mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-30 19:12:07 +08:00
HaraldSchafer
d529ce9f5b
* Revert "tici patch" This reverts commit 99c27ca8c5942c009fe5b74ac9ea4911c20c596c. * Revert "dm e2e outputs added (#21210)" This reverts commit eb26cd0e0ca5a82fb1e8b0e787497193b40fa5c2. * Revert "improved dm model (#21113)" This reverts commit 66818291b1813420801b601137ffa3b323aa7cbd. old-commit-hash: 70f0059be4e9fe10f0c78e3b35baa7f70ed0e9cc
45 lines
1.3 KiB
C++
45 lines
1.3 KiB
C++
#pragma once
|
|
|
|
#include <vector>
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "selfdrive/common/util.h"
|
|
#include "selfdrive/modeld/models/commonmodel.h"
|
|
#include "selfdrive/modeld/runners/run.h"
|
|
|
|
#define OUTPUT_SIZE 38
|
|
|
|
typedef struct DMonitoringResult {
|
|
float face_orientation[3];
|
|
float face_orientation_meta[3];
|
|
float face_position[2];
|
|
float face_position_meta[2];
|
|
float face_prob;
|
|
float left_eye_prob;
|
|
float right_eye_prob;
|
|
float left_blink_prob;
|
|
float right_blink_prob;
|
|
float sg_prob;
|
|
float poor_vision;
|
|
float partial_face;
|
|
float distracted_pose;
|
|
float distracted_eyes;
|
|
float dsp_execution_time;
|
|
} DMonitoringResult;
|
|
|
|
typedef struct DMonitoringModelState {
|
|
RunModel *m;
|
|
bool is_rhd;
|
|
float output[OUTPUT_SIZE];
|
|
std::vector<uint8_t> resized_buf;
|
|
std::vector<uint8_t> cropped_buf;
|
|
std::vector<uint8_t> premirror_cropped_buf;
|
|
std::vector<float> net_input_buf;
|
|
} DMonitoringModelState;
|
|
|
|
void dmonitoring_init(DMonitoringModelState* s);
|
|
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
|
|
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
|
|
void dmonitoring_free(DMonitoringModelState* s);
|
|
|