classification
以分10类，gpu版本为例。
先将pytorch训练出的pth权重文件转为onnx文件：
import torch
import pointnet_cls
point_num = 1024
class_num = 10
normal_channel = False
model = pointnet_cls.get_model(class_num, normal_channel)
model = model.cuda() #cpu版本需注释此句
model.eval()
checkpoint = torch.load('./cls.pth')
model.load_state_dict(checkpoint['model_state_dict'])
x = (torch.rand(1, 6, point_num) if normal_channel else torch.rand(1, 3, point_num))
x = x.cuda() #cpu版本需注释此句
export_onnx_file = "./cls.onnx"
torch.onnx.export(model,
x,
export_onnx_file,
opset_version = 11)
python推理：
import numpy as np
import onnxruntime
point_num = 1024
def pc_normalize(pc):
centroid = np.mean(pc, axis=0)
pc = pc - centroid
m = np.max(np.sqrt(np.sum(pc**2, axis=1)))
pc = pc / m
return pc
if __name__ == '__main__':
file = './bed_0610.txt'
data = np.loadtxt(file, delimiter=',').astype(np.float32)
point_set = data[:, 0:3]
point_set = point_set[0:point_num, :]
point_set[:, 0:3] = pc_normalize(point_set[:, 0:3])
points = np.reshape(point_set, ((1, point_num, 3)))
points = points.swapaxes(2, 1)
onnx_session = onnxruntime.InferenceSession("cls.onnx", providers=['CUDAExecutionProvider', 'CPUExecutionProvider'])
input_name=[]
for node in onnx_session.get_inputs():
input_name.append(node.name)
output_name=[]
for node in onnx_session.get_outputs():
output_name.append(node.name)
input_feed={}
for name in input_name:
input_feed[name] = points
pred = onnx_session.run(None, input_feed)[0]
print(np.argmax(pred))
C++推理：
#include <iostream>
#include <vector>
#include <fstream>
#include <onnxruntime_cxx_api.h>
const int point_num = 1024;
const int class_num = 10;
void pc_normalize(std::vector<float>& points)
{
float mean_x = 0, mean_y = 0, mean_z = 0;
for (size_t i = 0; i < point_num; ++i)
{
mean_x += points[3 * i];
mean_y += points[3 * i + 1];
mean_z += points[3 * i + 2];
}
mean_x /= point_num;
mean_y /= point_num;
mean_z /= point_num;
for (size_t i = 0; i < point_num; ++i)
{
points[3 * i] -= mean_x;
points[3 * i + 1] -= mean_y;
points[3 * i + 2] -= mean_z;
}
float m = 0;
for (size_t i = 0; i < point_num; ++i)
{
if (sqrt(pow(points[3 * i], 2) + pow(points[3 * i + 1], 2) + pow(points[3 * i + 2], 2)) > m)
m = sqrt(pow(points[3 * i], 2) + pow(points[3 * i + 1], 2) + pow(points[3 * i + 2], 2));
}
for (size_t i = 0; i < point_num; ++i)
{
points[3 * i] /= m;
points[3 * i + 1] /= m;
points[3 * i + 2] /= m;
}
}
void classfier(std::vector<float> & points)
{
Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "cls");
Ort::SessionOptions session_options;
session_options.SetIntraOpNumThreads(1);
session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_EXTENDED);
OrtCUDAProviderOptions cuda_option;
cuda_option.device_id = 0;
cuda_option.arena_extend_strategy = 0;
cuda_option.cudnn_conv_algo_search = OrtCudnnConvAlgoSearchExhaustive;
cuda_option.gpu_mem_limit = SIZE_MAX;
cuda_option.do_copy_in_default_stream = 1;
session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_ALL);
session_options.AppendExecutionProvider_CUDA(cuda_option);
const wchar_t* model_path = L"cls.onnx";
Ort::Session session(env, model_path, session_options);
Ort::AllocatorWithDefaultOptions allocator;
size_t num_input_nodes = session.GetInputCount();
std::vector<const char*> input_node_names = { "input.1" };
std::vector<const char*> output_node_names = { "212" };
const size_t input_tensor_size = 1 * 3 * point_num ;
std::vector<float> input_tensor_values(input_tensor_size);
for (size_t i = 0; i < 3; i++)
{
for (size_t j = 0; j < point_num; j++)
{
input_tensor_values[point_num * i + j] = points[3 * j + i];
