Big Model

Big Model

Big Model

Big Model

bigmodel

commaai/openpilot#23684

bigmodel - missing kernels

bigmodel

commaai/openpilot#23684

bigmodel - missing kernels

Author: Moodkiller

.gitignore

@@ -82,8 +82,4 @@ models/*.thneed
 build/
 
 !**/.gitkeep
-.vs/slnx.sqlite
-.vs/VSWorkspaceState.json
-*.sqlite
-.vs/moodkiller/v17/.suo
 .vs/

models/big_supercombo.dlc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed
+size 72718099

models/big_supercombo.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e
+size 73147489

release/files_common

@@ -58,6 +58,7 @@ common/transformations/transformations.pyx
 common/api/__init__.py
 
 models/supercombo.dlc
+models/big_supercombo.dlc
 models/dmonitoring_model_q.dlc
 
 release/*

selfdrive/controls/lib/lane_planner.py

@@ -8,23 +8,24 @@
 from common.params import Params
 
 
-TRAJECTORY_SIZE = 33
-# camera offset is meters from center car to camera
-
 # Get offset from param file
 params = Params()
 CameraOffset = float(params.get("CameraOffset", encoding='utf8'))
 # print("User defined Camera Offset value in CM is:", CameraOffset)
 
+TRAJECTORY_SIZE = 33
+# camera offset is meters from center car to camera
+# model path is in the frame of the camera. Empirically 
+# the model knows the difference between TICI and EON
+# so a path offset is not needed
+PATH_OFFSET = 0.00 + CameraOffset / 100
+
 if EON:
-  CAMERA_OFFSET = 0.06 + CameraOffset / 100
-  PATH_OFFSET = 0.0 + CameraOffset / 100
+  CAMERA_OFFSET = -0.06 + CameraOffset / 100
 elif TICI:
-  CAMERA_OFFSET = -0.04 + CameraOffset / 100
-  PATH_OFFSET = -0.04 + CameraOffset / 100
+  CAMERA_OFFSET = 0.04 + CameraOffset / 100
 else:
   CAMERA_OFFSET = 0.0 + CameraOffset / 100
-  PATH_OFFSET = 0.0 + CameraOffset / 100
 
 # print("New CAMERA_OFFSET value in M is:", CAMERA_OFFSET)
 
@@ -51,26 +52,15 @@ def __init__(self, wide_camera=False):
     self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
     self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
 
-#    self.CameraOffset = None
-#    self.CameraOffset = None
-
-#  def update_sunny_set_offsets(self, camera_offset, path_offset):
-#    if self.CameraOffset != camera_offset:
-#      self.CameraOffset = camera_offset
-#      self.camera_offset = camera_offset / 100
-
-#    if self.CameraOffset != path_offset:
-#      self.CameraOffset = path_offset
-#      self.path_offset = path_offset / 100
 
   def parse_model(self, md):
     if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE:
       self.ll_t = (np.array(md.laneLines[1].t) + np.array(md.laneLines[2].t))/2
       # left and right ll x is the same
       self.ll_x = md.laneLines[1].x
       # only offset left and right lane lines; offsetting path does not make sense
-      self.lll_y = np.array(md.laneLines[1].y) - self.camera_offset
-      self.rll_y = np.array(md.laneLines[2].y) - self.camera_offset
+      self.lll_y = np.array(md.laneLines[1].y) + self.camera_offset
+      self.rll_y = np.array(md.laneLines[2].y) + self.camera_offset
       self.lll_prob = md.laneLineProbs[1]
       self.rll_prob = md.laneLineProbs[2]
       self.lll_std = md.laneLineStds[1]
@@ -83,7 +73,7 @@ def parse_model(self, md):
   def get_d_path(self, v_ego, path_t, path_xyz):
     # Reduce reliance on lanelines that are too far apart or
     # will be in a few seconds
-    path_xyz[:, 1] -= self.path_offset
+    path_xyz[:, 1] += self.path_offset
     l_prob, r_prob = self.lll_prob, self.rll_prob
     width_pts = self.rll_y - self.lll_y
     prob_mods = []

selfdrive/modeld/SConscript

@@ -1,3 +1,5 @@
+import os
+
 Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 lenv = env.Clone()
 
@@ -28,6 +30,9 @@ thneed_src = [
 
 use_thneed = not GetOption('no_thneed')
 
+use_extra = True  # arch == "larch64"
+lenv['CXXFLAGS'].append('-DUSE_EXTRA=true' if use_extra else '-DUSE_EXTRA=false')
+
 if arch == "aarch64" or arch == "larch64":
   libs += ['gsl', 'CB']
   libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
@@ -62,12 +67,16 @@ common_model = lenv.Object(common_src)
 
 # build thneed model
 if use_thneed and arch in ("aarch64", "larch64"):
+  fn = "../../models/big_supercombo" if use_extra else "../../models/supercombo"
   compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
-  cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
+  cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} {fn}.dlc {fn}.thneed --binary"
 
   lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"])
-  cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}"})
-  cenv.Command("../../models/supercombo.thneed", ["../../models/supercombo.dlc", compiler], cmd)
+  kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels")
+  cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path})
+
+  kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")]
+  cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd)
 
 lenv.Program('_dmonitoringmodeld', [
     "dmonitoringmodeld.cc",