ros_node.py 文件源码

def init_segmenter(args_segmenter_model):
    global segmenter_model, rings, sectors, points_per_ring, is_ped, tf_segmenter_graph
    segmenter_model = load_model(args_segmenter_model, compile=False)
    segmenter_model._make_predict_function() # https://github.com/fchollet/keras/issues/6124
    print("Loading segmenter model " + args_segmenter_model)
    segmenter_model.summary()
    points_per_ring = segmenter_model.get_input_shape_at(0)[0][1]
    match = re.search(r'lidarnet-(car|ped)-.*seg-rings_(\d+)_(\d+)-sectors_(\d+)-.*\.hdf5', args_segmenter_model)
    is_ped = match.group(1) == 'ped'
    rings = range(int(match.group(2)), int(match.group(3)))
    sectors = int(match.group(4))
    points_per_ring *= sectors
    assert len(rings) == segmenter_model.get_input_shape_at(0)[0][2]
    print('Loaded segmenter model with ' + str(points_per_ring) + ' points per ring and ' + str(len(rings)) +
          ' rings from ' + str(rings[0]) + ' to ' + str(rings[-1]) )

    if K._backend == 'tensorflow':
        tf_segmenter_graph = tf.get_default_graph()
        print(tf_segmenter_graph)
    return