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Revert fullframe DM model (#24812)

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* Revert "fullframe DM: flip RHD yaw to use matching thresholds"

This reverts commit ce7daabc8847d18ba46e5d1879f5a6958d04ccc7.

* Revert "fullframe DM model (#24762)"

This reverts commit 817be81fb19004f4873881f6b29dcdfffbe7e3a8.

* revert cereal
old-commit-hash: c646eeee0a
This commit is contained in:
ZwX1616
2022-06-10 16:16:46 -07:00
committed by GitHub
parent 77224f3332
commit c73d4e5fc6
25 changed files with 309 additions and 228 deletions
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selfdrive/modeld/models/dmonitoring.h
+17 -16
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@@ -9,43 +9,44 @@
#define CALIB_LEN 3
#define OUTPUT_SIZE 84
#define OUTPUT_SIZE 45
#define REG_SCALE 0.25f
typedef struct DriverStateResult {
typedef struct DMonitoringResult {
float face_orientation[3];
float face_orientation_std[3];
float face_orientation_meta[3];
float face_position[2];
float face_position_std[2];
float face_position_meta[2];
float face_prob;
float left_eye_prob;
float right_eye_prob;
float left_blink_prob;
float right_blink_prob;
float sunglasses_prob;
float sg_prob;
float poor_vision;
float partial_face;
float distracted_pose;
float distracted_eyes;
float occluded_prob;
float ready_prob[4];
float not_ready_prob[2];
} DriverStateResult;
typedef struct DMonitoringModelResult {
DriverStateResult driver_state_lhd;
DriverStateResult driver_state_rhd;
float poor_vision_prob;
float wheel_on_right_prob;
float dsp_execution_time;
} DMonitoringModelResult;
} DMonitoringResult;
typedef struct DMonitoringModelState {
RunModel *m;
bool is_rhd;
float output[OUTPUT_SIZE];
std::vector<uint8_t> net_input_buf;
std::vector<uint8_t> resized_buf;
std::vector<uint8_t> cropped_buf;
std::vector<uint8_t> premirror_cropped_buf;
std::vector<float> net_input_buf;
float calib[CALIB_LEN];
float tensor[UINT8_MAX + 1];
} DMonitoringModelState;
void dmonitoring_init(DMonitoringModelState* s);
DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
void dmonitoring_free(DMonitoringModelState* s);