#include?
#include?

#include?“torch/script.h“
#include?“torch/torch.h“
#include?“opencv2/core.hpp“
#include?“opencv2/imgproc.hpp“
#include?“opencv2/highgui.hpp“
#include?“opencv2/imgcodecs.hpp“
#include?
#include?
#include?
#include?
using?namespace?std;
//根據(jù)association加載圖像
void?LoadImages（const?string?&strAssociationFilename?vector?&vstrImageFilenamesRGB
????????????????vector?&vstrImageFilenamesD?vector?&vTimestamps）
{
????ifstream?fAssociation;
????fAssociation.open（strAssociationFilename.c_str（））;
????while（!fAssociation.eof（））
????{
????????string?s;
????????getline（fAssociations）;
????????if（!s.empty（））
????????{
????????????stringstream?ss;
????????????ss?<????????????double?t;
????????????string?sRGB?sD;

????????????ss?>>?t;
????????????vTimestamps.push_back（t）;
????????????ss?>>?sRGB;
????????????vstrImageFilenamesRGB.push_back（sRGB）;
????????????ss?>>?t;
????????????ss?>>?sD;
????????????vstrImageFilenamesD.push_back（sD）;
????????}
????}
}

void?Visualization（cv::Mat?prediction_map?std::string?LUT_file）?{

??cv::cvtColor（prediction_map.clone（）?prediction_map?CV_GRAY2BGR）;
??cv::Mat?label_colours?=?cv::imread（LUT_file1）;
??cv::cvtColor（label_colours?label_colours?CV_RGB2BGR）;
??cv::Mat?output_image;
??LUT（prediction_map?label_colours?output_image）;

??cv::imshow（?“Display?window“?output_image）;
??
}
//對(duì)圖片首先進(jìn)行處理，返回張量
torch::Tensor?process（?cv::Mat&?imagetorch::Device?deviceint?img_size）
{
????cv::imshow（“test1“image）;
?????//首先對(duì)輸入的圖片進(jìn)行處理
????cv::cvtColor（image?image?CV_BGR2RGB）;//?bgr?->?rgb
????cv::Mat?img_float;
???//?image.convertTo（img_float?CV_32F?1.0?/?255）;//歸一化到[01]區(qū)間
????cv::resize（image?img_float?cv::Size（img_size?img_size））;
????

????std::vector?dims?=?{1?img_size?img_size?3};
????torch::Tensor?img_var?=?torch::from_blob（img_float.data?dims?torch::kByte）.to（device）;//將圖像轉(zhuǎn)化成張量
???img_var?=?img_var.permute（{0312}）;//將張量的參數(shù)順序轉(zhuǎn)化為?torch輸入的格式?13384384
???img_var?=?img_var.toType（torch::kFloat）;
???img_var?=?img_var.div（255）;
???return?img_var;

}
int?main（）?{

???char?path[]?=?“../h1.png“;
???int?img_size?=?384;
???std::string?LUT_file=“../pascal.png“;
??//設(shè)置device類型
????torch::DeviceType?device_type;
????device_type?=?torch::kCUDA;
????torch::Device?device（device_type）;
????std::cout<<“cudu?support:“<????//讀取圖像
????vector?vstrImageFilenamesRGB;
????vector?vstrImageFilenamesD;
????//vector?vstrImageFilenamesS;
????vector?vTimestamps;
????string?strAssociationFilename?=?string（“/media/azs/chris/dataset/TUM/rgbd_dataset_freiburg3_walking_xyz/associations.txt“）;
????LoadImages（strAssociationFilename?vstrImageFilenamesRGB?vstrImageFilenamesD?vTimestamps）;
?????int?nImages?=?vstrImageFilenamesRGB.size（）;
????if（vstrImageFilenamesRGB.empty（））
????{
????????cerr?<