refactor(autoware_tensorrt_common): multi-TensorRT compatibility & te…

…nsorrt_common as unified lib for all perception components (#9762)

* refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components

Signed-off-by: Amadeusz Szymko <[email protected]>

* style(pre-commit): autofix

* style(autoware_tensorrt_common): linting

Signed-off-by: Amadeusz Szymko <[email protected]>

* style(autoware_lidar_centerpoint): typo

Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

* docs(autoware_tensorrt_common): grammar

Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

* fix(autoware_lidar_transfusion): reuse cast variable

Signed-off-by: Amadeusz Szymko <[email protected]>

* fix(autoware_tensorrt_common): remove deprecated inference API

Signed-off-by: Amadeusz Szymko <[email protected]>

* style(autoware_tensorrt_common): grammar

Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

* style(autoware_tensorrt_common): grammar

Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

* fix(autoware_tensorrt_common): const pointer

Signed-off-by: Amadeusz Szymko <[email protected]>

* fix(autoware_tensorrt_common): remove unused method declaration

Signed-off-by: Amadeusz Szymko <[email protected]>

* style(pre-commit): autofix

* refactor(autoware_tensorrt_common): readability

Co-authored-by: Kotaro Uetake <[email protected]>

* fix(autoware_tensorrt_common): return if layer not registered

Signed-off-by: Amadeusz Szymko <[email protected]>

* refactor(autoware_tensorrt_common): readability

Co-authored-by: Kotaro Uetake <[email protected]>

* fix(autoware_tensorrt_common): rename struct

Signed-off-by: Amadeusz Szymko <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: Amadeusz Szymko <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
Co-authored-by: Kotaro Uetake <[email protected]>

perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp

@@ -17,6 +17,7 @@
 
 #include <autoware/image_projection_based_fusion/pointpainting_fusion/voxel_generator.hpp>
 #include <autoware/lidar_centerpoint/centerpoint_trt.hpp>
+#include <autoware/tensorrt_common/utils.hpp>
 
 #include <memory>
 #include <string>
@@ -29,8 +30,8 @@ class PointPaintingTRT : public autoware::lidar_centerpoint::CenterPointTRT
   using autoware::lidar_centerpoint::CenterPointTRT::CenterPointTRT;
 
   explicit PointPaintingTRT(
-    const autoware::lidar_centerpoint::NetworkParam & encoder_param,
-    const autoware::lidar_centerpoint::NetworkParam & head_param,
+    const autoware::tensorrt_common::TrtCommonConfig & encoder_param,
+    const autoware::tensorrt_common::TrtCommonConfig & head_param,
     const autoware::lidar_centerpoint::DensificationParam & densification_param,
     const autoware::lidar_centerpoint::CenterPointConfig & config);
 

perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp

@@ -176,10 +176,10 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
     iou_bev_nms_.setParameters(p);
   }
 
-  autoware::lidar_centerpoint::NetworkParam encoder_param(
-    encoder_onnx_path, encoder_engine_path, trt_precision);
-  autoware::lidar_centerpoint::NetworkParam head_param(
-    head_onnx_path, head_engine_path, trt_precision);
+  autoware::tensorrt_common::TrtCommonConfig encoder_param(
+    encoder_onnx_path, trt_precision, encoder_engine_path);
+  autoware::tensorrt_common::TrtCommonConfig head_param(
+    head_onnx_path, trt_precision, head_engine_path);
   autoware::lidar_centerpoint::DensificationParam densification_param(
     densification_world_frame_id, densification_num_past_frames);
   autoware::lidar_centerpoint::CenterPointConfig config(

perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp

@@ -27,8 +27,8 @@
 namespace autoware::image_projection_based_fusion
 {
 PointPaintingTRT::PointPaintingTRT(
-  const autoware::lidar_centerpoint::NetworkParam & encoder_param,
-  const autoware::lidar_centerpoint::NetworkParam & head_param,
+  const autoware::tensorrt_common::TrtCommonConfig & encoder_param,
+  const autoware::tensorrt_common::TrtCommonConfig & head_param,
   const autoware::lidar_centerpoint::DensificationParam & densification_param,
   const autoware::lidar_centerpoint::CenterPointConfig & config)
 : autoware::lidar_centerpoint::CenterPointTRT(

perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp

@@ -18,7 +18,6 @@
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
-#include <NvCaffeParser.h>
 #include <NvInfer.h>
 #include <pcl_conversions/pcl_conversions.h>
 
@@ -51,12 +50,9 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
   const auto precision = node_->declare_parameter("precision", "fp32");
 
   trt_common_ = std::make_unique<autoware::tensorrt_common::TrtCommon>(
-    onnx_file, precision, nullptr, autoware::tensorrt_common::BatchConfig{1, 1, 1}, 1 << 30);
-  trt_common_->setup();
-
-  if (!trt_common_->isInitialized()) {
-    RCLCPP_ERROR_STREAM(node_->get_logger(), "failed to create tensorrt engine file.");
-    return;
+    tensorrt_common::TrtCommonConfig(onnx_file, precision));
+  if (!trt_common_->setup()) {
+    throw std::runtime_error("Failed to setup TensorRT");
   }
 
   if (node_->declare_parameter("build_only", false)) {
@@ -65,11 +61,11 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
   }
 
