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Revert "EfficientNet driver monitoring (#1866)" 

This reverts commit 2d0e994674.

Need to fix test
pull/1894/head
ZwX1616 2020-07-17 18:20:04 -07:00
parent 2d0e994674
commit c2be31c10b
8 changed files with 13 additions and 18 deletions
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2
models/dmonitoring_model.current
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@ -1 +1 @@
e96f9be6-5741-42ea-bdcd-0be6515b4230
43221d85-46fd-40b9-bff0-2b1b18a86b07

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models/dmonitoring_model.keras (Stored with Git LFS)
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models/dmonitoring_model_q.dlc (Stored with Git LFS)
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8
selfdrive/modeld/models/dmonitoring.cc
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@ -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);
}

3
selfdrive/modeld/models/dmonitoring.h
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@ -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 {

7
selfdrive/monitoring/driver_monitor.py
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@ -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

1
selfdrive/monitoring/test_monitoring.py
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@ -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

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
6d58be2d98e689d0c23d5210bd32394d506e66f8
d0b7760731f1e310c7770dafee215ed2dee0d92d