feat(autoware_lidar_bevfusion): implementation of bevusion using tensorrt #10024
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…ion_ros2 Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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This was referenced Jan 27, 2025
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@xmfcx |
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
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As TensorRT was upgraded and spconv was added (autowarefoundation/autoware#5794), I will be opening this PR 🎉 |
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
…into feat/bevfusion
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
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Description
This PR introduces BEVFusion to autoware using TensorRT.
However, it requires TensorRT10, which is being updated here
As such, this PR will remain as a draft until the previous PR gets merged.
In addition, the following dependencies are needed:
cuda-nvrtc-dev-12-4A PR will be send to add nvrtc to autoware.
For spconv, two alternatives were talked with the AWF:
The onnx files will be provided after during the review of this PR of at the point of merging
I would like to ask reviewers to let the "integration" into the pipeline/launchers to a posterior PR 🙏
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.