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https://github.com/sunnypilot/sunnypilot.git
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c20b197bce
* use the openpilot/persist directory on PC
* manager runs on mac
* sim runs w/o carla
* fix params location in test
* that rmtree can fail and it's okay
* refactor params clear functionality
* set PARAMS_PATH
old-commit-hash: c42e2ecc50
29 lines
892 B
Python
29 lines
892 B
Python
import os
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import numpy as np
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from cffi import FFI
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from common.ffi_wrapper import suffix
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cluster_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
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cluster_fn = os.path.join(cluster_dir, "libfastcluster"+suffix())
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ffi = FFI()
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ffi.cdef("""
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int hclust_fast(int n, double* distmat, int method, int* merge, double* height);
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void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels);
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void hclust_pdist(int n, int m, double* pts, double* out);
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void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx);
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""")
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hclust = ffi.dlopen(cluster_fn)
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def cluster_points_centroid(pts, dist):
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pts = np.ascontiguousarray(pts, dtype=np.float64)
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pts_ptr = ffi.cast("double *", pts.ctypes.data)
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n, m = pts.shape
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labels_ptr = ffi.new("int[]", n)
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hclust.cluster_points_centroid(n, m, pts_ptr, dist**2, labels_ptr)
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return list(labels_ptr)
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