58f2a941da
modeld: PC Thneed prereqs ( #25615 )
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* pc thneed prereqs
* ugh, out of date
* that can stay private
* memcpy here is fine in SNPE variant
* release files
* thneed docs don't work anymore. they didn't look too useful
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: b6e355a933
3 years ago
35ff65121e
pre-commit: add codespell ( #25571 )
...
old-commit-hash: 6590fb2b93
3 years ago
51ac3a7fe3
modeld: delete wide_frame in model_free ( #25562 )
...
old-commit-hash: 68b1dbc0ea
3 years ago
8413d5ddf1
Nuclear Grade Model: less memory, more accuracy ( #25524 )
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* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 6d1c8a6b-4070-4780-80f1-6f08f234275e/900
* update ref
old-commit-hash: 2f46fe5d85
3 years ago
48522500ea
Falcon Punch Model: turn cutting improvements ( #25413 )
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* simplified change to mpc dynamics
* add jerk pts
* increase jerk cost
* increase jerk pts multipler to master value
* Add final commit
* 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
* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950
* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950
* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900
* Fix couple tests
* Update ref
* Unused for now
* Add lateral factor comment
* Unused variable
Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
Co-authored-by: Bruce Wayne <batman@gpu06.internal>
old-commit-hash: 041458f632
3 years ago
6709805020
Model file too big: Revert "New model: minor fixes" ( #25390 )
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Revert "New model: minor fixes (#25368 )"
This reverts commit 4e69dfab07507510eb52f532e7038b01f83471b7.
old-commit-hash: 3afe7464df
3 years ago
f8a05617a3
New model: minor fixes ( #25368 )
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* 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>
old-commit-hash: 55bf938504
3 years ago
e5589e572f
Cleanup calibration code ( #25119 )
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* First attempt
* worksish
* tests pass
* cleanup
* get rid of garbahe
* fix name
* Still used in xx
* add debug functions
* used
* Revert "used"
This reverts commit 276e8ebab06d2d4f0e9927ba32b7d8aca2bf88c3.
* Update ref
old-commit-hash: 772b748689
3 years ago
6e5393367d
Remove RHD toggle: determine by driver side instead ( #24802 )
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* driverview
* auto choose
* useless
* remove
* modeld not use toggle
* remove from params
* should have commissue anyway
* delete icon file
* deal with init more elegantly and prohibit switching when engaged
* nonblock save when not unstable
* filter very low speeds
* a few more secs dont harm
* draw icon
* match
* radius
* use const
* ref commit
* new transs
* put_bool_nonblocking
* 5k route tune
* ref comm
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 22408781f7
3 years ago
7179696f6c
DM: track RHD predictions ( #24947 )
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* driverview
* auto choose
* useless
* remove
* modeld not use toggle
* remove from params
* Revert "remove from params"
This reverts commit a08df0b4922730bf8f5721f7cfaaee222d129711a0c114b8b0
3 years ago
a9108f29fa
Revert "Rocket league model ( #24869 )" ( #24936 )
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* Revert rocket league
* revert ref commit
* New model ref commit
old-commit-hash: 0e0b5c4e24
3 years ago
cd2a98aa11
fullframe DM model ( #24860 )
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* Revert "put cereal on master"
This reverts commit 4646c132bae7358079c9b2867725f8382906c1e5.
* Revert "Revert fullframe DM model (#24812 )"
This reverts commit 59e8af4c3101785cead69a9880cc03e0a18081e1.
* revert revert cereal
* clip6
* 0.8 is fair
* Fiction compensation should be based on error
* Update refs
* Add deadzone
* not that
* good mg
* ref
* ref
* ee8f
* minor tweak
* ref
* recompile
* ref
* cereal
* match driverstatus
* new ref
* new ref
* pass token through jenkins credentials
* quote
* fix snpe dead weights
* final ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 1f2f9ea9c9
3 years ago
b0b1aff5cc
Rocket league model ( #24869 )
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* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420
* no elementwise op
* 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60
* explicit slice
* some copies are useful
* 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425
* 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800
* set steer rate cost to 1.0
* smaller temporal size
* Update model reg
* update model ref again
* This did upload somehow
* Update steer rate cost
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
old-commit-hash: 9283040d84
3 years ago
33bed6d13b
remove weights fixup with new SNPE ( #24254 )
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* remove weights fixup with new SNPE
* Update ref
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: 7a6f57a28e
3 years ago
9a45a3b99b
Move selfdrive/hardware/ to system/ ( #24725 )
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* move hardware to system/
* fix mypy
old-commit-hash: 1139fe507b
3 years ago
c73d4e5fc6
Revert fullframe DM model ( #24812 )
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* Revert "fullframe DM: flip RHD yaw to use matching thresholds"
This reverts commit ce7daabc8847d18ba46e5d1879f5a6958d04ccc7.
