mirror of
https://github.com/firestar5683/StarPilot.git
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ZwX1616
f4bdc2127c
* send both * update cereal * ptr type * this is fine * clean up * v1 and v2 * header * update cereal * cereal old-commit-hash: f30d15ea24c3d122b55c2789dc996725f13d0bd6
47 lines
1.2 KiB
C++
47 lines
1.2 KiB
C++
#pragma once
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#include <vector>
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#include "common/util.h"
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#include "commonmodel.h"
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#include "runners/run.h"
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#include "messaging.hpp"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define OUTPUT_SIZE 34
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typedef struct DMonitoringResult {
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float face_orientation[3];
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float face_orientation_meta[3];
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float face_position[2];
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float face_position_meta[2];
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float face_prob;
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float left_eye_prob;
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float right_eye_prob;
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float left_blink_prob;
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float right_blink_prob;
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float sg_prob;
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} DMonitoringResult;
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typedef struct DMonitoringModelState {
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RunModel *m;
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bool is_rhd;
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float output[OUTPUT_SIZE];
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std::vector<uint8_t> resized_buf;
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std::vector<uint8_t> resized_buf_rot;
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std::vector<uint8_t> cropped_buf;
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std::vector<uint8_t> premirror_cropped_buf;
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std::vector<float> net_input_buf;
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} DMonitoringModelState;
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void dmonitoring_init(DMonitoringModelState* s);
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DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
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void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, const float* raw_pred, float execution_time);
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void dmonitoring_free(DMonitoringModelState* s);
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#ifdef __cplusplus
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}
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#endif
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