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modeld: build single camera (#37990)

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* modeld: build single camera

* rm old

* detect release only once

* acados

* rm whitespace change
This commit is contained in:
Armand du Parc Locmaria
2026-05-11 15:26:04 -07:00
committed by GitHub
parent 98512fc62b
commit 628e230b63
2 changed files with 18 additions and 8 deletions
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selfdrive/modeld/SConscript
+15 -6
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@@ -9,16 +9,25 @@ from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT
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
CAMERA_CONFIGS = [
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
]
Import('env', 'arch', 'release')
def get_camera_configs():
DEVICE_RESOLUTIONS = {
"tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
"tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
"mici": (_os_fisheye.width, _os_fisheye.height),
}
if release or PC or 'CI' in os.environ:
return list(DEVICE_RESOLUTIONS.values())
return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
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]
Import('env', 'arch')
chunker_file = File("#common/file_chunker.py")
lenv = env.Clone()