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modeld: skip redundant cast, reshape, and flatten (#35735)

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* skip redundant cast, reshape, and flatten

* accidentally deleted a newline lol
This commit is contained in:
Jimmy
2025-07-22 16:35:19 -07:00
committed by GitHub
parent a931ed5c15
commit 7e0d3c22f4
2 changed files with 3 additions and 3 deletions
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selfdrive/modeld/dmonitoringmodeld.py
+1 -1
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@@ -93,7 +93,7 @@ class ModelState:
self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT)), dtype=dtypes.uint8).realize()
output = self.model_run(**self.tensor_inputs).numpy().flatten()
output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy()
t2 = time.perf_counter()
return output, t2 - t1
selfdrive/modeld/modeld.py
+2 -2
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@@ -163,14 +163,14 @@ class ModelState:
if prepare_only:
return None
self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten()
self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
# TODO model only uses last value now