Todo

• Convert 3D-OutDet PyTorch model to C++ (done)
• Data processing in CPP (on hold: using brute force solution)
• Eval in CPP (done)
• ONNX model (done)
• Weight Conversion in CPP (done)
• TensorRT + CPP: Model conversion (done)
• TensorRT + CPP: inference (done)
• ROS Integration (in 2 days)
• Docker Integration (in 1 days)

TensorRT Engine from ONNX (image from Netron app)

How to Build

mkdir build 
cd build 
cmake -DCMAKE_PREFIX_PATH=/var/local/home/aburai/outdet_cpp/libtorch -D CMAKE_CUDA_COMPILER=$(which nvcc) ..
make

Docker

docker run --rm -it --entrypoint "/bin/bash" --mount src=/var/local/home/aburai/outdet_cpp,target=/outdet,type=bind roadview