update DM model README (#28211)

* update DM model readme

* rename + permalink + correct types and ranges

selfdrive/modeld/models/README.md

@@ -32,28 +32,30 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0
 * .dlc file is a pre-quantized model and only runs on qualcomm DSPs
 
 ### input format
-* single image (640 * 320 * 3 in RGB):
-  * full input size is 6 * 640/2 * 320/2 = 307200
-  * represented in YUV420 with 6 channels:
-    * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-    * Channel 4 represents the half-res U channel
-    * Channel 5 represents the half-res V channel
-  * normalized, ranging from -1.0 to 1.0
+* single image W = 1440  H = 960 represented in planar YUV420 format:
+  * full input size is 1440 * 960 = 1382400
+  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
 
 ### output format
-* 39 x float32 outputs ([parsing example](https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/dmonitoring.cc#L165))
-  * face pose: 12 = 6 + 6
-    * face orientation [pitch, yaw, roll] in camera frame: 3
-    * face position [dx, dy] relative to image center: 2
-    * normalized face size: 1
-    * standard deviations for above outputs: 6
-  * face visible probability: 1
-  * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-    * eye position and size, and their standard deviations: 8
-    * eye visible probability: 1
-    * eye closed probability: 1
-  * wearing sunglasses probability: 1
-  * poor camera vision probability: 1
-  * face partially out-of-frame probability: 1
-  * (deprecated) distracted probabilities: 2
-  * face covered probability: 1
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+  * for each person in the front seats (2 * 41)
+    * face pose: 12 = 6 + 6
+      * face orientation [pitch, yaw, roll] in camera frame: 3
+      * face position [dx, dy] relative to image center: 2
+      * normalized face size: 1
+      * standard deviations for above outputs: 6
+    * face visible probability: 1
+    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
+      * eye position and size, and their standard deviations: 8
+      * eye visible probability: 1
+      * eye closed probability: 1
+    * wearing sunglasses probability: 1
+    * face occluded probability: 1
+    * touching wheel probability: 1
+    * paying attention probability: 1
+    * (deprecated) distracted probabilities: 2
+    * using phone probability: 1
+    * distracted probability: 1
+  * common outputs 2
+    * poor camera vision probability: 1
+    * left hand drive probability: 1