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fix(tensorrt): update tensorrt code of lidar_centerpoint #2328

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fix(tensorrt): update tensorrt code of lidar_centerpoint #2328

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2 changes: 1 addition & 1 deletion perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ class TensorRTWrapper
const std::string & onnx_path, const std::string & engine_path, const std::string & precision);

unique_ptr<nvinfer1::IExecutionContext> context_ = nullptr;
unique_ptr<nvinfer1::ICudaEngine> engine_ = nullptr;

protected:
virtual bool setProfile(
Expand All @@ -86,7 +87,6 @@ class TensorRTWrapper

unique_ptr<nvinfer1::IRuntime> runtime_ = nullptr;
unique_ptr<nvinfer1::IHostMemory> plan_ = nullptr;
unique_ptr<nvinfer1::ICudaEngine> engine_ = nullptr;
};

} // namespace centerpoint
Expand Down
29 changes: 29 additions & 0 deletions perception/lidar_centerpoint/lib/centerpoint_trt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,21 +38,40 @@ CenterPointTRT::CenterPointTRT(
encoder_trt_ptr_ = std::make_unique<VoxelEncoderTRT>(config_, verbose_);
encoder_trt_ptr_->init(
encoder_param.onnx_path(), encoder_param.engine_path(), encoder_param.trt_precision());

#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
encoder_trt_ptr_->context_->setInputShape(
encoder_trt_ptr_->engine_->getIOTensorName(0),
nvinfer1::Dims3(
config_.max_voxel_size_, config_.max_point_in_voxel_size_, config_.encoder_in_feature_size_));
#else
// Deprecated since 8.5
encoder_trt_ptr_->context_->setBindingDimensions(
0,
nvinfer1::Dims3(
config_.max_voxel_size_, config_.max_point_in_voxel_size_, config_.encoder_in_feature_size_));
#endif

// head
std::vector<std::size_t> out_channel_sizes = {
config_.class_size_, config_.head_out_offset_size_, config_.head_out_z_size_,
config_.head_out_dim_size_, config_.head_out_rot_size_, config_.head_out_vel_size_};
head_trt_ptr_ = std::make_unique<HeadTRT>(out_channel_sizes, config_, verbose_);
head_trt_ptr_->init(head_param.onnx_path(), head_param.engine_path(), head_param.trt_precision());

#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
head_trt_ptr_->context_->setInputShape(
head_trt_ptr_->engine_->getIOTensorName(0),
nvinfer1::Dims4(
config_.batch_size_, config_.encoder_out_feature_size_, config_.grid_size_y_,
config_.grid_size_x_));
#else
// Deprecated since 8.5
head_trt_ptr_->context_->setBindingDimensions(
0, nvinfer1::Dims4(
config_.batch_size_, config_.encoder_out_feature_size_, config_.grid_size_y_,
config_.grid_size_x_));
#endif

initPtr();

Expand Down Expand Up @@ -166,8 +185,13 @@ void CenterPointTRT::inference()
}

// pillar encoder network
#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
encoder_trt_ptr_->context_->enqueueV3(stream_);
#else
// Deprecated since 8.5
std::vector<void *> encoder_buffers{encoder_in_features_d_.get(), pillar_features_d_.get()};
encoder_trt_ptr_->context_->enqueueV2(encoder_buffers.data(), stream_, nullptr);
#endif

// scatter
CHECK_CUDA_ERROR(scatterFeatures_launch(
Expand All @@ -176,11 +200,16 @@ void CenterPointTRT::inference()
spatial_features_d_.get(), stream_));

// head network
#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
encoder_trt_ptr_->context_->enqueueV3(stream_);
#else
// Deprecated since 8.5
std::vector<void *> head_buffers = {spatial_features_d_.get(), head_out_heatmap_d_.get(),
head_out_offset_d_.get(), head_out_z_d_.get(),
head_out_dim_d_.get(), head_out_rot_d_.get(),
head_out_vel_d_.get()};
head_trt_ptr_->context_->enqueueV2(head_buffers.data(), stream_, nullptr);
#endif
}

void CenterPointTRT::postProcess(std::vector<Box3D> & det_boxes3d)
Expand Down