bevfusion-ros-tensorrt

linClubs · Oct 11, 2023 · 079d81e · 079d81e
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diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -0,0 +1,28 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/usr/local/cuda/include/**",
+                "~/software/TensorRT-8.5.3.1/include/**",
+                "/home/lin/software/miniconda3/envs/bevfusion/include/python3.8/",
+                // "/opt/conda/include/python3.8/**",
+                "${workspaceFolder}/src/**",
+                "/home/lin/code/CUDA-BEVFusion/third_party/stb",
+                "/home/lin/code/CUDA-BEVFusion/third_party/pybind11/include/**",
+                "/usr/include/opencv4",
+                "/usr/include/pcl-1.10",
+                "/usr/include/eigen3",
+                "/home/lin/code/CUDA-BEVFusion/third_party"
+                // "${workspaceFolder}/../cuOSD/src/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++14",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -0,0 +1,33 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "(gdb) Launch",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/build/bevfusion",
+            "args": ["example-data", "resnet50int8", "int8"],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+
+    ]
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,89 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "string_view": "cpp",
+        "initializer_list": "cpp",
+        "valarray": "cpp",
+        "__bit_reference": "cpp",
+        "__hash_table": "cpp",
+        "__split_buffer": "cpp",
+        "__tree": "cpp",
+        "filesystem": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "__config": "cpp",
+        "__nullptr": "cpp",
+        "stdexcept": "cpp",
+        "cmath": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "forward_list": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "climits": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "numbers": "cpp",
+        "semaphore": "cpp",
+        "stop_token": "cpp",
+        "queue": "cpp",
+        "stack": "cpp",
+        "__locale": "cpp",
+        "shared_mutex": "cpp"
+    }
+}
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -0,0 +1,28 @@
+{
+    "tasks": [
+        {
+            "type": "cppbuild",
+            "label": "C/C++: g++ build active file",
+            "command": "/usr/bin/g++",
+            "args": [
+                "-fdiagnostics-color=always",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}/${fileBasenameNoExtension}"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "detail": "Task generated by Debugger."
+        }
+    ],
+    "version": "2.0.0"
+}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,170 @@
+cmake_minimum_required(VERSION 2.8.12)
+project(bevfusion)
+
+add_definitions(-w)
+# set(CMAKE_BUILD_TYPE "Release")   # pcl会报错 使用debug模式
+# set(CMAKE_BUILD_TYPE "Debug")
+
+add_compile_options(-W)
+add_compile_options(-std=c++14)
+
+set(arch ${CMAKE_HOST_SYSTEM_PROCESSOR})
+
+set(CMAKE_CXX_FLAGS "-std=c++14 -O3 -g -DENABLE_TEXT_BACKEND_STB")
+
+# set(CMAKE_CXX_FLAGS_RELEASE "-std=c++14 -Wextra -Wall -Wno-missing-field-initializers -Wno-deprecated-declarations -O3 -DENABLE_TEXT_BACKEND_STB")
+# set(CMAKE_CXX_FLAGS_DEBUG   "-std=c++14 -O0 -g -DENABLE_TEXT_BACKEND_STB")
+
