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EfficientNet driver monitoring (#1866) 

* e96f9be6

* bump cereal

* filter sunglasses

* fix unittest

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 2d0e994674
This commit is contained in:
ZwX1616 2020-07-17 15:34:02 -07:00 committed by GitHub
parent 0e0b6c0f57
commit 7a8bf9d7de
8 changed files with 18 additions and 13 deletions
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2
models/dmonitoring_model.current
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@ -1 +1 @@
43221d85-46fd-40b9-bff0-2b1b18a86b07
e96f9be6-5741-42ea-bdcd-0be6515b4230

4
models/dmonitoring_model.keras
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5c39a2096f7058541b5339ec36bc4c468955e67285078080ed6d8802fed06c1d
size 814176
oid sha256:09aa11a17a5a8173e231071898c499f9ea632e6e64285586122828b1bbc70d41
size 4165968

4
models/dmonitoring_model_q.dlc
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:29504dfd101ba2a0b48550fac2f86f9d0b8d1245af3d2d8d658247b4a73077a2
size 230121
oid sha256:beecf140ddc5da96cbdae3b869ebb3f5453dcd8e61e09d7d079c91e006b6df98
size 1134208

8
selfdrive/modeld/models/dmonitoring.cc
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@ -5,9 +5,9 @@
#include <libyuv.h>
#define MODEL_WIDTH 160
#define MODEL_HEIGHT 320
#define FULL_W 426
#define MODEL_WIDTH 320
#define MODEL_HEIGHT 640
#define FULL_W 852
#if defined(QCOM) || defined(QCOM2)
#define input_lambda(x) (x - 128.f) * 0.0078125f
@ -136,6 +136,7 @@ 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]);
@ -166,6 +167,7 @@ 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 33
#define OUTPUT_SIZE 34
#define RHD_CHECK_INTERVAL 10
typedef struct DMonitoringResult {
@ -22,6 +22,7 @@ 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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@ -21,8 +21,9 @@ _DISTRACTED_TIME = 11.
_DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
_FACE_THRESHOLD = 0.4
_FACE_THRESHOLD = 0.6
_EYE_THRESHOLD = 0.6
_SG_THRESHOLD = 0.5
_BLINK_THRESHOLD = 0.5 # 0.225
_BLINK_THRESHOLD_SLACK = 0.65
_BLINK_THRESHOLD_STRICT = 0.5
@ -189,8 +190,8 @@ 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)
self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_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.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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@ -31,6 +31,7 @@ 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 @@
d0b7760731f1e310c7770dafee215ed2dee0d92d
6d58be2d98e689d0c23d5210bd32394d506e66f8