   // GPU memory allocation
-  const auto input_dims = trt_common_->getBindingDimensions(0);
+  const auto input_dims = trt_common_->getTensorShape(0);
   const auto input_size =
     std::accumulate(input_dims.d + 1, input_dims.d + input_dims.nbDims, 1, std::multiplies<int>());
   input_d_ = autoware::cuda_utils::make_unique<float[]>(input_size);
-  const auto output_dims = trt_common_->getBindingDimensions(1);
+  const auto output_dims = trt_common_->getTensorShape(1);
   output_size_ = std::accumulate(
     output_dims.d + 1, output_dims.d + output_dims.nbDims, 1, std::multiplies<int>());
   output_d_ = autoware::cuda_utils::make_unique<float[]>(output_size_);
@@ -127,10 +123,6 @@ bool LidarApolloInstanceSegmentation::detectDynamicObjects(
   const sensor_msgs::msg::PointCloud2 & input,
   tier4_perception_msgs::msg::DetectedObjectsWithFeature & output)
 {
-  if (!trt_common_->isInitialized()) {
-    return false;
-  }
-
   // move up pointcloud z_offset in z axis
   sensor_msgs::msg::PointCloud2 transformed_cloud;
   transformCloud(input, transformed_cloud, z_offset_);
@@ -169,7 +161,10 @@ bool LidarApolloInstanceSegmentation::detectDynamicObjects(
 
   std::vector<void *> buffers = {input_d_.get(), output_d_.get()};
 
-  trt_common_->enqueueV2(buffers.data(), *stream_, nullptr);
+  if (!trt_common_->setTensorsAddresses(buffers)) {
+    return false;
+  }
+  trt_common_->enqueueV3(*stream_);
 
   CHECK_CUDA_ERROR(cudaMemcpyAsync(
     output_h_.get(), output_d_.get(), sizeof(float) * output_size_, cudaMemcpyDeviceToHost,

perception/autoware_lidar_centerpoint/CMakeLists.txt

@@ -84,8 +84,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     lib/detection_class_remapper.cpp
     lib/utils.cpp
     lib/ros_utils.cpp
-    lib/network/network_trt.cpp
-    lib/network/tensorrt_wrapper.cpp
     lib/postprocess/non_maximum_suppression.cpp
     lib/preprocess/pointcloud_densification.cpp
     lib/preprocess/voxel_generator.cpp

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_trt.hpp

@@ -16,12 +16,13 @@
 #define AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_
 
 #include "autoware/lidar_centerpoint/cuda_utils.hpp"
-#include "autoware/lidar_centerpoint/network/network_trt.hpp"
 #include "autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp"
 #include "autoware/lidar_centerpoint/preprocess/voxel_generator.hpp"
 #include "pcl/point_cloud.h"
 #include "pcl/point_types.h"
 
+#include <autoware/tensorrt_common/tensorrt_common.hpp>
+
 #include "sensor_msgs/msg/point_cloud2.hpp"
 
 #include <memory>
@@ -31,31 +32,14 @@
 
 namespace autoware::lidar_centerpoint
 {
-class NetworkParam
-{
-public:
-  NetworkParam(std::string onnx_path, std::string engine_path, std::string trt_precision)
-  : onnx_path_(std::move(onnx_path)),
-    engine_path_(std::move(engine_path)),
-    trt_precision_(std::move(trt_precision))
-  {
-  }
-
-  std::string onnx_path() const { return onnx_path_; }
-  std::string engine_path() const { return engine_path_; }
-  std::string trt_precision() const { return trt_precision_; }
-
-private:
-  std::string onnx_path_;
-  std::string engine_path_;
-  std::string trt_precision_;
-};
+using autoware::tensorrt_common::ProfileDims;
+using autoware::tensorrt_common::TrtCommonConfig;
 
 class CenterPointTRT
 {
 public:
   explicit CenterPointTRT(
-    const NetworkParam & encoder_param, const NetworkParam & head_param,
+    const TrtCommonConfig & encoder_param, const TrtCommonConfig & head_param,
     const DensificationParam & densification_param, const CenterPointConfig & config);
 
   virtual ~CenterPointTRT();
@@ -66,6 +50,7 @@ class CenterPointTRT
 
 protected:
   void initPtr();
+  void initTrt(const TrtCommonConfig & encoder_param, const TrtCommonConfig & head_param);
 
   virtual bool preprocess(
     const sensor_msgs::msg::PointCloud2 & input_pointcloud_msg, const tf2_ros::Buffer & tf_buffer);
@@ -75,8 +60,8 @@ class CenterPointTRT
   void postProcess(std::vector<Box3D> & det_boxes3d);
 
   std::unique_ptr<VoxelGeneratorTemplate> vg_ptr_{nullptr};
-  std::unique_ptr<VoxelEncoderTRT> encoder_trt_ptr_{nullptr};
-  std::unique_ptr<HeadTRT> head_trt_ptr_{nullptr};
+  std::unique_ptr<tensorrt_common::TrtCommon> encoder_trt_ptr_{nullptr};
+  std::unique_ptr<tensorrt_common::TrtCommon> head_trt_ptr_{nullptr};
   std::unique_ptr<PostProcessCUDA> post_proc_ptr_{nullptr};
   cudaStream_t stream_{nullptr};