PaddleX/libs/ultra-infer/python/ultra_infer/vision/perception/paddle3d/centerpoint.py

# Copyright (c) 2024 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.

from __future__ import absolute_import

from .... import UltraInferModel, ModelFormat
from .... import c_lib_wrap as C


class CenterpointPreprocessor:
    def __init__(self, config_file):
        """Create a preprocessor for Centerpoint"""
        self._preprocessor = C.vision.perception.CenterpointPreprocessor(config_file)

    def run(self, point_dirs, num_point_dim, with_timelag):
        """Preprocess input images for Centerpoint

        :param: input_ims: (list of numpy.ndarray)The input image
        :return: list of FDTensor
        """
        return self._preprocessor.run(point_dirs, num_point_dim, with_timelag)


class Centerpoint(UltraInferModel):
    def __init__(
        self,
        model_file,
        params_file,
        config_file,
        runtime_option=None,
        model_format=ModelFormat.PADDLE,
    ):
        """Load a Centerpoint model exported by Centerpoint.

        :param model_file: (str)Path of model file, e.g ./Centerpoint.pdmodel
        :param params_file: (str)Path of parameters file, e.g ./Centerpoint.pdiparams
        :param config_file: (str)Path of config file, e.g ./infer_cfg.yaml
        :param runtime_option: (ultra_infer.RuntimeOption)RuntimeOption for inference this model, if it's None, will use the default backend on CPU
        :param model_format: (ultra_infer.ModelForamt)Model format of the loaded model
        """
        super(Centerpoint, self).__init__(runtime_option)

        self._model = C.vision.perception.Centerpoint(
            model_file, params_file, config_file, self._runtime_option, model_format
        )
        assert self.initialized, "Centerpoint initialize failed."

    def predict(self, point_dir):
        """Detect an input image

        :param input_image: (numpy.ndarray)The input image data, 3-D array with layout HWC, BGR format
        :param conf_threshold: confidence threshold for postprocessing, default is 0.25
        :param nms_iou_threshold: iou threshold for NMS, default is 0.5
        :return: PerceptionResult
        """
        return self._model.predict(point_dir)

    def batch_predict(self, points_dir):
        """Classify a batch of input image

        :param im: (list of numpy.ndarray) The input image list, each element is a 3-D array with layout HWC, BGR format
        :return list of PerceptionResult
        """

        return self._model.batch_predict(points_dir)

    @property
    def preprocessor(self):
        """Get CenterpointPreprocessor object of the loaded model

        :return CenterpointPreprocessor
        """
        return self._model.preprocessor

    @property
    def postprocessor(self):
        """Get CenterpointPostprocessor object of the loaded model

        :return CenterpointPostprocessor
        """
        return self._model.postprocessor