From d6e78ec5b03dff95d473d50301f4334c17b016ff Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 9 Jun 2022 15:23:29 -0700 Subject: [PATCH] fullframe DM: flip RHD yaw to use matching thresholds old-commit-hash: 2ac693100359d9df34d5b2b450a0058f2dd6b7c4 --- selfdrive/monitoring/driver_monitor.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 4affa1e796..e7ed175846 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -240,6 +240,8 @@ class DriverStatus(): 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) + if self.wheel_on_right: + self.pose.yaw *= -1 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)