addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

using Godot;
using Microsoft.ML.OnnxRuntime;
using Microsoft.ML.OnnxRuntime.Tensors;
using System.Collections.Generic;
using System.Linq;

namespace GodotONNX
{
	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
	public partial class ONNXInference : GodotObject
	{

		private InferenceSession session;
		/// <summary>
		/// Path to the ONNX model. Use Initialize to change it. 
		/// </summary>
		private string modelPath;
		private int batchSize;

		private SessionOptions SessionOpt;

		//init function
		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
		public void Initialize(string Path, int BatchSize)
		{
			modelPath = Path;
			batchSize = BatchSize;
            SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
            session = LoadModel(modelPath);

		}
		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
		public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> RunInference(Godot.Collections.Array<float> obs, int state_ins)
		{
			//Current model: Any (Godot Rl Agents)
			//Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins

			//Fill the input tensors
			// create span from inputSize
			var span = new float[obs.Count]; //There's probably a better way to do this
			for (int i = 0; i < obs.Count; i++)
			{
				span[i] = obs[i];
			}

			IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue>
			{
			NamedOnnxValue.CreateFromTensor("obs", new DenseTensor<float>(span, new int[] { batchSize, obs.Count })),
			NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor<float>(new float[] { state_ins }, new int[] { batchSize }))
			};
			IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names

			IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results; 
			//We do not use "using" here so we get a better exception explaination later
			try
			{
				results = session.Run(inputs, outputNames);
			}
			catch (OnnxRuntimeException e)
			{
				//This error usually means that the model is not compatible with the input, beacause of the input shape (size)
				GD.Print("Error at inference: ", e);
				return null;
			}
			//Can't convert IEnumerable<float> to Variant, so we have to convert it to an array or something
			Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
			DisposableNamedOnnxValue output1 = results.First();
			DisposableNamedOnnxValue output2 = results.Last();
			Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
			Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();

			foreach (float f in output1.AsEnumerable<float>())
			{
				output1Array.Add(f);
			}

			foreach (float f in output2.AsEnumerable<float>())
			{
				output2Array.Add(f);
			}

			output.Add(output1.Name, output1Array);
			output.Add(output2.Name, output2Array);

			//Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
			results.Dispose();
			return output;
		}
		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
		public InferenceSession LoadModel(string Path)
		{
			using Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
			byte[] model = file.GetBuffer((int)file.GetLength());
			//file.Close(); file.Dispose(); //Close the file, then dispose the reference.
			return new InferenceSession(model, SessionOpt); //Load the model
		}
		public void FreeDisposables()
		{
			session.Dispose();
			SessionOpt.Dispose();
		}
	}
}