crosstyan/RapidPoseTriangulation
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Small updates.

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This commit is contained in:
Daniel
2025-01-20 16:38:19 +01:00
parent 86d8ccf797
commit a866485c8e
1 changed files with 18 additions and 4 deletions
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22
ros/rpt2D_wrapper_cpp/src/utils_2d_pose.hpp
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@ -103,10 +103,24 @@ namespace utils_2d_pose
OrtTensorRTProviderOptionsV2 *tensorrt_options = nullptr;
Ort::ThrowOnError(Ort::GetApi().CreateTensorRTProviderOptions(&tensorrt_options));
// 2) Configure your desired fields
tensorrt_options->trt_fp16_enable = 1;
// 2) Configure runtime options
tensorrt_options->trt_max_workspace_size = 2147483647;
tensorrt_options->trt_engine_cache_enable = 1;
tensorrt_options->trt_engine_cache_path = "/RapidPoseTriangulation/data/trt_cache/";
if (model_path.find("_fp16") != std::string::npos)
{
tensorrt_options->trt_fp16_enable = 1;
}
else
{
tensorrt_options->trt_fp16_enable = 0;
}
if (model_path.find("_Bx") != std::string::npos)
{
tensorrt_options->trt_profile_min_shapes = "image_input:1x384x288x3";
tensorrt_options->trt_profile_max_shapes = "image_input:10x384x288x3";
tensorrt_options->trt_profile_opt_shapes = "image_input:3x384x288x3";
}
// 3) Append to session options
Ort::ThrowOnError(
@ -980,8 +994,8 @@ namespace utils_2d_pose
std::string path_pose_m1 = base_path + "rtmpose-m_1x384x288x3_fp16_extra-steps.onnx";
std::string path_pose_mb = base_path + "rtmpose-m_Bx384x288x3_fp16_extra-steps.onnx";
std::string path_pose_w1 = base_path + "rtmpose-l_wb_1x384x288x3_fp16_extra-steps.onnx";
std::string path_pose_wb = base_path + "rtmpose-l_wb_Bx384x288x3_fp16_extra-steps.onnx";
std::string path_pose_w1 = base_path + "rtmpose-l_wb_1x384x288x3_extra-steps.onnx";
std::string path_pose_wb = base_path + "rtmpose-l_wb_Bx384x288x3_extra-steps.onnx";
this->num_joints = whole_body ? 133 : 17;
std::string path_pose;