mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-10 06:23:43 +08:00
Prabhaav Pillai
c532223fa0
Bundle the verified VASM model, enable it at startup, and split VASM and vision speed-sign inference across little cores when both are active. Restore VASM warnings in PiP activation, red outlines, and onroad blind-spot borders, including expanded Android Auto views. Improve cabin snapshots with longer warm-up, adjusted capture timeouts, a fresh preview frame, and clearer capture buttons and save prompts. Polish Galaxy settings with dimmed gated controls and icons, clearer vehicle fingerprinting and steering availability descriptions, rounded speed-offset ranges, and immediate refresh after saving. Improve updater startup messages and preserve update/reconnect screens across service interruptions and restarts. Add regression tests for the updated behavior.
69 lines
4.2 KiB
Markdown
69 lines
4.2 KiB
Markdown
# Visual adjacent-spot warnings
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This package reconstructs V-ASM's image preparation, warning policy and optional
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onroad producer. Its observations can select the existing native side-camera
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PiP view. They never change OEM blindspot signals, lane-change eligibility or
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vehicle controls, and do not qualify an adjacent lane as clear.
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Version-1 polygon annotations use bounded source-frame pixel coordinates. The
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decoder rejects malformed, empty, degenerate and self-intersecting contours.
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There is no automatic adoption of an older annotation. Source pixels are
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retained for a single float32 projection shared by the crop and mask; a lossy
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normalized-coordinate round trip can otherwise shift an NV12 crop by two pixels.
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The crop remains even-aligned and letterboxed to RGB NCHW `1×3×352×352`.
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The CPU inference wrapper uses the bundled model by default, accepts an
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explicit absolute override, and verifies its exact size and SHA-256 before constructing OpenCV's network from those
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bytes. The loaded network keeps that identity until explicit reload; inference
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does not reread the model file. Missing or changed assets, unavailable OpenCV,
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invalid frames, and nonfinite or incorrectly shaped outputs return unavailable.
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The reference artifact is 6,166,229 bytes with SHA-256
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`5d20cdbb457ba18db51a537ee2e305bbe442264b1613956068d473e35d15900d`.
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Its embedded metadata identifies Ultralytics and AGPL-3.0, with classes
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`0_nocar`, `1_car`, and `2_distant_or_rear`. Class 1 drives the visual-warning
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score. Default smoothing is 0.2 seconds, with 0.94/0.79
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activation/release thresholds. Camera left maps to displayed right, preserving
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the reference's orientation. Invalid or reversed timestamps reset warning
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history, and each side expires after three seconds.
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The manager requires device hardware, onroad state, a model file, and a valid
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enabled `VASMPreferences` document. `STARPILOT_VASM_MODEL_PATH` can override
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the bundled model with an absolute path. That strict version-1 document contains an explicitly configured annotation,
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`enabled`, `confidence` (0.8–1.0) and `smoothSeconds` (0.01–0.5). Absent or
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invalid settings leave the producer disabled without replacing saved bytes.
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The producer consumes the existing cabin VisionIPC stream without starting a
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camera. Fresh device state, valid CAN state and Drive gear are required. NV12
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planes are copied with their actual stride and UV offset. A frame is admitted
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only within 500 ms of its BOOTTIME end-of-frame timestamp; paired clocks detect
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resume. Each side retains its original source and three-second warning expiry.
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Settings and vehicle state are checked again after inference. Reconnect,
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disablement, stale authority and resume clear the policy. Model-load failures
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use a bounded retry interval. OpenCV runs one inference thread; the normal
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one-second interval and 0.3-second follow-up slow down under CPU load.
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On device, V-ASM uses little cores 0–2 alone or core 2 when vision speed signs
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are selected; speed-sign vision then uses cores 0–1. Android Auto renders on
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core 6 under idle scheduling.
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The custom `spotMonitorState` event uses an upstream reserved type ID and Event
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ordinal. Its historical `desiredCurvature @0` field keeps its original meaning
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and is never written by this producer. The appended, versioned observation
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contains model/settings identity, source times and per-side expiry. Old
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curvature-only logs have observation version zero and cannot become warnings.
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The service is sparse: consumers must check payload freshness, not rely on a
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nominal publication frequency.
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The native PiP camera requires its existing saved enablement. Its visual-warning
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consumer uses the full event and validates source identity, sessions, paired
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clocks and the current saved-settings fingerprint. Missing,
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invalid or expired evidence clears the optional visual warning. Leaving onroad
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or losing camera/vehicle state closes the subscription. Neither layout nor OEM
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blindspot behavior changes.
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Host checks cover geometry, input preparation, output handling, serialized
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observation lifecycle and PiP selection. Synthetic classifier execution does
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not establish real-scene accuracy, simultaneous device performance, calibration
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or full feature parity. Device activation and real-scene accuracy still require
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on-device verification.
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