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fullframe DM: flip RHD yaw to use matching thresholds

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old-commit-hash: 2ac693100359d9df34d5b2b450a0058f2dd6b7c4
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ZwX1616
2022-06-09 15:23:29 -07:00
parent cc71e68aee
commit d6e78ec5b0
1 changed files with 2 additions and 0 deletions
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selfdrive/monitoring/driver_monitor.py
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@@ -240,6 +240,8 @@ class DriverStatus():
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
if self.wheel_on_right:
self.pose.yaw *= -1
self.pose.pitch_std = driver_data.faceOrientationStd[0]
self.pose.yaw_std = driver_data.faceOrientationStd[1]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)