ModelDataRaw struct with fixed size arrays (#22544)

* convert pose

* fix indexes
old-commit-hash: 21e58f9f4a

selfdrive/modeld/models/driving.cc

@@ -118,7 +118,7 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int heigh
   net_outputs.lead = &s->output[LEAD_IDX];
   net_outputs.lead_prob = &s->output[LEAD_PROB_IDX];
   net_outputs.meta = &s->output[DESIRE_STATE_IDX];
-  net_outputs.pose = &s->output[POSE_IDX];
+  net_outputs.pose = (ModelDataRawPose*)&s->output[POSE_IDX];
   return net_outputs;
 }
 
@@ -361,11 +361,11 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe
   float rot_std_arr[3];
 
   for (int i =0; i < 3; i++) {
-    trans_arr[i] = net_outputs.pose[i];
+    trans_arr[i] = net_outputs.pose->trans_arr[i];
-    trans_std_arr[i] = exp(net_outputs.pose[6 + i]);
+    trans_std_arr[i] = exp(net_outputs.pose->trans_std_arr[i]);
 
-    rot_arr[i] = net_outputs.pose[3 + i];
+    rot_arr[i] = net_outputs.pose->rot_arr[i];
-    rot_std_arr[i] = exp(net_outputs.pose[9 + i]);
+    rot_std_arr[i] = exp(net_outputs.pose->rot_std_arr[i]);
   }
 
   MessageBuilder msg;

selfdrive/modeld/models/driving.h

@@ -18,6 +18,13 @@ constexpr int DESIRE_LEN = 8;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
 constexpr int MODEL_FREQ = 20;
 
+struct ModelDataRawPose {
+  float trans_arr[3];
+  float rot_arr[3];
+  float trans_std_arr[3];
+  float rot_std_arr[3];
+};
+
 struct ModelDataRaw {
   float *plan;
   float *lane_lines;
@@ -28,7 +35,7 @@ struct ModelDataRaw {
   float *desire_state;
   float *meta;
   float *desire_pred;
-  float *pose;
+  ModelDataRawPose *pose;
 };
 
 typedef struct ModelState {