wider FOV DM on comma three (#22286)
* c3 is straightforward * c2 transform * c3 preview * alpha model * Revert "alpha model": wrong quantization data This reverts commit b50e5739735b30d960aca22bcf3cbe23b0121e13. * yuv looks good * a55b * const int * block top deadzone * new box alpha curve * update k * fix debug * rhd use same offset * box shift for rhd * 7e3e * set new thresh * update ref * explain * remove e2e * same metric thresh * process isocc * model * cancel extra policy * update numbers * new model * update cereal * up cereal Co-authored-by: Comma Device <device@comma.ai>local_plotjuggler
ZwX1616
GitHub
parent
f640772980
commit
8574e79fec
2
cereal
2
cereal
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@ -1 +1 @@
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Subproject commit 5168470661703a64f99bbd9743f2236ebc2c24ab
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Subproject commit d054cbc70423036a09a9449f7b7b19c058921578
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@ -1,2 +1,2 @@
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e3926f53-2a15-4a85-8143-dd120f19c050
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9208a645dc8f6b251d6fd5899b592243f71d815b
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4e19be90-bd5b-485d-b79a-2462f7f1b49e
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08f7ec37b78228cd1cb750b6ddb9c6ba1769e911
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BIN
models/dmonitoring_model.onnx (Stored with Git LFS)
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models/dmonitoring_model.onnx (Stored with Git LFS)
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models/dmonitoring_model_q.dlc (Stored with Git LFS)
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models/dmonitoring_model_q.dlc (Stored with Git LFS)
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@ -57,18 +57,21 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
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if (Hardware::TICI()) {
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const int full_width_tici = 1928;
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const int full_height_tici = 1208;
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const int adapt_width_tici = 668;
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const int adapt_width_tici = 954;
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const int x_offset_tici = -72;
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const int y_offset_tici = -144;
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const int cropped_height = adapt_width_tici / 1.33;
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crop_rect = {full_width_tici / 2 - adapt_width_tici / 2,
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full_height_tici / 2 - cropped_height / 2 - 196,
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crop_rect = {full_width_tici / 2 - adapt_width_tici / 2 + x_offset_tici,
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full_height_tici / 2 - cropped_height / 2 + y_offset_tici,
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cropped_height / 2,
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cropped_height};
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if (!s->is_rhd) {
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crop_rect.x += adapt_width_tici - crop_rect.w + 32;
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crop_rect.x += adapt_width_tici - crop_rect.w;
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}
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} else {
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crop_rect = {0, 0, height / 2, height};
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const int adapt_width = 372;
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crop_rect = {0, 0, adapt_width, height};
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if (!s->is_rhd) {
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crop_rect.x += width - crop_rect.w;
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}
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@ -95,7 +98,8 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
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auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
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uint8_t *resized_y = resized_buf;
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libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
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libyuv::I420Scale(cropped_y, crop_rect.w,
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if (Hardware::TICI()) {
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libyuv::I420Scale(cropped_y, crop_rect.w,
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cropped_u, crop_rect.w / 2,
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cropped_v, crop_rect.w / 2,
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crop_rect.w, crop_rect.h,
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@ -104,6 +108,21 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
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resized_v, resized_width / 2,
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resized_width, resized_height,
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mode);
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} else {
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const int source_height = 0.7*resized_height;
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const int extra_height = (resized_height - source_height) / 2;
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const int extra_width = (resized_width - source_height / 2) / 2;
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const int source_width = source_height / 2 + extra_width;
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libyuv::I420Scale(cropped_y, crop_rect.w,
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cropped_u, crop_rect.w / 2,
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cropped_v, crop_rect.w / 2,
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crop_rect.w, crop_rect.h,
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resized_y + extra_height * resized_width, resized_width,
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resized_u + extra_height / 2 * resized_width / 2, resized_width / 2,
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resized_v + extra_height / 2 * resized_width / 2, resized_width / 2,
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source_width, source_height,
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mode);
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}
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int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
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float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
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@ -128,7 +147,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
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//printf("preprocess completed. %d \n", yuv_buf_len);
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//FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
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//fwrite(raw_buf, height*width*3/2, sizeof(uint8_t), dump_yuv_file);
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//fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
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//fclose(dump_yuv_file);
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// *** testing ***
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@ -162,6 +181,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
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ret.partial_face = s->output[35];
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ret.distracted_pose = s->output[36];
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ret.distracted_eyes = s->output[37];
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ret.occluded_prob = s->output[38];
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ret.dsp_execution_time = (t2 - t1) / 1000.;
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return ret;
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}
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@ -188,6 +208,7 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
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framed.setPartialFace(res.partial_face);
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framed.setDistractedPose(res.distracted_pose);
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framed.setDistractedEyes(res.distracted_eyes);
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framed.setOccludedProb(res.occluded_prob);
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if (send_raw_pred) {
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framed.setRawPredictions(raw_pred.asBytes());
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}
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@ -7,7 +7,7 @@
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#include "selfdrive/modeld/models/commonmodel.h"
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#include "selfdrive/modeld/runners/run.h"
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#define OUTPUT_SIZE 38
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#define OUTPUT_SIZE 39
