revert changes for caffe parser

Signed-off-by: Daisuke Nishimatsu <[email protected]>
autowarefoundation · Aug 10, 2022 · 0bc7e5b · 0bc7e5b
1 parent c894751
commit 0bc7e5b
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
@@ -134,6 +134,11 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     ${PCL_LIBRARIES}
   )
 
+  target_compile_options(tensorrt_apollo_cnn_lib
+    PUBLIC
+      -Wno-deprecated-declarations
+  )
+
   ament_auto_add_library(lidar_apollo_instance_segmentation SHARED
     src/node.cpp
     src/detector.cpp

diff --git a/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp b/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp
@@ -133,14 +133,15 @@ void trtNet::InitEngine()
 
 void trtNet::doInference(const void * inputData, void * outputData)
 {
+  static const int batchSize = 1;
   assert(mTrtInputCount == 1);
 
   int inputIndex = 0;
   CUDA_CHECK(cudaMemcpyAsync(
     mTrtCudaBuffer[inputIndex], inputData, mTrtBindBufferSize[inputIndex], cudaMemcpyHostToDevice,
     mTrtCudaStream));
 
-  mTrtContext->executeV2(&mTrtCudaBuffer[inputIndex]);
+  mTrtContext->execute(batchSize, &mTrtCudaBuffer[inputIndex]);
 
   for (size_t bindingIdx = mTrtInputCount; bindingIdx < mTrtBindBufferSize.size(); ++bindingIdx) {
     auto size = mTrtBindBufferSize[bindingIdx];