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
import os
import sys
import numpy as np
os.environ["OMP_NUM_THREADS"] = "4"
os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
import onnxruntime as ort # 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.get_inputs()]
keys = [x.name for x in m.get_inputs()]
# run once to initialize CUDA provider
if "CUDAExecutionProvider" in m.get_providers():
m.run(None, dict(zip(keys, [np.zeros(shp, dtype=np.float32) for shp in ishapes])))
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("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
options = ort.SessionOptions()
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
provider = 'OpenVINOExecutionProvider'
elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
options.intra_op_num_threads = 2
provider = 'CUDAExecutionProvider'
else:
options.intra_op_num_threads = 2
options.inter_op_num_threads = 8
options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
provider = 'CPUExecutionProvider'
try:
print("Onnx selected provider: ", [provider], file=sys.stderr)
ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
run_loop(ort_session)
except KeyboardInterrupt:
pass