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modeld: fix prev brake probs shapes (#30309)

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old-commit-hash: 1802de3f01e960a257884262986fdaa1e321ebdc
This commit is contained in:
YassineYousfi
2023-10-23 15:22:32 -07:00
committed by GitHub
parent 53c51a23f7
commit 105a379a0c
2 changed files with 4 additions and 2 deletions
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2
selfdrive/modeld/constants.py
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@@ -25,6 +25,8 @@ class ModelConstants:
# model outputs constants
FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
FCW_5MS2_PROBS_WIDTH = 5
FCW_3MS2_PROBS_WIDTH = 2
DISENGAGE_WIDTH = 5
POSE_WIDTH = 6

4
selfdrive/modeld/fill_model_msg.py
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@@ -12,8 +12,8 @@ ConfidenceClass = log.ModelDataV2.ConfidenceClass
class PublishState:
def __init__(self):
self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
self.prev_brake_5ms2_probs = np.zeros(ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
self.prev_brake_3ms2_probs = np.zeros(ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
builder.t = t