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model position std should be exp(std) (#22593)

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This commit is contained in:
Greg Hogan
2021-10-17 19:42:20 -07:00
committed by GitHub
parent e6545a7238
commit c1c402a821
1 changed files with 3 additions and 3 deletions
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selfdrive/modeld/models/driving.cc
+3 -3
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@@ -253,16 +253,16 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const float *data, i
if (plan_t_arr == nullptr) {
t_arr[i] = T_IDXS[i];
x_arr[i] = data[i*columns + 0];
x_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 0];
x_std_arr[i] = exp(data[columns*(TRAJECTORY_SIZE + i) + 0]);
} else {
t_arr[i] = plan_t_arr[i];
x_arr[i] = X_IDXS[i];
x_std_arr[i] = NAN;
}
y_arr[i] = data[i*columns + 1];
y_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 1];
y_std_arr[i] = exp(data[columns*(TRAJECTORY_SIZE + i) + 1]);
z_arr[i] = data[i*columns + 2];
z_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 2];
z_std_arr[i] = exp(data[columns*(TRAJECTORY_SIZE + i) + 2]);
}
xyzt.setX(x_arr);
xyzt.setY(y_arr);