wehub-resource-sync
116 lines
4.7 KiB
C++
116 lines
4.7 KiB
C++
/*
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* SPDX-FileCopyrightText: Copyright (c) 1993-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef TRT_VOXEL_GENERATOR_H
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#define TRT_VOXEL_GENERATOR_H
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#include "NvInferPlugin.h"
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#include "common/bboxUtils.h"
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#include "common/kernels/kernel.h"
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#include <cuda_runtime_api.h>
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#include <memory>
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#include <string>
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#include <vector>
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namespace nvinfer1
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{
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namespace plugin
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{
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class VoxelGeneratorPlugin : public nvinfer1::IPluginV2DynamicExt
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{
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public:
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VoxelGeneratorPlugin() = delete;
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VoxelGeneratorPlugin(int32_t maxVoxels, int32_t maxPoints, int32_t voxelFeatures, float xMin, float xMax, float yMin,
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float yMax, float zMin, float zMax, float pillarX, float pillarY, float pillarZ);
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VoxelGeneratorPlugin(int32_t maxVoxels, int32_t maxPoints, int32_t voxelFeatures, float xMin, float xMax, float yMin,
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float yMax, float zMin, float zMax, float pillarX, float pillarY, float pillarZ, int32_t pointFeatures,
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int32_t gridX, int32_t gridY, int32_t gridZ);
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VoxelGeneratorPlugin(void const* data, size_t length);
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// IPluginV2DynamicExt Methods
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nvinfer1::IPluginV2DynamicExt* clone() const noexcept override;
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nvinfer1::DimsExprs getOutputDimensions(int32_t outputIndex, nvinfer1::DimsExprs const* inputs, int32_t nbInputs,
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nvinfer1::IExprBuilder& exprBuilder) noexcept override;
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bool supportsFormatCombination(
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int32_t pos, nvinfer1::PluginTensorDesc const* inOut, int32_t nbInputs, int32_t nbOutputs) noexcept override;
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void configurePlugin(nvinfer1::DynamicPluginTensorDesc const* in, int32_t nbInputs,
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nvinfer1::DynamicPluginTensorDesc const* out, int32_t nbOutputs) noexcept override;
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size_t getWorkspaceSize(nvinfer1::PluginTensorDesc const* inputs, int32_t nbInputs,
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nvinfer1::PluginTensorDesc const* outputs, int32_t nbOutputs) const noexcept override;
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int32_t enqueue(nvinfer1::PluginTensorDesc const* inputDesc, nvinfer1::PluginTensorDesc const* outputDesc,
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void const* const* inputs, void* const* outputs, void* workspace, cudaStream_t stream) noexcept override;
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// IPluginV2Ext Methods
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nvinfer1::DataType getOutputDataType(
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int32_t index, nvinfer1::DataType const* inputTypes, int32_t nbInputs) const noexcept override;
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// IPluginV2 Methods
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char const* getPluginType() const noexcept override;
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char const* getPluginVersion() const noexcept override;
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int32_t getNbOutputs() const noexcept override;
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int32_t initialize() noexcept override;
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void terminate() noexcept override;
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size_t getSerializationSize() const noexcept override;
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void serialize(void* buffer) const noexcept override;
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void destroy() noexcept override;
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void setPluginNamespace(char const* pluginNamespace) noexcept override;
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char const* getPluginNamespace() const noexcept override;
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private:
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std::string mNamespace;
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// Shape Num for *input*
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int32_t mPillarNum;
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int32_t mPointNum;
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int32_t mFeatureNum;
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float mMinXRange;
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float mMaxXRange;
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float mMinYRange;
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float mMaxYRange;
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float mMinZRange;
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float mMaxZRange;
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float mPillarXSize;
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float mPillarYSize;
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float mPillarZSize;
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// feature number of pointcloud points: 4 or 5
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int32_t mPointFeatureNum;
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int32_t mGridXSize;
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int32_t mGridYSize;
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int32_t mGridZSize;
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};
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class VoxelGeneratorPluginCreator : public nvinfer1::IPluginCreator
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{
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public:
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VoxelGeneratorPluginCreator();
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char const* getPluginName() const noexcept override;
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char const* getPluginVersion() const noexcept override;
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nvinfer1::PluginFieldCollection const* getFieldNames() noexcept override;
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nvinfer1::IPluginV2* createPlugin(char const* name, nvinfer1::PluginFieldCollection const* fc) noexcept override;
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nvinfer1::IPluginV2* deserializePlugin(
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char const* name, void const* serialData, size_t serialLength) noexcept override;
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void setPluginNamespace(char const* pluginNamespace) noexcept override;
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char const* getPluginNamespace() const noexcept override;
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private:
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nvinfer1::PluginFieldCollection mFC;
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std::vector<nvinfer1::PluginField> mPluginAttributes;
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std::string mNamespace;
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};
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} // namespace plugin
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} // namespace nvinfer1
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#endif
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