* Revert "fullframe DM model (#24762 )"
This reverts commit 817be81fb19004f4873881f6b29dcdfffbe7e3a8.
* revert cereal
old-commit-hash: c646eeee0a
3 years ago
02f0f39b52
fullframe DM model ( #24762 )
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* get log
* simplify two nonsense
* not needed
* libyuv is a joke
* clean up
* try small
* fast but not bad
* working
* clean up driverview
* simplified
* thats mirrored
* smol
* tweak
* ref is screen
* w/ ee
* update camera model
* no if TICI
* start
* update pose thresh
* less cpu more dsp
* new libyuv
* new snpe
* add files
* test
* should be fast
* update out len
* trigger test
* use master snpe
* add cereal
* update cereal
* refactor parsing
* missing ;
* get
* wrong type
* test model
* use driver data
* 10829278-72fe-4283-a118-2cef959ce174/1550
* no pf
* adapt driverview
* ;
* rhd learner
* update libyuv buildi x64
* ad4337ea
* remove blink slack
* test
* no
* use toggle
* b16
* fix for nv12
* 5b02cff5 both
* update test
* update cereal
* update cereal
* update cereal
* v2 packets
* revert libyuv
* no /
* update snpemodel
* ;
* memcpy
* fix test
* use toggle in driverview
* update power
* update replay
* Revert "update replay"
This reverts commit 1d0979ca59d6c07a6b15
3 years ago
3df7552b7b
modeld: cleaner exit from onnx runner
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old-commit-hash: 921a411da5
3 years ago
248856d540
Update README.md
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old-commit-hash: 5b0f660a0e
3 years ago
4322483d7f
Modeld readme replaced with driving.h
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old-commit-hash: f07f7cbc8e
3 years ago
753045c73d
less TICI when not needed ( #24698 )
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* less TICI when not needed
* fix process replay
* move reading voltages into hw abstraction layer
* Update selfdrive/hardware/tici/hardware.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/hardware/hw.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/hardware/base.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* rename init function
* Update selfdrive/athena/athenad.py
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
* Update selfdrive/boardd/boardd.cc
* Apply suggestions from code review
* Update selfdrive/thermald/thermald.py
* update ref
* fix alert width if all cameras are bad
* add ecam to test_loggerd
* bump cereal
* bump cereal
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
old-commit-hash: f49a9c9fd2
3 years ago
2a6ffaf71d
nv12: encoderd avoids a full frame copy ( #24519 )
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* rgb to nv12
* nv12 works (w memcpy)
* correct now
* no copy
* fix nv12 with fast debayer
* reverts of unused stuff
* ui use nv12
* comment out thumbnails for now
* rebase fix
* dm read nv12
* model read nv12
* fix ffmpeg encoder
* thumbnails from nv12
* replay to nv12
* python framereader support nv12
* remove hardcoded frame/buffer sizes
* fix build
* ffmpeg encoder fix buffers
* small cleanup
* reduce power usage test
* fix cpu usage test
* fix snapshot
* fix loggerd test
* bump cereal
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Joost Wooning <jwooning@gmail.com>
old-commit-hash: ea5b8cdfb1
3 years ago
6a53db981b
Simulator: Speed up process by removing second camera ( #24679 )
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* simulator: support running wide camera only
* proper frame id
* use param name that makes more sense
* do some cleanup
* Update tools/sim/bridge.py
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: b5aed2bf67
3 years ago
3e8625e50b
visionipc python shim ( #24660 )
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old-commit-hash: 32a9ccfc37
3 years ago
55085a12db
New model: better laneless ( #24605 )
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* Fix ping pong
* Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800
* Remove lateral toggle
* a6da6265-1952-48dd-986b-2b5996dd2642/950
* Model replay commit
* Revert "Remove lateral toggle"
This reverts commit 69e57eb7e17da48ebdba
3 years ago
f7e2813438
Small fixes for macOS build ( #24620 )
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* Small fixes for macOS build
* remove gpu_libs
old-commit-hash: 1cc652602f
3 years ago
f4675fc260
Merge common/ and selfdrive/common ( #24556 )
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* Merge common/ and selfdrive/common
* fix that
* fix version
* fix unit tests
old-commit-hash: cb8885cffb
3 years ago
3494ec7bbd
Revert "Joint model ( #24521 )" ( #24581 )
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This reverts commit 9fc732468ee4d4fd135d679a919c748633f06d02.
