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[Model] Add Paddle3D CenterPoint model (PaddlePaddle#2078)
* add centerpoint * update for review comments
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examples/vision/perception/paddle3d/centerpoint/cpp/CMakeLists.txt
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PROJECT(infer_demo C CXX) | ||
CMAKE_MINIMUM_REQUIRED (VERSION 3.10) | ||
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# 指定下载解压后的fastdeploy库路径 | ||
option(FASTDEPLOY_INSTALL_DIR "Path of downloaded fastdeploy sdk.") | ||
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include(${FASTDEPLOY_INSTALL_DIR}/FastDeploy.cmake) | ||
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# 添加FastDeploy依赖头文件 | ||
include_directories(${FASTDEPLOY_INCS}) | ||
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add_executable(infer_demo ${PROJECT_SOURCE_DIR}/infer.cc) | ||
# 添加FastDeploy库依赖 | ||
target_link_libraries(infer_demo ${FASTDEPLOY_LIBS}) |
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examples/vision/perception/paddle3d/centerpoint/cpp/infer.cc
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// Copyright (c) 2022 PaddlePaddle Authors. All Rights Reserved. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include "fastdeploy/vision.h" | ||
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int main(int argc, char* argv[]) { | ||
fastdeploy::RuntimeOption option; | ||
option.UseGpu(); | ||
option.UsePaddleBackend(); | ||
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std::string model_file = argv[1]; | ||
std::string params_file = argv[2]; | ||
std::string test_point = argv[3]; | ||
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auto model = fastdeploy::vision::perception::Centerpoint( | ||
model_file, params_file, "test", option, fastdeploy::ModelFormat::PADDLE); | ||
assert(model.Initialized()); | ||
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fastdeploy::vision::PerceptionResult res; | ||
if (!model.Predict(test_point, &res)) { | ||
std::cerr << "Failed to predict." << std::endl; | ||
return 1; | ||
} | ||
std::cout << "predict result:" << res.Str() << std::endl; | ||
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return 0; | ||
} |
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fastdeploy/vision/perception/paddle3d/centerpoint/centerpoint.cc
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// Copyright (c) 2022 PaddlePaddle Authors. All Rights Reserved. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include "fastdeploy/vision/perception/paddle3d/centerpoint/centerpoint.h" | ||
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namespace fastdeploy { | ||
namespace vision { | ||
namespace perception { | ||
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Centerpoint::Centerpoint(const std::string& model_file, | ||
const std::string& params_file, | ||
const std::string& config_file, | ||
const RuntimeOption& custom_option, | ||
const ModelFormat& model_format) | ||
: preprocessor_(config_file) { | ||
valid_gpu_backends = {Backend::PDINFER}; | ||
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runtime_option = custom_option; | ||
runtime_option.model_format = model_format; | ||
runtime_option.model_file = model_file; | ||
runtime_option.params_file = params_file; | ||
initialized = Initialize(); | ||
} | ||
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bool Centerpoint::Initialize() { | ||
if (!InitRuntime()) { | ||
FDERROR << "Failed to initialize fastdeploy backend." << std::endl; | ||
return false; | ||
} | ||
return true; | ||
} | ||
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bool Centerpoint::Predict(const std::string point_dir, | ||
PerceptionResult* result) { | ||
std::vector<PerceptionResult> results; | ||
if (!BatchPredict({point_dir}, &results)) { | ||
return false; | ||
} | ||
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if (results.size()) { | ||
*result = std::move(results[0]); | ||
} | ||
return true; | ||
} | ||
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bool Centerpoint::BatchPredict(std::vector<std::string> points_dir, | ||
std::vector<PerceptionResult>* results) { | ||
int64_t num_point_dim = 5; | ||
int with_timelag = 0; | ||
if (!preprocessor_.Run(points_dir, num_point_dim, with_timelag, | ||
reused_input_tensors_)) { | ||
FDERROR << "Failed to preprocess the input image." << std::endl; | ||
return false; | ||
} | ||
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results->resize(reused_input_tensors_.size()); | ||
for (int index = 0; index < reused_input_tensors_.size(); ++index) { | ||
std::vector<FDTensor> input_tensor; | ||
input_tensor.push_back(reused_input_tensors_[index]); | ||
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input_tensor[0].name = InputInfoOfRuntime(0).name; | ||
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if (!Infer(input_tensor, &reused_output_tensors_)) { | ||
FDERROR << "Failed to inference by runtime." << std::endl; | ||
return false; | ||
} | ||
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(*results)[index].Clear(); | ||
(*results)[index].Reserve(reused_output_tensors_[0].shape[0]); | ||
if (!postprocessor_.Run(reused_output_tensors_, &((*results)[index]))) { | ||
FDERROR << "Failed to postprocess the inference results by runtime." | ||
<< std::endl; | ||
return false; | ||
} | ||
} | ||
return true; | ||
} | ||
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} // namespace perception | ||
} // namespace vision | ||
} // namespace fastdeploy |
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