBIPOINTER)
10 |
11 | GLEXT(BindFramebuffer,BINDFRAMEBUFFER)
12 | GLEXT(DeleteFramebuffers,DELETEFRAMEBUFFERS)
13 | GLEXT(GenFramebuffers,GENFRAMEBUFFERS)
14 | GLEXT(CheckFramebufferStatus,CHECKFRAMEBUFFERSTATUS)
15 | GLEXT(FramebufferTexture2D,FRAMEBUFFERTEXTURE2D)
16 | GLEXT(BindRenderBuffer,BINDRENDERBUFFER)
17 | GLEXT(RenderbufferStorage,RENDERBUFFERSTORAGE)
18 | GLEXT(GenRenderbuffers,GENRENDERBUFFERS)
19 | GLEXT(BindRenderbuffer,BINDRENDERBUFFER)
20 | GLEXT(FramebufferRenderbuffer,FRAMEBUFFERRENDERBUFFER)
21 | GLEXT(GenerateMipmap,GENERATEMIPMAP)
22 |
23 | GLARB(BindBuffer ,BINDBUFFER,)
24 | GLARB(GenBuffers ,GENBUFFERS )
25 | GLARB(DeleteBuffers,DELETEBUFFERS)
26 | GLARB(BufferData ,BUFFERDATA )
27 | GLARB(BufferSubData,BUFFERSUBDATA)
28 | GLARB(MapBuffer ,MAPBUFFER )
29 | GLARB(UnmapBuffer ,UNMAPBUFFER )
30 | GLARB(TexBuffer ,TEXBUFFER )
31 |
32 | GLEXT(NamedBufferStorage,NAMEDBUFFERSTORAGE)
33 | GLE(BufferStorage,BUFFERSTORAGE)
34 | GLE(GetStringi,GETSTRINGI)
--------------------------------------------------------------------------------
/third_party/stb/tests/caveview/main.c:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/linClubs/FastBEV-ROS-TensorRT/6c34e35b76c2d5758ba342b2f43d8780e8fbe47d/third_party/stb/tests/caveview/main.c
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/third_party/stb/tests/fuzz_main.c:
--------------------------------------------------------------------------------
1 | #include
2 | #include
3 | #include
4 |
5 | /* fuzz target entry point, works without libFuzzer */
6 |
7 | int LLVMFuzzerTestOneInput(const uint8_t* data, size_t size);
8 |
9 | int main(int argc, char **argv)
10 | {
11 | FILE *f;
12 | char *buf = NULL;
13 | long siz_buf;
14 |
15 | if(argc < 2)
16 | {
17 | fprintf(stderr, "no input file\n");
18 | goto err;
19 | }
20 |
21 | f = fopen(argv[1], "rb");
22 | if(f == NULL)
23 | {
24 | fprintf(stderr, "error opening input file %s\n", argv[1]);
25 | goto err;
26 | }
27 |
28 | fseek(f, 0, SEEK_END);
29 |
30 | siz_buf = ftell(f);
31 | rewind(f);
32 |
33 | if(siz_buf < 1) goto err;
34 |
35 | buf = (char*)malloc((size_t)siz_buf);
36 | if(buf == NULL)
37 | {
38 | fprintf(stderr, "malloc() failed\n");
39 | goto err;
40 | }
41 |
42 | if(fread(buf, (size_t)siz_buf, 1, f) != 1)
43 | {
44 | fprintf(stderr, "fread() failed\n");
45 | goto err;
46 | }
47 |
48 | (void)LLVMFuzzerTestOneInput((uint8_t*)buf, (size_t)siz_buf);
49 |
50 | err:
51 | free(buf);
52 |
53 | return 0;
54 | }
55 |
--------------------------------------------------------------------------------
/third_party/stb/tests/herringbone_map.c:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | #define STB_HBWANG_MAX_X 500
4 | #define STB_HBWANG_MAX_Y 500
5 |
6 | #define STB_HERRINGBONE_WANG_TILE_IMPLEMENTATION
7 | #include "stb_herringbone_wang_tile.h"
8 |
9 | #define STB_IMAGE_IMPLEMENTATION
10 | #include "stb_image.h"
11 |
12 | #define STB_IMAGE_WRITE_IMPLEMENTATION
13 | #include "stb_image_write.h"
14 |
15 | int main(int argc, char **argv)
16 | {
17 | if (argc < 5) {
18 | fprintf(stderr, "Usage: herringbone_map {inputfile} {output-width} {output-height} {outputfile}\n");
19 | return 1;
20 | } else {
21 | char *filename = argv[1];
22 | int out_w = atoi(argv[2]);
23 | int out_h = atoi(argv[3]);
24 | char *outfile = argv[4];
25 |
26 | unsigned char *pixels, *out_pixels;
27 | stbhw_tileset ts;
28 | int w,h;
29 |
30 | pixels = stbi_load(filename, &w, &h, 0, 3);
31 | if (pixels == 0) {
32 | fprintf(stderr, "Couldn't open input file '%s'\n", filename);
33 | exit(1);
34 | }
35 |
36 | if (!stbhw_build_tileset_from_image(&ts, pixels, w*3, w, h)) {
37 | fprintf(stderr, "Error: %s\n", stbhw_get_last_error());
38 | return 1;
39 | }
40 |
41 | free(pixels);
42 |
43 | #ifdef DEBUG_OUTPUT
44 | {
45 | int i,j,k;
46 | // add blue borders to top-left edges of the tiles
47 | int hstride = (ts.short_side_len*2)*3;
48 | int vstride = (ts.short_side_len )*3;
49 | for (i=0; i < ts.num_h_tiles; ++i) {
50 | unsigned char *pix = ts.h_tiles[i]->pixels;
