modeld: use temporalPose from model (commaai#34460)

* modeld: use temporalPose from model * cleanup
deanlee · Jan 26, 2025 · 8bfce09 · 8bfce09
1 parent c57f535
commit 8bfce09
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
@@ -31,7 +31,6 @@ class ModelConstants:
   DISENGAGE_WIDTH = 5
   POSE_WIDTH = 6
   WIDE_FROM_DEVICE_WIDTH = 3
-  SIM_POSE_WIDTH = 6
   LEAD_WIDTH = 4
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2

diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
@@ -90,10 +90,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
 
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
@@ -91,6 +91,7 @@ def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))