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More reasonable model replay tolerance (#33652)

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This commit is contained in:
Harald Schäfer
2024-09-25 14:21:19 -07:00
committed by GitHub
parent 4490608e3c
commit ba7039785c
1 changed files with 18 additions and 10 deletions
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selfdrive/test/process_replay/model_replay.py
+18 -10
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@@ -112,16 +112,24 @@ if __name__ == "__main__":
'driverStateV2.dspExecutionTime'
]
if PC:
ignore += [
'modelV2.laneLines.0.t',
'modelV2.laneLines.1.t',
'modelV2.laneLines.2.t',
'modelV2.laneLines.3.t',
'modelV2.roadEdges.0.t',
'modelV2.roadEdges.1.t',
]
# TODO this tolerance is absurdly large
tolerance = 2.0 if PC else None
# TODO We ignore whole bunch so we can compare important stuff
# like posenet with reasonable tolerance
ignore += ['modelV2.acceleration.x',
'modelV2.position.x',
'modelV2.position.xStd',
'modelV2.position.y',
'modelV2.position.yStd',
'modelV2.position.z',
'modelV2.position.zStd',
'drivingModelData.path.xCoefficients',]
for i in range(3):
for field in ('x', 'y', 'v', 'a'):
ignore.append(f'modelV2.leadsV3.{i}.{field}')
ignore.append(f'modelV2.leadsV3.{i}.{field}Std')
for i in range(4):
for field in ('x', 'y', 'z', 't'):
ignore.append(f'modelV2.laneLines.{i}.{field}')
tolerance = .2 if PC else None
results: Any = {TEST_ROUTE: {}}
log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)