53 lines
1.4 KiB
C++
53 lines
1.4 KiB
C++
#pragma once
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#include <vector>
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/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 45
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#define REG_SCALE 0.25f
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typedef struct DMonitoringResult {
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float face_orientation[3];
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float face_orientation_meta[3];
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float face_position[2];
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float face_position_meta[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 sg_prob;
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float poor_vision;
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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 occluded_prob;
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float ready_prob[4];
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float not_ready_prob[2];
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float dsp_execution_time;
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} DMonitoringResult;
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typedef struct DMonitoringModelState {
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RunModel *m;
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bool is_rhd;
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float output[OUTPUT_SIZE];
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std::vector<uint8_t> resized_buf;
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std::vector<uint8_t> cropped_buf;
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std::vector<uint8_t> premirror_cropped_buf;
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std::vector<float> net_input_buf;
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float calib[CALIB_LEN];
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float tensor[UINT8_MAX + 1];
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} DMonitoringModelState;
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void dmonitoring_init(DMonitoringModelState* s);
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DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, float *calib);
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void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
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void dmonitoring_free(DMonitoringModelState* s);
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