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dmonitoringmodeld: clean up data structures (#36624)

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* update onnx

* get meta

* start

* cast

* deprecate notready

* more

* line too long

* 2
This commit is contained in:
ZwX1616
2025-11-14 14:29:04 -08:00
committed by GitHub
parent a1795f80dd
commit b778da1d7c
7 changed files with 59 additions and 87 deletions
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41
selfdrive/monitoring/helpers.py
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@@ -37,12 +37,12 @@ class DRIVER_MONITOR_SETTINGS:
self._BLINK_THRESHOLD = 0.865
if HARDWARE.get_device_type() == 'mici':
self._EE_THRESH11 = 0.75
self._PHONE_THRESH = 0.75
else:
self._EE_THRESH11 = 0.4
self._EE_THRESH12 = 15.0
self._EE_MAX_OFFSET1 = 0.06
self._EE_MIN_OFFSET1 = 0.025
self._PHONE_THRESH = 0.4
self._PHONE_THRESH2 = 15.0
self._PHONE_MAX_OFFSET = 0.06
self._PHONE_MIN_OFFSET = 0.025
self._POSE_PITCH_THRESHOLD = 0.3133
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -84,7 +84,7 @@ class DistractedType:
NOT_DISTRACTED = 0
DISTRACTED_POSE = 1 << 0
DISTRACTED_BLINK = 1 << 1
DISTRACTED_E2E = 1 << 2
DISTRACTED_PHONE = 1 << 2
class DriverPose:
def __init__(self, max_trackable):
@@ -142,9 +142,9 @@ class DriverMonitoring:
self.wheelpos_learner = RunningStatFilter()
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.blink = DriverBlink()
self.eev1 = 0.
self.ee1_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
self.ee1_calibrated = False
self.phone_prob = 0.
self.phone_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
self.phone_calibrated = False
self.always_on = always_on
self.distracted_types = []
@@ -242,13 +242,13 @@ class DriverMonitoring:
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated:
ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
* self.settings._EE_THRESH12
if self.phone_calibrated:
using_phone = self.phone_prob > max(min(self.phone_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
* self.settings._PHONE_THRESH2
else:
ee1_dist = self.eev1 > self.settings._EE_THRESH11
if ee1_dist:
distracted_types.append(DistractedType.DISTRACTED_E2E)
using_phone = self.phone_prob > self.settings._PHONE_THRESH
if using_phone:
distracted_types.append(DistractedType.DISTRACTED_PHONE)
return distracted_types
@@ -267,8 +267,7 @@ class DriverMonitoring:
self.wheel_on_right = self.wheel_on_right_last
driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
driver_data.faceOrientationStd, driver_data.facePositionStd,
driver_data.notReadyProb)):
driver_data.faceOrientationStd, driver_data.facePositionStd)):
return
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
@@ -284,10 +283,10 @@ class DriverMonitoring:
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.eev1 = driver_data.notReadyProb[0]
self.phone_prob = driver_data.phoneProb
self.distracted_types = self._get_distracted_types()
self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distraction_filter.update(self.driver_distracted)
@@ -297,11 +296,11 @@ class DriverMonitoring:
if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
self.ee1_offseter.push_and_update(self.eev1)
self.phone_offseter.push_and_update(self.phone_prob)
self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
self.phone_calibrated = self.phone_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
if self.face_detected and not self.driver_distracted:
if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD: