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Revert "modeld: split warp" (#38085)

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Revert "modeld: split warp (#38079)"

This reverts commit a3cc9c7ac3.
This commit is contained in:
Armand du Parc Locmaria
2026-05-23 00:53:12 -07:00
committed by GitHub
parent 1f227bbe20
commit d489dd8909
4 changed files with 72 additions and 59 deletions
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selfdrive/modeld/SConscript
+16 -6
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@@ -7,15 +7,24 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.system.hardware import HARDWARE, PC
from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
Import('env', 'arch', 'release')
CAMERA_CONFIGS = [
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
]
Import('env', 'arch')
def get_camera_configs():
DEVICE_RESOLUTIONS = {
"tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
"tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
"mici": (_os_fisheye.width, _os_fisheye.height),
}
if release or PC or 'CI' in os.environ:
return set(DEVICE_RESOLUTIONS.values())
return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
CAMERA_CONFIGS = get_camera_configs()
chunker_file = File("#common/file_chunker.py")
lenv = env.Clone()
@@ -92,7 +101,8 @@ for usbgpu in [False, True] if USBGPU else [False]:
f'--policy-onnx {File(f"models/{file_prefix}driving_policy.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))
size_multiplier = 1 if usbgpu else 2 # TODO make weight dedupe work on QCOM
chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum)*size_multiplier)
def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
chunk_file(pkl, chunks)
node = lenv.Command(