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
import os
import sys
import tensorflow.keras as keras
import numpy as np
from tensorflow.keras.models import Model
from tensorflow.keras.models import load_model
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.fromstring(b''.join(dd), dtype=np.float32)
def write(d):
os.write(1, d.tobytes())
def run_loop(m):
isize = m.inputs[0].shape[1]
osize = m.outputs[0].shape[1]
print("ready to run keras model %d -> %d" % (isize, osize), file=sys.stderr)
while 1:
idata = read(isize).reshape((1, isize))
ret = m.predict_on_batch(idata)
write(ret)
if __name__ == "__main__":
print(tf.__version__, file=sys.stderr)
m = load_model(sys.argv[1])
print(m, file=sys.stderr)
bs = [int(np.product(ii.shape[1:])) for ii in m.inputs]
ri = keras.layers.Input((sum(bs),))
tii = []
acc = 0
for i, ii in enumerate(m.inputs):
print(ii, file=sys.stderr)
ti = keras.layers.Lambda(lambda x: x[:,acc:acc+bs[i]], output_shape=(1, bs[i]))(ri)
acc += bs[i]
tr = keras.layers.Reshape(ii.shape[1:])(ti)
tii.append(tr)
no = keras.layers.Concatenate()(m(tii))
m = Model(inputs=ri, outputs=[no])
run_loop(m)