51 | for (j=0; j < ts.short_side_len*2; ++j)
52 | for (k=0; k < 3; ++k)
53 | pix[j*3+k] = (pix[j*3+k]*0.5+100+k*75)/1.5;
54 | for (j=1; j < ts.short_side_len; ++j)
55 | for (k=0; k < 3; ++k)
56 | pix[j*hstride+k] = (pix[j*hstride+k]*0.5+100+k*75)/1.5;
57 | }
58 | for (i=0; i < ts.num_v_tiles; ++i) {
59 | unsigned char *pix = ts.v_tiles[i]->pixels;
60 | for (j=0; j < ts.short_side_len; ++j)
61 | for (k=0; k < 3; ++k)
62 | pix[j*3+k] = (pix[j*3+k]*0.5+100+k*75)/1.5;
63 | for (j=1; j < ts.short_side_len*2; ++j)
64 | for (k=0; k < 3; ++k)
65 | pix[j*vstride+k] = (pix[j*vstride+k]*0.5+100+k*75)/1.5;
66 | }
67 | }
68 | #endif
69 |
70 | out_pixels = malloc(out_w * out_h * 3);
71 |
72 | if (!stbhw_generate_image(&ts, NULL, out_pixels, out_w*3, out_w, out_h)) {
73 | fprintf(stderr, "Error: %s\n", stbhw_get_last_error());
74 | return 1;
75 | }
76 |
77 | stbi_write_png(argv[4], out_w, out_h, 3, out_pixels, out_w*3);
78 | free(out_pixels);
79 |
80 | stbhw_free_tileset(&ts);
81 | return 0;
82 | }
83 | }
--------------------------------------------------------------------------------
/third_party/stb/tests/image_write_test.c:
--------------------------------------------------------------------------------
1 | #ifdef __clang__
2 | #define STBIWDEF static inline
3 | #endif
4 | #define STB_IMAGE_WRITE_STATIC
5 | #define STB_IMAGE_WRITE_IMPLEMENTATION
6 | #include "stb_image_write.h"
7 |
8 | // using an 'F' since it has no rotational symmetries, and 6x5
9 | // because it's a small, atypical size likely to trigger edge cases.
10 | //
11 | // conveniently, it's also small enough to fully fit inside a typical
12 | // directory listing thumbnail, which simplifies checking at a glance.
13 | static const char img6x5_template[] =
14 | ".****."
15 | ".*...."
16 | ".***.."
17 | ".*...."
18 | ".*....";
19 |
20 | void image_write_test(void)
21 | {
22 | // make a RGB version of the template image
23 | // use red on blue to detect R<->B swaps
24 | unsigned char img6x5_rgb[6*5*3];
25 | float img6x5_rgbf[6*5*3];
26 | int i;
27 |
28 | for (i = 0; i < 6*5; i++) {
29 | int on = img6x5_template[i] == '*';
30 | img6x5_rgb[i*3 + 0] = on ? 255 : 0;
31 | img6x5_rgb[i*3 + 1] = 0;
32 | img6x5_rgb[i*3 + 2] = on ? 0 : 255;
33 |
34 | img6x5_rgbf[i*3 + 0] = on ? 1.0f : 0.0f;
35 | img6x5_rgbf[i*3 + 1] = 0.0f;
36 | img6x5_rgbf[i*3 + 2] = on ? 0.0f : 1.0f;
37 | }
38 |
39 | stbi_write_png("output/wr6x5_regular.png", 6, 5, 3, img6x5_rgb, 6*3);
40 | stbi_write_bmp("output/wr6x5_regular.bmp", 6, 5, 3, img6x5_rgb);
41 | stbi_write_tga("output/wr6x5_regular.tga", 6, 5, 3, img6x5_rgb);
42 | stbi_write_jpg("output/wr6x5_regular.jpg", 6, 5, 3, img6x5_rgb, 95);
43 | stbi_write_hdr("output/wr6x5_regular.hdr", 6, 5, 3, img6x5_rgbf);
44 |
45 | stbi_flip_vertically_on_write(1);
46 |
47 | stbi_write_png("output/wr6x5_flip.png", 6, 5, 3, img6x5_rgb, 6*3);
48 | stbi_write_bmp("output/wr6x5_flip.bmp", 6, 5, 3, img6x5_rgb);
49 | stbi_write_tga("output/wr6x5_flip.tga", 6, 5, 3, img6x5_rgb);
50 | stbi_write_jpg("output/wr6x5_flip.jpg", 6, 5, 3, img6x5_rgb, 95);
51 | stbi_write_hdr("output/wr6x5_flip.hdr", 6, 5, 3, img6x5_rgbf);
52 | }
53 |
54 | #ifdef IWT_TEST
55 | int main(int argc, char **argv)
56 | {
57 | image_write_test();
58 | return 0;
59 | }
60 | #endif
61 |
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/third_party/stb/tests/ossfuzz.sh:
--------------------------------------------------------------------------------
1 | #!/bin/bash -eu
2 | # This script is meant to be run by
3 | # https://github.com/google/oss-fuzz/blob/master/projects/stb/Dockerfile
4 |
5 | $CXX $CXXFLAGS -std=c++11 -I. -DSTBI_ONLY_PNG \
6 | $SRC/stb/tests/stbi_read_fuzzer.c \
7 | -o $OUT/stb_png_read_fuzzer $LIB_FUZZING_ENGINE
8 |
9 | $CXX $CXXFLAGS -std=c++11 -I. \
10 | $SRC/stb/tests/stbi_read_fuzzer.c \
11 | -o $OUT/stbi_read_fuzzer $LIB_FUZZING_ENGINE
12 |
13 | find $SRC/stb/tests/pngsuite -name "*.png" | \
14 | xargs zip $OUT/stb_png_read_fuzzer_seed_corpus.zip
15 |
16 | cp $SRC/stb/tests/stb_png.dict $OUT/stb_png_read_fuzzer.dict
17 |