}
}
std::vector<int64_t> input_node_dims = { 1, 3, point_num };
auto memory_info = Ort::MemoryInfo::CreateCpu(OrtArenaAllocator, OrtMemTypeDefault);
Ort::Value input_tensor = Ort::Value::CreateTensor<float>(memory_info, input_tensor_values.data(), input_tensor_size, input_node_dims.data(), input_node_dims.size());
std::vector<Ort::Value> ort_inputs;
ort_inputs.push_back(std::move(input_tensor));
std::vector<Ort::Value> output_tensors = session.Run(Ort::RunOptions{ nullptr }, input_node_names.data(), ort_inputs.data(), input_node_names.size(), output_node_names.data(), output_node_names.size());
const float* rawOutput = output_tensors[0].GetTensorData<float>();
std::vector<int64_t> outputShape = output_tensors[0].GetTensorTypeAndShapeInfo().GetShape();
size_t count = output_tensors[0].GetTensorTypeAndShapeInfo().GetElementCount();
std::vector<float> output(rawOutput, rawOutput + count);
int predict_label = std::max_element(output.begin(), output.end()) - output.begin();
std::cout << predict_label << std::endl;
}
int main()
{
std::vector<float> points;
float x, y, z, nx, ny, nz;
char ch;
std::ifstream infile("bed_0610.txt");
for (size_t i = 0; i < point_num; i++)
{
infile >> x >> ch >> y >> ch >> z >> ch >> nx >> ch >> ny >> ch >> nz;
points.push_back(x);
points.push_back(y);
points.push_back(z);
}
infile.close();
pc_normalize(points);
classfier(points);
return 0;
}
part segmentation
以分16类50部分，gpu版本为例。
先将pytorch训练出的pth权重文件转为onnx文件：
import torch
import torch
import pointnet_part_seg
point_num = 2048
class_num = 16
part_num = 50
normal_channel = False
def to_categorical(y, class_num):
""" 1-hot encodes a tensor """
new_y = torch.eye(class_num)[y.cpu().data.numpy(),]
if (y.is_cuda):
return new_y.cuda()
return new_y
model = pointnet_part_seg.get_model(part_num, normal_channel)
model = model.cuda() #cpu版本需注释此句
model.eval()
checkpoint = torch.load('./part_seg.pth')
model.load_state_dict(checkpoint['model_state_dict'])
x = (torch.rand(1, 6, point_num) if normal_channel else torch.rand(1, 3, point_num))
x = x.cuda() #cpu版本需注释此句
label = torch.randint(0, 1, (1, 1))
label = label.cuda() #cpu版本需注释此句
export_onnx_file = "./part_seg.onnx"
torch.onnx.export(model,
(x, to_categorical(label, class_num)),
export_onnx_file,
opset_version = 11)
python 推理：
import numpy as np
import onnxruntime
point_num = 2048
class_num = 16
def to_categorical(y, class_num):
""" 1-hot encodes a tensor """
new_y = np.eye(class_num)[y,]
return new_y.astype(np.float32)
def pc_normalize(pc):
centroid = np.mean(pc, axis=0)
pc = pc - centroid
m = np.max(np.sqrt(np.sum(pc ** 2, axis=1)))
pc = pc / m
return pc
if __name__ == '__main__':
data = np.loadtxt('85a15c26a6e9921ae008cc4902bfe3cd.txt').astype(np.float32)
point_set = data[:, 0:3]
point_set[:, 0:3] = pc_normalize(point_set[:, 0:3])
choice = np.random.choice(point_set.shape[0], point_num, replace=True)
point_set = point_set[choice, :][:, 0:3]
pts = point_set
points = np.reshape(point_set, ((1, point_num, 3)))
points = points.swapaxes(2, 1)
label = np.array([[0]], dtype=np.int32)
onnx_session = onnxruntime.InferenceSession("part_seg.onnx", providers=['CUDAExecutionProvider', 'CPUExecutionProvider'])
input_name=[]
for node in onnx_session.get_inputs():
input_name.append(node.name)
output_name=[]
for node in onnx_session.get_outputs():
output_name.append(node.name)
input_feed={}
input_feed[input_name[0]] = points
input_feed[input_name[1]] = to_categorical(label, class_num)
pred = onnx_session.run(None, input_feed)[0]
cur_pred_val_logits = pred
