apollo::perception::inference::SingleBatchInference类 参考

#include <onnx_single_batch_infer.h>

类 apollo::perception::inference::SingleBatchInference 继承关系图:

apollo::perception::inference::SingleBatchInference 的协作图:

Public 成员函数
	SingleBatchInference (const std::string &model_file, const float score_threshold, const std::vector< std::string > &outputs, const std::vector< std::string > &inputs)
	SingleBatchInference (const std::string &model_file, const std::vector< std::string > &outputs, const std::vector< std::string > &inputs)
virtual	~SingleBatchInference ()
bool	Init (const std::map< std::string, std::vector< int > > &shapes) override
void	Infer () override
base::BlobPtr< float >	get_blob (const std::string &name) override
Public 成员函数 继承自 apollo::perception::inference::Inference
	Inference ()=default
virtual	~Inference ()=default
virtual void	SetStream (cudaStream_t stream)
void	set_max_batch_size (const int &batch_size)
void	set_gpu_id (const int &gpu_id)
void	set_model_info (const std::string &proto_file, const std::vector< std::string > &net_input_names, const std::vector< std::string > &net_output_names)

额外继承的成员函数
Protected 属性 继承自 apollo::perception::inference::Inference
int	max_batch_size_ = 1
int	gpu_id_ = 0
std::string	proto_file_ = ""
std::vector< std::string >	net_output_names_
std::vector< std::string >	net_input_names_

详细描述

在文件 onnx_single_batch_infer.h 第 45 行定义.

构造及析构函数说明

SingleBatchInference() [1/2]

apollo::perception::inference::SingleBatchInference::SingleBatchInference	(	const std::string &	model_file,
		const float	score_threshold,
		const std::vector< std::string > &	outputs,
		const std::vector< std::string > &	inputs
	)

在文件 onnx_single_batch_infer.cc 第 88 行定义.

    : model_file_(model_file),
      score_threshold_(score_threshold),
      output_names_(outputs),
      input_names_(inputs) {}

SingleBatchInference() [2/2]

apollo::perception::inference::SingleBatchInference::SingleBatchInference	(	const std::string &	model_file,
		const std::vector< std::string > &	outputs,
		const std::vector< std::string > &	inputs
	)

在文件 onnx_single_batch_infer.cc 第 97 行定义.

    : model_file_(model_file), output_names_(outputs), input_names_(inputs) {}

~SingleBatchInference()

apollo::perception::inference::SingleBatchInference::~SingleBatchInference ( )

virtual

在文件 onnx_single_batch_infer.cc 第 102 行定义.

{}

成员函数说明

get_blob()

base::BlobPtr< float > apollo::perception::inference::SingleBatchInference::get_blob ( const std::string &  name )

overridevirtual

实现了 apollo::perception::inference::Inference.

在文件 onnx_single_batch_infer.cc 第 80 行定义.

                                                                       {
  auto iter = blobs_.find(name);
  if (iter == blobs_.end()) {
    return nullptr;
  }
  return iter->second;
}

Infer()

void apollo::perception::inference::SingleBatchInference::Infer ( )

overridevirtual

实现了 apollo::perception::inference::Inference.

在文件 onnx_single_batch_infer.cc 第 243 行定义.

                                 {
  BASE_GPU_CHECK(cudaSetDevice(gpu_id_));
  BASE_GPU_CHECK(cudaStreamSynchronize(stream_));
 
  for (auto name : input_names_) {
    auto blob = get_blob(name);
    if (blob != nullptr) {
      blob->gpu_data();
    }
  }
  // If `out_blob->mutable_cpu_data()` is invoked outside,
  // HEAD will be set to CPU, and `out_blob->mutable_gpu_data()`
  // after `enqueue` will copy data from CPU to GPU,
  // which will overwrite the `inference` results.
  // `out_blob->gpu_data()` will set HEAD to SYNCED,
  // then no copy happends after `enqueue`.
  for (auto name : output_names_) {
    auto blob = get_blob(name);
    if (blob != nullptr) {
      blob->gpu_data();
    }
  }
 
  {
    std::lock_guard<std::mutex> lock(mutex_);
    context_->enqueue(max_batch_size_, &buffers_[0], stream_, nullptr);
  }
 
  for (auto name : output_names_) {
    auto blob = get_blob(name);
    if (blob != nullptr) {
      blob->mutable_gpu_data();
    }
  }
}

Init()

bool apollo::perception::inference::SingleBatchInference::Init ( const std::map< std::string, std::vector< int > > &  shapes )

overridevirtual

实现了 apollo::perception::inference::Inference.

在文件 onnx_single_batch_infer.cc 第 114 行定义.

                                                     {
  BASE_GPU_CHECK(cudaSetDevice(gpu_id_));
  BASE_GPU_CHECK(cudaStreamCreate(&stream_));
 
  // create a TensorRT model from the onnx model and load it into an engine
  OnnxToTRTModel(model_file_);
 
  if (engine_ == nullptr) {
    AERROR << "Fail to load obstacle ONNX model";
    return false;
  }
 
  // create execution context from the engine
#if GPU_PLATFORM == NVIDIA
  context_ = engine_->createExecutionContext();
  if (context_ == nullptr) {
    AERROR << "Fail to create Exceution Context";
    return false;
  }
 
  for (const auto& name : output_names_) {
    auto iter = shapes.find(name);
    if (iter != shapes.end()) {
      auto blob = std::make_shared<Blob<float>>(iter->second);
      blobs_.emplace(name, blob);
    }
  }
 
  for (const auto& name : input_names_) {
    auto iter = shapes.find(name);
    if (iter != shapes.end()) {
      auto blob = std::make_shared<Blob<float>>(iter->second);
      blobs_.emplace(name, blob);
    }
  }
  buffers_.resize(input_names_.size() + output_names_.size());
 
  init_blob(&input_names_);
  init_blob(&output_names_);
 
#elif GPU_PLATFORM == AMD
  assert(0 && "OnnxObstacleDetector::Init() is not implemented yet");
#endif
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/common/inference/onnx/onnx_single_batch_infer.h
• modules/perception/common/inference/onnx/onnx_single_batch_infer.cc