New model: minor fixes (#25368)

* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750

* some copies are useful

* update model replay ref

* less frames in model replay onnx cpu

Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>

selfdrive/modeld/models/supercombo.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
+oid sha256:a9bf6166c9473b7c28935f8e5746f5c398dfa16b179c73d76d5d35f50cab981e
-size 76725611
+size 127889531

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
+oid sha256:cb0aef7f5fc3125b44bbd1cab6cde3b8f742ca2e06646477867d3040b62a3087
-size 77472267
+size 128751773

selfdrive/modeld/thneed/optimizer.cc

@@ -9,7 +9,7 @@
 
 extern map<cl_program, string> g_program_source;
 
-static int is_same_size_image(cl_mem a, cl_mem b) {
+/*static int is_same_size_image(cl_mem a, cl_mem b) {
   size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
   clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
   clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ static int is_same_size_image(cl_mem a, cl_mem b) {
   return (a_width == b_width) && (a_height == b_height) &&
     (a_depth == b_depth) && (a_array_size == b_array_size) &&
     (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}
+}*/
 
 static cl_mem make_image_like(cl_context context, cl_mem val) {
   cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
 
       // delete useless copy layers
       // saves ~0.7 ms
-      if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+      /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
         string in = kq[i]->args[kq[i]->get_arg_num("input")];
         string out = kq[i]->args[kq[i]->get_arg_num("output")];
         if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
 
           kq.erase(kq.begin()+i); --i;
         }
-      }
+      }*/
 
       // NOTE: if activations/accumulation are done in the wrong order, this will be wrong
 

selfdrive/test/process_replay/model_replay.py

@@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader
 
 TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 SEGMENT = 0
-MAX_FRAMES = 20 if PC else 1300
+MAX_FRAMES = 10 if PC else 1300
 
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-5c2cb8fb9787584a1eb553968cb87e7e6782dac5
+4d4276525c18c8955011eb10ace9ceb3d9d73307