old-commit-hash: e2e5378dd3
3 years ago
1b18cef243
thneed: add flag to enable optimizer ( #24568 )
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* improve the thneed compiler
* only init thneed if we are using the GPU
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 0fc4b4df98
3 years ago
78c2e16a03
Joint model ( #24521 )
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* update models
* wip lanelines mhp parsing
* typos
* newer models
* 95995a49-db0c-4261-8776-b90780dc2a8c/600
* Use laneful policy to prevent planner aggression
* c8c3ab69-bd2c-4d1c-a7f8-9e8457e4827b/950
* ede8f75a-df3e-41fb-bc56-63e2f33858e5/950
* 7205c5af-7532-4215-ad9b-678789054db7/995
* bfb34fa3-1d72-4987-854f-43d42ee01015/950
* change cost
* 8ae2477a-b452-4601-b04c-d3af66ea5e98/950
* Update heading cost
* 9b991314-94f5-4f0b-872e-58d95266e4d0/333
* 9b991314-94f5-4f0b-872e-58d95266e4d0/950
* ede8f75a-df3e-41fb-bc56-63e2f33858e5/950
* undo lateral planner changes
* rm whitespace
* update ref
* c0acc19d-f2f1-47ae-8838-5382c6c6c7f5/950
* c0acc19d-f2f1-47ae-8838-5382c6c6c7f5/950
* update model refg
* Update model ref
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
old-commit-hash: 7996fd37ef
3 years ago
39de4d80b4
move models to selfdrive/modeld/ ( #24539 )
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* move models to selfdrive/modeld/
* two more refs
old-commit-hash: 319f3d1475
3 years ago
aefc73be1b
Revert "Joint Model ( #24213 )"
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This reverts commit f6aaafb8d9332c934373fc6fde27abd596b7049f.
old-commit-hash: ef81afc354
3 years ago
4709fb5f61
Joint Model ( #24213 )
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* update models
* wip lanelines mhp parsing
* typos
* newer models
* 95995a49-db0c-4261-8776-b90780dc2a8c/600
* Use laneful policy to prevent planner aggression
* c8c3ab69-bd2c-4d1c-a7f8-9e8457e4827b/950
* ede8f75a-df3e-41fb-bc56-63e2f33858e5/950
* 7205c5af-7532-4215-ad9b-678789054db7/995
* bfb34fa3-1d72-4987-854f-43d42ee01015/950
* change cost
* 8ae2477a-b452-4601-b04c-d3af66ea5e98/950
* Update heading cost
* 9b991314-94f5-4f0b-872e-58d95266e4d0/333
* 9b991314-94f5-4f0b-872e-58d95266e4d0/950
* ede8f75a-df3e-41fb-bc56-63e2f33858e5/950
* undo lateral planner changes
* rm whitespace
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: eff08cb17f
3 years ago
7cd23af9b1
Mypy fixes for --check-untyped-defs ( #24372 )
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more type fixes
old-commit-hash: 17e33978cd
3 years ago
b3e7498f27
onnxruntime: initialize CUDA provider before predictions ( #24330 )
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* initialize CUDA runtime before predictions
* dmond pauses modeld execution...