cur_pred_val = np.zeros((1, point_num)).astype(np.int32)
logits = cur_pred_val_logits[0, :, :]
cur_pred_val[0, :] = np.argmax(logits, 1)
pts = np.append(pts.reshape(point_num, 3), cur_pred_val[0, :].reshape(point_num, 1), 1)
np.savetxt('pred.txt', pts, fmt='%.06f')
C++推理：
#include <iostream>
#include <vector>
#include <fstream>
#include <ctime>
#include <onnxruntime_cxx_api.h>
const int point_num = 2048;
const int class_num = 16;
const int parts_num = 50;
void pc_normalize(std::vector<float>& points)
{
float mean_x = 0, mean_y = 0, mean_z = 0;
for (size_t i = 0; i < point_num; ++i)
{
mean_x += points[3 * i];
mean_y += points[3 * i + 1];
mean_z += points[3 * i + 2];
}
mean_x /= point_num;
mean_y /= point_num;
mean_z /= point_num;
for (size_t i = 0; i < point_num; ++i)
{
points[3 * i] -= mean_x;
points[3 * i + 1] -= mean_y;
points[3 * i + 2] -= mean_z;
}
float m = 0;
for (size_t i = 0; i < point_num; ++i)
{
if (sqrt(pow(points[3 * i], 2) + pow(points[3 * i + 1], 2) + pow(points[3 * i + 2], 2)) > m)
m = sqrt(pow(points[3 * i], 2) + pow(points[3 * i + 1], 2) + pow(points[3 * i + 2], 2));
}
for (size_t i = 0; i < point_num; ++i)
{
points[3 * i] /= m;
points[3 * i + 1] /= m;
points[3 * i + 2] /= m;
}
}
void resample(std::vector<float>& points)
{
srand((int)time(0));
std::vector<int> choice(point_num);
for (size_t i = 0; i < point_num; i++)
{
choice[i] = rand() % (points.size() / 3);
}
std::vector<float> temp_points(3 * point_num);
for (size_t i = 0; i < point_num; i++)
{
temp_points[3 * i] = points[3 * choice[i]];
temp_points[3 * i + 1] = points[3 * choice[i] + 1];
temp_points[3 * i + 2] = points[3 * choice[i] + 2];
}
points = temp_points;
}
std::vector<int> classfier(std::vector<float> & points, std::vector<float> & labels)
{
Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "part_seg");
Ort::SessionOptions session_options;
session_options.SetIntraOpNumThreads(1);
session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_EXTENDED);
OrtCUDAProviderOptions cuda_option;
cuda_option.device_id = 0;
cuda_option.arena_extend_strategy = 0;
cuda_option.cudnn_conv_algo_search = OrtCudnnConvAlgoSearchExhaustive;
cuda_option.gpu_mem_limit = SIZE_MAX;
cuda_option.do_copy_in_default_stream = 1;
session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_ALL);
session_options.AppendExecutionProvider_CUDA(cuda_option);
const wchar_t* model_path = L"part_seg.onnx";
Ort::Session session(env, model_path, session_options);
Ort::AllocatorWithDefaultOptions allocator;
size_t num_input_nodes = session.GetInputCount();
std::vector<const char*> input_node_names = { "input.1" , "1"};
std::vector<const char*> output_node_names = { "277" };
const size_t input_tensor_size0 = 1 * 3 * point_num;
std::vector<float> input_tensor_values0(input_tensor_size0);
for (size_t i = 0; i < 3; i++)
{
for (size_t j = 0; j < point_num; j++)
{
input_tensor_values0[point_num * i + j] = points[3 * j + i];
}
}
std::vector<int64_t> input_node_dims0 = { 1, 3, point_num };
auto memory_info0 = Ort::MemoryInfo::CreateCpu(OrtArenaAllocator, OrtMemTypeDefault);
Ort::Value input_tensor0 = Ort::Value::CreateTensor<float>(memory_info0, input_tensor_values0.data(), input_tensor_size0, input_node_dims0.data(), input_node_dims0.size());
const size_t input_tensor_size1 = 1 * 1 * class_num;
std::vector<float> input_tensor_values1(input_tensor_size0);
for (size_t i = 0; i < class_num; i++)
{
input_tensor_values1[i] = labels[i];
}
std::vector<int64_t> input_node_dims1 = { 1, 1, class_num };
auto memory_info1 = Ort::MemoryInfo::CreateCpu(OrtArenaAllocator, OrtMemTypeDefault);
