Revert "EfficientNet driver monitoring (#1866)"

This reverts commit 2d0e994674.

Need to fix test

models/dmonitoring_model.current

@@ -1 +1 @@
-e96f9be6-5741-42ea-bdcd-0be6515b4230
+43221d85-46fd-40b9-bff0-2b1b18a86b07

models/dmonitoring_model.keras

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:09aa11a17a5a8173e231071898c499f9ea632e6e64285586122828b1bbc70d41
-size 4165968
+oid sha256:5c39a2096f7058541b5339ec36bc4c468955e67285078080ed6d8802fed06c1d
+size 814176

models/dmonitoring_model_q.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:beecf140ddc5da96cbdae3b869ebb3f5453dcd8e61e09d7d079c91e006b6df98
-size 1134208
+oid sha256:29504dfd101ba2a0b48550fac2f86f9d0b8d1245af3d2d8d658247b4a73077a2
+size 230121

selfdrive/modeld/models/dmonitoring.cc

@@ -5,9 +5,9 @@
 
 #include <libyuv.h>
 
-#define MODEL_WIDTH 320
-#define MODEL_HEIGHT 640
-#define FULL_W 852
+#define MODEL_WIDTH 160
+#define MODEL_HEIGHT 320
+#define FULL_W 426
 
 #if defined(QCOM) || defined(QCOM2)
 #define input_lambda(x) (x - 128.f) * 0.0078125f
@@ -136,7 +136,6 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
   memcpy(&ret.right_eye_prob, &s->output[30], sizeof ret.right_eye_prob);
   memcpy(&ret.left_blink_prob, &s->output[31], sizeof ret.right_eye_prob);
   memcpy(&ret.right_blink_prob, &s->output[32], sizeof ret.right_eye_prob);
-  memcpy(&ret.sg_prob, &s->output[33], sizeof ret.sg_prob);
   ret.face_orientation_meta[0] = softplus(ret.face_orientation_meta[0]);
   ret.face_orientation_meta[1] = softplus(ret.face_orientation_meta[1]);
   ret.face_orientation_meta[2] = softplus(ret.face_orientation_meta[2]);
@@ -167,7 +166,6 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
   framed.setRightEyeProb(res.right_eye_prob);
   framed.setLeftBlinkProb(res.left_blink_prob);
   framed.setRightBlinkProb(res.right_blink_prob);
-  framed.setSgProb(res.sg_prob);
 
   pm.send("driverState", msg);
 }

selfdrive/modeld/models/dmonitoring.h

@@ -9,7 +9,7 @@
 extern "C" {
 #endif
 
-#define OUTPUT_SIZE 34
+#define OUTPUT_SIZE 33
 #define RHD_CHECK_INTERVAL 10
 
 typedef struct DMonitoringResult {
@@ -22,7 +22,6 @@ typedef struct DMonitoringResult {
   float right_eye_prob;
   float left_blink_prob;
   float right_blink_prob;
-  float sg_prob;
 } DMonitoringResult;
 
 typedef struct DMonitoringModelState {

selfdrive/monitoring/driver_monitor.py

@@ -21,9 +21,8 @@ _DISTRACTED_TIME = 11.
 _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
-_FACE_THRESHOLD = 0.6
+_FACE_THRESHOLD = 0.4
 _EYE_THRESHOLD = 0.6
-_SG_THRESHOLD = 0.5
 _BLINK_THRESHOLD = 0.5  # 0.225
 _BLINK_THRESHOLD_SLACK = 0.65
 _BLINK_THRESHOLD_STRICT = 0.5
@@ -190,8 +189,8 @@ class DriverStatus():
     # self.pose.roll_std = driver_state.faceOrientationStd[2]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < _POSESTD_THRESHOLD
-    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb < _SG_THRESHOLD)
-    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb < _SG_THRESHOLD)
+    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD)
+    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD)
     self.face_detected = driver_state.faceProb > _FACE_THRESHOLD and \
                           abs(driver_state.facePosition[0]) <= 0.4 and abs(driver_state.facePosition[1]) <= 0.45
 

selfdrive/monitoring/test_monitoring.py

@@ -31,7 +31,6 @@ class fake_DM_msg():
     self.rightBlinkProb = 1. * is_distracted
     self.faceOrientationStd = [1.*is_model_uncertain, 1.*is_model_uncertain, 1.*is_model_uncertain]
     self.facePositionStd = [1.*is_model_uncertain, 1.*is_model_uncertain]
-    self.sgProb = 0.
 
 
 # driver state from neural net, 10Hz

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6d58be2d98e689d0c23d5210bd32394d506e66f8
+d0b7760731f1e310c7770dafee215ed2dee0d92d