Revert "Joint Model (#24213)"

This reverts commit eff08cb17f.

models/supercombo.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d7e58be246bb9fb27e1f7a60ab2ed1ec4ee7bdc99cf82d92af694f77c83e43aa
+oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed
-size 108294663
+size 72718099

models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9b0c23ca7198d945303f407cf374c9e5cffc13e0ca2fde3420748e7fbb3eddf8
+oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e
-size 108687135
+size 73147489

selfdrive/modeld/models/driving.cc

@@ -228,24 +228,19 @@ void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelOutputPlanPredic
 
 void fill_lane_lines(cereal::ModelDataV2::Builder &framed, const std::array<float, TRAJECTORY_SIZE> &plan_t,
                      const ModelOutputLaneLines &lanes) {
-
-  const auto &left_far = lanes.get_lane_idx(0);
-  const auto &left_near = lanes.get_lane_idx(1);
-  const auto &right_near = lanes.get_lane_idx(2);
-  const auto &right_far = lanes.get_lane_idx(3);
   std::array<float, TRAJECTORY_SIZE> left_far_y, left_far_z;
   std::array<float, TRAJECTORY_SIZE> left_near_y, left_near_z;
   std::array<float, TRAJECTORY_SIZE> right_near_y, right_near_z;
   std::array<float, TRAJECTORY_SIZE> right_far_y, right_far_z;
   for (int j=0; j<TRAJECTORY_SIZE; j++) {
-    left_far_y[j] = left_far.mean[j].y;
+    left_far_y[j] = lanes.mean.left_far[j].y;
-    left_far_z[j] = left_far.mean[j].z;
+    left_far_z[j] = lanes.mean.left_far[j].z;
-    left_near_y[j] = left_near.mean[j].y;
+    left_near_y[j] = lanes.mean.left_near[j].y;
-    left_near_z[j] = left_near.mean[j].z;
+    left_near_z[j] = lanes.mean.left_near[j].z;
-    right_near_y[j] = right_near.mean[j].y;
+    right_near_y[j] = lanes.mean.right_near[j].y;
-    right_near_z[j] = right_near.mean[j].z;
+    right_near_z[j] = lanes.mean.right_near[j].z;
-    right_far_y[j] = right_far.mean[j].y;
+    right_far_y[j] = lanes.mean.right_far[j].y;
-    right_far_z[j] = right_far.mean[j].z;
+    right_far_z[j] = lanes.mean.right_far[j].z;
   }
 
   auto lane_lines = framed.initLaneLines(4);
@@ -255,10 +250,10 @@ void fill_lane_lines(cereal::ModelDataV2::Builder &framed, const std::array<floa
   fill_xyzt(lane_lines[3], plan_t, X_IDXS_FLOAT, right_far_y, right_far_z);
 
   framed.setLaneLineStds({
-    exp(left_far.std[0].y),
+    exp(lanes.std.left_far[0].y),
-    exp(left_near.std[0].y),
+    exp(lanes.std.left_near[0].y),
-    exp(right_near.std[0].y),
+    exp(lanes.std.right_near[0].y),
-    exp(right_far.std[0].y),
+    exp(lanes.std.right_far[0].y),
   });
 
   framed.setLaneLineProbs({

selfdrive/modeld/models/driving.h

@@ -28,8 +28,6 @@ constexpr int META_STRIDE = 7;
 constexpr int PLAN_MHP_N = 5;
 constexpr int STOP_LINE_MHP_N = 3;
 
-constexpr int LANELINES_MHP_N = 4;
-
 constexpr int LEAD_MHP_N = 2;
 constexpr int LEAD_TRAJ_LEN = 6;
 constexpr int LEAD_PRED_DIM = 4;
@@ -79,6 +77,14 @@ struct ModelOutputPlans {
 };
 static_assert(sizeof(ModelOutputPlans) == sizeof(ModelOutputPlanPrediction)*PLAN_MHP_N);
 
+struct ModelOutputLinesXY {
+  std::array<ModelOutputYZ, TRAJECTORY_SIZE> left_far;
+  std::array<ModelOutputYZ, TRAJECTORY_SIZE> left_near;
+  std::array<ModelOutputYZ, TRAJECTORY_SIZE> right_near;
+  std::array<ModelOutputYZ, TRAJECTORY_SIZE> right_far;
+};
+static_assert(sizeof(ModelOutputLinesXY) == sizeof(ModelOutputYZ)*TRAJECTORY_SIZE*4);
+
 struct ModelOutputLineProbVal {
   float val_deprecated;
   float val;
@@ -93,28 +99,12 @@ struct ModelOutputLinesProb {
 };
 static_assert(sizeof(ModelOutputLinesProb) == sizeof(ModelOutputLineProbVal)*4);
 
-struct ModelOutputLaneLinesElement {
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE> mean;
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE>  std;
-  std::array<float, LANELINES_MHP_N> prob;
-};
-static_assert(sizeof(ModelOutputLaneLinesElement) == (sizeof(ModelOutputYZ)*TRAJECTORY_SIZE*2) + sizeof(float)*LANELINES_MHP_N);
-
 struct ModelOutputLaneLines {
-  std::array<ModelOutputLaneLinesElement, LANELINES_MHP_N> prediction;
+  ModelOutputLinesXY mean;
+  ModelOutputLinesXY std;
   ModelOutputLinesProb prob;
-
-  constexpr const ModelOutputLaneLinesElement &get_lane_idx(int lane_idx) const {
-    int max_idx = 0;
-    for (int i = 1; i < prediction.size(); i++) {
-      if (prediction[i].prob[lane_idx] > prediction[max_idx].prob[lane_idx]) {
-        max_idx = i;
-      }
-    }
-    return prediction[max_idx];
-  }
 };
-static_assert(sizeof(ModelOutputLaneLines) == (sizeof(ModelOutputLaneLinesElement)*LANELINES_MHP_N) + (sizeof(ModelOutputLinesProb)));
+static_assert(sizeof(ModelOutputLaneLines) == (sizeof(ModelOutputLinesXY)*2) + sizeof(ModelOutputLinesProb));
 
 struct ModelOutputEdgessXY {
   std::array<ModelOutputYZ, TRAJECTORY_SIZE> left;

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-885bbd4bc01d474795ae81da734be78b75fa4658
+5fb5cd71a6e878cf45593ecea22c93e932f70c31