Ort::Value input_tensor1 = Ort::Value::CreateTensor<float>(memory_info1, input_tensor_values1.data(), input_tensor_size1, input_node_dims1.data(), input_node_dims1.size());
std::vector<Ort::Value> ort_inputs;
ort_inputs.push_back(std::move(input_tensor0));
ort_inputs.push_back(std::move(input_tensor1));
std::vector<Ort::Value> output_tensors = session.Run(Ort::RunOptions{ nullptr }, input_node_names.data(), ort_inputs.data(), input_node_names.size(), output_node_names.data(), output_node_names.size());
const float* rawOutput = output_tensors[0].GetTensorData<float>();
std::vector<int64_t> outputShape = output_tensors[0].GetTensorTypeAndShapeInfo().GetShape();
size_t count = output_tensors[0].GetTensorTypeAndShapeInfo().GetElementCount();
std::vector<float> prob(rawOutput, rawOutput + count);
std::vector<std::vector<float>> outputs(point_num, std::vector<float>(parts_num, 0));
for (size_t i = 0; i < point_num; i++)
{
for (size_t j = 0; j < parts_num; j++)
{
outputs[i][j] = prob[i * parts_num + j];
//std::cout <<outputs[i][j] << " ";
}
//std::cout << std::endl;
}
std::vector<int> max_index(point_num, 0);
for (size_t i = 0; i < point_num; i++)
{
max_index[i]= std::max_element(outputs[i].begin(), outputs[i].end()) - outputs[i].begin();
//std::cout << max_index[i] << " ";
}
return max_index;
}
int main()
{
std::vector<float> points, labels;
float x, y, z, nx, ny, nz, label;
std::ifstream infile("85a15c26a6e9921ae008cc4902bfe3cd.txt");
while (infile >> x >> y >> z >> nx >> ny >> nz >> label)
{
points.push_back(x);
points.push_back(y);
points.push_back(z);
}
for (size_t i = 0; i < class_num; i++)
{
labels.push_back(0.0);
}
labels[0] = 1.0;
infile.close();
pc_normalize(points);
resample(points);
std::vector<int> result = classfier(points, labels);
std::fstream outfile("pred.txt", 'w');
for (size_t i = 0; i < point_num; i++)
{
outfile << points[3 * i] << " " << points[3 * i + 1] << " " << points[3 * i + 2] << " " << result[i]<< std::endl;
}
outfile.close();
return 0;
}
sematic segmentation
以分13类，gpu版本为例。
先将pytorch训练出的pth权重文件转为onnx文件：
import torch
import pointnet_sem_seg
point_num = 4096
class_num = 13
model = pointnet_sem_seg.get_model(class_num)
model = model.cuda() #cpu版本需注释此句
model.eval()
checkpoint = torch.load('sem_seg.pth')
model.load_state_dict(checkpoint['model_state_dict'])
x = torch.rand(1, 9, point_num)
x = x.cuda() #cpu版本需注释此句
export_onnx_file = "./sem_seg.onnx"
torch.onnx.export(model,
x,
export_onnx_file,
opset_version = 11)
python推理代码：
import numpy as np
import onnxruntime
point_num = 4096
class_num = 13
stride = 0.5
block_size = 1.0
if __name__ == '__main__':
data = np.load('Area_1_conferenceRoom_1.npy')
points = data[:,:6]
coord_min, coord_max = np.amin(points, axis=0)[:3], np.amax(points, axis=0)[:3]
grid_x = int(np.ceil(float(coord_max[0] - coord_min[0] - block_size) / stride) + 1)
grid_y = int(np.ceil(float(coord_max[1] - coord_min[1] - block_size) / stride) + 1)
data_room, index_room = np.array([]), np.array([])
for index_y in range(0, grid_y):
for index_x in range(0, grid_x):
s_x = coord_min[0] + index_x * stride
e_x = min(s_x + block_size, coord_max[0])
s_x = e_x - block_size
s_y = coord_min[1] + index_y * stride
e_y = min(s_y + block_size, coord_max[1])
s_y = e_y - block_size
point_idxs = np.where((points[:, 0] >= s_x) & (points[:, 0] <= e_x) & (points[:, 1] >= s_y) & (points[:, 1] <= e_y))[0]
if point_idxs.size == 0:
continue
num_batch = int(np.ceil(point_idxs.size / point_num))
point_size = int(num_batch * point_num)
replace = False if (point_size - point_idxs.size <= point_idxs.size) else True
