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Add full conditional

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This commit is contained in:
discountchubbs
2025-07-08 06:36:23 -07:00
parent a7751702b7
commit ee12e4b7b4
1 changed files with 15 additions and 4 deletions
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sunnypilot/modeld_v2/parse_model_outputs_split.py
+15 -4
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@@ -95,6 +95,9 @@ class Parser:
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
if 'plan' in outs:
self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
if 'lane_lines' in outs:
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
@@ -114,25 +117,33 @@ class Parser:
if 'plan' in outs:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
if 'lane_lines' in outs:
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
if 'sim_pose' in outs:
self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
for k in ['lead_prob', 'lane_lines_prob']:
self.parse_binary_crossentropy(k, outs)
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
self.split_outputs(outs)
if self.zero_inputs:
self.split_zero_inputs(outs)
else:
self.split_outputs(outs)
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
self.parse_binary_crossentropy('meta', outs)
return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.split_outputs(outs)
if self.zero_inputs:
self.split_zero_inputs(outs)
else:
self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
self.split_outputs(outs)
if 'lat_planner_solution' in outs:
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
if 'desired_curvature' in outs: