mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-20 18:23:58 +08:00
de4031c98e
* update cereal * run but not use * log distraction type * regression scaling * clean up naming * add calib buf * add to header * fake model * no calib model * adjust threshs * 018a305f * fix bn * tweak1 * tweak2 * 0ff2/666 * tweak3 * t4 * t5 * fix out of bound * skip when replaying old segments * update ref * fix onnxmodel * get calib * update model replay refs * up ref
53 lines
1.4 KiB
C++
53 lines
1.4 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 CALIB_LEN 3
|
|
|
|
#define OUTPUT_SIZE 45
|
|
#define REG_SCALE 0.25f
|
|
|
|
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 occluded_prob;
|
|
float ready_prob[4];
|
|
float not_ready_prob[2];
|
|
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;
|
|
float calib[CALIB_LEN];
|
|
float tensor[UINT8_MAX + 1];
|
|
} DMonitoringModelState;
|
|
|
|
void dmonitoring_init(DMonitoringModelState* s);
|
|
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, float *calib);
|
|
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);
|
|
|