dm e2e outputs added (#21210)
* try this
* use e2e only
* add new outputs
* Revert "use e2e only"
This reverts commit 423dd8e29b
.
* send new
* fix batchnorm
pull/21214/head
parent
a361441fe2
commit
46e3f4528f
2
cereal
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cereal
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@ -1 +1 @@
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Subproject commit cde8667d3bacb71d324b06b3d803c8fd7c59d2db
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Subproject commit 018e7b5c9bd1ea65baf98326f8c95f849551d5c0
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@ -1,2 +1,2 @@
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6272770f-5230-4a10-ae5e-c8f3d205ea96
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0087a1181516dd0c64d7f7a58d53905e2cc76b72
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abbc836aaa1e940c56673b6f42f5762ad71b35e1
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BIN
models/dmonitoring_model.onnx (Stored with Git LFS)
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models/dmonitoring_model.onnx (Stored with Git LFS)
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BIN
models/dmonitoring_model_q.dlc (Stored with Git LFS)
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models/dmonitoring_model_q.dlc (Stored with Git LFS)
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@ -162,6 +162,8 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
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ret.partial_face = s->output[35];
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ret.distracted_pose = s->output[36];
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ret.distracted_eyes = s->output[37];
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ret.eyes_on_road = s->output[38];
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ret.phone_use = s->output[39];
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ret.dsp_execution_time = (t2 - t1) / 1000.;
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return ret;
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}
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@ -188,6 +190,8 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
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framed.setPartialFace(res.partial_face);
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framed.setDistractedPose(res.distracted_pose);
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framed.setDistractedEyes(res.distracted_eyes);
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framed.setEyesOnRoad(res.eyes_on_road);
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framed.setPhoneUse(res.phone_use);
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if (send_raw_pred) {
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framed.setRawPredictions(raw_pred.asBytes());
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}
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@ -7,7 +7,7 @@
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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 OUTPUT_SIZE 38
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#define OUTPUT_SIZE 40
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typedef struct DMonitoringResult {
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float face_orientation[3];
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@ -24,6 +24,8 @@ typedef struct DMonitoringResult {
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float partial_face;
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float distracted_pose;
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float distracted_eyes;
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float eyes_on_road;
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float phone_use;
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float dsp_execution_time;
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} DMonitoringResult;
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