openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#!/usr/bin/env python3
# TODO: why are the keras models saved with python 2?
from __future__ import print_function
import tensorflow as tf # pylint: disable=import-error
import os
import sys
import numpy as np
from tensorflow.keras.models import load_model # pylint: disable=import-error
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.inputs]
print("ready to run keras model", 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.predict_on_batch(inputs)
#print(ret, file=sys.stderr)
for r in ret:
write(r)
if __name__ == "__main__":
print(tf.__version__, file=sys.stderr)
# limit gram alloc
gpus = tf.config.experimental.list_physical_devices('GPU')
if len(gpus) > 0:
tf.config.experimental.set_virtual_device_configuration(gpus[0], [tf.config.experimental.VirtualDeviceConfiguration(memory_limit=1024)])
m = load_model(sys.argv[1])
print(m, file=sys.stderr)
run_loop(m)