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clean up some MORE

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discountchubbs
2026-09-09 08:58:19 -07:00
parent c0a3ca44b6
commit 429a334d60
1 changed files with 9 additions and 19 deletions
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openpilot/sunnypilot/modeld_v2/model_replay.py
+9 -19
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@@ -14,13 +14,13 @@ import numpy as np
from tinygrad.device import Device
from openpilot.common.file_chunker import open_file_chunked
from openpilot.selfdrive.modeld.compile_modeld import MODELD_INPUTS, make_input_queues
from openpilot.selfdrive.modeld.compile_modeld import MODELD_INPUTS, make_input_queues, nv12_copy_size
from openpilot.selfdrive.modeld.helpers import load_oob
from openpilot.selfdrive.test.process_replay.model_replay import SEGMENT, TEST_ROUTE
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.openpilotci import get_url
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, nv12_copy_size
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip
from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
@@ -124,9 +124,7 @@ def compare_models_on_route(new_model_path, old_model_path, route_or_path=None,
old_array = old_step["raw_output"]
if not np.allclose(new_array, old_array, atol=tolerance, rtol=tolerance):
max_absolute_error = np.max(np.abs(new_array - old_array))
sys.stderr.write(
f"Replay mismatch at frame {step_index}: max absolute error {max_absolute_error:.6f} exceeds tolerance {tolerance}\n"
)
sys.stderr.write(f"Replay mismatch at frame {step_index}: max absolute error {max_absolute_error:.6f} exceeds tolerance {tolerance}\n")
return False
if len(new_results) > 1 and len(old_results) > 1:
@@ -181,17 +179,9 @@ if __name__ == "__main__":
argument_parser.add_argument("--plot-dir", default=None)
parsed_arguments = argument_parser.parse_args()
if not parsed_arguments.model_a:
argument_parser.error("Must provide either --sunnypilot-model, --new-model, or --model-path-a")
if parsed_arguments.model_b:
matches = compare_models_on_route(parsed_arguments.model_a, parsed_arguments.model_b, route_or_path=parsed_arguments.route,
segment_index=parsed_arguments.segment, number_of_frames=parsed_arguments.frames,
tolerance=1e-4, label_a="modeld_v2 model",
label_b="stock", plot_directory=parsed_arguments.plot_dir)
if not matches:
sys.exit(1)
else:
source_url = get_replay_video_source(parsed_arguments.route, parsed_arguments.segment)
reader = FrameReader(source_url, pix_fmt="nv12")
results = replay_model_on_frames(parsed_arguments.model_a, reader, parsed_arguments.frames)
matches = compare_models_on_route(parsed_arguments.model_a, parsed_arguments.model_b, route_or_path=parsed_arguments.route,
segment_index=parsed_arguments.segment, number_of_frames=parsed_arguments.frames,
tolerance=1e-4, label_a="modeld_v2 model",
label_b="stock", plot_directory=parsed_arguments.plot_dir)
if not matches:
sys.exit(1)