Merge branch 'depth-prediction' into 'master'

Depth prediction

See merge request vato007/picar!8

.gitlab-ci.yml

@@ -11,7 +11,7 @@ cache:
     - .gradle/
 
 protoc_gen:
-  image: vato.ddns.net:8083/gradle
+  image: vato.ddns.net:8083/gradle:6.7.1
   stage: protoc
   rules:
     - changes:

app/build.gradle

@@ -4,12 +4,12 @@ plugins{
 }
 
 android {
-    compileSdkVersion 29
+    compileSdkVersion 30
     buildToolsVersion "29.0.2"
     defaultConfig {
         applicationId "org.vato.carcontroller"
         minSdkVersion 26
-        targetSdkVersion 29
+        targetSdkVersion 30
         versionCode 1
         versionName "1.0"
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
@@ -24,18 +24,24 @@ android {
         sourceCompatibility = 1.8
         targetCompatibility = 1.8
     }
+    buildFeatures {
+        mlModelBinding true
+    }
 }
 
 dependencies {
     implementation project(':protobuf')
     implementation fileTree(dir: 'libs', include: ['*.jar'])
-    implementation 'androidx.appcompat:appcompat:1.1.0'
+    implementation 'androidx.appcompat:appcompat:1.2.0'
-    implementation 'androidx.constraintlayout:constraintlayout:1.1.3'
+    implementation 'androidx.constraintlayout:constraintlayout:2.0.4'
-    implementation 'com.google.android.material:material:1.1.0'
+    implementation 'com.google.android.material:material:1.3.0'
     implementation 'androidx.preference:preference:1.1.1'
-    testImplementation 'junit:junit:4.12'
+    implementation 'org.tensorflow:tensorflow-lite-support:0.1.0'
-    androidTestImplementation 'androidx.test:runner:1.2.0'
+    implementation 'org.tensorflow:tensorflow-lite-metadata:0.1.0-rc1'
-    androidTestImplementation 'androidx.test.espresso:espresso-core:3.2.0'
+    implementation 'org.tensorflow:tensorflow-lite-gpu:2.3.0'
+    testImplementation 'junit:junit:4.13.2'
+    androidTestImplementation 'androidx.test:runner:1.3.0'
+    androidTestImplementation 'androidx.test.espresso:espresso-core:3.3.0'
     implementation 'io.grpc:grpc-okhttp:1.29.0' // CURRENT_GRPC_VERSION
     implementation 'io.grpc:grpc-protobuf-lite:1.29.0' // CURRENT_GRPC_VERSION
     implementation 'io.grpc:grpc-stub:1.29.0' // CURRENT_GRPC_VERSION

app/src/main/java/org/vato/carcontroller/depth/DepthPredictionModel.java

@@ -0,0 +1,60 @@
+package org.vato.carcontroller.depth;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+
+import org.tensorflow.lite.gpu.CompatibilityList;
+import org.tensorflow.lite.support.image.ColorSpaceType;
+import org.tensorflow.lite.support.image.TensorImage;
+import org.tensorflow.lite.support.model.Model;
+import org.vato.carcontroller.ml.MobilenetNnconv5;
+
+import java.io.IOException;
+
+/**
+ * Predicts the depth
+ */
+public class DepthPredictionModel implements AutoCloseable {
+
+    private MobilenetNnconv5 model = null;
+
+    private DepthPredictionModel() {
+    }
+
+    public static DepthPredictionModel newModel(Context context) {
+        try {
+            DepthPredictionModel created = new DepthPredictionModel();
+            Model.Options.Builder options = new Model.Options.Builder();
+            CompatibilityList compatList = new CompatibilityList();
+            if (compatList.isDelegateSupportedOnThisDevice()) {
+                // TODO: Choice of gpu and nnapi?
+                options.setDevice(Model.Device.GPU);
+            } else {
+                // TODO: User configurable?
+                options.setNumThreads(4);
+            }
+            created.model = MobilenetNnconv5.newInstance(context, options.build());
+            return created;
+        } catch (IOException e) {
+            return null;
+        }
+    }
+
+    public Bitmap predict(Bitmap bitmap) {
+        // TODO: Resizing/cropping, handle it all in the framework
+        TensorImage image = TensorImage.fromBitmap(bitmap);
+        // Runs model inference and gets result.
+        MobilenetNnconv5.Outputs outputs = model.process(image.getTensorBuffer());
+        TensorImage depth = new TensorImage();
+        depth.load(outputs.getOutputFeature0AsTensorBuffer(), ColorSpaceType.GRAYSCALE);
+        // TODO: Resize back to something similar to original (ignore crop obviously)?
+        return depth.getBitmap();
+
+    }
+
+
+    @Override
+    public void close() {
+        model.close();
+    }
+}

build.gradle

@@ -6,7 +6,7 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:4.0.1'
+        classpath 'com.android.tools.build:gradle:4.1.3'
         classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.10'
 
         // NOTE: Do not place your application dependencies here; they belong