Wide transform model (#26165)

* d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700

* Change model outs

* Add cereal

* Publish transform

* d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700

* Bump cereal to master

* Bump cereal to master

* Update model ref

cereal

@@ -1 +1 @@
-Subproject commit 1e3dd70a391bc1bbe437d3eea8be30947f929a75
+Subproject commit 38133307b2e6036e76684b39878e79212e545e06

selfdrive/modeld/models/driving.cc

@@ -363,14 +363,19 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe
   MessageBuilder msg;
   const auto &v_mean = net_outputs.pose.velocity_mean;
   const auto &r_mean = net_outputs.pose.rotation_mean;
+  const auto &t_mean = net_outputs.wide_from_device_euler.mean;
   const auto &v_std = net_outputs.pose.velocity_std;
   const auto &r_std = net_outputs.pose.rotation_std;
+  const auto &t_std = net_outputs.wide_from_device_euler.std;
 
   auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry();
   posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});
   posenetd.setRot({r_mean.x, r_mean.y, r_mean.z});
+  posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z});
   posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
   posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
+  posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)});
+
 
   posenetd.setTimestampEof(timestamp_eof);
   posenetd.setFrameId(vipc_frame_id);

selfdrive/modeld/models/driving.h

@@ -28,7 +28,6 @@ constexpr int BLINKER_LEN = 6;
 constexpr int META_STRIDE = 7;
 
 constexpr int PLAN_MHP_N = 5;
-constexpr int STOP_LINE_MHP_N = 3;
 
 constexpr int LEAD_MHP_N = 2;
 constexpr int LEAD_TRAJ_LEN = 6;
@@ -151,36 +150,6 @@ struct ModelOutputLeads {
 };
 static_assert(sizeof(ModelOutputLeads) == (sizeof(ModelOutputLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION));
 
-struct ModelOutputStopLineElement {
-  ModelOutputXYZ position;
-  ModelOutputXYZ rotation;
-  float speed;
-  float time;
-};
-static_assert(sizeof(ModelOutputStopLineElement) == (sizeof(ModelOutputXYZ)*2 + sizeof(float)*2));
-
-struct ModelOutputStopLinePrediction {
-  ModelOutputStopLineElement mean;
-  ModelOutputStopLineElement std;
-  float prob;
-};
-static_assert(sizeof(ModelOutputStopLinePrediction) == (sizeof(ModelOutputStopLineElement)*2 + sizeof(float)));
-
-struct ModelOutputStopLines {
-  std::array<ModelOutputStopLinePrediction, STOP_LINE_MHP_N> prediction;
-  float prob;
-
-  constexpr const ModelOutputStopLinePrediction &get_best_prediction(int t_idx) const {
-    int max_idx = 0;
-    for (int i = 1; i < prediction.size(); i++) {
-      if (prediction[i].prob > prediction[max_idx].prob) {
-        max_idx = i;
-      }
-    }
-    return prediction[max_idx];
-  }
-};
-static_assert(sizeof(ModelOutputStopLines) == (sizeof(ModelOutputStopLinePrediction)*STOP_LINE_MHP_N) + sizeof(float));
 
 struct ModelOutputPose {
   ModelOutputXYZ velocity_mean;
@@ -190,6 +159,12 @@ struct ModelOutputPose {
 };
 static_assert(sizeof(ModelOutputPose) == sizeof(ModelOutputXYZ)*4);
 
+struct ModelOutputWideFromDeviceEuler {
+  ModelOutputXYZ mean;
+  ModelOutputXYZ std;
+};
+static_assert(sizeof(ModelOutputWideFromDeviceEuler) == sizeof(ModelOutputXYZ)*2);
+
 struct ModelOutputDisengageProb {
   float gas_disengage;
   float brake_disengage;
@@ -245,9 +220,9 @@ struct ModelOutput {
   const ModelOutputLaneLines lane_lines;
   const ModelOutputRoadEdges road_edges;
   const ModelOutputLeads leads;
-  const ModelOutputStopLines stop_lines;
   const ModelOutputMeta meta;
   const ModelOutputPose pose;
+  const ModelOutputWideFromDeviceEuler wide_from_device_euler;
 };
 
 constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
@@ -257,7 +232,7 @@ constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
 #else
   constexpr int TEMPORAL_SIZE = 0;
 #endif
-constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN;
+constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + 2;
 
 // TODO: convert remaining arrays to std::array and update model runners
 struct ModelState {

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d
+oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05
-size 56972617
+size 45922882

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-865885fc49b2766326568e5cc7ec06be8a3f6fad
+46cb9c522e942d8b25deac90ffdee89efff60ce9