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DM: Lancia Delta HF Integrale model (#37696)

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* 00c00ac7-7b6e-4546-b86f-7ddd5f0596b4

* mici cleanup

* update msg

* rename
This commit is contained in:
ZwX1616
2026-04-01 16:14:15 -07:00
committed by GitHub
parent efd5301f65
commit d8569b07eb
8 changed files with 24 additions and 53 deletions
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selfdrive/modeld/dmonitoringmodeld.py
+3 -6
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@@ -80,7 +80,7 @@ def parse_model_output(model_output):
face_descs = model_output[f'face_descs_{ds_suffix}']
parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
return parsed
@@ -90,11 +90,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
selfdrive/modeld/models/dmonitoring_model.onnx
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
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size 7307246
oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
size 7364290