ncnn is a high-performance neural network inference framework designed for mobile, embedded, and desktop deployment. It provides a self-contained C++ library with no mandatory external dependencies, supporting CPU inference with extensive SIMD optimizations (ARM NEON, x86 SSE/AVX/AVX512, RISC-V Vector, MIPS MSA, LoongArch LSX/LASX) and GPU inference via Vulkan. The framework includes a comprehensive set of neural network layers (convolution, pooling, normalization, activation, recurrent, attention, etc.) and supports multiple data types (float32, float16, bfloat16, int8). The companion pnnx tool converts models from PyTorch (TorchScript) and ONNX into ncnn format using a sophisticated graph rewriting pipeline. Python bindings and a model zoo are provided for rapid prototyping. The codebase is production-grade, used in Tencent applications like QQ and WeChat, and is actively maintained with support for modern architectures and operations (e.g., scaled dot-product attention, rotary embeddings).
openpilot is a full-stack autonomous driver assistance system that runs on embedded Linux hardware (comma four/three) and controls 300+ car models. It is a safety-critical, real-time system written primarily in Python and C/C++, with a custom messaging layer (cereal/msgq) and a Cap'n Proto-based schema for all inter-process communication. The architecture is a collection of independent processes (controlsd, plannerd, radard, modeld, locationd, calibrationd, dmonitoringd, etc.) communicating via a pub/sub message queue, managed by a central process manager. The system ingests CAN bus data, camera streams (road, wide-road, driver), IMU/GPS sensor data, and runs neural network models (ONNX/tinygrad) for perception and planning. The codebase demonstrates strong engineering discipline: a comprehensive process replay regression testing framework that replays logged routes through individual processes and compares outputs bit-for-bit; a safety model implemented in the panda firmware (separate submodule) with ISO 26262 guidelines; real-time scheduling and CPU affinity management across processes; and a sophisticated build system using SCons with Cython compilation. The UI is built on raylib (with a Qt-based Cabana tool for CAN analysis), and there's a MetaDrive simulator bridge for development. Key architectural patterns include: a generic car interface abstraction (opendbc) that allows supporting 300+ car models through fingerprinting and parameter configuration; a model-driven control pipeline where neural network outputs (desired curvature, lead vehicle trajectories) feed into lateral controllers (PID, torque-based, curvature-based, angle-based) and longitudinal MPC planners; an EKF-based sensor fusion system (locationd) combining GPS, IMU, and vehicle odometry; and a driver monitoring system using a separate neural network for distraction detection. The system uses a parameter store (params) backed by a filesystem for persistent configuration. The repository includes extensive tooling: replay infrastructure for regression testing, PlotJuggler/Cabana integration for data visualization, automated car porting tools with fuzzy fingerprinting, release automation with stripped builds, and a comprehensive CI/CD pipeline with GitHub Actions. The codebase is actively maintained with daily commits, a structured release process (release-mici/release-tizi branches), and active community contribution through Discord and GitHub issues.