mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-22 15:43:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

modeld: DEV=AMD dedupe weights across camera resolutions (#38041)

Browse Source 
* modeld: dedupe weight accross resolutions

* cleanup

* rm compileconfig

* depends on camera targets

* dedupe doesn't work on qcom as is
This commit is contained in:
Armand du Parc Locmaria
2026-05-14 16:42:55 -07:00
committed by GitHub
parent c9d77fb3fb
commit 2d4ac33ed7
6 changed files with 65 additions and 82 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/SConscript
+19 -23
View File
@@ -1,13 +1,11 @@
import glob
import json
import os
from itertools import product
from SCons.Script import Value
from openpilot.common.file_chunker import chunk_file, get_chunk_paths
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.helpers import CompileConfig
from tinygrad import Device
from openpilot.system.hardware import HARDWARE, PC
@@ -26,9 +24,6 @@ def get_camera_configs():
CAMERA_CONFIGS = get_camera_configs()
MODELD_CONFIGS = [CompileConfig(cam_w, cam_h, prepare_only, 'driving_')
for (cam_w, cam_h), prepare_only in product(CAMERA_CONFIGS, [True, False])]
DM_WARP_CONFIGS = [CompileConfig(cam_w, cam_h, True, 'dm_') for cam_w, cam_h in CAMERA_CONFIGS]
chunker_file = File("#common/file_chunker.py")
lenv = env.Clone()
@@ -80,27 +75,28 @@ driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['dri
model_w, model_h = MEDMODEL_INPUT_SIZE
frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
for cfg in MODELD_CONFIGS:
cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
f'--model-size {model_w}x{model_h} '
f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
f'--output {cfg.pkl_path} --frame-skip {frame_skip}'
+ (' --prepare-only' if cfg.prepare_only else ''))
node = lenv.Command(cfg.pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [chunker_file, compiled_flags_node], cmd)
onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
chunk_targets = get_chunk_paths(cfg.pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
def do_chunk(target, source, env, pkl=cfg.pkl_path, chunks=chunk_targets):
chunk_file(pkl, chunks)
lenv.Command(chunk_targets, node, do_chunk)
pkl_path = File("models/driving_tinygrad.pkl").abspath
camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
f'--model-size {model_w}x{model_h} '
f'--camera-resolutions {camera_res_args} '
f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
f'--policy-onnx {File("models/driving_policy.onnx").abspath} '
f'--output {pkl_path} --frame-skip {frame_skip}')
node = lenv.Command(pkl_path, tinygrad_files + compile_modeld_script + driving_onnx_deps + driving_metadata_deps + [Value(camera_res_args), chunker_file, compiled_flags_node], cmd)
onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
chunk_targets = get_chunk_paths(pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*2) # TODO make weight dedupe work on QCOM
def do_chunk(target, source, env, pkl=pkl_path, chunks=chunk_targets):
chunk_file(pkl, chunks)
lenv.Command(chunk_targets, node, do_chunk)
dm_w, dm_h = DM_INPUT_SIZE
for cfg in DM_WARP_CONFIGS:
for cam_w, cam_h in CAMERA_CONFIGS:
dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
f'--output {cfg.pkl_path}')
lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
f'--output {dm_pkl_path}')
lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
def tg_compile(flags, model_name):
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'