+set(CUDA_NVCC_FLAGS_RELEASE "-Werror=all-warnings -Xcompiler -std=c++14,-Wextra,-Wall,-Wno-deprecated-declarations,-O3 -DENABLE_TEXT_BACKEND_STB")
+set(CUDA_NVCC_FLAGS_DEBUG   "-std=c++14 -O0 -g -DENABLE_TEXT_BACKEND_STB")
+
+set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} 
+  # -gencode arch=compute_$ENV{CUDASM},code=compute_$ENV{CUDASM}
+  -gencode arch=compute_80,code=compute_80
+)
+
+# cuda
+set(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda-11.3)
+set(CUDA_INSTALL_TARGET_DIR targets/x86_64-linux)
+set(CUDA_INCLUDE_DIRS ${CUDA_TOOLKIT_ROOT_DIR}/${CUDA_INSTALL_TARGET_DIR}/include)
+set(CUDA_LIBS ${CUDA_TOOLKIT_ROOT_DIR}/${CUDA_INSTALL_TARGET_DIR}/lib)
+
+# TENSORRT
+# set(TensorRT_ROOT /home/lin/software/TensorRT-8.5.3.1)
+set(TensorRT_ROOT ~/share/TensorRT-8.5.3.1)
+set(TensorRT_INCLUDE_DIRS ${TensorRT_ROOT}/include)
+set(TensorRT_LIBS ${TensorRT_ROOT}/lib/)
+
+
+find_package(CUDA REQUIRED)
+find_package(Protobuf REQUIRED)
+
+find_package(OpenCV REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+find_package(PCL REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+
+  message_filters
+
+  sensor_msgs
+  pcl_conversions
+  pcl_ros 
+  cv_bridge
+
+  tf2
+  geometry_msgs
+  jsk_recognition_msgs
+  vision_msgs
+  roslib
+)
+
+include_directories(
+  third_party/stb
+  third_party/pybind11/include
+  third_party/cuOSD/src
+  third_party/3DSparseConvolution/libspconv/include
+  src/common
+  src/
+  ${TensorRT_INCLUDE_DIRS}
+  ${Protobuf_INCLUDE_DIRS}
+  ${CUDA_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  src_ros/
+)
+
+catkin_package()
+
+link_directories(
+  third_party/3DSparseConvolution/libspconv/lib/${arch}
+  build
+  /usr/lib/aarch64-linux-gnu
+  /usr/aarch64-linux-gnu/lib
+  ${TensorRT_LIBS}
+  ${CUDA_LIBS}
+)
+
+file(GLOB_RECURSE CORE_FILES 
+  src/bevfusion/*.cu 
+  src/bevfusion/*.cpp
+  src/common/tensor.cu
+  src/common/tensorrt.cpp
+)
+
+file(GLOB_RECURSE VISUALIZE_FILES 
+  third_party/cuOSD/src/*.cpp
+  third_party/cuOSD/src/*.cu
+  src/common/visualize.cu
+)
+
+####################### libbevfusion_core.so ##########################
+cuda_add_library(bevfusion_core SHARED 
+  ${CORE_FILES}
+)
+
+target_link_libraries(bevfusion_core
+  libcudart.so
+  libcublasLt.so
+  libnvinfer.so
+  libspconv.so
+  ${Protobuf_LIBRARIES}
+  libnvinfer_plugin.so
+)
+
+####################### bevfusion program #############################
+
+# cuda_add_executable(bevfusion_ros
+#   src_ros/bevfusion_ros.cpp src_ros/bevfusion_plugin.cpp
+#   ${VISUALIZE_FILES}
+# )
+
+# target_link_libraries(bevfusion_node
+#   bevfusion_core
+#   libnvinfer.so
+#   libspconv.so
+#   ${Protobuf_LIBRARIES}
+#   libnvinfer_plugin.so
+
+#   ${OpenCV_LIBS}
+#   ${PCL_LIBRARIES}
+#   ${catkin_LIBRARIES}
+# )
+
+cuda_add_executable(bevfusion_node
+  src_ros/bevfusion_node.cpp src_ros/bevfusion_plugin.cpp
+  ${VISUALIZE_FILES}
+)
+
+target_link_libraries(bevfusion_node
+  bevfusion_core
+  libnvinfer.so
+  libspconv.so
+  ${Protobuf_LIBRARIES}
+  libnvinfer_plugin.so
+
+  ${OpenCV_LIBS}
+  ${PCL_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
+
+
+cuda_add_executable(demo
+  src_ros/demo.cpp src_ros/bevfusion_plugin.cpp
+  ${VISUALIZE_FILES}
+)
+
+target_link_libraries(demo
+  bevfusion_core
+  libnvinfer.so
+  libspconv.so
+  ${Protobuf_LIBRARIES}
+  libnvinfer_plugin.so
+
+  ${OpenCV_LIBS}
+  ${PCL_LIBRARIES}
+  ${catkin_LIBRARIES}
+)