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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: c646eeee0ac54925db5afc51b95c5d869d6dba68
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/dmonitoringmodeld.cc
+3 -3
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@@ -12,7 +12,7 @@
ExitHandler do_exit;
void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
PubMaster pm({"driverStateV2"});
PubMaster pm({"driverState"});
SubMaster sm({"liveCalibration"});
float calib[CALIB_LEN] = {0};
double last = 0;
@@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
}
double t1 = millis_since_boot();
DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
double t2 = millis_since_boot();
// send dm packet
dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output);
//printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
last = t1;