point_idxs_repeat = np.random.choice(point_idxs, point_size - point_idxs.size, replace=replace)
point_idxs = np.concatenate((point_idxs, point_idxs_repeat))
np.random.shuffle(point_idxs)
data_batch = points[point_idxs, :]
normlized_xyz = np.zeros((point_size, 3))
normlized_xyz[:, 0] = data_batch[:, 0] / coord_max[0]
normlized_xyz[:, 1] = data_batch[:, 1] / coord_max[1]
normlized_xyz[:, 2] = data_batch[:, 2] / coord_max[2]
data_batch[:, 0] = data_batch[:, 0] - (s_x + block_size / 2.0)
data_batch[:, 1] = data_batch[:, 1] - (s_y + block_size / 2.0)
data_batch[:, 3:6] /= 255.0
data_batch = np.concatenate((data_batch, normlized_xyz), axis=1)
data_room = np.vstack([data_room, data_batch]) if data_room.size else data_batch
index_room = np.hstack([index_room, point_idxs]) if index_room.size else point_idxs
data_room = data_room.reshape((-1, point_num, data_room.shape[1]))
index_room = index_room.reshape((-1, point_num))
onnx_session = onnxruntime.InferenceSession("sem_seg.onnx", providers=['CUDAExecutionProvider', 'CPUExecutionProvider'])
input_name=[]
for node in onnx_session.get_inputs():
input_name.append(node.name)
output_name=[]
for node in onnx_session.get_outputs():
output_name.append(node.name)
vote_label_pool = np.zeros((points.shape[0], class_num))
num_blocks = data_room.shape[0]
batch_data = np.zeros((1, point_num, 9))
batch_point_index = np.zeros((1, point_num))
for sbatch in range(num_blocks):
print(sbatch, range(num_blocks))
start_idx = sbatch
end_idx = min(sbatch + 1, num_blocks)
real_batch_size = end_idx - start_idx
batch_data[0:real_batch_size, ...] = data_room[start_idx:end_idx, ...]
batch_point_index[0:real_batch_size, ...] = index_room[start_idx:end_idx, ...]
input_feed={}
for name in input_name:
input_feed[name] = batch_data.swapaxes(2, 1).astype(np.float32)
seg_pred = onnx_session.run(None, input_feed)[0]
batch_pred_label = np.argmax(seg_pred, 2)
point_idx = batch_point_index[0:real_batch_size, ...]
pred_label = batch_pred_label[0:real_batch_size, ...]
for b in range(pred_label.shape[0]):
for n in range(pred_label.shape[1]):
vote_label_pool[int(point_idx[b, n]), int(pred_label[b, n])] += 1
pred = np.argmax(vote_label_pool, 1)
fout = open('pred.txt', 'w')
for i in range(points.shape[0]):
fout.write('%f %f %f %d\n' % (points[i, 0], points[i, 1], points[i, 2], pred[i]))
fout.close()
C++推理：
#include <iostream>
#include <fstream>
#include <vector>
#include <algorithm>
#include <ctime>
#include <random>
#include <onnxruntime_cxx_api.h>
const int point_num = 4096;
const int class_num = 13;
struct point
{
float m_x, m_y, m_z, m_r, m_g, m_b, m_normal_x, m_normal_y, m_normal_z;
point() :
m_x(0), m_y(0), m_z(0), m_r(0), m_g(0), m_b(0), m_normal_x(0), m_normal_y(0), m_normal_z(0) {}
point(float x, float y, float z, float r, float g, float b) :
m_x(x), m_y(y), m_z(z), m_r(r), m_g(g), m_b(b), m_normal_x(0), m_normal_y(0), m_normal_z(0) {}
point(float x, float y, float z, float r, float g, float b, float normal_x, float normal_y, float normal_z) :
m_x(x), m_y(y), m_z(z), m_r(r), m_g(g), m_b(b), m_normal_x(normal_x), m_normal_y(normal_y), m_normal_z(normal_z) {}
};
int main()
{
float x, y, z, r, g, b, l;
std::vector<point> pts;
std::vector<float> points_x, points_y, points_z;
int points_num = 0;
std::ifstream infile("Area_1_conferenceRoom_1.txt");
while (infile >> x >> y >> z >> r >> g >> b >> l)
{
point pt(x, y, z, r, g, b);
pts.push_back(pt);
points_x.push_back(x);
points_y.push_back(y);
points_z.push_back(z);
points_num++;
}
float x_min = *std::min_element(points_x.begin(), points_x.end());