18 | tar xvzf $SRC/stbi/jpg.tar.gz --directory $SRC/stb/tests
19 | tar xvzf $SRC/stbi/gif.tar.gz --directory $SRC/stb/tests
20 | unzip $SRC/stbi/bmp.zip -d $SRC/stb/tests
21 | unzip $SRC/stbi/tga.zip -d $SRC/stb/tests
22 |
23 | find $SRC/stb/tests -name "*.png" -o -name "*.jpg" -o -name "*.gif" \
24 | -o -name "*.bmp" -o -name "*.tga" -o -name "*.TGA" \
25 | -o -name "*.ppm" -o -name "*.pgm" \
26 | | xargs zip $OUT/stbi_read_fuzzer_seed_corpus.zip
27 |
28 | echo "" >> $SRC/stbi/gif.dict
29 | cat $SRC/stbi/gif.dict $SRC/stb/tests/stb_png.dict > $OUT/stbi_read_fuzzer.dict
30 |
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/third_party/stb/tests/oversample/oversample.dsw:
--------------------------------------------------------------------------------
1 | Microsoft Developer Studio Workspace File, Format Version 6.00
2 | # WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
3 |
4 | ###############################################################################
5 |
6 | Project: "oversample"=.\oversample.dsp - Package Owner=<4>
7 |
8 | Package=<5>
9 | {{{
10 | }}}
11 |
12 | Package=<4>
13 | {{{
14 | }}}
15 |
16 | ###############################################################################
17 |
18 | Global:
19 |
20 | Package=<5>
21 | {{{
22 | }}}
23 |
24 | Package=<3>
25 | {{{
26 | }}}
27 |
28 | ###############################################################################
29 |
30 |
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2 | --------
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4 | Permission to use, copy, modify and distribute these images for any
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9 |
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/third_party/stb/tests/resample_test_c.c:
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1 | #define STB_IMAGE_RESIZE_IMPLEMENTATION
2 | #define STB_IMAGE_RESIZE_STATIC
3 | #include "stb_image_resize.h"
4 |
5 | // Just to make sure it will build properly with a c compiler
6 |
7 | int main() {
8 | }
9 |
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/third_party/stb/tests/stb_c_lexer_fuzzer.cpp:
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1 | #define STB_C_LEX_C_DECIMAL_INTS Y
2 | #define STB_C_LEX_C_HEX_INTS Y
3 | #define STB_C_LEX_C_OCTAL_INTS Y
4 | #define STB_C_LEX_C_DECIMAL_FLOATS Y
5 | #define STB_C_LEX_C99_HEX_FLOATS Y
6 | #define STB_C_LEX_C_IDENTIFIERS Y
7 | #define STB_C_LEX_C_DQ_STRINGS Y
8 | #define STB_C_LEX_C_SQ_STRINGS Y
9 | #define STB_C_LEX_C_CHARS Y
10 | #define STB_C_LEX_C_COMMENTS Y
11 | #define STB_C_LEX_CPP_COMMENTS Y
12 | #define STB_C_LEX_C_COMPARISONS Y
13 | #define STB_C_LEX_C_LOGICAL Y
14 | #define STB_C_LEX_C_SHIFTS Y
15 | #define STB_C_LEX_C_INCREMENTS Y
16 | #define STB_C_LEX_C_ARROW Y
17 | #define STB_C_LEX_EQUAL_ARROW Y
18 | #define STB_C_LEX_C_BITWISEEQ Y
19 | #define STB_C_LEX_C_ARITHEQ Y
20 |
21 | #define STB_C_LEX_PARSE_SUFFIXES Y
22 | #define STB_C_LEX_DECIMAL_SUFFIXES "uUlL"
23 | #define STB_C_LEX_HEX_SUFFIXES "lL"
24 | #define STB_C_LEX_OCTAL_SUFFIXES "lL"
25 | #define STB_C_LEX_FLOAT_SUFFIXES "uulL"
26 |
27 | #define STB_C_LEX_0_IS_EOF N
28 | #define STB_C_LEX_INTEGERS_AS_DOUBLES N
29 | #define STB_C_LEX_MULTILINE_DSTRINGS Y
30 | #define STB_C_LEX_MULTILINE_SSTRINGS Y
31 | #define STB_C_LEX_USE_STDLIB N
32 | #define STB_C_LEX_DOLLAR_IDENTIFIER Y
33 | #define STB_C_LEX_FLOAT_NO_DECIMAL Y
34 |
35 | #define STB_C_LEX_DEFINE_ALL_TOKEN_NAMES Y
36 | #define STB_C_LEX_DISCARD_PREPROCESSOR Y
37 | #define STB_C_LEXER_DEFINITIONS
38 |
39 | #define STB_C_LEXER_IMPLEMENTATION
40 | #define STB_C_LEXER_SELF_TEST
41 | #include "../stb_c_lexer.h"
42 | #include
43 | #include
44 | #include
45 | #include
46 |
47 |
48 | extern "C" int LLVMFuzzerTestOneInput(const uint8_t* data, size_t size)
49 | {
50 | if(size<3){
51 | return 0;
52 | }
53 | char *input_stream = (char *)malloc(size);
54 | if (input_stream == NULL){
55 | return 0;
56 | }
57 | memcpy(input_stream, data, size);
58 |
59 | stb_lexer lex;
60 | char *input_end = input_stream+size-1;
