[Model] Support Paddle3D PETR v2 model (#1863)

* Support PETR v2 * make petrv2 precision equal with the origin repo * delete extra func * modify review problem * delete visualize * Update README_CN.md * Update README.md * Update README_CN.md * fix build problem * delete external variable and function --------- Co-authored-by: DefTruth <31974251+DefTruth@users.noreply.github.com>
2025-10-13 04:13:58 +08:00 · 2023-05-19 10:45:36 +08:00
parent c8ff8b63e8
commit e3b285c762
20 changed files with 1181 additions and 0 deletions
--- a/examples/vision/perception/paddle3d/petr/cpp/infer.cc
+++ b/examples/vision/perception/paddle3d/petr/cpp/infer.cc
@@ -0,0 +1,84 @@
+// 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.
+
+#include "fastdeploy/vision.h"
+#ifdef WIN32
+const char sep = '\\';
+#else
+const char sep = '/';
+#endif
+
+void InitAndInfer(const std::string& model_dir, const std::string& images_dir,
+                  const fastdeploy::RuntimeOption& option) {
+  auto model_file = model_dir + sep + "petrv2_inference.pdmodel";
+  auto params_file = model_dir + sep + "petrv2_inference.pdiparams";
+  auto config_file = model_dir + sep + "infer_cfg.yml";
+  fastdeploy::vision::EnableFlyCV();
+  auto model = fastdeploy::vision::perception::Petr(
+      model_file, params_file, config_file, option,
+      fastdeploy::ModelFormat::PADDLE);
+  assert(model.Initialized());
+
+  std::vector<cv::Mat> im_batch;
+  for (int i = 0; i < 12; i++) {
+    auto image_file = images_dir + sep + "image" + std::to_string(i) + ".png";
+    auto im = cv::imread(image_file);
+    im_batch.emplace_back(im);
+  }
+
+  std::vector<fastdeploy::vision::PerceptionResult> res;
+  if (!model.BatchPredict(im_batch, &res)) {
+    std::cerr << "Failed to predict." << std::endl;
+    return;
+  }
+  std::cout << res[0].Str() << std::endl;
+}
+
+int main(int argc, char* argv[]) {
+  if (argc < 4) {
+    std::cout << "Usage: infer_demo path/to/paddle_model"
+                 "path/to/image "
+                 "run_option, "
+                 "e.g ./infer_demo ./petr ./00000.png 0"
+              << std::endl;
+    std::cout << "The data type of run_option is int, 0: run with cpu; 1: run "
+                 "with gpu; 2: run with paddle-trt"
+              << std::endl;
+    return -1;
+  }
+
+  fastdeploy::RuntimeOption option;
+  if (std::atoi(argv[3]) == 0) {
+    option.UseCpu();
+  } else if (std::atoi(argv[3]) == 1) {
+    option.UseGpu();
+  } else if (std::atoi(argv[3]) == 2) {
+    option.UseGpu();
+    option.UseTrtBackend();
+    option.EnablePaddleToTrt();
+    option.SetTrtInputShape("images", {1, 3, 384, 1280});
+    option.SetTrtInputShape("down_ratios", {1, 2});
+    option.SetTrtInputShape("trans_cam_to_img", {1, 3, 3});
+    option.SetTrtInputData("trans_cam_to_img",
+                           {721.53771973, 0., 609.55932617, 0., 721.53771973,
+                            172.85400391, 0, 0, 1});
+    option.EnablePaddleTrtCollectShape();
+  }
+  option.UsePaddleBackend();
+
+  std::string model_dir = argv[1];
+  std::string test_image = argv[2];
+  InitAndInfer(model_dir, test_image, option);
+  return 0;
+}