mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-29 10:32:10 +08:00
Code Issues Packages Projects Releases Wiki Activity

dmonitoring: use the same way as driving to build model output more clearly (#19933)

Browse Source 
* Use the same way as driving to build model output more clearly

* rebase master
old-commit-hash: 2d0c249f4048fba02ad12f25a45f26df4742b444
This commit is contained in:
Dean Lee
2021-01-31 10:49:44 +08:00
committed by GitHub
parent 33495e4368
commit 04d7c01eda
1 changed files with 18 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/models/dmonitoring.cc
+18 -19
View File
@@ -147,25 +147,24 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
double t2 = millis_since_boot();
DMonitoringResult ret = {0};
memcpy(&ret.face_orientation, &s->output[0], sizeof ret.face_orientation);
memcpy(&ret.face_orientation_meta, &s->output[6], sizeof ret.face_orientation_meta);
memcpy(&ret.face_position, &s->output[3], sizeof ret.face_position);
memcpy(&ret.face_position_meta, &s->output[9], sizeof ret.face_position_meta);
memcpy(&ret.face_prob, &s->output[12], sizeof ret.face_prob);
memcpy(&ret.left_eye_prob, &s->output[21], sizeof ret.left_eye_prob);
memcpy(&ret.right_eye_prob, &s->output[30], sizeof ret.right_eye_prob);
memcpy(&ret.left_blink_prob, &s->output[31], sizeof ret.right_eye_prob);
memcpy(&ret.right_blink_prob, &s->output[32], sizeof ret.right_eye_prob);
memcpy(&ret.sg_prob, &s->output[33], sizeof ret.sg_prob);
memcpy(&ret.poor_vision, &s->output[34], sizeof ret.poor_vision);
memcpy(&ret.partial_face, &s->output[35], sizeof ret.partial_face);
memcpy(&ret.distracted_pose, &s->output[36], sizeof ret.distracted_pose);
memcpy(&ret.distracted_eyes, &s->output[37], sizeof ret.distracted_eyes);
ret.face_orientation_meta[0] = softplus(ret.face_orientation_meta[0]);
ret.face_orientation_meta[1] = softplus(ret.face_orientation_meta[1]);
ret.face_orientation_meta[2] = softplus(ret.face_orientation_meta[2]);
ret.face_position_meta[0] = softplus(ret.face_position_meta[0]);
ret.face_position_meta[1] = softplus(ret.face_position_meta[1]);
for (int i = 0; i < 3; ++i) {
ret.face_orientation[i] = s->output[i];
ret.face_orientation_meta[i] = softplus(s->output[6 + i]);
}
for (int i = 0; i < 2; ++i) {
ret.face_position[i] = s->output[3 + i];
ret.face_position_meta[i] = softplus(s->output[9 + i]);
}
ret.face_prob = s->output[12];
ret.left_eye_prob = s->output[21];
ret.right_eye_prob = s->output[30];
ret.left_blink_prob = s->output[31];
ret.right_blink_prob = s->output[32];
ret.sg_prob = s->output[33];
ret.poor_vision = s->output[34];
ret.partial_face = s->output[35];
ret.distracted_pose = s->output[36];
ret.distracted_eyes = s->output[37];
ret.dsp_execution_time = (t2 - t1) / 1000.;
return ret;
}