61 | char *store = (char *)malloc(0x10000);
62 | int len = 0x10000;
63 |
64 | stb_c_lexer_init(&lex, input_stream, input_end, store, len);
65 | while (stb_c_lexer_get_token(&lex)) {
66 | if (lex.token == CLEX_parse_error) {
67 | break;
68 | }
69 | }
70 |
71 | free(input_stream);
72 | free(store);
73 | return 0;
74 | }
75 |
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/third_party/stb/tests/stb_cpp.cpp:
--------------------------------------------------------------------------------
1 | #define WIN32_MEAN_AND_LEAN
2 | #define WIN32_LEAN_AND_MEAN
3 | //#include
4 | #include
5 | #define STB_DEFINE
6 | #ifndef _M_AMD64
7 | #define STB_NPTR
8 | #endif
9 | #define STB_ONLY
10 | #include "stb.h"
11 | //#include "stb_file.h"
12 |
13 | int count;
14 | void c(int truth, const char *error)
15 | {
16 | if (!truth) {
17 | fprintf(stderr, "Test failed: %s\n", error);
18 | ++count;
19 | }
20 | }
21 |
22 | char *expects(stb_matcher *m, char *s, int result, int len, const char *str)
23 | {
24 | int res2,len2=0;
25 | res2 = stb_lex(m, s, &len2);
26 | c(result == res2 && len == len2, str);
27 | return s + len;
28 | }
29 |
30 | void test_lex(void)
31 | {
32 | stb_matcher *m = stb_lex_matcher();
33 | // tok_en5 .3 20.1 20. .20 .1
34 | char *s = (char*) "tok_en5.3 20.1 20. .20.1";
35 |
36 | stb_lex_item(m, "[a-zA-Z_][a-zA-Z0-9_]*", 1 );
37 | stb_lex_item(m, "[0-9]*\\.?[0-9]*" , 2 );
38 | stb_lex_item(m, "[\r\n\t ]+" , 3 );
39 | stb_lex_item(m, "." , -99 );
40 | s=expects(m,s,1,7, "stb_lex 1");
41 | s=expects(m,s,2,2, "stb_lex 2");
42 | s=expects(m,s,3,1, "stb_lex 3");
43 | s=expects(m,s,2,4, "stb_lex 4");
44 | s=expects(m,s,3,1, "stb_lex 5");
45 | s=expects(m,s,2,3, "stb_lex 6");
46 | s=expects(m,s,3,1, "stb_lex 7");
47 | s=expects(m,s,2,3, "stb_lex 8");
48 | s=expects(m,s,2,2, "stb_lex 9");
49 | s=expects(m,s,0,0, "stb_lex 10");
50 | stb_matcher_free(m);
51 | }
52 |
53 | int main(int argc, char **argv)
54 | {
55 | #if 0
56 | char *p;
57 | p = (char*) "abcdefghijklmnopqrstuvwxyz";
58 | c(stb_ischar('c', p), "stb_ischar 1");
59 | c(stb_ischar('x', p), "stb_ischar 2");
60 | c(!stb_ischar('#', p), "stb_ischar 3");
61 | c(!stb_ischar('X', p), "stb_ischar 4");
62 | p = (char*) "0123456789";
63 | c(!stb_ischar('c', p), "stb_ischar 5");
64 | c(!stb_ischar('x', p), "stb_ischar 6");
65 | c(!stb_ischar('#', p), "stb_ischar 7");
66 | c(!stb_ischar('X', p), "stb_ischar 8");
67 | p = (char*) "#####";
68 | c(!stb_ischar('c', p), "stb_ischar a");
69 | c(!stb_ischar('x', p), "stb_ischar b");
70 | c(stb_ischar('#', p), "stb_ischar c");
71 | c(!stb_ischar('X', p), "stb_ischar d");
72 | p = (char*) "xXyY";
73 | c(!stb_ischar('c', p), "stb_ischar e");
74 | c(stb_ischar('x', p), "stb_ischar f");
75 | c(!stb_ischar('#', p), "stb_ischar g");
76 | c(stb_ischar('X', p), "stb_ischar h");
77 | #endif
78 |
79 | test_lex();
80 |
81 | if (count) {
82 | _getch();
83 | }
84 | return 0;
85 | }
86 |
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/third_party/stb/tests/stb_png.dict:
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1 | header_png="\x89PNG\x0d\x0a\x1a\x0a"
2 |
3 | section_idat="IDAT"
4 | section_iend="IEND"
5 | section_ihdr="IHDR"
6 | section_plte="PLTE"
7 | section_trns="tRNS"
8 | section_cgbi="CgBI"
9 |
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/third_party/stb/tests/stb_static.c:
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1 | #define STBI_WINDOWS_UTF8
2 | #define STB_IMAGE_STATIC
3 | #define STB_IMAGE_IMPLEMENTATION
4 | #include "stb_image.h"
5 |
6 | #define STB_IMAGE_WRITE_STATIC
7 | #define STB_IMAGE_WRITE_IMPLEMENTATION
8 | //#include "stb_image_write.h"
9 |
10 | #define STBTT_STATIC
11 | #define STB_TRUETYPE_IMPLEMENTATION
12 | #include "stb_truetype.h"
13 |
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/third_party/stb/tests/stbi_read_fuzzer.c:
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1 | #ifdef __cplusplus
2 | extern "C" {
3 | #endif
4 |
5 | #define STB_IMAGE_IMPLEMENTATION
6 |
7 | #include "../stb_image.h"
