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big or small brain?

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discountchubbs
2026-04-28 11:34:04 -07:00
parent 3ac95a7475
commit 46fd88376e
2 changed files with 8 additions and 12 deletions
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sunnypilot/modeld_v2/warp.py
+7 -11
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@@ -6,11 +6,12 @@ from tinygrad.tensor import Tensor
from tinygrad.engine.jit import TinyJit
from tinygrad.device import Device
from typing import NamedTuple
# https://github.com/tinygrad/tinygrad/issues/15682
from tinygrad.uop.ops import UOp, Ops
_orig = UOp.__reduce__
UOp.__reduce__ = lambda self: (UOp.unique, ()) if self.op is Ops.UNIQUE else _orig(self)
from typing import NamedTuple
from tinygrad.helpers import Context
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
@@ -100,9 +101,8 @@ def make_update_img_input(frame_prepare, model_w, model_h):
def update_img_input_tinygrad(tensor, frame, M_inv):
M_inv = M_inv.to(Device.DEFAULT)
new_img = frame_prepare(frame, M_inv)
updated_tensor = tensor[6:].cat(new_img, dim=0).contiguous()
tensor.assign(updated_tensor)
return updated_tensor, Tensor.cat(updated_tensor[:6], updated_tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
return tensor, Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
return update_img_input_tinygrad
def make_update_both_imgs(frame_prepare, model_w, model_h):
@@ -145,8 +145,7 @@ def compile_v2_warp(cam_w, cam_h, buffer_length, model_w=MEDMODEL_INPUT_SIZE[0],
Device.default.synchronize()
st = time.perf_counter()
out = update_img_jit(*inputs)
full_buffer, big_full_buffer = out[0].realize(), out[2].realize()
update_img_jit(*inputs)
mt = time.perf_counter()
Device.default.synchronize()
et = time.perf_counter()
@@ -207,7 +206,7 @@ class Warp:
if wide_ptr not in self._blob_cache:
self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
road_blob = self._blob_cache[road_ptr]
wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
wide_blob = self._blob_cache[wide_ptr]
np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
@@ -216,10 +215,7 @@ class Warp:
self.full_buffers['img'], road_blob, self.transforms['img'],
self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
)
self.full_buffers['img'], out_road = res[0].realize(), res[1].realize()
self.full_buffers['big_img'], out_wide = res[2].realize(), res[3].realize()
return {road: out_road, wide: out_wide}
return {road: res[1].realize(), wide: res[3].realize()}
if __name__ == "__main__":
sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+1 -1
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@@ -77,7 +77,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
def _run_model(self) -> NumpyDict:
"""Runs the Tinygrad model inference and parses the outputs."""
outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
outputs = self.model_run(**self.inputs).numpy().flatten()
return self._parse_outputs(outputs)
def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict: