spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

safer

pull/1488/head
Harald Schafer 2020-05-10 22:00:41 -07:00
parent 27ffa29f6c
commit ee10697d86
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
selfdrive/modeld/models/driving.cc
View File

@ -174,14 +174,14 @@ void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bo
valid_len = fmin(192, fmax(5, data[MODEL_PATH_DISTANCE*2]));
for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
points_arr[i] = data[i] + offset;
stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]) + 1e-6;
}
if (has_prob) {
prob = sigmoid(data[MODEL_PATH_DISTANCE*2 + 1]);
} else {
prob = 1.0;
}
std = softplus(data[MODEL_PATH_DISTANCE]);
std = softplus(data[MODEL_PATH_DISTANCE]) + 1e-6;
poly_fit(points_arr, stds_arr, poly_arr, valid_len);
if (std::getenv("DEBUG")){