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modeld: run the driving model as a single combined onnx (#38173)

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Harald Schäfer
2026-06-12 18:35:52 -07:00
committed by GitHub
parent f9cc67896c
commit a40fa3a0b0
11 changed files with 55 additions and 71 deletions
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selfdrive/modeld/SConscript
+4 -5
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@@ -86,15 +86,14 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
for usbgpu in [False, True] if USBGPU else [False]:
target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
# BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a USB GPU
file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
cmd = (f'{cmd_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(f"models/{file_prefix}driving_vision.onnx").abspath} '
f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
f'--output {target_pkl_path} --frame-skip {frame_skip}')
onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))