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fix(tensorrt): update tensorrt code of traffic_light_classifier #2325

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merged 2 commits into from
Dec 20, 2022
Merged

fix(tensorrt): update tensorrt code of traffic_light_classifier #2325

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bdfcbdb
fix(tensorrt): update tensorrt code of traffic_light_classifier
Dec 19, 2022
825ef16
missing parentheses :(
Dec 20, 2022
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16 changes: 10 additions & 6 deletions perception/traffic_light_classifier/utils/trt_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,16 @@ void TrtCommon::setup()
}

context_ = UniquePtr<nvinfer1::IExecutionContext>(engine_->createExecutionContext());
input_dims_ = engine_->getBindingDimensions(getInputBindingIndex());
output_dims_ = engine_->getBindingDimensions(getOutputBindingIndex());

#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500
input_dims_ = engine_->getTensorShape(input_name_.c_str());
output_dims_ = engine_->getTensorShape(output_name_.c_str());
#else
// Deprecated since 8.5
input_dims_ = engine_->getBindingDimensions(engine_->getBindingIndex(input_name_.c_str());
output_dims_ = engine_->getBindingDimensions(engine_->getBindingIndex(output_name_.c_str());
#endif

is_initialized_ = true;
}

Expand Down Expand Up @@ -155,8 +163,4 @@ int TrtCommon::getNumOutput()
output_dims_.d, output_dims_.d + output_dims_.nbDims, 1, std::multiplies<int>());
}

int TrtCommon::getInputBindingIndex() { return engine_->getBindingIndex(input_name_.c_str()); }

int TrtCommon::getOutputBindingIndex() { return engine_->getBindingIndex(output_name_.c_str()); }

} // namespace Tn
2 changes: 0 additions & 2 deletions perception/traffic_light_classifier/utils/trt_common.hpp
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Expand Up @@ -118,8 +118,6 @@ class TrtCommon
bool isInitialized();
int getNumInput();
int getNumOutput();
int getInputBindingIndex();
int getOutputBindingIndex();

UniquePtr<nvinfer1::IExecutionContext> context_;

Expand Down