diff --git a/samples/built-in/classification/Chinese-CLIP/src/ClipInfer.cpp b/samples/built-in/classification/Chinese-CLIP/src/ClipInfer.cpp index acc2775d2c0a6ac072c4a079a179f2e651dbb7bd..258b716eecb145624eac528227b8ba6cbc54f9f7 100644 --- a/samples/built-in/classification/Chinese-CLIP/src/ClipInfer.cpp +++ b/samples/built-in/classification/Chinese-CLIP/src/ClipInfer.cpp @@ -133,8 +133,6 @@ bool Save2DToBin( LOG(ERROR) << "feats is empty"; return false; } - size_t rows = feats.size(); // 行数（如5） - size_t cols = feats[0].size(); // 列数（如1024） std::ofstream binFile(binPath, std::ios::out | std::ios::binary); if (!binFile.is_open()) { std::cerr << "错误：无法打开bin文件 " << binPath << std::endl; @@ -354,7 +352,6 @@ bool ClipInfer::ExecuteParams(int argc, char *argv[]) std::string aclConfigPath; std::string inputPath; - static int loop = 1; while ((opt = getopt_long(argc, argv, optstring, long_options, NULL)) != -1) { switch (opt) { case 'h': diff --git a/samples/built-in/embodied_intelligence/Pi0/README.md b/samples/built-in/embodied_intelligence/Pi0/README.md index 6d8bb8232c0a7f7de6832b587ae3be44c79cc8b4..c0b8179a6fd5bbde88b9f33dc2166b7d24596b96 100644 --- a/samples/built-in/embodied_intelligence/Pi0/README.md +++ b/samples/built-in/embodied_intelligence/Pi0/README.md @@ -176,7 +176,7 @@ ## 安装依赖 ``` - # 建议使用python3.8 + # 建议使用python3.10 pip3 install -r requirements.txt ``` diff --git a/samples/common/infer/post_process/graspnet_postprocess.cpp b/samples/common/infer/post_process/graspnet_postprocess.cpp index 80371ea8356641c7dee6d0250783d773c40e59c5..48d21583a793e16e3b2496f24adda4040a91967f 100644 --- a/samples/common/infer/post_process/graspnet_postprocess.cpp +++ b/samples/common/infer/post_process/graspnet_postprocess.cpp @@ -757,8 +757,6 @@ ModelFreeCollisionDetector::DetectionResult ModelFreeCollisionDetector::Detect( sceneZ[p] = scenePoints_[p][2]; } - // 并行处理每个抓取姿态（OpenMP加速，数量>10时并行） - #pragma omp parallel for if(numGrasps > 10) for (int g = 0; g < numGrasps; ++g) { // 抓取姿态参数 const Matrix3d& rot = R[g]; diff --git a/samples/common/infer/post_process/pi0_postprocess.cpp b/samples/common/infer/post_process/pi0_postprocess.cpp index 9deb1391be2b86a56d9353b600423123341421e9..8806a7ce255d4d90ea75a0d7e33da5eb4b94f1bd 100644 --- a/samples/common/infer/post_process/pi0_postprocess.cpp +++ b/samples/common/infer/post_process/pi0_postprocess.cpp @@ -137,7 +137,7 @@ static bool ParseActionStatsJsonFile(const std::string& filePath, NormalizeParam return true; } -static Result Unnormalize(const std::string& actionStatsPath, std::vector> &modelOut, int actionLen) +static Result Unnormalize(const std::string& actionStatsPath, std::vector> &modelOut, size_t actionLen) { NormalizeParam param; if (!ParseActionStatsJsonFile(actionStatsPath, param)) { @@ -150,8 +150,8 @@ static Result Unnormalize(const std::string& actionStatsPath, std::vector& fileList, const std::string& saveTxtDir, - const std::vector> &modelOut, int actionLen) + const std::vector> &modelOut, size_t actionLen) { if (fileList.size() < MIN_FILELIST_INPUT_NUM || fileList.size() > MAX_FILELIST_INPUT_NUM) { LOG(ERROR) << "The number of input is wrong, please check fileList_1.json " << fileList.size(); @@ -177,8 +177,8 @@ static Result SaveAction(std::vector& fileList, const std::string& return FAILED;; } - for (int i = 0; i < modelOut.size(); ++i) { - for (int j = 0; j < actionLen; ++j) { + for (size_t i = 0; i < modelOut.size(); ++i) { + for (size_t j = 0; j < actionLen; ++j) { file << modelOut[i][j]; if (j < actionLen - 1) { file << " "; diff --git a/samples/common/infer/preprocess/clip_txt_preprocess.cpp b/samples/common/infer/preprocess/clip_txt_preprocess.cpp index 98e158507ced0fabec344478562279bde65a02b1..3411a42ab3ee6206d8787c33a55bfe022317648c 100644 --- a/samples/common/infer/preprocess/clip_txt_preprocess.cpp +++ b/samples/common/infer/preprocess/clip_txt_preprocess.cpp @@ -631,7 +631,7 @@ bool ClipTxtPreprocess(std::vector &fileList, // 2. 