Merge branch 'feat/add_tensorrt_rtmdet' of https://github.com/StepTurtle/autoware.universe into feat/add_tensorrt_rtmdet

Author: Barış Zeren

perception/autoware_tensorrt_rtmdet/include/tensorrt_rtmdet/tensorrt_rtmdet.hpp

@@ -20,9 +20,9 @@
 
 #include <autoware/cuda_utils/cuda_unique_ptr.hpp>
 #include <autoware/cuda_utils/stream_unique_ptr.hpp>
+#include <autoware/tensorrt_common/tensorrt_common.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <autoware/tensorrt_common/tensorrt_common.hpp>
 
 #include <cv_bridge/cv_bridge.h>
 
@@ -81,7 +81,8 @@ class TrtRTMDet
     const std::string & model_path, const std::string & precision, const ColorMap & color_map,
     const float score_threshold = 0.3, const float nms_threshold = 0.7,
     const float mask_threshold = 200.0,
-    const autoware::tensorrt_common::BuildConfig & build_config = autoware::tensorrt_common::BuildConfig(),
+    const autoware::tensorrt_common::BuildConfig & build_config =
+      autoware::tensorrt_common::BuildConfig(),
     const std::string & calibration_image_list_file_path = std::string(),
     const double norm_factor = 1.0, const std::vector<float> & mean = {103.53, 116.28, 123.675},
     const std::vector<float> & std = {57.375, 57.12, 58.395},

perception/autoware_tensorrt_rtmdet/package.xml

@@ -16,17 +16,17 @@
   <buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
   <buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
 
+  <depend>autoware_cuda_utils</depend>
   <depend>autoware_internal_msgs</depend>
+  <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_perception_msgs</depend>
-  <depend>autoware_cuda_utils</depend>
+  <depend>autoware_tensorrt_common</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>libopencv-dev</depend>
-  <depend>autoware_object_recognition_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>autoware_tensorrt_common</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>trt_batched_nms</depend>
 

perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet.cpp

@@ -62,8 +62,9 @@ TrtRTMDet::TrtRTMDet(
   const autoware::tensorrt_common::BuildConfig & build_config,
   const std::string & calibration_image_list_file_path, const double norm_factor,
   const std::vector<float> & mean, const std::vector<float> & std,
-  [[maybe_unused]] const std::string & cache_dir, const autoware::tensorrt_common::BatchConfig & batch_config,
-  const size_t max_workspace_size, const std::vector<std::string> & plugin_paths)
+  [[maybe_unused]] const std::string & cache_dir,
+  const autoware::tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size,
+  const std::vector<std::string> & plugin_paths)
 : score_threshold_{score_threshold},
   nms_threshold_{nms_threshold},
   mask_threshold_{mask_threshold},
@@ -190,8 +191,8 @@ void TrtRTMDet::preprocess_gpu(const std::vector<cv::Mat> & images)
       scale_height_ = input_height / static_cast<float>(image.rows);
       image_buf_h_ = autoware::cuda_utils::make_unique_host<unsigned char[]>(
         image.cols * image.rows * 3 * batch_size, cudaHostAllocWriteCombined);
-      image_buf_d_ =
-        autoware::cuda_utils::make_unique<unsigned char[]>(image.cols * image.rows * 3 * batch_size);
+      image_buf_d_ = autoware::cuda_utils::make_unique<unsigned char[]>(
+        image.cols * image.rows * 3 * batch_size);
     }
     int index = b * image.cols * image.rows * 3;
     // Copy into pinned memory

perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet_node.cpp

@@ -57,7 +57,7 @@ TrtRTMDetNode::TrtRTMDetNode(const rclcpp::NodeOptions & node_options)
 
   color_map_ = read_color_map_file(color_map_path);
 
-    autoware::tensorrt_common::BuildConfig build_config(
+  autoware::tensorrt_common::BuildConfig build_config(
     "Entropy", dla_core_id, quantize_first_layer, quantize_last_layer, profile_per_layer,
     clip_value);
 
@@ -71,8 +71,8 @@ TrtRTMDetNode::TrtRTMDetNode(const rclcpp::NodeOptions & node_options)
 
   trt_rtmdet_ = std::make_unique<tensorrt_rtmdet::TrtRTMDet>(
     model_path, precision, color_map_, score_threshold, nms_threshold, mask_threshold, build_config,
-    calibration_image_list_path, norm_factor, mean_, std_, cache_dir,
-    batch_config, max_workspace_size, plugin_paths);
+    calibration_image_list_path, norm_factor, mean_, std_, cache_dir, batch_config,
+    max_workspace_size, plugin_paths);
 
   timer_ =
     rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&TrtRTMDetNode::on_connect, this));

perception/autoware_tensorrt_rtmdet/test/test_rtmdet.cpp

@@ -19,8 +19,8 @@
 
 #include <autoware/cuda_utils/cuda_unique_ptr.hpp>
 #include <autoware/cuda_utils/stream_unique_ptr.hpp>
-#include <opencv2/opencv.hpp>
 #include <autoware/tensorrt_common/tensorrt_common.hpp>
+#include <opencv2/opencv.hpp>
 
 #include <dlfcn.h>
 #include <gtest/gtest.h>
@@ -95,7 +95,8 @@ class TrtRTMDetTest : public ::testing::Test
    *
    * @return The image buffer on the host.
    */
-  [[nodiscard]] const autoware::cuda_utils::CudaUniquePtrHost<unsigned char[]> & get_image_buffer_h() const
+  [[nodiscard]] const autoware::cuda_utils::CudaUniquePtrHost<unsigned char[]> &
+  get_image_buffer_h() const
   {
     return trt_rtmdet_->image_buf_h_;
   }
@@ -105,7 +106,8 @@ class TrtRTMDetTest : public ::testing::Test
    *
    * @return The image buffer on the device.
    */
-  [[nodiscard]] const autoware::cuda_utils::CudaUniquePtr<unsigned char[]> & get_image_buffer_d() const
+  [[nodiscard]] const autoware::cuda_utils::CudaUniquePtr<unsigned char[]> & get_image_buffer_d()
+    const
   {
     return trt_rtmdet_->image_buf_d_;
   }