From 12d742153c321a4b31ac0fbd4822d0311baf0f8a Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 6 Jun 2022 15:37:26 -0700 Subject: [PATCH] 5b02cff5 both --- selfdrive/modeld/models/dmonitoring_model.current | 4 ++-- selfdrive/modeld/models/dmonitoring_model.onnx | 2 +- selfdrive/modeld/models/dmonitoring_model_q.dlc | 4 ++-- selfdrive/monitoring/driver_monitor.py | 8 ++++---- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index 0b8661e583..ba2865429e 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -b16cb60c-9eb5-4538-9375-24c2d1349f7f -796077546d8bf72db947441973b94a39ce895dbc \ No newline at end of file +5b02cff5-2b29-431d-b186-372e9c6fd0c7 +bf33cc569076984626ac7e027f927aa593261fa7 \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 8882a7992e..1fca1317d5 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2ba42e1dc4ea800dc0ad75be0c8a8181aae334acf9889a5fd9b9e5059c8020e8 +oid sha256:aca1dd411b5f488bea605dc360656e631fc4301968a589ea072e2220c8092600 size 9157561 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index cf9c536922..c1cba15176 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:80702bf5fc2f2d2c748f6e12738827abfaafd286243699b9c0d3eca05897dfff -size 2636901 +oid sha256:d146b1d1fd9d40d57d058e51d285f83676866e26d9e5aff9fa27623ce343b58a +size 2636941 diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index f2fc26645d..492ecd838e 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -77,7 +77,7 @@ class DistractedType: DISTRACTED_BLINK = 2 DISTRACTED_E2E = 4 -def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd): +def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): # the output of these angles are in device frame # so from driver's perspective, pitch is up and yaw is right @@ -92,7 +92,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd): # no calib for roll pitch -= rpy_calib[1] - yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) + yaw -= rpy_calib[2] return roll_net, pitch, yaw class DriverPose(): @@ -232,14 +232,14 @@ class DriverStatus(): # self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD # else: # self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD - driver_data = driver_state.driverDataLH + driver_data = driver_state.driverDataRH if self.wheel_on_right else driver_state.driverDataLH if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, driver_data.faceOrientationStd, driver_data.facePositionStd, driver_data.readyProb, driver_data.notReadyProb)): return 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.wheel_on_right) + 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)