float y_min = *std::min_element(points_y.begin(), points_y.end());
float z_min = *std::min_element(points_z.begin(), points_z.end());
float x_max = *std::max_element(points_x.begin(), points_x.end());
float y_max = *std::max_element(points_y.begin(), points_y.end());
float z_max = *std::max_element(points_z.begin(), points_z.end());
float stride = 0.5;
float block_size = 1.0;
srand((int)time(0));
int grid_x = ceil((x_max - x_min - block_size) / stride) + 1;
int grid_y = ceil((y_max - y_min - block_size) / stride) + 1;
std::vector<point> data_room;
std::vector<int> index_room;
for (size_t index_y = 0; index_y < grid_y; index_y++)
{
for (size_t index_x = 0; index_x < grid_x; index_x++)
{
float s_x = x_min + index_x * stride;
float e_x = std::min(s_x + block_size, x_max);
s_x = e_x - block_size;
float s_y = y_min + index_y * stride;
float e_y = std::min(s_y + block_size, y_max);
s_y = e_y - block_size;
std::vector<int> point_idxs;
for (size_t i = 0; i < points_num; i++)
{
if (points_x[i] >= s_x && points_x[i] <= e_x && points_y[i] >= s_y && points_y[i] <= e_y)
point_idxs.push_back(i);
}
if (point_idxs.size() == 0)
continue;
int num_batch = ceil(point_idxs.size() * 1.0 / point_num);
int point_size = num_batch * point_num;
bool replace = (point_size - point_idxs.size() <= point_idxs.size() ? false : true);
std::vector<int> point_idxs_repeat;
if (replace)
{
for (size_t i = 0; i < point_size - point_idxs.size(); i++)
{
int id = rand() % point_idxs.size();
point_idxs_repeat.push_back(point_idxs[id]);
}
}
else
{
std::vector<bool> flags(pts.size(), false);
for (size_t i = 0; i < point_size - point_idxs.size(); i++)
{
int id = rand() % point_idxs.size();
while (true)
{
if (flags[id] == false)
{
flags[id] = true;
break;
}
id = rand() % point_idxs.size();
}
point_idxs_repeat.push_back(point_idxs[id]);
}
}
point_idxs.insert(point_idxs.end(), point_idxs_repeat.begin(), point_idxs_repeat.end());
std::random_device rd;
std::mt19937 g(rd()); // 随机数引擎:基于梅森缠绕器算法的随机数生成器
std::shuffle(point_idxs.begin(), point_idxs.end(), g); // 打乱顺序，重新排序（随机序列）
std::vector<point> data_batch;
for (size_t i = 0; i < point_idxs.size(); i++)
{
data_batch.push_back(pts[point_idxs[i]]);
}
//std::cout << index_y << " " << index_x << std::endl;
for (size_t i = 0; i < point_size; i++)
{
data_batch[i].m_normal_x = data_batch[i].m_x / x_max;
data_batch[i].m_normal_y = data_batch[i].m_y / y_max;
data_batch[i].m_normal_z = data_batch[i].m_z / z_max;
data_batch[i].m_x -= (s_x + block_size / 2.0);
data_batch[i].m_y -= (s_y + block_size / 2.0);
data_batch[i].m_r /= 255.0;
data_batch[i].m_g /= 255.0;
data_batch[i].m_b /= 255.0;
data_room.push_back(data_batch[i]);
index_room.push_back(point_idxs[i]);
}
}
}
int n = point_num, m = index_room.size() / n;
std::vector<std::vector<point>> data_rooms(m, std::vector<point>(n, point()));
std::vector<std::vector<int>> index_rooms(m, std::vector<int>(n, 0));
for (size_t i = 0; i < m; i++)
{
for (size_t j = 0; j < n; j++)
{
data_rooms[i][j] = data_room[i * n + j];
index_rooms[i][j] = index_room[i * n + j];
}
}
std::vector<std::vector<int>> vote_label_pool(points_num, std::vector<int>(class_num, 0));
int num_blocks = data_rooms.size();
clock_t start = clock();
Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "sem_seg");
Ort::SessionOptions session_options;
session_options.SetIntraOpNumThreads(1);
session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_EXTENDED);
OrtCUDAProviderOptions cuda_option;
cuda_option.device_id = 0;
cuda_option.arena_extend_strategy = 0;
