dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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Torch model (#2452) * refactor draw model * rebase master * correct valid_len * rename function * rename variables * white space * rebase to master * e16c13ac-927d-455e-ae0a-81b482a2c787 * start rewriting * save proress * compiles! * oops * many fixes * seems to work * fix desires * finally cleaned * wrong std for ll * dont pulse none * compiles! * ready to test * WIP does not compile * compiles * various fixes * does something! * full 3d * not needed * draw up to 100m * fix segfault * wrong sign * fix flicker * add road edges * finish v2 packet * Added pytorch supercombo * fix rebase * no more keras * Hacky solution to the NCHW/NHWC incompatibility between SNPE and our frame data * dont break dmonitoringd, final model 229e3ce1-7259-412b-85e6-cc646d70f1d8/430 * fix hack * Revert "fix hack" This reverts commit 5550fc01a7881d065a5eddbbb42dac55ef7ec36c. * Removed axis permutation hack * Folded padding layers into conv layers * Removed the last pad layer from the dlc * Revert "Removed the last pad layer from the dlc" This reverts commit b85f24b9e1d04abf64e85901a7ff49e00d82020a. * Revert "Folded padding layers into conv layers" This reverts commit b8d1773e4e76dea481acebbfad6a6235fbb58463. * vision model: 5034ac8b-5703-4a49-948b-11c064d10880/780 temporal model: 229e3ce1-7259-412b-85e6-cc646d70f1d8/430 with permute + pool opt * fix ui drawing with clips * ./compile_torch.py 5034ac8b-5703-4a49-948b-11c064d10880/780 dfcd2375-81d8-49df-95bf-1d2d6ad86010/450 with variable history length * std::clamp * not sure how this compiled before * 2895ace6-a296-47ac-86e6-17ea800a74e5/550 * db090195-8810-42de-ab38-bb835d775d87/601 * 5m is very little * onnx runner * add onnxruntime to pipfile * run in real time without using the whole CPU * bump cereal; * add stds * set road edge opacity based on stddev * don't access the model packet in paint * convert mat.h to a c++ header file (#2499) * update tests * safety first Co-authored-by: deanlee <deanlee3@gmail.com> Co-authored-by: mitchell <mitchell@comma.ai> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: George Hotz <george@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
5 years ago
#!/usr/bin/env python3
import os
import sys
import numpy as np
os.environ["OMP_NUM_THREADS"] = "1"
Torch model (#2452) * refactor draw model * rebase master * correct valid_len * rename function * rename variables * white space * rebase to master * e16c13ac-927d-455e-ae0a-81b482a2c787 * start rewriting * save proress * compiles! * oops * many fixes * seems to work * fix desires * finally cleaned * wrong std for ll * dont pulse none * compiles! * ready to test * WIP does not compile * compiles * various fixes * does something! * full 3d * not needed * draw up to 100m * fix segfault * wrong sign * fix flicker * add road edges * finish v2 packet * Added pytorch supercombo * fix rebase * no more keras * Hacky solution to the NCHW/NHWC incompatibility between SNPE and our frame data * dont break dmonitoringd, final model 229e3ce1-7259-412b-85e6-cc646d70f1d8/430 * fix hack * Revert "fix hack" This reverts commit 5550fc01a7881d065a5eddbbb42dac55ef7ec36c. * Removed axis permutation hack * Folded padding layers into conv layers * Removed the last pad layer from the dlc * Revert "Removed the last pad layer from the dlc" This reverts commit b85f24b9e1d04abf64e85901a7ff49e00d82020a. * Revert "Folded padding layers into conv layers" This reverts commit b8d1773e4e76dea481acebbfad6a6235fbb58463. * vision model: 5034ac8b-5703-4a49-948b-11c064d10880/780 temporal model: 229e3ce1-7259-412b-85e6-cc646d70f1d8/430 with permute + pool opt * fix ui drawing with clips * ./compile_torch.py 5034ac8b-5703-4a49-948b-11c064d10880/780 dfcd2375-81d8-49df-95bf-1d2d6ad86010/450 with variable history length * std::clamp * not sure how this compiled before * 2895ace6-a296-47ac-86e6-17ea800a74e5/550 * db090195-8810-42de-ab38-bb835d775d87/601 * 5m is very little * onnx runner * add onnxruntime to pipfile * run in real time without using the whole CPU * bump cereal; * add stds * set road edge opacity based on stddev * don't access the model packet in paint * convert mat.h to a c++ header file (#2499) * update tests * safety first Co-authored-by: deanlee <deanlee3@gmail.com> Co-authored-by: mitchell <mitchell@comma.ai> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: George Hotz <george@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
5 years ago
import onnxruntime as ort
def read(sz):
dd = []
gt = 0
while gt < sz * 4:
st = os.read(0, sz * 4 - gt)
assert(len(st) > 0)
dd.append(st)
gt += len(st)
return np.frombuffer(b''.join(dd), dtype=np.float32)
def write(d):
os.write(1, d.tobytes())
def run_loop(m):
ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
keys = [x.name for x in m.get_inputs()]
print("ready to run onnx model", keys, ishapes, file=sys.stderr)
while 1:
inputs = []
for shp in ishapes:
ts = np.product(shp)
#print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
inputs.append(read(ts).reshape(shp))
ret = m.run(None, dict(zip(keys, inputs)))
#print(ret, file=sys.stderr)
for r in ret:
write(r)
if __name__ == "__main__":
print(ort.get_available_providers(), file=sys.stderr)
if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
print("OnnxJit is using openvino", file=sys.stderr)
options = ort.SessionOptions()
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
provider = 'OpenVINOExecutionProvider'
else:
print("OnnxJit is using CPU", file=sys.stderr)
options = ort.SessionOptions()
options.intra_op_num_threads = 4
options.inter_op_num_threads = 8
provider = 'CPUExecutionProvider'
ort_session = ort.InferenceSession(sys.argv[1], options)
ort_session.set_providers([provider], None)
run_loop(ort_session)