Perception: update TensorRT permute layer & support Cuda11

Author: jeroldchen

modules/perception/inference/tensorrt/rt_net.cc

@@ -369,14 +369,18 @@ void RTNet::addPermuteLayer(const LayerParameter &layer_param,
                             nvinfer1::INetworkDefinition *net,
                             TensorMap *tensor_map,
                             TensorModifyMap *tensor_modify_map) {
-  nvinfer1::IPluginLayer *permuteLayer;
-  nvinfer1::plugin::Quadruple permuteOrder;
-  CHECK_EQ(layer_param.permute_param().order_size(), 4);
-  for (int i = 0; i < 4; i++) {
-    permuteOrder.data[i] = layer_param.permute_param().order(i);
-  }
-  nvinfer1::IPlugin *mplugin = createSSDPermutePlugin(permuteOrder);
-  permuteLayer = net->addPlugin(inputs, nbInputs, *mplugin);
+  CHECK_LE(layer_param.permute_param().order_size(), nvinfer1::Dims::MAX_DIMS);
+  nvinfer1::IShuffleLayer *permuteLayer = net->addShuffle(*inputs[0]);
+  nvinfer1::Permutation permutation;
+
+  // For loading Caffe's permute param,
+  // e.g. Caffe: [0, 2, 1, 3] -> TensorRT: [1, 0, 2], omitting 1st dim N.
+  ACHECK(layer_param.permute_param().order(0) == 0);
+  for (int i = 1; i < layer_param.permute_param().order_size(); ++i) {
+    int order = layer_param.permute_param().order(i);
+    permutation.order[i - 1] = order - 1;
+  }
+  permuteLayer->setFirstTranspose(permutation);
 
   permuteLayer->setName(layer_param.name().c_str());
   ConstructMap(layer_param, permuteLayer, tensor_map, tensor_modify_map);

modules/perception/lidar/lib/tracker/multi_lidar_fusion/BUILD

@@ -24,7 +24,6 @@ cc_library(
         "//modules/perception/lidar/lib/tracker/common:mlf_track_data_with_track_pool_types",
         "//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_track_object_matcher",
         "//modules/perception/lidar/lib/tracker/multi_lidar_fusion:mlf_tracker",
-        "//modules/perception/lidar/lib/tracker/semantic_map:perception_evaluator_manager",
         "//modules/perception/onboard/msg_serializer",
         "//modules/prediction/container/obstacles:obstacles_container",
         "//modules/prediction/container/pose:pose_container",

modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_engine.cc

@@ -73,7 +73,6 @@ bool MlfEngine::Init(const MultiTargetTrackerInitOptions& options) {
   tracker_.reset(new MlfTracker);
   MlfTrackerInitOptions tracker_init_options;
   ACHECK(tracker_->Init(tracker_init_options));
-  evaluator_.Init();
   return true;
 }
 

modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_engine.h

@@ -23,7 +23,6 @@
 #include "modules/perception/lidar/lib/interface/base_multi_target_tracker.h"
 #include "modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_matcher.h"
 #include "modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_tracker.h"
-#include "modules/perception/lidar/lib/tracker/semantic_map/evaluator_manager.h"
 #include "modules/perception/onboard/msg_serializer/msg_serializer.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
@@ -120,7 +119,7 @@ class MlfEngine : public BaseMultiTargetTracker {
   apollo::prediction::PoseContainer pose_container_;
   apollo::perception::onboard::MsgSerializer serializer_;
   bool use_semantic_map_ = false;
-  apollo::perception::EvaluatorManager evaluator_;
+//  apollo::perception::EvaluatorManager evaluator_;
 };
 
 }  // namespace lidar