Split keras driving model

push split models

models/dmonitoring_model.model.keras

@@ -0,0 +1 @@
+{"class_name": "Model", "config": {"name": "model_1", "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 6, 80.0, 160.0], "dtype": "float32", "sparse": false, "name": "input_img"}, "name": "input_img", "inbound_nodes": []}, {"class_name": "Lambda", "config": {"name": "lambda", "trainable": true, "batch_input_shape": [null, 6, 80.0, 160.0], "dtype": "float32", "function": ["4wEAAAAAAAAAAQAAAAIAAABTAAAAcwwAAAB8AGQBGABkARsAUwApAk5nAAAAAAAAYECpACkB2gF4\ncgEAAAByAQAAAPpBL2hvbWUvYmF0bWFuL29wZW5waWxvdC94eC90b29scy9tbG1vbml0b3Jpbmcv\nbW9kZWxzL2RtX2hlYl9uZXQucHnaCDxsYW1iZGE+IgAAAPMAAAAA\n", null, null], "function_type": "lambda", "module": "tensorflow.python.keras.layers.core", "output_shape": [6, 80.0, 160.0], "output_shape_type": "raw", "output_shape_module": null, "arguments": {}}, "name": "lambda", "inbound_nodes": [[["input_img", 0, 0, {}]]]}, {"class_name": "Permute", "config": {"name": "permute", "trainable": true, "dtype": "float32", "dims": [2, 3, 1]}, "name": "permute", "inbound_nodes": [[["lambda", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d", "trainable": true, "dtype": "float32", "filters": 16, "kernel_size": [5, 5], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d", "inbound_nodes": [[["permute", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu", "inbound_nodes": [[["conv2d", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_1", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_1", "inbound_nodes": [[["re_lu", 0, 0, {}]]]}, {"class_name": "MaxPooling2D", "config": {"name": "max_pooling2d", "trainable": true, "dtype": "float32", "pool_size": [3, 3], "padding": "valid", "strides": [2, 2], "data_format": "channels_last"}, "name": "max_pooling2d", "inbound_nodes": [[["conv2d_1", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_2", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_2", "inbound_nodes": [[["max_pooling2d", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_1", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_1", "inbound_nodes": [[["conv2d_2", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_3", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_3", "inbound_nodes": [[["re_lu_1", 0, 0, {}]]]}, {"class_name": "Add", "config": {"name": "add", "trainable": true, "dtype": "float32"}, "name": "add", "inbound_nodes": [[["max_pooling2d", 0, 0, {}], ["conv2d_3", 0, 0, {}]]]}, {"class_name": "MaxPooling2D", "config": {"name": "max_pooling2d_1", "trainable": true, "dtype": "float32", "pool_size": [3, 3], "padding": "valid", "strides": [2, 2], "data_format": "channels_last"}, "name": "max_pooling2d_1", "inbound_nodes": [[["add", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_4", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_4", "inbound_nodes": [[["max_pooling2d_1", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_2", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_2", "inbound_nodes": [[["conv2d_4", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_5", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_5", "inbound_nodes": [[["re_lu_2", 0, 0, {}]]]}, {"class_name": "Add", "config": {"name": "add_1", "trainable": true, "dtype": "float32"}, "name": "add_1", "inbound_nodes": [[["max_pooling2d_1", 0, 0, {}], ["conv2d_5", 0, 0, {}]]]}, {"class_name": "MaxPooling2D", "config": {"name": "max_pooling2d_2", "trainable": true, "dtype": "float32", "pool_size": [3, 3], "padding": "valid", "strides": [2, 2], "data_format": "channels_last"}, "name": "max_pooling2d_2", "inbound_nodes": [[["add_1", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_6", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_6", "inbound_nodes": [[["max_pooling2d_2", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_3", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_3", "inbound_nodes": [[["conv2d_6", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_7", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_7", "inbound_nodes": [[["re_lu_3", 0, 0, {}]]]}, {"class_name": "Add", "config": {"name": "add_2", "trainable": true, "dtype": "float32"}, "name": "add_2", "inbound_nodes": [[["max_pooling2d_2", 0, 0, {}], ["conv2d_7", 0, 0, {}]]]}, {"class_name": "MaxPooling2D", "config": {"name": "max_pooling2d_3", "trainable": true, "dtype": "float32", "pool_size": [3, 3], "padding": "valid", "strides": [2, 2], "data_format": "channels_last"}, "name": "max_pooling2d_3", "inbound_nodes": [[["add_2", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_8", "trainable": true, "dtype": "float32", "filters": 32, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_8", "inbound_nodes": [[["max_pooling2d_3", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_4", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_4", "inbound_nodes": [[["conv2d_8", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_9", "trainable": true, "dtype": "float32", "filters": 24, "kernel_size": [3, 3], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_9", "inbound_nodes": [[["re_lu_4", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_5", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_5", "inbound_nodes": [[["conv2d_9", 0, 0, {}]]]}, {"class_name": "Conv2D", "config": {"name": "conv2d_10", "trainable": true, "dtype": "float32", "filters": 16, "kernel_size": [1, 1], "strides": [1, 1], "padding": "same", "data_format": "channels_last", "dilation_rate": [1, 1], "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "conv2d_10", "inbound_nodes": [[["re_lu_5", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_6", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_6", "inbound_nodes": [[["conv2d_10", 0, 0, {}]]]}, {"class_name": "Flatten", "config": {"name": "vision_features", "trainable": true, "dtype": "float32", "data_format": "channels_last"}, "name": "vision_features", "inbound_nodes": [[["re_lu_6", 0, 0, {}]]]}, {"class_name": "Dropout", "config": {"name": "dropout", "trainable": true, "dtype": "float32", "rate": 0.5, "noise_shape": null, "seed": null}, "name": "dropout", "inbound_nodes": [[["vision_features", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "dense", "trainable": true, "dtype": "float32", "units": 128, "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "dense", "inbound_nodes": [[["dropout", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_7", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_7", "inbound_nodes": [[["dense", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "dense_1", "trainable": true, "dtype": "float32", "units": 64, "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "dense_1", "inbound_nodes": [[["re_lu_7", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "dense_2", "trainable": true, "dtype": "float32", "units": 96, "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "dense_2", "inbound_nodes": [[["re_lu_7", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_8", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_8", "inbound_nodes": [[["dense_1", 0, 0, {}]]]}, {"class_name": "ReLU", "config": {"name": "re_lu_9", "trainable": true, "dtype": "float32", "max_value": null, "negative_slope": 0.0, "threshold": 0.0}, "name": "re_lu_9", "inbound_nodes": [[["dense_2", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "face_descs", "trainable": true, "dtype": "float32", "units": 12, "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "face_descs", "inbound_nodes": [[["re_lu_8", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "face_prob", "trainable": true, "dtype": "float32", "units": 1, "activation": "sigmoid", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "face_prob", "inbound_nodes": [[["re_lu_8", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "left_eye_descs", "trainable": true, "dtype": "float32", "units": 8, "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "left_eye_descs", "inbound_nodes": [[["re_lu_9", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "left_eye_prob", "trainable": true, "dtype": "float32", "units": 1, "activation": "sigmoid", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "left_eye_prob", "inbound_nodes": [[["re_lu_9", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "right_eye_descs", "trainable": true, "dtype": "float32", "units": 8, "activation": "linear", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "right_eye_descs", "inbound_nodes": [[["re_lu_9", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "right_eye_prob", "trainable": true, "dtype": "float32", "units": 1, "activation": "sigmoid", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "right_eye_prob", "inbound_nodes": [[["re_lu_9", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "left_blink_prob", "trainable": true, "dtype": "float32", "units": 1, "activation": "sigmoid", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "left_blink_prob", "inbound_nodes": [[["re_lu_9", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "right_blink_prob", "trainable": true, "dtype": "float32", "units": 1, "activation": "sigmoid", "use_bias": true, "kernel_initializer": {"class_name": "GlorotUniform", "config": {"seed": null}}, "bias_initializer": {"class_name": "Zeros", "config": {}}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}, "name": "right_blink_prob", "inbound_nodes": [[["re_lu_9", 0, 0, {}]]]}], "input_layers": [["input_img", 0, 0]], "output_layers": [["face_descs", 0, 0], ["face_prob", 0, 0], ["left_eye_descs", 0, 0], ["left_eye_prob", 0, 0], ["right_eye_descs", 0, 0], ["right_eye_prob", 0, 0], ["left_blink_prob", 0, 0], ["right_blink_prob", 0, 0]]}, "keras_version": "2.2.4-tf", "backend": "tensorflow"}

