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50 lines
1.4 KiB
50 lines
1.4 KiB
#pragma once
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#include <vector>
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#include "cereal/messaging/messaging.h"
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#include "common/util.h"
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#include "selfdrive/modeld/models/commonmodel.h"
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#include "selfdrive/modeld/runners/run.h"
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#define CALIB_LEN 3
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#define OUTPUT_SIZE 84
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#define REG_SCALE 0.25f
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typedef struct DriverStateResult {
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float face_orientation[3];
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float face_orientation_std[3];
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float face_position[2];
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float face_position_std[2];
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float face_prob;
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float left_eye_prob;
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float right_eye_prob;
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float left_blink_prob;
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float right_blink_prob;
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float sunglasses_prob;
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float occluded_prob;
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float ready_prob[4];
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float not_ready_prob[2];
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} DriverStateResult;
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typedef struct DMonitoringModelResult {
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DriverStateResult driver_state_lhd;
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DriverStateResult driver_state_rhd;
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float poor_vision_prob;
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float wheel_on_right_prob;
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float dsp_execution_time;
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} DMonitoringModelResult;
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typedef struct DMonitoringModelState {
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RunModel *m;
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float output[OUTPUT_SIZE];
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std::vector<uint8_t> net_input_buf;
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float calib[CALIB_LEN];
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} DMonitoringModelState;
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void dmonitoring_init(DMonitoringModelState* s);
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DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
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void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
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void dmonitoring_free(DMonitoringModelState* s);
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