* done in other PR
old-commit-hash: 60b7114024
3 years ago
4ff9f6910d
Do not run model when skipping frames ( #23949 )
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* Do not run model when skipping frames
* also prepare wide
* add logging
* remove newline
* small skip test
* more random
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3741908733
3 years ago
074603c1b9
modeld tests ( #24263 )
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old-commit-hash: 27b067446a
3 years ago
7921b2d197
Update SNPE to 1.61.0.3358 ( #24253 )
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* update snpe to snpe-1.61.0.3358
* fix new snpe build
* fix snpe dir in files_tici
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 40cf4a7498
3 years ago
5a9644261f
remove comma two support ( #24248 )
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* remove comma two support
* cleanup release files
* little more
* more libs
* no more gralloc
* add snpe back
old-commit-hash: 5c48e7bc86
3 years ago
0df47e8325
Remove visiontest files ( #24219 )
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old-commit-hash: 6dfdb04cb4
3 years ago
df8476118b
Latency logging 2 ( #24058 )
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* msg_order and gantt
* frameId in long/lat planner
* track frame id
* controls frame id
* graph tracked events
* graph json
* cloudlog timestamp
* c++ cloudlog
* add frame id
* bug fixes
* bug fixes
* frame id visionicp
* bug fixes and debug level
* timestamp log placement
* print timestamps in table
* translate events
* more logging
* bug fixes
* daemon boardd
* print logs with boardd
* more timestamp logs
* cleanup
* remove publish logs
* bug fix
* timestamp received
* timestamp received
* bug fixes
* use json lib
* ignore driver camera
* prep for new timestamp pipeline
* bug fix
* read new pipeline unfinnished
* read new pipeline
* bug fix
* add frame to controlsstate
* remove controlsstate
* print
* cleanup
* more cleanup + bug fix
* clock build issue
* remove unused imports
* format durations
* increase speed
* pr comments fixes
* conflicts
* set MANAGER_DAEMON for boardd
* clean script code
* bug fix + argparse
* remove rcv time
* bug fixes
* print without tabulate
* fix pre-commits
* plot gnatt
* color bug fix
* read without timestampextra
* bump panda
* mono time instead of frame id
* finnish script
* clean unused
* clean unused logging
* monotonic + json fixes
* del test
* remove whilelines
* bump laika
* cleanup
* remove deps
* logs nicer strings
* remove plotting from scirpt
* reset pipfile
* reset pipfile
* nicer strings
* bug fix
* bug fix
* pr comments cleaning
* remove plotting
* bug fix
* new demo route
* bump opendbc and panda
* cereal master
* cereal master
* script less komplex
* assertions
* matplotlib
* readme
* Update README.md
* graph html
* design fixes
* more code design
* Update common/logging_extra.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* whitespace
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update tools/latency_logger/latency_logger.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* pr comments
* bug fix
* readme + env once
* clean swaglog
* bug fix
* Update tools/latencylogger/README.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* revert
* revert
* clean swaglog with error
* remove typo file
* revert graph
* cereal
* submodules
* whitespaces
* update refs
Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 65fca83abe
3 years ago
e8a8e37185
DM: more precision running on DSP + e2e outputs ( #23900 )
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* update cereal
* run but not use
* log distraction type
* regression scaling
* clean up naming
* add calib buf
* add to header
* fake model
* no calib model
* adjust threshs
* 018a305f
* fix bn
* tweak1
* tweak2
* 0ff2/666
* tweak3
* t4
* t5
* fix out of bound
* skip when replaying old segments
* update ref
* fix onnxmodel
* get calib
* update model replay refs
* up ref
old-commit-hash: de4031c98e
3 years ago
7efe157848
thneed: a more sane way of doing record/debug ( #23938 )
...
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 5c5a56c5e6
3 years ago
47aec23fb3
modeld: sync based on frame timestamp ( #23901 )
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* sync based on frame ts
* log extra frame id
* ints only
* update ref
* no rounding errors
old-commit-hash: 492398826f
3 years ago
6b52bc6c13
model: mse err from 0.02-> 0.000056 ( #23891 )
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* mse err from 0.028070712 -> 5.8073703e-05
* build with weights fixup
* need thneed lib also
* don't break for binaries
* static analysis says i need init
* check the bias
* load_dlc_weights
* nicer scons
* tested scons
* fix static
* pylint issue
* new ref
* a few more asserts
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: 8d6f49aecf
3 years ago
c975d35f49
minor cleanups, fix non binary compile ( #23882 )
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Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 825c924c1c
3 years ago
2e91f016bb
modeld: remove support for small model ( #23803 )
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* modeld: remove support for small model
* use extra
old-commit-hash: 8a19d9892e
3 years ago
ed59474387
THNEED_DEBUG env var support
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old-commit-hash: 83159a09bf
3 years ago
fc042cd85a
Fix tici bigmodel ( #23817 )
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* Fix bigmodel on tici: cam intrinsics arent static
* Give TICI route own name for import
* Make function useable in offline test
* typo
* change tici ecam focal to trained focal
* No shadow variable
* Fixed ref
* Force update this time
* Update model replay ref commit
old-commit-hash: 48154703a7
3 years ago
123fd2f6ee
thneed: a few asserts in the optimizer for cases it will fail
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old-commit-hash: 2b652605a0
3 years ago
George Hotz
Adeeb Shihadeh
Dean Lee
HaraldSchafer
YassineYousfi
ZwX1616
Willem Melching
Gijs Koning
grekiki
Shane Smiskol
Lukas Petersson
Comma Device