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2024-04-27 03:27:27 -05:00
parent 886a019ad5
commit c22b4866eb
55 changed files with 49557 additions and 116523 deletions
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5
selfdrive/modeld/navmodeld.py
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@@ -5,7 +5,6 @@ import time
import ctypes
import numpy as np
from pathlib import Path
from typing import Tuple, Dict
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
@@ -41,7 +40,7 @@ class NavModelResult(ctypes.Structure):
("features", ctypes.c_float*NAV_FEATURE_LEN)]
class ModelState:
inputs: Dict[str, np.ndarray]
inputs: dict[str, np.ndarray]
output: np.ndarray
model: ModelRunner
@@ -52,7 +51,7 @@ class ModelState:
self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
self.model.addInput("input_img", None)
def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
def run(self, buf:np.ndarray) -> tuple[np.ndarray, float]:
self.inputs['input_img'][:] = buf
t1 = time.perf_counter()