During inference, precision in floats is not needed and can be reduced to using 8 bits instead of 32 bits this allows to bin continuous values to discrete ranges, and therefore is known as Quantization. This enables us to increase the bandwith sent (or increase the memory footprint in caseContinue Reading
The following two functions should be launched in two separate python threads. They show how easy ROS enables to create a pub/sub relationship for transferring messages between nodes. sub.py *import rospy* from std_msgs.msg import String def talker(): pub = rospy.Publisher(‘chatter’, String, queue_size=10) rospy.init_node(‘talker’, anonymous=True) rate = rospy.Rate(10) # 10hz whileContinue Reading
Determine whether an integer is a palindrome. An integer is a palindrome when it reads the same backward as forward. Example 1: Input: 121 Output: true Example 2: Input: -121 Output: false Explanation: From left to right, it reads -121. From right to left, it becomes 121-. Therefore it is not a palindrome. ExampleContinue Reading
After training we can optimize a frozen graph or even a dynamic graph by removes training-specific and debug-specific nodes, fusing common operations, and removes code that isn’t used/reached. Code Example from tensorflow.python.tools import optimize_for_inference_lib inputGraph = tf.GraphDef() #read in a frozen model with tf.gfile.Open(‘frozentensorflowModel.pb’, “rb”) as f: data2read = f.read() inputGraph.ParseFromString(data2read) outputGraph = optimize_for_inference_lib.optimize_for_inference(inputGraph, [“inputTensor”], Continue Reading
Frenet coordinates are an alternative way to describe a curve in 2D space, this most commonly can be useful while computing displacement of a vehicle’s position on the road or a calculating it’s reference path. The Frenet coordinates is composed of two coordinates. s coordinate – representing distance along theContinue Reading
In prediction/inference mode, variable types are unnecessary, so by freezing the graph we convert all variables in a graph and checkpoint into constants. Also there are structure nodes and operations related to training that we don’t need and can be removed by the freezing process as well. The freezing processContinue Reading