IQ.Pilot Release Commit @ 36625eb

selfdrive/modeld/dmonitoringmodeld.py

@@ -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', 'sleep_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -91,7 +91,6 @@ def fill_driver_data(msg, model_output, ds_suffix):
   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.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
-  msg.sleepProb = model_output[f'sleep_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):
   msg = messaging.new_message('driverStateV2', valid=True)

selfdrive/modeld/models/prebuilt_check.json

@@ -1,9 +1,9 @@
 {
   "dmonitoring_model": {
     "outputs": {
-      "dmonitoring_model_metadata.pkl": "5999c262b1c25c62e485fb4ced5806d20a8ca59e3ae94e0ff499c0fe3497fedc",
-      "dmonitoring_model_tinygrad.pkl": "5aca89a35b42376d56f67ccd28a1080806706d546dd8c63f6e1b4c681f8e2c01"
+      "dmonitoring_model_metadata.pkl": "31a86ab7a92dc0af088b15787a440dd3b210aa662e445a15145900e559a1b5c3",
+      "dmonitoring_model_tinygrad.pkl": "806c0ea75df6bf6dfeb81b832314c68e31df5865a52d0359e6eeb76d93ad2b52"
     },
-    "signature": "2364ebd4bb95c4b4e539c9b1ba68324b713cbb56617396b73262accf9cdcfbfc"
+    "signature": "e1eeb5ce45774a816c8da2394e6ee35ebf700b71dff345e0141dbab8ff592349"
   }
 }

selfdrive/modeld/test_dmonitoringmodeld.py

@@ -1,19 +0,0 @@
-import pickle
-
-import numpy as np
-
-from openpilot.selfdrive.modeld.dmonitoringmodeld import get_driverstate_packet, parse_model_output, slice_outputs
-from openpilot.selfdrive.modeld.dmonitoringmodeld import METADATA_PATH
-
-
-def test_sleep_probability_output():
-  with open(METADATA_PATH, 'rb') as f:
-    metadata = pickle.load(f)
-
-  output = np.zeros(metadata['output_shapes']['outputs'][1], dtype=np.float32)
-  parsed = parse_model_output(slice_outputs(output, metadata['output_slices']))
-  parsed['raw_pred'] = b''
-  msg = get_driverstate_packet(parsed, 1, 0, 0., 0.)
-
-  assert msg.driverStateV2.leftDriverData.sleepProb == 0.5
-  assert msg.driverStateV2.rightDriverData.sleepProb == 0.5