From 0f389563a7f28eeeb52fb2b39ec559a383030a0a Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 12 May 2022 13:33:33 -0700 Subject: [PATCH] no pf --- selfdrive/monitoring/driver_monitor.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 70c8ee2e6a..d48aa5a6c3 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -27,7 +27,6 @@ class DRIVER_MONITOR_SETTINGS(): self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6. self._FACE_THRESHOLD = 0.5 - self._PARTIAL_FACE_THRESHOLD = 0.8 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.925 self._BLINK_THRESHOLD = 0.8 @@ -138,7 +137,6 @@ class DriverStatus(): self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) self.face_detected = False - self.face_partial = False self.terminal_alert_cnt = 0 self.terminal_time = 0 self.step_change = 0. @@ -237,13 +235,12 @@ class DriverStatus(): driver_data.readyProb, driver_data.notReadyProb)): return - self.face_partial = driver_data.partialFace > self.settings._PARTIAL_FACE_THRESHOLD - self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD or self.face_partial + self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) self.pose.pitch_std = driver_data.faceOrientationStd[0] self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) - self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial + self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.eev1 = driver_data.notReadyProb[1]