8 |
9 |
10 | int LLVMFuzzerTestOneInput(const uint8_t* data, size_t size)
11 | {
12 | int x, y, channels;
13 |
14 | if(!stbi_info_from_memory(data, size, &x, &y, &channels)) return 0;
15 |
16 | /* exit if the image is larger than ~80MB */
17 | if(y && x > (80000000 / 4) / y) return 0;
18 |
19 | unsigned char *img = stbi_load_from_memory(data, size, &x, &y, &channels, 4);
20 |
21 | free(img);
22 |
23 | return 0;
24 | }
25 |
26 | #ifdef __cplusplus
27 | }
28 | #endif
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/third_party/stb/tests/stblib_test.c:
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1 | #include "prerelease/stb_lib.h"
2 | #define STB_LIB_IMPLEMENTATION
3 | #include "prerelease/stb_lib.h"
4 |
5 | //#define STB_REGEX_IMPLEMENTATION
6 | //#include "stb_regex.h"
7 |
8 | int main(int argc, char **argv)
9 | {
10 |
11 | }
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/third_party/stb/tests/stblib_test_companion.c:
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1 | //#include "stb_regex.h"
2 | //#include "stb_regex.h"
3 | #include "prerelease/stb_lib.h"
4 | #include "prerelease/stb_lib.h"
5 |
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/third_party/stb/tests/test.sbm:
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1 | [link]
2 | -Xlinker advapi32.lib
3 |
4 | [args]
5 | -I .. -Wall -D_DEBUG
6 |
7 | [compilers]
8 | #clang for x64,vcvars_2015_x64,clang --analyze
9 | clang for x64,vcvars_2015_x64,clang
10 | clang for x86,vcvars_2015_x86,clang --target=i386-pc-windows-msvc
11 |
12 | ##### STATIC ANALYSIS
13 | #
14 | #[link]
15 | #
16 | #[args]
17 | #-I .. -Wall -D_DEBUG
18 | #
19 | #[compilers]
20 | #clang for x64,vcvars_2015_x64,clang --analyze
21 | #
22 | #####
23 |
24 | [link]
25 | advapi32.lib
26 |
27 | [args]
28 | /nologo -I .. -W3 -WX -D_DEBUG
29 |
30 | [compilers]
31 | VS2015 for x64, vcvars_2015_x64
32 | VC6 , vcvars_vc6
33 | VS2008 for x86, vcvars_2008_x86
34 | VS2013 for x86, vcvars_2013_x86
35 | VS2015 for x86, vcvars_2015_x86
36 | clang-cl for x64, vcvars_2015_x64, clang-cl
37 | clang-cl for x86, vcvars_2015_x86, clang-cl --target=i386-pc-windows-msvc
38 | #these batch files don't path a cl executable on my machine?!?
39 | #VS2008 for x64, vcvars_2008_x64
40 | #VS2013 for x64, vcvars_2013_x64
41 |
42 | [projects]
43 | c_lexer_test.c
44 | image_test.c image_write_test.c
45 | test_cpp_compilation.cpp stb_cpp.cpp ../stb_vorbis.c
46 | resample_test.cpp
47 | -DTT_TEST test_c_compilation.c test_truetype.c
48 | main.c stb.c
49 | main.c stretchy_buffer_test.c
50 | main.c test_c_compilation.c
51 | main.c test_c_lexer.c
52 | main.c test_dxt.c
53 | main.c test_easyfont.c
54 | main.c test_image.c
55 | main.c test_image_write.c
56 | main.c test_perlin.c
57 | main.c test_sprintf.c
58 | main.c test_vorbis.c ../stb_vorbis.c
59 | main.c test_voxel.c
60 | main.c textedit_sample.c
61 |
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/third_party/stb/tests/test_c_compilation.c:
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1 | #define STB_SPRINTF_IMPLEMENTATION
2 | #include "stb_sprintf.h"
3 |
4 | #define STB_PERLIN_IMPLEMENTATION
5 | #define STB_IMAGE_WRITE_IMPLEMENTATION
6 | #define STB_C_LEXER_IMPLEMENTATIOn
7 | #define STB_DIVIDE_IMPLEMENTATION
8 | #define STB_IMAGE_IMPLEMENTATION
9 | #define STB_HERRINGBONE_WANG_TILE_IMEPLEMENTATIOn
10 | #define STB_IMAGE_RESIZE_IMPLEMENTATION
11 | #define STB_RECT_PACK_IMPLEMENTATION
12 | #define STB_VOXEL_RENDER_IMPLEMENTATION
13 | #define STB_EASY_FONT_IMPLEMENTATION
14 | #define STB_DXT_IMPLEMENTATION
15 | #define STB_INCLUDE_IMPLEMENTATION
16 |
17 | #include "stb_herringbone_wang_tile.h"
18 | #include "stb_image.h"
19 | #include "stb_image_write.h"
20 | #include "stb_perlin.h"
21 | #include "stb_c_lexer.h"
22 | #include "stb_divide.h"
23 | #include "stb_image_resize.h"
24 | #include "stb_rect_pack.h"
25 | #include "stb_dxt.h"
26 | #include "stb_include.h"
27 |
28 | #include "stb_ds.h"
29 |
30 | #define STBVOX_CONFIG_MODE 1
31 | #include "stb_voxel_render.h"
