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fix(tensorrt): update tensorrt code of traffic_light_ssd_fine_detector #2326

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fix(tensorrt): update tensorrt code of traffic_light_ssd_fine_detector #2326

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2 changes: 1 addition & 1 deletion perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ class Net
void save(const std::string & path);

// Infer using pre-allocated GPU buffers {data, scores, boxes}
void infer(std::vector<void *> & buffers, const int batch_size);
void infer([[maybe_unused]] std::vector<void *> & buffers, const int batch_size);

// Get (c, h, w) size of the fixed input
std::vector<int> getInputSize();
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45 changes: 40 additions & 5 deletions perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp
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Expand Up @@ -164,35 +164,70 @@ void Net::save(const std::string & path)
file.write(reinterpret_cast<const char *>(plan_->data()), plan_->size());
}

void Net::infer(std::vector<void *> & buffers, const int batch_size)
void Net::infer([[maybe_unused]] std::vector<void *> & buffers, const int batch_size)
{
if (!context_) {
throw std::runtime_error("Fail to create context");
}
auto input_dims = engine_->getBindingDimensions(0);

#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
const auto input_dims = engine_->getTensorShape(engine_->getIOTensorName(0));
context_->setInputShape(
engine_->getIOTensorName(0),
nvinfer1::Dims4(batch_size, input_dims.d[1], input_dims.d[2], input_dims.d[3]));
context_->enqueueV3(stream_);
#else
// Deprecated since 8.5
const auto input_dims = engine_->getBindingDimensions(0);
context_->setBindingDimensions(
0, nvinfer1::Dims4(batch_size, input_dims.d[1], input_dims.d[2], input_dims.d[3]));
context_->enqueueV2(buffers.data(), stream_, nullptr);
#endif
cudaStreamSynchronize(stream_);
}

std::vector<int> Net::getInputSize()
{
auto dims = engine_->getBindingDimensions(0);
#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
const auto dims = engine_->getTensorShape(engine_->getIOTensorName(0));
#else
// Deprecated since 8.5
const auto dims = engine_->getBindingDimensions(0);
#endif
return {dims.d[1], dims.d[2], dims.d[3]};
}

std::vector<int> Net::getOutputScoreSize()
{
auto dims = engine_->getBindingDimensions(1);
#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
const auto dims = engine_->getTensorShape(engine_->getIOTensorName(1));
#else
// Deprecated since 8.5
const auto dims = engine_->getBindingDimensions(1);
#endif
return {dims.d[1], dims.d[2]};
}

int Net::getMaxBatchSize()
{
#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
return engine_
->getProfileShape(engine_->getIOTensorName(0), 0, nvinfer1::OptProfileSelector::kMAX)
.d[0];
#else
// Deprecated since 8.5
return engine_->getProfileDimensions(0, 0, nvinfer1::OptProfileSelector::kMAX).d[0];
#endif
}

int Net::getMaxDetections() { return engine_->getBindingDimensions(1).d[1]; }
int Net::getMaxDetections()
{
#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
return engine_->getTensorShape(engine_->getIOTensorName(1)).d[1];
#else
// Deprecated since 8.5
return engine_->getBindingDimensions(1).d[1];
#endif
}

} // namespace ssd