fix: update trt api (autowarefoundation#1472)

* fix: update trt api Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * compatible build with tensorrt 8.2 Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * revert changes for caffe parser Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
boyali · Oct 3, 2022 · 812a8c5 · 812a8c5
1 parent b46bf6a
commit 812a8c5
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Showing 7 changed files with 26 additions and 6 deletions.
diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
@@ -134,6 +134,11 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     ${PCL_LIBRARIES}
   )
 
+  target_compile_options(tensorrt_apollo_cnn_lib
+    PUBLIC
+      -Wno-deprecated-declarations
+  )
+
   ament_auto_add_library(lidar_apollo_instance_segmentation SHARED
     src/node.cpp
     src/detector.cpp

diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
@@ -60,9 +60,11 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
       RCLCPP_ERROR(node_->get_logger(), "can not find output named %s", output_node.c_str());
     }
     network->markOutput(*output);
-    const int batch_size = 1;
-    builder->setMaxBatchSize(batch_size);
+#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400
+    config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, 1 << 30);
+#else
     config->setMaxWorkspaceSize(1 << 30);
+#endif
     nvinfer1::IHostMemory * plan = builder->buildSerializedNetwork(*network, *config);
     assert(plan != nullptr);
     std::ofstream outfile(engine_file, std::ofstream::binary);

diff --git a/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp b/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp
@@ -79,7 +79,11 @@ bool TensorRTWrapper::parseONNX(
     std::cout << "Fail to create config" << std::endl;
     return false;
   }
+#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400
+  config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, workspace_size);
+#else
   config->setMaxWorkspaceSize(workspace_size);
+#endif
   if (precision == "fp16") {
     if (builder->platformHasFastFp16()) {
       std::cout << "use TensorRT FP16 Inference" << std::endl;

diff --git a/perception/tensorrt_yolo/lib/src/trt_yolo.cpp b/perception/tensorrt_yolo/lib/src/trt_yolo.cpp
@@ -161,7 +161,11 @@ Net::Net(
   if (fp16 || int8) {
     config->setFlag(nvinfer1::BuilderFlag::kFP16);
   }
+#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400
+  config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, workspace_size);
+#else
   config->setMaxWorkspaceSize(workspace_size);
+#endif
 
   // Parse ONNX FCN
   std::cout << "Building " << precision << " core model..." << std::endl;

diff --git a/perception/traffic_light_classifier/utils/trt_common.cpp b/perception/traffic_light_classifier/utils/trt_common.cpp
@@ -42,8 +42,7 @@ TrtCommon::TrtCommon(std::string model_path, std::string precision)
   precision_(precision),
   input_name_("input_0"),
   output_name_("output_0"),
-  is_initialized_(false),
-  max_batch_size_(1)
+  is_initialized_(false)
 {
   runtime_ = UniquePtr<nvinfer1::IRuntime>(nvinfer1::createInferRuntime(logger_));
 }
@@ -106,8 +105,11 @@ bool TrtCommon::buildEngineFromOnnx(std::string onnx_file_path, std::string outp
     return false;
   }
 
-  builder->setMaxBatchSize(max_batch_size_);
+#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400
+  config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, 16 << 20);
+#else
   config->setMaxWorkspaceSize(16 << 20);
+#endif
 
   if (precision_ == "fp16") {
     config->setFlag(nvinfer1::BuilderFlag::kFP16);

diff --git a/perception/traffic_light_classifier/utils/trt_common.hpp b/perception/traffic_light_classifier/utils/trt_common.hpp
@@ -136,7 +136,6 @@ class TrtCommon
   std::string input_name_;
   std::string output_name_;
   bool is_initialized_;
-  size_t max_batch_size_;
 };
 
 }  // namespace Tn

diff --git a/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp b/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp
@@ -92,7 +92,11 @@ Net::Net(
   if (fp16 || int8) {
     config->setFlag(nvinfer1::BuilderFlag::kFP16);
   }
+#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400
+  config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, workspace_size);
+#else
   config->setMaxWorkspaceSize(workspace_size);
+#endif
 
   // Parse ONNX FCN
   std::cout << "Building " << precision << " core model..." << std::endl;