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pull/30273/head
Yassine 2 years ago
parent de64db43cf
commit 526425c193
1 changed files with 2 additions and 0 deletions
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  1. 2
      selfdrive/modeld/fill_model_msg.py

2
selfdrive/modeld/fill_model_msg.py
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@ -63,6 +63,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
modelV2.init('laneLines', 4) modelV2.init('laneLines', 4)
for i in range(4): for i in range(4):
lane_line = modelV2.laneLines[i] lane_line = modelV2.laneLines[i]
# TODO: these times are wrong
fill_xyzt(lane_line, T_IDXS, np.array(X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) fill_xyzt(lane_line, T_IDXS, np.array(X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
@ -71,6 +72,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
modelV2.init('roadEdges', 2) modelV2.init('roadEdges', 2)
for i in range(2): for i in range(2):
road_edge = modelV2.roadEdges[i] road_edge = modelV2.roadEdges[i]
# TODO: these times are wrong
fill_xyzt(road_edge, T_IDXS, np.array(X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) fill_xyzt(road_edge, T_IDXS, np.array(X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist() modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()

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