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

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* 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
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selfdrive/modeld/compile_dm_warp.py
+6 -4
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@@ -7,7 +7,8 @@ from tinygrad.tensor import Tensor
from tinygrad.device import Device
from tinygrad.engine.jit import TinyJit
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size, _parse_nv12
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size
def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
@@ -44,11 +45,12 @@ def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
if __name__ == "__main__":
p = argparse.ArgumentParser()
p.add_argument('--nv12', type=_parse_nv12, required=True,
help=f'NV12 frame layout: {",".join(NV12Frame._fields)}')
p.add_argument('--camera-resolution', type=_parse_size, required=True, help='camera resolution WxH')
p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
p.add_argument('--output', required=True)
args = p.parse_args()
cam_w, cam_h = args.camera_resolution
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
dm_w, dm_h = args.warp_to
compile_dm_warp(args.nv12, dm_w, dm_h, args.output)
compile_dm_warp(nv12, dm_w, dm_h, args.output)