sadmen
/
jyoung
mirror of https://github.com/jyoung8607/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

cutin not correctly parsed

Browse Source 
old-commit-hash: 5f34f17c9e
vw-mqb-aeb
Harald Schafer 6 years ago
parent 5375a08920
commit 86af8b3a93
1 changed files with 8 additions and 6 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 14
      selfdrive/modeld/models/driving.cc

14
selfdrive/modeld/models/driving.cc
Unescape View File

@ -167,11 +167,11 @@ void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bo
path.setStd(std); path.setStd(std);
} }
void fill_lead(cereal::ModelData::LeadData::Builder lead, const float * data, int mdn_max_idx) { void fill_lead(cereal::ModelData::LeadData::Builder lead, const float * data, int mdn_max_idx, int t_offset) {
const double x_scale = 10.0; const double x_scale = 10.0;
const double y_scale = 10.0; const double y_scale = 10.0;
lead.setProb(sigmoid(data[LEAD_MDN_N*MDN_GROUP_SIZE])); lead.setProb(sigmoid(data[LEAD_MDN_N*MDN_GROUP_SIZE + t_offset]));
lead.setDist(x_scale * data[mdn_max_idx*MDN_GROUP_SIZE]); lead.setDist(x_scale * data[mdn_max_idx*MDN_GROUP_SIZE]);
lead.setStd(x_scale * softplus(data[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS])); lead.setStd(x_scale * softplus(data[mdn_max_idx*MDN_GROUP_SIZE + MDN_VALS]));
lead.setRelY(y_scale * data[mdn_max_idx*MDN_GROUP_SIZE + 1]); lead.setRelY(y_scale * data[mdn_max_idx*MDN_GROUP_SIZE + 1]);
@ -228,22 +228,24 @@ void model_publish(PubSocket *sock, uint32_t frame_id,
// Find the distribution that corresponds to the current lead // Find the distribution that corresponds to the current lead
int mdn_max_idx = 0; int mdn_max_idx = 0;
int t_offset = 0;
for (int i=1; i<LEAD_MDN_N; i++) { for (int i=1; i<LEAD_MDN_N; i++) {
if (net_outputs.lead[i*MDN_GROUP_SIZE + 8] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8]) { if (net_outputs.lead[i*MDN_GROUP_SIZE + 8 + t_offset] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8 + t_offset]) {
mdn_max_idx = i; mdn_max_idx = i;
} }
} }
auto lead = framed.initLead(); auto lead = framed.initLead();
fill_lead(lead, net_outputs.lead, mdn_max_idx); fill_lead(lead, net_outputs.lead, mdn_max_idx, t_offset);
// Find the distribution that corresponds to the lead in 2s // Find the distribution that corresponds to the lead in 2s
mdn_max_idx = 0; mdn_max_idx = 0;
t_offset = 1;
for (int i=1; i<LEAD_MDN_N; i++) { for (int i=1; i<LEAD_MDN_N; i++) {
if (net_outputs.lead[i*MDN_GROUP_SIZE + 9] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 9]) { if (net_outputs.lead[i*MDN_GROUP_SIZE + 8 + t_offset] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8 + t_offset]) {
mdn_max_idx = i; mdn_max_idx = i;
} }
} }
auto lead_future = framed.initLeadFuture(); auto lead_future = framed.initLeadFuture();
fill_lead(lead_future, net_outputs.lead, mdn_max_idx); fill_lead(lead_future, net_outputs.lead, mdn_max_idx, t_offset);
auto meta = framed.initMeta(); auto meta = framed.initMeta();

Write Preview
Loading…
Cancel
Save