Update inference_axmodel.py

inference_axmodel.py

@@ -25,7 +25,8 @@ def parse_args():
 
 def load_axmodel(axmodel_path):
     """Load AXModel"""
-    session = axe.InferenceSession(axmodel_path)
+    providers = ['AxEngineExecutionProvider']
+    session = axe.InferenceSession(axmodel_path, providers=providers)
     return session
 
 
@@ -301,7 +302,7 @@ def rotation_3d_in_axis_np(points, angles, axis=2):
         rot_mat[:, 2, 1] = zeros
         rot_mat[:, 2, 2] = ones
         
-        # Apply rotation: (N, M, 3) @ (N, 3, 3) -> (N, M, 3)
+        # Rotation: (N, M, 3) @ (N, 3, 3) -> (N, M, 3)
         return np.einsum('aij,ajk->aik', points, rot_mat)
     else:
         raise ValueError(f'Only axis=2 (z-axis) is supported for LiDAR boxes')
@@ -322,7 +323,7 @@ def compute_bbox_corners_np(bboxes):
     dims = np.concatenate([l, w, h], axis=1)  # (N, 3) [x_size, y_size, z_size] = [l, w, h]
     yaws = bboxes[:, 6]  # (N,) yaw angle
     
-    # Key fix: offset yaw by -80 degrees
+    # Fix: offset yaw by -80 degrees
     yaws = yaws - (np.pi / 2.0 - np.pi / 18.0)
     
     # Generate corners
@@ -378,10 +379,8 @@ def draw_bbox3d_on_img_custom_np(bboxes, raw_img, lidar2img_rt, color=(0, 255, 0
     pts_2d[:, 0] /= pts_2d[:, 2]
     pts_2d[:, 1] /= pts_2d[:, 2]
     
-    # Reshape to (N, 8, 2)
     imgfov_pts_2d = pts_2d[:, :2].reshape(num_bbox, 8, 2)
     
-    # Draw 12 lines
     line_indices = ((0, 1), (0, 3), (0, 4), (1, 2), (1, 5), (3, 2), (3, 7),
                     (4, 5), (4, 7), (2, 6), (5, 6), (6, 7))