32 |
33 | void STBTE_DRAW_RECT(int x0, int y0, int x1, int y1, unsigned int color)
34 | {
35 | }
36 |
37 | void STBTE_DRAW_TILE(int x0, int y0, unsigned short id, int highlight, float *data)
38 | {
39 | }
40 |
41 | #define STB_TILEMAP_EDITOR_IMPLEMENTATION
42 | //#include "stb_tilemap_editor.h" // @TODO: it's broken
43 |
44 | int quicktest(void)
45 | {
46 | char buffer[999];
47 | stbsp_sprintf(buffer, "test%%test");
48 | return 0;
49 | }
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/third_party/stb/tests/test_dxt.c:
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1 | #include "stb_dxt.h"
2 |
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/third_party/stb/tests/test_easyfont.c:
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1 | #include "stb_easy_font.h"
2 |
3 | void ef_dummy(void)
4 | {
5 | // suppress unsused-function warning
6 | stb_easy_font_spacing(0);
7 | stb_easy_font_print(0,0,0,0,0,0);
8 | stb_easy_font_width(0);
9 | stb_easy_font_height(0);
10 | }
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/third_party/stb/tests/test_image.c:
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1 | #ifdef __clang__
2 | #define STBIDEF static inline
3 | #endif
4 |
5 | #define STB_IMAGE_STATIC
6 | #define STB_IMAGE_IMPLEMENTATION
7 | #include "stb_image.h"
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/third_party/stb/tests/test_image_write.c:
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1 | #ifdef __clang__
2 | #define STBIWDEF static inline
3 | #endif
4 |
5 | #define STB_IMAGE_WRITE_IMPLEMENTATION
6 | #define STB_IMAGE_WRITE_STATIC
7 | #include "stb_image_write.h"
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/third_party/stb/tests/test_perlin.c:
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1 | #include "stb_perlin.h"
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/third_party/stb/tests/test_siphash.c:
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1 | #include
2 |
3 | #define STB_DS_IMPLEMENTATION
4 | #define STBDS_SIPHASH_2_4
5 | #define STBDS_TEST_SIPHASH_2_4
6 | #include "../stb_ds.h"
7 |
8 | int main(int argc, char **argv)
9 | {
10 | unsigned char mem[64];
11 | int i,j;
12 | for (i=0; i < 64; ++i) mem[i] = i;
13 | for (i=0; i < 64; ++i) {
14 | size_t hash = stbds_hash_bytes(mem, i, 0);
15 | printf(" { ");
16 | for (j=0; j < 8; ++j)
17 | printf("0x%02x, ", (unsigned char) ((hash >> (j*8)) & 255));
18 | printf(" },\n");
19 | }
20 | return 0;
21 | }
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/third_party/stb/tests/test_vorbis.c:
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1 | #define STB_VORBIS_HEADER_ONLY
2 | #include "stb_vorbis.c"
3 | #include "stb.h"
4 |
5 | extern void stb_vorbis_dumpmem(void);
6 |
7 | #ifdef VORBIS_TEST
8 | int main(int argc, char **argv)
9 | {
10 | size_t memlen;
11 | unsigned char *mem = stb_fileu("c:/x/sketch008.ogg", &memlen);
12 | int chan, samplerate;
13 | short *output;
14 | int samples = stb_vorbis_decode_memory(mem, memlen, &chan, &samplerate, &output);
15 | stb_filewrite("c:/x/sketch008.raw", output, samples*4);
16 | return 0;
17 | }
18 | #endif
19 |
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/third_party/stb/tests/test_voxel.c:
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1 | #include "stb_voxel_render.h"
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/third_party/stb/tools/README.header.md:
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1 | stb
2 | ===
3 |
4 | single-file public domain (or MIT licensed) libraries for C/C++
5 |
6 | Noteworthy:
7 |
8 | * image loader: [stb_image.h](stb_image.h)
9 | * image writer: [stb_image_write.h](stb_image_write.h)
10 | * image resizer: [stb_image_resize.h](stb_image_resize.h)
11 | * font text rasterizer: [stb_truetype.h](stb_truetype.h)
12 | * typesafe containers: [stb_ds.h](stb_ds.h)
13 |
14 | Most libraries by stb, except: stb_dxt by Fabian "ryg" Giesen, stb_image_resize
15 | by Jorge L. "VinoBS" Rodriguez, and stb_sprintf by Jeff Roberts.
