sdc_run_graph.py 文件源码

def __init__(self, alpha=0.9, graph_path='', checkpoint_path='', metagraph_path=''):
        if graph_path:
            assert os.path.isfile(graph_path)
        else:
            assert os.path.isfile(checkpoint_path) and os.path.isfile(metagraph_path)
        self.graph = tf.Graph()
        with self.graph.as_default():
            if graph_path:
                # load a graph with weights frozen as constants
                graph_def = tf.GraphDef()
                with open(graph_path, "rb") as f:
                    graph_def.ParseFromString(f.read())
                    _ = tf.import_graph_def(graph_def, name="")
                self.session = tf.Session(config=tf.ConfigProto(allow_soft_placement=True))
            else:
                # load a meta-graph and initialize variables form checkpoint
                saver = tf.train.import_meta_graph(metagraph_path)
                self.session = tf.Session(config=tf.ConfigProto(allow_soft_placement=True))
                saver.restore(self.session, checkpoint_path)
        self.model_input = self.session.graph.get_tensor_by_name("input_placeholder:0")
        self.model_output = self.session.graph.get_tensor_by_name("output_steer:0")
        self.last_steering_angle = 0  # None
        self.alpha = alpha