分词并转换为ID，截断到context_length-2（预留CLS和SEP） auto text_tokens = tokenizer.tokenize(fileList[0]); auto text_ids = tokenizer.ConvertTokensToIds(text_tokens); - int max_content_len = CONTEXT_LENGTH - 2; + size_t max_content_len = CONTEXT_LENGTH - 2; if (text_ids.size() > max_content_len) { text_ids.resize(max_content_len); } diff --git a/samples/common/infer/preprocess/graspnet_preprocess.cpp b/samples/common/infer/preprocess/graspnet_preprocess.cpp index fadd7e5ac668d1c54f665ad157c9dfa550ca6fd9..11b7d2dab388cf400def9074c93199d9f40d3067 100644 --- a/samples/common/infer/preprocess/graspnet_preprocess.cpp +++ b/samples/common/infer/preprocess/graspnet_preprocess.cpp @@ -256,9 +256,10 @@ static void SamplePoints(const std::vector& cloudMasked, std::random_device rd; std::mt19937 gen(rd()); - if (cloudMasked.size() >= numPoints) { + int cloudMaskedSize = cloudMasked.size(); + if (cloudMaskedSize >= numPoints) { // 随机选择不重复的点 - std::vector indices(cloudMasked.size()); + std::vector indices(cloudMaskedSize); for (size_t i = 0; i < indices.size(); ++i) { indices[i] = i; } @@ -278,8 +279,8 @@ static void SamplePoints(const std::vector& cloudMasked, cloudSampled = cloudMasked; colorSampled = colorMasked; - int remaining = numPoints - cloudMasked.size(); - std::uniform_int_distribution dis(0, cloudMasked.size() - 1); + int remaining = numPoints - cloudMaskedSize; + std::uniform_int_distribution dis(0, cloudMaskedSize - 1); for (int i = 0; i < remaining; ++i) { size_t idx = dis(gen); diff --git a/samples/common/infer/preprocess/pi0_preprocess.cpp b/samples/common/infer/preprocess/pi0_preprocess.cpp index 1e6801b3400c9f5de9501c8bee387a6203146a3c..020e6fd74dd43aa73315f27cd602f10805e69dec 100644 --- a/samples/common/infer/preprocess/pi0_preprocess.cpp +++ b/samples/common/infer/preprocess/pi0_preprocess.cpp @@ -85,13 +85,13 @@ static std::vector EncodeLanguage(const std::string& text, const std::strin return tokenIds; } -static Result BuildLangInputsToBuf(const std::vector& tokenIds, int maxLen, +static Result BuildLangInputsToBuf(const std::vector& tokenIds, size_t maxLen, int64_t padTokenId, std::vector& inBufs, std::vector& inDescs) { // 1. 截断或者补齐 token 序列 std::vector tokens; // 取前maxLen个 token - int tokenLen = std::min(static_cast(tokenIds.size()), maxLen); + int tokenLen = std::min(static_cast(tokenIds.size()), static_cast(maxLen)); tokens.assign(tokenIds.begin(), tokenIds.begin() + tokenLen); // 不足maxLen时用padTokenId填充 if (tokens.size() < maxLen) { @@ -131,7 +131,7 @@ static Result BuildLangInputsToBuf(const std::vector& tokenIds, int maxLen, } static Result EncodeLanguageToBuf(const std::string& text, const std::string& modelPath, - int tokenLen, std::vector& inBufs, std::vector& inDescs) + size_t tokenLen, std::vector& inBufs, std::vector& inDescs) { std::vector tokenIds; tokenIds = EncodeLanguage(text, modelPath); @@ -168,7 +168,7 @@ static Result ReadStateToBuf(const std::string& path, std::vector& in return FAILED; } - for (int i = 0; i < state.size(); i++) { + for (size_t i = 0; i < state.size(); i++) { infile >> state[i]; } infile.close();