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typedef struct DMonitoringResult {
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float face_orientation[3];
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@ -24,6 +24,7 @@ typedef struct DMonitoringResult {
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float partial_face;
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float distracted_pose;
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float distracted_eyes;
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float occluded_prob;
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float dsp_execution_time;
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} DMonitoringResult;
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@ -26,20 +26,18 @@ class DRIVER_MONITOR_SETTINGS():
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self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
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self._FACE_THRESHOLD = 0.5
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self._PARTIAL_FACE_THRESHOLD = 0.765 if TICI else 0.455
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self._EYE_THRESHOLD = 0.25 if TICI else 0.57
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self._SG_THRESHOLD = 0.83
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self._BLINK_THRESHOLD = 0.62 if TICI else 0.68
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self._BLINK_THRESHOLD_SLACK = 0.82 if TICI else 0.88
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self._BLINK_THRESHOLD_STRICT = 0.62 if TICI else 0.68
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self._PITCH_WEIGHT = 1.175 if TICI else 1.35 # pitch matters a lot more
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self._POSESTD_THRESHOLD = 0.2 if TICI else 0.175
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self._E2E_POSE_THRESHOLD = 0.95 if TICI else 0.9
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self._E2E_EYES_THRESHOLD = 0.75
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self._PARTIAL_FACE_THRESHOLD = 0.765 if TICI else 0.43
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self._EYE_THRESHOLD = 0.61 if TICI else 0.55
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self._SG_THRESHOLD = 0.89 if TICI else 0.86
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self._BLINK_THRESHOLD = 0.82 if TICI else 0.588
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self._BLINK_THRESHOLD_SLACK = 0.9 if TICI else 0.77
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self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD
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self._PITCH_WEIGHT = 1.35 # pitch matters a lot more
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self._POSESTD_THRESHOLD = 0.38 if TICI else 0.3
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self._METRIC_THRESHOLD = 0.55 if TICI else 0.48
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self._METRIC_THRESHOLD_SLACK = 0.75 if TICI else 0.66
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self._METRIC_THRESHOLD_STRICT = 0.55 if TICI else 0.48
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self._METRIC_THRESHOLD = 0.48
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self._METRIC_THRESHOLD_SLACK = 0.66
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self._METRIC_THRESHOLD_STRICT = self._METRIC_THRESHOLD
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self._PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
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self._YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
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@ -207,11 +205,8 @@ class DriverStatus():
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self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
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self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
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distracted_normal = self._is_driver_distracted(self.pose, self.blink) > 0 and \
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self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0 and \
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driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
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distracted_E2E = (driver_state.distractedPose > self.settings._E2E_POSE_THRESHOLD or driver_state.distractedEyes > self.settings._E2E_EYES_THRESHOLD) and \
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(self.face_detected and not self.face_partial)
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self.driver_distracted = distracted_normal or distracted_E2E
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self.driver_distraction_filter.update(self.driver_distracted)
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# update offseter
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@ -1 +1 @@
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b77c895cd7a07b90e7f9ca58252f090a437efc43
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455c2e296f86a9091be35537a58899b07af02506
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@ -66,22 +66,27 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
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const QRect& blackout_rect = Hardware::TICI() ? rect() : rect2;
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p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
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p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
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if (Hardware::TICI()) {
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p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
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}
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// face bounding box
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cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
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bool face_detected = driver_state.getFaceProb() > 0.4;
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bool face_detected = driver_state.getFaceProb() > 0.5;
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if (face_detected) {
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auto fxy_list = driver_state.getFacePosition();
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auto std_list = driver_state.getFaceOrientationStd();
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float face_x = fxy_list[0];
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float face_y = fxy_list[1];
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float face_std = std::max(std_list[0], std_list[1]);
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float alpha = 0.2;
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float x = std::abs(face_x), y = std::abs(face_y);
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if (x <= 0.35 && y <= 0.4) {
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alpha = 0.8 - std::max(x, y) * 0.6 / 0.375;
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float alpha = 0.7;
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if (face_std > 0.08) {
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alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
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}
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const int box_size = 0.6 * rect2.height() / 2;
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int fbox_x = valid_rect.center().x() + (is_rhd ? face_x : -face_x) * valid_rect.width();
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const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
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int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
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int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
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p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
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p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
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@ -51,9 +51,9 @@ mat4 get_driver_view_transform() {
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// from dmonitoring.cc
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const int full_width_tici = 1928;
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const int full_height_tici = 1208;
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const int adapt_width_tici = 668;
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const int crop_x_offset = 32;
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const int crop_y_offset = -196;
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const int adapt_width_tici = 954;
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const int crop_x_offset = -72;
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const int crop_y_offset = -144;
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const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici;
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const float xscale = yscale*(1080)/(2160)*full_width_tici/full_height_tici;
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transform = (mat4){{
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