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is this faster? 

fix
This commit is contained in:
Shane Smiskol 2024-10-29 20:59:23 -07:00
parent 0a57c87ad3
commit 89f6cd3935
1 changed files with 23 additions and 4 deletions
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27
opendbc/car/ford/radar_interface.py
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@ -155,6 +155,7 @@ class RadarInterface(RadarInterfaceBase):
self.frame = 0
self.clusters2 = []
self.points = {}
# TODO: 2.5 good enough?
# TODO: write simple cluster function
@ -206,10 +207,28 @@ class RadarInterface(RadarInterfaceBase):
if not _update:
return None
# ret.points = list(self.pts.values())
ret.points = [structs.RadarData.RadarPoint(dRel=pt.dRelClosest, yRel=pt.yRel, vRel=pt.vRel, trackId=pt.trackId,
measured=True, aRel=float('nan'), yvRel=float('nan'))
for pt in self.clusters2]
ret.points = list(self.pts.values())
# ret.points = [structs.RadarData.RadarPoint(dRel=pt.dRelClosest, yRel=pt.yRel, vRel=pt.vRel, trackId=pt.trackId,
# measured=True, aRel=float('nan'), yvRel=float('nan'))
# for pt in self.clusters2]
a = set()
for pt in self.clusters2:
if pt.trackId not in self.points:
self.points[pt.trackId] = structs.RadarData.RadarPoint(measured=True, aRel=float('nan'), yvRel=float('nan'))
capnp_pt = self.points[pt.trackId]
capnp_pt.dRel = pt.dRelClosest
capnp_pt.yRel = pt.yRel
capnp_pt.vRel = pt.vRel
capnp_pt.trackId = pt.trackId
a.add(pt.trackId)
for track_id in self.points.keys():
if track_id not in a:
del self.points[track_id]
ret.points = list(self.points.values())
ret.errors = errors
return ret