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 sys
import pathlib
import onnx
import codecs
import pickle
from typing import Any
def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
name = value_info.name
return name, shape
def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
for prop in model.metadata_props:
if prop.key == name:
return prop.value
return None
if __name__ == "__main__":
model_path = pathlib.Path(sys.argv[1])
model = onnx.load(str(model_path))
output_slices = get_metadata_value_by_name(model, 'output_slices')
assert output_slices is not None, 'output_slices not found in metadata'
metadata = {
'policy_model': get_metadata_value_by_name(model, 'policy_model'),
'vision_model': get_metadata_value_by_name(model, 'vision_model'),
'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
}
metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
with open(metadata_path, 'wb') as f:
pickle.dump(metadata, f)
print(f'saved metadata to {metadata_path}')