You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
46 lines
1.3 KiB
46 lines
1.3 KiB
#pragma once
|
|
|
|
#include <vector>
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "selfdrive/common/util.h"
|
|
#include "selfdrive/modeld/models/commonmodel.h"
|
|
#include "selfdrive/modeld/runners/run.h"
|
|
|
|
#define OUTPUT_SIZE 40
|
|
|
|
typedef struct DMonitoringResult {
|
|
float face_orientation[3];
|
|
float face_orientation_meta[3];
|
|
float face_position[2];
|
|
float face_position_meta[2];
|
|
float face_prob;
|
|
float left_eye_prob;
|
|
float right_eye_prob;
|
|
float left_blink_prob;
|
|
float right_blink_prob;
|
|
float sg_prob;
|
|
float poor_vision;
|
|
float partial_face;
|
|
float distracted_pose;
|
|
float distracted_eyes;
|
|
float eyes_on_road;
|
|
float phone_use;
|
|
float dsp_execution_time;
|
|
} DMonitoringResult;
|
|
|
|
typedef struct DMonitoringModelState {
|
|
RunModel *m;
|
|
bool is_rhd;
|
|
float output[OUTPUT_SIZE];
|
|
std::vector<uint8_t> resized_buf;
|
|
std::vector<uint8_t> cropped_buf;
|
|
std::vector<uint8_t> premirror_cropped_buf;
|
|
std::vector<float> net_input_buf;
|
|
} DMonitoringModelState;
|
|
|
|
void dmonitoring_init(DMonitoringModelState* s);
|
|
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
|
|
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
|
|
void dmonitoring_free(DMonitoringModelState* s);
|
|
|
|
|