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FrogPilot 0.9.7

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FrogAi
2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
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selfdrive/modeld/dmonitoringmodeld.py
+13 -13
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@@ -14,7 +14,7 @@ from openpilot.common.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.realtime import set_realtime_priority
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
CALIB_LEN = 3
REG_SCALE = 0.25
@@ -76,8 +76,8 @@ class ModelState:
input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
t1 = time.perf_counter()
self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
t1 = time.perf_counter()
self.model.execute()
t2 = time.perf_counter()
return self.output, t2 - t1
@@ -88,15 +88,15 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
msg.faceProb = sigmoid(ds_result.face_prob)
msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
msg.rightEyeProb = sigmoid(ds_result.right_eye_prob)
msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob)
msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob)
msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob)
msg.occludedProb = sigmoid(ds_result.occluded_prob)
msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob]
msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob]
msg.faceProb = float(sigmoid(ds_result.face_prob))
msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob))
msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob))
msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob))
msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob))
msg.occludedProb = float(sigmoid(ds_result.occluded_prob))
msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
@@ -105,8 +105,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
ds.frameId = frame_id
ds.modelExecutionTime = execution_time
ds.dspExecutionTime = dsp_execution_time
ds.poorVisionProb = sigmoid(model_result.poor_vision_prob)
ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob)
ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)