cuda_option.cudnn_conv_algo_search = OrtCudnnConvAlgoSearchExhaustive;
cuda_option.gpu_mem_limit = SIZE_MAX;
cuda_option.do_copy_in_default_stream = 1;
session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_ALL);
session_options.AppendExecutionProvider_CUDA(cuda_option);
const wchar_t* model_path = L"sem_seg.onnx";
Ort::Session session(env, model_path, session_options);
Ort::AllocatorWithDefaultOptions allocator;
size_t num_input_nodes = session.GetInputCount();
std::vector<const char*> input_node_names = { "input.1" };
std::vector<const char*> output_node_names = { "268" };
const size_t input_tensor_size = 1 * 9 * point_num;
std::vector<float> input_tensor_values(input_tensor_size);
for (int sbatch = 0; sbatch < num_blocks; sbatch++)
{
//std::cout << sbatch << std::endl;
int start_idx = sbatch;
int end_idx = std::min(sbatch + 1, num_blocks);
int real_batch_size = end_idx - start_idx;
std::vector<point> batch_data = data_rooms[start_idx];
std::vector<int> point_idx = index_rooms[start_idx];
std::vector<float> batch(point_num * 9);
for (size_t i = 0; i < point_num; i++)
{
batch[9 * i + 0] = batch_data[i].m_x;
batch[9 * i + 1] = batch_data[i].m_y;
batch[9 * i + 2] = batch_data[i].m_z;
batch[9 * i + 3] = batch_data[i].m_r;
batch[9 * i + 4] = batch_data[i].m_g;
batch[9 * i + 5] = batch_data[i].m_b;
batch[9 * i + 6] = batch_data[i].m_normal_x;
batch[9 * i + 7] = batch_data[i].m_normal_y;
batch[9 * i + 8] = batch_data[i].m_normal_z;
}
for (size_t i = 0; i < 9; i++)
{
for (size_t j = 0; j < point_num; j++)
{
input_tensor_values[i * point_num + j] = batch[9 * j + i];
}
}
std::vector<int64_t> input_node_dims = { 1, 9, point_num };
auto memory_info = Ort::MemoryInfo::CreateCpu(OrtArenaAllocator, OrtMemTypeDefault);
Ort::Value input_tensor = Ort::Value::CreateTensor<float>(memory_info, input_tensor_values.data(), input_tensor_size, input_node_dims.data(), input_node_dims.size());
std::vector<Ort::Value> ort_inputs;
ort_inputs.push_back(std::move(input_tensor));
std::vector<Ort::Value> output_tensors = session.Run(Ort::RunOptions{ nullptr }, input_node_names.data(), ort_inputs.data(), input_node_names.size(), output_node_names.data(), output_node_names.size());
const float* rawOutput = output_tensors[0].GetTensorData<float>();
std::vector<int64_t> outputShape = output_tensors[0].GetTensorTypeAndShapeInfo().GetShape();
size_t count = output_tensors[0].GetTensorTypeAndShapeInfo().GetElementCount();
std::vector<float> prob(rawOutput, rawOutput + count);
std::vector<std::vector<float>> outputs(point_num, std::vector<float>(class_num, 0));
for (size_t i = 0; i < point_num; i++)
{
for (size_t j = 0; j < class_num; j++)
{
outputs[i][j] = prob[i * class_num + j];
//std::cout << outputs[i][j] << " ";
}
//std::cout << std::endl;
}
std::vector<int> pred_label(point_num, 0);
for (size_t i = 0; i < point_num; i++)
{
pred_label[i] = std::max_element(outputs[i].begin(), outputs[i].end()) - outputs[i].begin();
vote_label_pool[point_idx[i]][pred_label[i]] += 1;
}
}
clock_t stop = clock();
std::cout << stop - start << std::endl;
std::ofstream outfile("pred.txt");
for (size_t i = 0; i < points_num; i++)
{
int max_index = std::max_element(vote_label_pool[i].begin(), vote_label_pool[i].end()) - vote_label_pool[i].begin();
outfile << pts[i].m_x << " " << pts[i].m_y << " " << pts[i].m_z << " " << max_index << std::endl;
}
outfile.close();
return 0;
}
注意，由于C++无法直接读取npy格式文件（可以依赖一些库），这里先使用python脚本将npy文件转换成txt文件。
import numpy as np
npy = np.load("Area_1_conferenceRoom_1.npy")
np.savetxt('Area_1_conferenceRoom_1.txt', npy, fmt='%0.06f')
