inference.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/perception/common/base/blob.h"
 
#if GPU_PLATFORM == NVIDIA
  #include <c10/cuda/CUDACachingAllocator.h>
  using c10::cuda::CUDACachingAllocator::emptyCache;
#elif GPU_PLATFORM == AMD
  #include <c10/hip/HIPCachingAllocator.h>
  using c10::hip::HIPCachingAllocator::emptyCache;
#endif
 
namespace apollo {
namespace perception {
namespace inference {
 
typedef std::map<std::string, base::BlobPtr<float>> BlobMap;
 
class Inference {
 public:
  Inference() = default;
 
  virtual ~Inference() = default;
 
  virtual bool Init(const std::map<std::string, std::vector<int>> &shapes) = 0;
 
  virtual void Infer() = 0;
 
  virtual base::BlobPtr<float> get_blob(const std::string &name) = 0;
 
  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);
 
 protected:
  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_;
};
 
}  // namespace inference
}  // namespace perception
}  // namespace apollo