Export tf model

src/tf_container/train_entry_point.py

@@ -1,19 +1,20 @@
 #!/usr/bin/env python3
 
-import container_support as cs
-
 import os
-import json
-import re
-import zipfile
-from keras.preprocessing.image import load_img, img_to_array
-import numpy as np
 
-from keras.layers import Input, Dense, merge
-from keras.models import Model
-from keras.layers import Convolution2D, MaxPooling2D, Reshape, BatchNormalization
-from keras.layers import Activation, Dropout, Flatten, Dense
+import container_support as cs
+import json
+import numpy as np
+import re
+import tensorflow as tf
+import zipfile
+from keras import backend as K
 from keras import callbacks
+from keras.layers import Convolution2D
+from keras.layers import Dropout, Flatten, Dense
+from keras.layers import Input
+from keras.models import Model
+from keras.preprocessing.image import load_img, img_to_array
 from tensorflow.python.client import device_lib
 
 
@@ -101,7 +102,12 @@ def train():
                                          patience=10,
                                          verbose=1,
                                          mode='auto')
-    img_in = Input(shape=(128, 160, 3), name='img_in')                      # First layer, input layer, Shape comes from camera.py resolution, RGB
+    # Only for export model to tensorflow
+    sess = tf.Session()
+    K.set_session(sess)
+
+    img_in = Input(shape=(128, 160, 3),
+                   name='img_in')  # First layer, input layer, Shape comes from camera.py resolution, RGB
     x = img_in
     x = Convolution2D(24, (5,5), strides=(2,2), activation='relu')(x)       # 24 features, 5 pixel x 5 pixel kernel (convolution, feauture) window, 2wx2h stride, relu activation
     x = Convolution2D(32, (5,5), strides=(2,2), activation='relu')(x)       # 32 features, 5px5p kernel window, 2wx2h stride, relu activatiion
@@ -129,3 +135,10 @@ def train():
                         'throttle_out': 'mean_absolute_error'},
                 loss_weights={'angle_out': 0.9, 'throttle_out': .001})
     model.fit({'img_in':images},{'angle_out': angle_cat_array, 'throttle_out': throttle_array}, batch_size=32, epochs=100, verbose=1, validation_split=0.2, shuffle=True, callbacks=callbacks_list)
+    # Save model for tensorflow using
+    builder = tf.saved_model.builder.SavedModelBuilder("myModel")
+
+    # Tag the model, required for Go
+    builder.add_meta_graph_and_variables(sess, ["myTag"])
+    builder.save()
+    sess.close()