From 105a379a0cfaec329fa2689d451c98abccd7cac5 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 23 Oct 2023 15:22:32 -0700 Subject: [PATCH] modeld: fix prev brake probs shapes (#30309) old-commit-hash: 1802de3f01e960a257884262986fdaa1e321ebdc --- selfdrive/modeld/constants.py | 2 ++ selfdrive/modeld/fill_model_msg.py | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index a5ac977390..e03d93d7e8 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -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 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 05a159c86d..55d7abc1aa 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -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