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Revert "Revert "DM: Lancia Delta HF Integrale model (#37696)"" #37976

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Revert "Revert "DM: Lancia Delta HF Integrale model (#37696)"" #37976

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12 changes: 7 additions & 5 deletions cereal/log.capnp
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Original file line number Diff line number Diff line change
Expand Up @@ -2057,14 +2057,16 @@ struct DriverStateV2 {
facePosition @2 :List(Float32);
facePositionStd @3 :List(Float32);
faceProb @4 :Float32;
leftEyeProb @5 :Float32;
rightEyeProb @6 :Float32;
leftBlinkProb @7 :Float32;
rightBlinkProb @8 :Float32;
sunglassesProb @9 :Float32;
eyesVisibleProb @14 :Float32;
eyesClosedProb @15 :Float32;
phoneProb @13 :Float32;

deprecated :group {
leftEyeProb @5 :Float32;
rightEyeProb @6 :Float32;
leftBlinkProb @7 :Float32;
rightBlinkProb @8 :Float32;
sunglassesProb @9 :Float32;
notReadyProb @12 :List(Float32);
occludedProb @10 :Float32;
readyProb @11 :List(Float32);
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3 changes: 0 additions & 3 deletions selfdrive/assets/icons_mici/onroad/glasses.png
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9 changes: 3 additions & 6 deletions selfdrive/modeld/dmonitoringmodeld.py
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Expand Up @@ -75,7 +75,7 @@ def parse_model_output(model_output):
face_descs = model_output[f'face_descs_{ds_suffix}']
parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
return parsed

Expand All @@ -85,11 +85,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()

def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
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4 changes: 2 additions & 2 deletions selfdrive/modeld/models/dmonitoring_model.onnx
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19 changes: 5 additions & 14 deletions selfdrive/monitoring/policy.py
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Expand Up @@ -40,9 +40,8 @@ def __init__(self):
self._MAX_TERMINAL_DURATION = int(30 / DT_DMON) # not allowed to engage after 30s of terminal alerts

self._FACE_THRESHOLD = 0.7
self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.9
self._BLINK_THRESHOLD = 0.865
self._EYE_THRESHOLD = 0.5
self._BLINK_THRESHOLD = 0.5
self._PHONE_THRESH = 0.5
self._POSE_PITCH_THRESHOLD = 0.3133
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
Expand Down Expand Up @@ -94,11 +93,6 @@ def __init__(self, settings):
self.cfactor_yaw = 1.
self.steer_yaw_offset = 0.

class DriverBlink:
def __init__(self):
self.left = 0.
self.right = 0.

# model output refers to center of undistorted+leveled image
ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
dcam_undistorted_FL = 598.0
Expand Down Expand Up @@ -129,7 +123,7 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
self.pose = DriverPose(settings=self.settings)
self.blink = DriverBlink()
self.blink_prob = 0.
self.phone_prob = 0.

self.alert_level = AlertLevel.none
Expand Down Expand Up @@ -226,7 +220,7 @@ def _get_distracted_types(self):
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw

self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
self.distracted_types['eye'] = bool(self.blink_prob > self.settings._BLINK_THRESHOLD)
self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)

def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
Expand Down Expand Up @@ -260,10 +254,7 @@ def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstil
self.wheel_on_right_last = self.wheel_on_right
self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
* (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.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
self.phone_prob = driver_data.phoneProb

self._get_distracted_types()
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6 changes: 2 additions & 4 deletions selfdrive/monitoring/test_monitoring.py
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Expand Up @@ -18,10 +18,8 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
ds.leftDriverData.faceOrientation = [0., 0., 0.]
ds.leftDriverData.facePosition = [0., 0.]
ds.leftDriverData.faceProb = 1. * face_detected
ds.leftDriverData.leftEyeProb = 1.
ds.leftDriverData.rightEyeProb = 1.
ds.leftDriverData.leftBlinkProb = 1. * distracted
ds.leftDriverData.rightBlinkProb = 1. * distracted
ds.leftDriverData.eyesVisibleProb = 1.
ds.leftDriverData.eyesClosedProb = 1. * distracted
ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
# TODO: test both separately when e2e is used
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2 changes: 1 addition & 1 deletion selfdrive/test/process_replay/model_replay.py
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Expand Up @@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
(lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
], "driverStateV2")
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22 changes: 4 additions & 18 deletions selfdrive/ui/mici/onroad/driver_camera_dialog.py
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Expand Up @@ -34,8 +34,6 @@ def __init__(self):
self._eye_fill_texture = None
self._eye_orange_texture = None
self._eye_size = 74
self._glasses_texture = None
self._glasses_size = 171

self._load_eye_textures()

Expand Down Expand Up @@ -154,8 +152,6 @@ def _load_eye_textures(self):
self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
if self._eye_orange_texture is None:
self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
if self._glasses_texture is None:
self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)

def _draw_face_detection(self, rect: rl.Rectangle):
dm_state = ui_state.sm["driverMonitoringState"]
Expand Down Expand Up @@ -202,31 +198,21 @@ def _draw_eyes(self, rect: rl.Rectangle, driver_data):
eye_offset_x = 10
eye_offset_y = 10
eye_spacing = self._eye_size + 15
eyes_prob = driver_data.eyesVisibleProb

left_eye_x = rect.x + eye_offset_x
left_eye_y = rect.y + eye_offset_y
left_eye_prob = driver_data.leftEyeProb

right_eye_x = rect.x + eye_offset_x + eye_spacing
right_eye_y = rect.y + eye_offset_y
right_eye_prob = driver_data.rightEyeProb

# Draw eyes with opacity based on probability
for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
fill_opacity = eye_prob
orange_opacity = 1.0 - eye_prob

fill_opacity = eyes_prob
orange_opacity = 1.0 - eyes_prob
for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))

# Draw sunglasses indicator based on sunglasses probability
# Position glasses centered between the two eyes at top left
glasses_x = rect.x + eye_offset_x - 4
glasses_y = rect.y
glasses_pos = rl.Vector2(glasses_x, glasses_y)
glasses_prob = driver_data.sunglassesProb
rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))


class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
def __init__(self):
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