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DM: Lancia Delta HF Integrale model (#37696)

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* 00c00ac7-7b6e-4546-b86f-7ddd5f0596b4

* mici cleanup

* update msg

* rename
This commit is contained in:
ZwX1616
2026-04-01 16:14:15 -07:00
committed by GitHub
parent efd5301f65
commit d8569b07eb
8 changed files with 24 additions and 53 deletions
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cereal/log.capnp
+7 -5
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@@ -2176,12 +2176,14 @@ 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;
leftEyeProbDEPRECATED @5 :Float32;
rightEyeProbDEPRECATED @6 :Float32;
leftBlinkProbDEPRECATED @7 :Float32;
rightBlinkProbDEPRECATED @8 :Float32;
sunglassesProbDEPRECATED @9 :Float32;
notReadyProbDEPRECATED @12 :List(Float32);
occludedProbDEPRECATED @10 :Float32;
readyProbDEPRECATED @11 :List(Float32);
selfdrive/assets/icons_mici/onroad/glasses.png
-3
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@@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
size 3688
selfdrive/modeld/dmonitoringmodeld.py
+3 -6
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@@ -80,7 +80,7 @@ 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
@@ -90,11 +90,8 @@ 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):
selfdrive/modeld/models/dmonitoring_model.onnx
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
size 7307246
oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
size 7364290
selfdrive/monitoring/helpers.py
+5 -14
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@@ -32,9 +32,8 @@ class DRIVER_MONITOR_SETTINGS:
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
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
@@ -111,11 +110,6 @@ class DriverProb:
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
self.prob_calibrated = False
class DriverBlink:
def __init__(self):
self.left = 0.
self.right = 0.
# model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K
@@ -150,7 +144,7 @@ class DriverMonitoring:
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
self.wheelpos = DriverProb(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.always_on = always_on
@@ -253,7 +247,7 @@ class DriverMonitoring:
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
if self.blink_prob > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.phone_prob > self.settings._PHONE_THRESH:
@@ -294,10 +288,7 @@ class DriverMonitoring:
self.pose.yaw_std = driver_data.faceOrientationStd[1]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_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.distracted_types = self._get_distracted_types()
selfdrive/monitoring/test_monitoring.py
+2 -4
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@@ -19,10 +19,8 @@ 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
selfdrive/test/process_replay/model_replay.py
+1 -1
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@@ -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")
selfdrive/ui/mici/onroad/driver_camera_dialog.py
+4 -18
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@@ -39,8 +39,6 @@ class BaseDriverCameraDialog(Widget):
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()
@@ -154,8 +152,6 @@ class BaseDriverCameraDialog(Widget):
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"]
@@ -202,31 +198,21 @@ class BaseDriverCameraDialog(Widget):
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):