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modeld: use temporalPose from model (#34460)

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* modeld: use temporalPose from model

* cleanup
This commit is contained in:
YassineYousfi
2025-01-26 10:29:58 -08:00
committed by GitHub
parent c57f535238
commit 8bfce0979d
3 changed files with 5 additions and 5 deletions
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selfdrive/modeld/constants.py
-1
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@@ -31,7 +31,6 @@ class ModelConstants:
DISENGAGE_WIDTH = 5
POSE_WIDTH = 6
WIDE_FROM_DEVICE_WIDTH = 3
SIM_POSE_WIDTH = 6
LEAD_WIDTH = 4
LANE_LINES_WIDTH = 2
ROAD_EDGES_WIDTH = 2
selfdrive/modeld/fill_model_msg.py
+4 -4
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@@ -90,10 +90,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
# temporal pose
temporal_pose = modelV2.temporalPose
temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
# poly path
fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
selfdrive/modeld/parse_model_outputs.py
+1
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@@ -91,6 +91,7 @@ class Parser:
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))