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precache warp in legacy

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discountchubbs
2026-08-14 22:44:19 -07:00
parent 5795c3ba22
commit a8ea467e52
1 changed files with 7 additions and 5 deletions
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openpilot/sunnypilot/modeld_v2/modeld.py
+7 -5
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@@ -177,11 +177,13 @@ class ModelState(ModelStateBase):
self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
yuv_size = self.frame_buf_params[self._road_key][3]
self.warp(
tfm=self.input_queues['tfm'],
big_tfm=self.input_queues['big_tfm'],
frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
big_frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
if self.is_legacy_model: # Remove this conditional hack after recompile
self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor)
else:
self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
if self.usbgpu:
self.warmup()