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fix fille lead (#2703)

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This commit is contained in:
Dean Lee
2020-12-07 05:02:23 +08:00
committed by GitHub
parent 8320a153fb
commit 531b85b983
1 changed files with 3 additions and 3 deletions
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selfdrive/modeld/models/driving.cc
+3 -3
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@@ -357,17 +357,17 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
// leads
auto leads = framed.initLeads(LEAD_MHP_SELECTION);
int mdn_max_idx = 0;
float t_offsets[LEAD_MHP_SELECTION] = {0.0, 2.0, 4.0};
for (int t_offset=0; t_offset<LEAD_MHP_SELECTION; t_offset++) {
int mdn_max_idx = 0;
for (int i=1; i<LEAD_MHP_N; i++) {
if (net_outputs.lead[(i+1)*(LEAD_MHP_GROUP_SIZE) + t_offset - LEAD_MHP_SELECTION] >
net_outputs.lead[(mdn_max_idx + 1)*(LEAD_MHP_GROUP_SIZE) + t_offset - LEAD_MHP_SELECTION]) {
mdn_max_idx = i;
fill_lead_v2(leads[t_offset], &net_outputs.lead[mdn_max_idx*(LEAD_MHP_GROUP_SIZE)],
sigmoid(net_outputs.lead_prob[t_offset]), t_offsets[t_offset]);
}
}
fill_lead_v2(leads[t_offset], &net_outputs.lead[mdn_max_idx * (LEAD_MHP_GROUP_SIZE)],
sigmoid(net_outputs.lead_prob[t_offset]), t_offsets[t_offset]);
}
pm.send("modelV2", msg);
}