openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#!/usr/bin/env python3
import os
import argparse
import pygame
import numpy as np
import cv2
from cereal import log
import cereal.messaging as messaging
from helpers import draw_pose
if __name__ == "__main__":
os.environ["ZMQ"] = "1"
parser = argparse.ArgumentParser(description='Sniff a communcation socket')
parser.add_argument('--addr', default='192.168.5.11')
args = parser.parse_args()
messaging.context = messaging.Context()
poller = messaging.Poller()
m = 'driverMonitoring'
sock = messaging.sub_sock(m, poller, addr=args.addr)
pygame.init()
pygame.display.set_caption('livedm')
screen = pygame.display.set_mode((320,640), pygame.DOUBLEBUF)
camera_surface = pygame.surface.Surface((160,320), 0, 24).convert()
while 1:
polld = poller.poll(1000)
for sock in polld:
msg = sock.receive()
evt = log.Event.from_bytes(msg)
faceProb = np.array(evt.driverMonitoring.faceProb)
faceOrientation = np.array(evt.driverMonitoring.faceOrientation)
facePosition = np.array(evt.driverMonitoring.facePosition)
print(faceProb)
# print(faceOrientation)
# print(facePosition)
faceOrientation[1] *= -1
facePosition[0] *= -1
img = np.zeros((320,160,3))
if faceProb > 0.4:
cv2.putText(img, 'you', (int(facePosition[0]*160+40), int(facePosition[1]*320+110)), cv2.FONT_ITALIC, 0.5, (255,255,0))
cv2.rectangle(img, (int(facePosition[0]*160+40), int(facePosition[1]*320+120)),\
(int(facePosition[0]*160+120), int(facePosition[1]*320+200)), (255,255,0), 1)
not_blink = evt.driverMonitoring.leftBlinkProb + evt.driverMonitoring.rightBlinkProb < 1
if evt.driverMonitoring.leftEyeProb > 0.6:
cv2.line(img, (int(facePosition[0]*160+95), int(facePosition[1]*320+140)),\
(int(facePosition[0]*160+105), int(facePosition[1]*320+140)), (255,255,0), 2)
if not_blink:
cv2.line(img, (int(facePosition[0]*160+99), int(facePosition[1]*320+143)),\
(int(facePosition[0]*160+101), int(facePosition[1]*320+143)), (255,255,0), 2)
if evt.driverMonitoring.rightEyeProb > 0.6:
cv2.line(img, (int(facePosition[0]*160+55), int(facePosition[1]*320+140)),\
(int(facePosition[0]*160+65), int(facePosition[1]*320+140)), (255,255,0), 2)
if not_blink:
cv2.line(img, (int(facePosition[0]*160+59), int(facePosition[1]*320+143)),\
(int(facePosition[0]*160+61), int(facePosition[1]*320+143)), (255,255,0), 2)
else:
cv2.putText(img, 'you not found', (int(facePosition[0]*160+40), int(facePosition[1]*320+110)), cv2.FONT_ITALIC, 0.5, (64,64,64))
draw_pose(img, faceOrientation, facePosition,
W = 160, H = 320, xyoffset = (0, 0), faceprob=faceProb)
pygame.surfarray.blit_array(camera_surface, img.swapaxes(0,1))
camera_surface_2x = pygame.transform.scale2x(camera_surface)
screen.blit(camera_surface_2x, (0, 0))
pygame.display.flip()