From 423dd8e29b88d892074f6f6a0e103681147ff6cc Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 8 Jun 2021 22:11:31 -0700 Subject: [PATCH] use e2e only --- selfdrive/modeld/models/dmonitoring.cc | 4 ++-- selfdrive/monitoring/driver_monitor.py | 6 ++---- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index b16062dbe9..f6bd4eaf47 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -160,8 +160,8 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_ ret.sg_prob = s->output[33]; ret.poor_vision = s->output[34]; ret.partial_face = s->output[35]; - ret.distracted_pose = s->output[36]; - ret.distracted_eyes = s->output[37]; + ret.distracted_pose = 1 - s->output[38]; + ret.distracted_eyes = s->output[39]; ret.dsp_execution_time = (t2 - t1) / 1000.; return ret; } diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index ff7bdefb96..cd448e659a 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -30,7 +30,7 @@ _BLINK_THRESHOLD_SLACK = 0.65 _BLINK_THRESHOLD_STRICT = 0.5 _PITCH_WEIGHT = 1.35 # pitch matters a lot more _POSESTD_THRESHOLD = 0.14 -_E2E_POSE_THRESHOLD = 0.9 +_E2E_POSE_THRESHOLD = 0.75 _E2E_EYES_THRESHOLD = 0.75 _METRIC_THRESHOLD = 0.4 _METRIC_THRESHOLD_SLACK = 0.55 @@ -196,9 +196,7 @@ class DriverStatus(): self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD) self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD) - self.driver_distracted = (self._is_driver_distracted(self.pose, self.blink) > 0 and - driver_state.faceProb > _FACE_THRESHOLD and self.pose.low_std) or \ - ((driver_state.distractedPose > _E2E_POSE_THRESHOLD or driver_state.distractedEyes > _E2E_EYES_THRESHOLD) and + self.driver_distracted = ((driver_state.distractedPose > _E2E_POSE_THRESHOLD or driver_state.distractedEyes > _E2E_EYES_THRESHOLD) and (self.face_detected and not self.face_partial)) self.driver_distraction_filter.update(self.driver_distracted)