From a8ea467e52e505ec65d50c0081e032ef5e6d21fd Mon Sep 17 00:00:00 2001 From: discountchubbs Date: Fri, 14 Aug 2026 22:44:19 -0700 Subject: [PATCH] precache warp in legacy --- openpilot/sunnypilot/modeld_v2/modeld.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py index 3ad7d9226b..9f3d709537 100755 --- a/openpilot/sunnypilot/modeld_v2/modeld.py +++ b/openpilot/sunnypilot/modeld_v2/modeld.py @@ -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()