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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#include <cassert>
#include <cstdio>
#include <cstdlib>
#include "tensorflow/c/c_api.h"
void* read_file(const char* path, size_t* out_len) {
FILE* f = fopen(path, "r");
if (!f) {
return NULL;
}
fseek(f, 0, SEEK_END);
long f_len = ftell(f);
rewind(f);
char* buf = (char*)calloc(f_len, 1);
assert(buf);
size_t num_read = fread(buf, f_len, 1, f);
fclose(f);
if (num_read != 1) {
free(buf);
return NULL;
}
if (out_len) {
*out_len = f_len;
}
return buf;
}
static void DeallocateBuffer(void* data, size_t) {
free(data);
}
int main(int argc, char* argv[]) {
TF_Buffer* buf;
TF_Graph* graph;
TF_Status* status;
char *path = argv[1];
// load model
{
size_t model_size;
char tmp[1024];
snprintf(tmp, sizeof(tmp), "%s.pb", path);
printf("loading model %s\n", tmp);
uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
buf = TF_NewBuffer();
buf->data = model_data;
buf->length = model_size;
buf->data_deallocator = DeallocateBuffer;
printf("loaded model of size %d\n", model_size);
}
// import graph
status = TF_NewStatus();
graph = TF_NewGraph();
TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
TF_GraphImportGraphDef(graph, buf, opts, status);
TF_DeleteImportGraphDefOptions(opts);
TF_DeleteBuffer(buf);
if (TF_GetCode(status) != TF_OK) {
printf("FAIL: %s\n", TF_Message(status));
} else {
printf("SUCCESS\n");
}
}