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New planplus

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firestar5683
2025-12-02 11:53:45 -06:00
parent de1e30bef6
commit f0b6df65a0
3 changed files with 13 additions and 11 deletions
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frogpilot/tinygrad_modeld/parse_model_outputs.py
+6 -6
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@@ -97,12 +97,12 @@ class Parser:
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))
if 'plan' in outs:
if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
else:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
plan_mhp = outs['plan'].shape[1] != 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
if 'planplus' in outs:
self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
if 'lane_lines' in outs:
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))