From 8197d170bcdecf72ce1b2129ee4e074ac2acc329 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 29 Dec 2024 18:04:05 +0100 Subject: [PATCH] Refactor type annotations and return types in model_runner Removed specific type hints and return annotations for `self.inputs` and `run_model` methods to enhance flexibility and maintain consistency. These changes streamline the code and improve compatibility with varying input/output types during model inference. --- selfdrive/modeld/runners/model_runner.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/runners/model_runner.py b/selfdrive/modeld/runners/model_runner.py index 03c10a7718..629e9850cd 100644 --- a/selfdrive/modeld/runners/model_runner.py +++ b/selfdrive/modeld/runners/model_runner.py @@ -30,14 +30,14 @@ class ModelRunner(ABC): self.model_metadata = pickle.load(f) self.input_shapes = self.model_metadata['input_shapes'] self.output_slices = self.model_metadata['output_slices'] - self.inputs: dict[str, np.ndarray | Tensor] = {} + self.inputs: dict = {} @abstractmethod def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray])-> dict: """Prepare inputs for model inference.""" @abstractmethod - def run_model(self) -> np.ndarray: + def run_model(self): """Run model inference with prepared inputs.""" def slice_outputs(self, model_outputs: np.ndarray) -> dict: @@ -70,7 +70,7 @@ class TinygradRunner(ModelRunner): return self.inputs - def run_model(self) -> np.ndarray: + def run_model(self): return self.model_run(**self.inputs).numpy().flatten() @@ -88,5 +88,5 @@ class ONNXRunner(ModelRunner): self.inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]) return self.inputs - def run_model(self) -> np.ndarray: + def run_model(self): return self.runner.run(None, self.inputs)[0].flatten()