Add continuous TensorRT camera inference and ready-to-run Orin package

2026-09-23 11:28:29 +08:00
commit 71723ef3b4
53 changed files with 27755 additions and 0 deletions
@@ -0,0 +1,49 @@
+#pragma once
+
+#include "common.hpp"
+
+#include <unordered_map>
+
+namespace fangjia {
+
+class TrtEngine {
+public:
+    TrtEngine(std::filesystem::path const& enginePath, TrtLogger& logger);
+    ~TrtEngine();
+
+    TrtEngine(TrtEngine const&) = delete;
+    TrtEngine& operator=(TrtEngine const&) = delete;
+
+    void setInputShape(std::string const& name, nvinfer1::Dims const& shape);
+    void prepare();
+    void bindExternal(std::string const& name, void* pointer, std::size_t bytes);
+    void useOwned(std::string const& name);
+    bool enqueue(cudaStream_t stream);
+
+    void* device(std::string const& name);
+    std::size_t bytes(std::string const& name) const;
+    nvinfer1::Dims shape(std::string const& name) const;
+    nvinfer1::DataType dataType(std::string const& name) const;
+    std::vector<std::string> inputs() const;
+    std::vector<std::string> outputs() const;
+
+private:
+    struct Buffer {
+        void* owned{};
+        void* active{};
+        std::size_t capacity{};
+        std::size_t required{};
+        bool external{};
+    };
+
+    Buffer& buffer(std::string const& name);
+    Buffer const& buffer(std::string const& name) const;
+
+    TrtUniquePtr<nvinfer1::IRuntime> runtime_;
+    TrtUniquePtr<nvinfer1::ICudaEngine> engine_;
+    TrtUniquePtr<nvinfer1::IExecutionContext> context_;
+    std::filesystem::path enginePath_;
+    std::unordered_map<std::string, Buffer> buffers_;
+};
+
+} // namespace fangjia