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chore(lidar_centerpoint): add a check between the model and config's class size #3101

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merged 13 commits into from
Mar 28, 2023
Merged

chore(lidar_centerpoint): add a check between the model and config's class size #3101

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d7d05ba
Add a check for the class size between the model and the config
knzo25 Mar 17, 2023
f0f0d38
Changed std::cout for logger calls
knzo25 Mar 17, 2023
d7d05aa
Merge branch 'main' into fix/lidar_centerpoint_add_class_check
knzo25 Mar 17, 2023
f7d2e00
Merge branch 'main' into fix/lidar_centerpoint_add_class_check
knzo25 Mar 17, 2023
cfadced
Missed some couts
knzo25 Mar 17, 2023
59bdf3c
Merge branch 'fix/lidar_centerpoint_add_class_check' of github.com:kn…
knzo25 Mar 17, 2023
8963da4
Merge branch 'main' into fix/lidar_centerpoint_add_class_check
knzo25 Mar 20, 2023
433168e
Changed to the standard rclcpp logger
knzo25 Mar 27, 2023
c686a83
Deleted unused logic
knzo25 Mar 27, 2023
ff43644
Merge branch 'main' into fix/lidar_centerpoint_add_class_check
knzo25 Mar 27, 2023
2a6b241
Update perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp
knzo25 Mar 28, 2023
a883990
Merge branch 'main' into fix/lidar_centerpoint_add_class_check
knzo25 Mar 28, 2023
2a7d17b
Merge branch 'main' into fix/lidar_centerpoint_add_class_check
knzo25 Mar 28, 2023
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9 changes: 9 additions & 0 deletions perception/lidar_centerpoint/lib/network/network_trt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@

#include "lidar_centerpoint/network/network_trt.hpp"

#include <iostream>

namespace centerpoint
{
bool VoxelEncoderTRT::setProfile(
Expand Down Expand Up @@ -59,6 +61,13 @@ bool HeadTRT::setProfile(

for (std::size_t ci = 0; ci < out_channel_sizes_.size(); ci++) {
auto out_name = network.getOutput(ci)->getName();

if (
out_name == std::string("heatmap") &&
network.getOutput(ci)->getDimensions().d[1] != static_cast<int32_t>(out_channel_sizes_[ci])) {
std::cout << "Expected and actual number of classes do not match" << std::endl;
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return false;
}
auto out_dims = nvinfer1::Dims4(
config_.batch_size_, out_channel_sizes_[ci], config_.down_grid_size_y_,
config_.down_grid_size_x_);
Expand Down