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Update parse_model_outputs.py

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firestar5683
2026-02-27 15:03:12 -06:00
parent cf735574a6
commit f0f95d5d10
1 changed files with 4 additions and 0 deletions
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frogpilot/tinygrad_modeld/parse_model_outputs.py
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@@ -103,6 +103,10 @@ class Parser:
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))
elif 'planplus' in outs:
planplus_mhp = outs['planplus'].shape[1] != 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH
planplus_in_N, planplus_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if planplus_mhp else (0, 0)
self.parse_mdn('planplus', outs, in_N=planplus_in_N, out_N=planplus_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))