16 |
17 |
18 |
19 | library | lastest version | category | LoC | description
20 | --------------------- | ---- | -------- | --- | --------------------------------
21 |
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/third_party/stb/tools/README.list:
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1 | stb_vorbis.c | audio | decode ogg vorbis files from file/memory to float/16-bit signed output
2 | stb_hexwave.h | audio | audio waveform synthesizer
3 | stb_image.h | graphics | image loading/decoding from file/memory: JPG, PNG, TGA, BMP, PSD, GIF, HDR, PIC
4 | stb_truetype.h | graphics | parse, decode, and rasterize characters from truetype fonts
5 | stb_image_write.h | graphics | image writing to disk: PNG, TGA, BMP
6 | stb_image_resize.h | graphics | resize images larger/smaller with good quality
7 | stb_rect_pack.h | graphics | simple 2D rectangle packer with decent quality
8 | stb_perlin.h | graphics | perlin's revised simplex noise w/ different seeds
9 | stb_ds.h | utility | typesafe dynamic array and hash tables for C, will compile in C++
10 | stb_sprintf.h | utility | fast sprintf, snprintf for C/C++
11 | stb_textedit.h | user interface | guts of a text editor for games etc implementing them from scratch
12 | stb_voxel_render.h | 3D graphics | Minecraft-esque voxel rendering "engine" with many more features
13 | stb_dxt.h | 3D graphics | Fabian "ryg" Giesen's real-time DXT compressor
14 | stb_easy_font.h | 3D graphics | quick-and-dirty easy-to-deploy bitmap font for printing frame rate, etc
15 | stb_tilemap_editor.h | game dev | embeddable tilemap editor
16 | stb_herringbone_wang_tile.h | game dev | herringbone Wang tile map generator
17 | stb_c_lexer.h | parsing | simplify writing parsers for C-like languages
18 | stb_divide.h | math | more useful 32-bit modulus e.g. "euclidean divide"
19 | stb_connected_components.h | misc | incrementally compute reachability on grids
20 | stb_leakcheck.h | misc | quick-and-dirty malloc/free leak-checking
21 | stb_include.h | misc | implement recursive #include support, particularly for GLSL
22 |
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/third_party/stb/tools/make_readme.c:
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1 | #define STB_DEFINE
2 | #include "../stb.h"
3 |
4 | int main(int argc, char **argv)
5 | {
6 | int i;
7 | int hlen, flen, listlen, total_lines = 0;
8 | char *header = stb_file("README.header.md", &hlen); // stb_file - read file into malloc()ed buffer
9 | char *footer = stb_file("README.footer.md", &flen); // stb_file - read file into malloc()ed buffer
10 | char **list = stb_stringfile("README.list", &listlen); // stb_stringfile - read file lines into malloced array of strings
11 |
12 | FILE *f = fopen("../README.md", "wb");
13 |
14 | fprintf(f, "\r\n\r\n");
15 | fwrite(header, 1, hlen, f);
16 |
17 | for (i=0; i < listlen; ++i) {
18 | int num,j;
19 | char **tokens = stb_tokens_stripwhite(list[i], "|", &num); // stb_tokens -- tokenize string into malloced array of strings
20 | int num_lines;
21 | char **lines = stb_stringfile(stb_sprintf("../%s", tokens[0]), &num_lines);
22 | char *s1, *s2,*s3;
23 | if (lines == NULL) stb_fatal("Couldn't open '%s'", tokens[0]);
24 | s1 = strchr(lines[0], '-');
25 | if (!s1) stb_fatal("Couldn't find '-' before version number in %s", tokens[0]); // stb_fatal -- print error message & exit
26 | s2 = strchr(s1+2, '-');
27 | if (!s2) stb_fatal("Couldn't find '-' after version number in %s", tokens[0]); // stb_fatal -- print error message & exit
28 | *s2 = 0;
29 | s1 += 1;
30 | s1 = stb_trimwhite(s1); // stb_trimwhite -- advance pointer to after whitespace & delete trailing whitespace
31 | if (*s1 == 'v') ++s1;
32 | s3 = tokens[0];
33 | stb_trimwhite(s3);
34 | fprintf(f, "**[");
35 | if (strlen(s3) < 21) {
36 | fprintf(f, "%s", tokens[0]);
37 | } else {
38 | char buffer[256];
39 | strncpy(buffer, s3, 18);
40 | buffer[18] = 0;
41 | strcat(buffer, "...");
42 | fprintf(f, "%s", buffer);
43 | }
44 | fprintf(f, "](%s)**", tokens[0]);
45 | fprintf(f, " | %s", s1);
46 | s1 = stb_trimwhite(tokens[1]); // stb_trimwhite -- advance pointer to after whitespace & delete trailing whitespace
47 | s2 = stb_dupreplace(s1, " ", " "); // stb_dupreplace -- search & replace string and malloc result
48 | fprintf(f, " | %s", s2);
49 | free(s2);
50 | fprintf(f, " | %d", num_lines);
51 | total_lines += num_lines;
52 | for (j=2; j < num; ++j)
53 | fprintf(f, " | %s", tokens[j]);
54 | fprintf(f, "\r\n");
55 | }
56 |
57 | fprintf(f, "\r\n");
58 | fprintf(f, "Total libraries: %d\r\n", listlen);
59 | fprintf(f, "Total lines of C code: %d\r\n\r\n", total_lines);
60 |
61 | fwrite(footer, 1, flen, f);
62 | fclose(f);
63 |
64 | return 0;
65 | }
66 |
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/third_party/stb/tools/mr.bat:
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1 | debug\make_readme
2 |
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/third_party/stb/tools/trailing_whitespace.c:
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1 | #define STB_DEFINE
2 | #include "stb.h"
3 |
4 | int main(int argc, char **argv)
5 | {
6 | int i;
7 | for (i=1; i < argc; ++i) {
