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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import struct
import json
def load_thneed(fn):
with open(fn, "rb") as f:
json_len = struct.unpack("I", f.read(4))[0]
jdat = json.loads(f.read(json_len).decode('latin_1'))
weights = f.read()
ptr = 0
for o in jdat['objects']:
if o['needs_load']:
nptr = ptr + o['size']
o['data'] = weights[ptr:nptr]
ptr = nptr
for o in jdat['binaries']:
nptr = ptr + o['length']
o['data'] = weights[ptr:nptr]
ptr = nptr
return jdat
def save_thneed(jdat, fn):
new_weights = []
for o in jdat['objects'] + jdat['binaries']:
if 'data' in o:
new_weights.append(o['data'])
del o['data']
new_weights_bytes = b''.join(new_weights)
with open(fn, "wb") as f:
j = json.dumps(jdat, ensure_ascii=False).encode('latin_1')
f.write(struct.pack("I", len(j)))
f.write(j)
f.write(new_weights_bytes)