selfdrive/modeld/runners/keras_runner.py

@@ -8,7 +8,7 @@
 import tensorflow.keras as keras
 import numpy as np
 from tensorflow.keras.models import Model
-from tensorflow.keras.models import load_model
+from tensorflow.keras.models import model_from_json
 
 def read(sz):
   dd = []
@@ -38,8 +38,10 @@ def run_loop(m):
   gpus = tf.config.experimental.list_physical_devices('GPU')
   if len(gpus) > 0:
     tf.config.experimental.set_virtual_device_configuration(gpus[0], [tf.config.experimental.VirtualDeviceConfiguration(memory_limit=2048)])
-
-  m = load_model(sys.argv[1])
+  name = sys.argv[1].split('.keras')[0]
+  with open(f"{name}.model.keras", "r") as json_file:
+    m = model_from_json(json_file.read())
+  m.load_weights(f"{name}.weights.keras")
   print(m, file=sys.stderr)
   bs = [int(np.product(ii.shape[1:])) for ii in m.inputs]
   ri = keras.layers.Input((sum(bs),))
@@ -55,4 +57,3 @@ def run_loop(m):
   no = keras.layers.Concatenate()(m(tii))
   m = Model(inputs=ri, outputs=[no])
   run_loop(m)
-

tools/keras/split_keras.py

@@ -0,0 +1,19 @@
+#!/usr/bin/python3
+
+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
+from pathlib import Path
+
+
+name = sys.argv[1].split('.keras')[0]
+model = load_model(sys.argv[1])
+model.save_weights(f"{name}.weights.keras")
+model_json = model.to_json()
+with open(f"{name}.model.keras", "w") as json_file:
+    json_file.write(model_json)
+json_file.close()