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remove this for now

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This commit is contained in:
Jason Wen
2025-01-07 16:18:17 -05:00
parent 4597350df7
commit 1b256f6204
2 changed files with 3 additions and 3 deletions
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selfdrive/modeld/modeld.py
+1 -1
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@@ -106,7 +106,7 @@ class ModelState:
# Run model inference
self.output = self.model_runner.run_model()
outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output), self.numpy_inputs.keys())
outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
if self.is_20hz:
self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
selfdrive/modeld/parse_model_outputs.py
+2 -2
View File
@@ -84,7 +84,7 @@ class Parser:
outs[name] = pred_mu_final.reshape(final_shape)
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
def parse_outputs(self, outs: dict[str, np.ndarray], input_keys: [str]) -> dict[str, np.ndarray]:
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
""" Parse the model outputs into a dictionary of numpy arrays. The input_keys are used to determine how the output should be parsed. """
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))
@@ -97,7 +97,7 @@ class Parser:
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
if 'lat_planner_solution' in outs:
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
if 'desired_curvature' in outs and "prev_desired_curv" in input_keys:
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
for k in ['lead_prob', 'lane_lines_prob', 'meta']:
self.parse_binary_crossentropy(k, outs)