8 | int len;
9 | FILE *f;
10 | char *s = stb_file(argv[i], &len);
11 | char *end, *src, *dest;
12 | if (s == NULL) {
13 | printf("Couldn't read file '%s'.\n", argv[i]);
14 | continue;
15 | }
16 | end = s + len;
17 | src = dest = s;
18 | while (src < end) {
19 | char *start=0;
20 | while (src < end && *src != '\n' && *src != '\r')
21 | *dest++ = *src++;
22 | while (dest-1 > s && (dest[-1] == ' ' || dest[-1] == '\t'))
23 | --dest;
24 | while (src < end && (*src == '\n' || *src == '\r'))
25 | *dest++ = *src++;
26 | }
27 | f = fopen(argv[i], "wb");
28 | fwrite(s, 1, dest-s, f);
29 | fclose(f);
30 | }
31 | return 0;
32 | }
33 |
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/tool/cudasm.sh:
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1 | #!/bin/bash
2 |
3 | pycode="
4 | import ctypes
5 |
6 | dll = ctypes.cdll.LoadLibrary('libcuda.so')
7 | major = ctypes.c_int(0)
8 | minor = ctypes.c_int(0)
9 | dll.cuInit(ctypes.c_int(0))
10 | device = 0
11 | ret = dll.cuDeviceComputeCapability(ctypes.pointer(major), ctypes.pointer(minor), ctypes.c_int(device))
12 | ret = int(ret)
13 | if ret != 0:
14 | exit(ret)
15 |
16 | name = ctypes.create_string_buffer(100)
17 | ret = dll.cuDeviceGetName(ctypes.pointer(name), 100, device)
18 |
19 | name = str(name.value, encoding='utf-8')
20 | major = major.value
21 | minor = minor.value
22 |
23 | sm = f'{major}{minor}'
24 | print(sm, end='')
25 | "
26 |
27 | cudasm=`python3 -c "$pycode"`
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/tool/environment.sh:
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1 | #!/bin/bash
2 |
3 | # export TensorRT_Lib=~/software/TensorRT-8.6.1.6/lib
4 | # export TensorRT_Inc=~/software/TensorRT-8.6.1.6/include
5 | # export TensorRT_Bin=~/software/TensorRT-8.6.1.6/bin
6 |
7 | export TensorRT_Lib=~/share/software/TensorRT-8.5.3.1/lib
8 | export TensorRT_Inc=~/share/software/TensorRT-8.5.3.1/include
9 | export TensorRT_Bin=~/share/software/TensorRT-8.5.3.1/bin
10 |
11 | export CUDA_Lib=/usr/local/cuda/lib64
12 | export CUDA_Inc=/usr/local/cuda/include
13 | export CUDA_Bin=/usr/local/cuda/bin
14 | export CUDA_HOME=/usr/local/cuda/
15 |
16 | export CUDNN_Lib=/usr/local/cuda/lib64
17 |
18 |
19 | # 模型resnet18/resnet18int8/resnet18int8head 精度fp16/int8
20 | export DEBUG_MODEL=resnet18
21 | export DEBUG_PRECISION=int8
22 |
23 |
24 | export DEBUG_DATA=example-data
25 | export USE_Python=OFF
26 |
27 | # check the configuration path
28 | # clean the configuration status
29 | export ConfigurationStatus=Failed
30 | if [ ! -f "${TensorRT_Bin}/trtexec" ]; then
31 | echo "Can not find ${TensorRT_Bin}/trtexec, there may be a mistake in the directory you configured."
32 | return
33 | fi
34 |
35 | if [ ! -f "${CUDA_Bin}/nvcc" ]; then
36 | echo "Can not find ${CUDA_Bin}/nvcc, there may be a mistake in the directory you configured."
37 | return
38 | fi
39 |
40 | echo "=========================================================="
41 | echo "|| MODEL: $DEBUG_MODEL"
42 | echo "|| PRECISION: $DEBUG_PRECISION"
43 | echo "|| DATA: $DEBUG_DATA"
44 | echo "|| USEPython: $USE_Python"
45 | echo "||"
46 | echo "|| TensorRT: $TensorRT_Lib"
47 | echo "|| CUDA: $CUDA_HOME"
48 | echo "|| CUDNN: $CUDNN_Lib"
49 | echo "=========================================================="
50 |
51 | BuildDirectory=`pwd`/build
52 |
53 | if [ "$USE_Python" == "ON" ]; then
54 | export Python_Inc=`python3 -c "import sysconfig;print(sysconfig.get_path('include'))"`
55 | export Python_Lib=`python3 -c "import sysconfig;print(sysconfig.get_config_var('LIBDIR'))"`
56 | export Python_Soname=`python3 -c "import sysconfig;import re;print(re.sub('.a', '.so', sysconfig.get_config_var('LIBRARY')))"`
57 | echo Find Python_Inc: $Python_Inc
58 | echo Find Python_Lib: $Python_Lib
59 | echo Find Python_Soname: $Python_Soname
60 | fi
61 |
62 | export PATH=$TensorRT_Bin:$CUDA_Bin:$PATH
63 | export LD_LIBRARY_PATH=$TensorRT_Lib:$CUDA_Lib:$CUDNN_Lib:$BuildDirectory:$LD_LIBRARY_PATH
64 | export PYTHONPATH=$BuildDirectory:$PYTHONPATH
65 | export ConfigurationStatus=Success
66 |
67 | if [ -f "tool/cudasm.sh" ]; then
68 | echo "Try to get the current device SM"
69 | . "tool/cudasm.sh"
70 | echo "Current CUDA SM: $cudasm"
71 | fi
72 |
73 | # export CUDASM=$cudasm
74 | export CUDASM=86
75 |
76 | echo Configuration done!
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/tool/requirements.txt:
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1 | onnx==1.12.0
2 | onnx_simplifier==0.4.8
3 | onnxsim==0.4.10
4 | onnxruntime==1.13.1
5 | --extra-index-url https://pypi.ngc.nvidia.com
6 | onnx-graphsurgeon
7 | pytorch-quantization
8 | shapely==1.8.0
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/tool/run.sh:
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1 | #!/bin/bash
2 | # configure the environment
3 | . tool/environment.sh
4 |
5 | if [ "$ConfigurationStatus" != "Success" ]; then
6 | echo "Exit due to configure failure."
7 | exit
8 | fi
9 |
10 | set -e
11 |
12 | mkdir -p build
13 |
14 | cd build
15 | cmake ..
16 | make -j
17 |
18 | cd ..
19 |
20 | ./build/fastbev $DEBUG_DATA $DEBUG_MODEL $DEBUG_PRECISION
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