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Natsu-Akatsuki / RangeNetTrt8

tensorrt8 && cuda && libtorch implementation of rangenet++
MIT License
49 stars 10 forks source link

问题请教 #2

Closed SlamCabbage closed 2 years ago

SlamCabbage commented 2 years ago

感谢您的分享！ 我在编译时出现了以下的错误：（我采用的是cuda11.1版本，请问如何在不修改版本的情况下解决这个问题呢？） Errors << rangenet_plusplus:make /home/llz/catkin_RNT/logs/rangenet_plusplus/build.make.000.log

: warning: ISO C++11 requires whitespace after the macro name : warning: ISO C++11 requires whitespace after the macro name : warning: ISO C++11 requires whitespace after the macro name /home/llz/catkin_RNT/src/RangeNetTrt8/ops/project_kernel.cu(3): error: A __device__ variable cannot be marked constexpr /home/llz/catkin_RNT/src/RangeNetTrt8/ops/project_kernel.cu(4): error: A __device__ variable cannot be marked constexpr 2 errors detected in the compilation of "/home/llz/catkin_RNT/src/RangeNetTrt8/ops/project_kernel.cu". CMake Error at project_ops_generated_project_kernel.cu.o.RELEASE.cmake:283 (message): Error generating file /home/llz/catkin_RNT/build/rangenet_plusplus/CMakeFiles/project_ops.dir/ops/./project_ops_generated_project_kernel.cu.o
Natsu-Akatsuki commented 2 years ago

image 你可以尝试不使用全局变量而使用局部变量，将这部分挪到下面的函数中，如图所示

SlamCabbage commented 2 years ago

非常感谢您的回复！上述问题已经解决，但是又遇到了新的：

<command-line>: warning: ISO C++11 requires whitespace after the macro name
<command-line>: warning: ISO C++11 requires whitespace after the macro name
<command-line>: warning: ISO C++11 requires whitespace after the macro name
<command-line>: warning: ISO C++11 requires whitespace after the macro name
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp: In member function ‘void rangenet::segmentation::NetTensorRT::serializeEngine(const string&, const string&)’:
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:256:32: error: ‘kPREFER_PRECISION_CONSTRAINTS’ is not a member of ‘nvinfer1::BuilderFlag’
  256 |   config->setFlag(BuilderFlag::kPREFER_PRECISION_CONSTRAINTS);
      |                                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:291:16: error: ‘class nvinfer1::IBuilder’ has no member named ‘buildSerializedNetwork’
  291 |       builder->buildSerializedNetwork(*network, *config));
      |                ^~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::ICudaEngine]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::ICudaEngine; _Dp = std::default_delete<nvinfer1::ICudaEngine>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:100:42:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::ICudaEngine::~ICudaEngine()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /usr/include/x86_64-linux-gnu/NvInfer.h:53,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInferRuntime.h:1358:13: note: declared protected here
 1358 |     virtual ~ICudaEngine() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IExecutionContext]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IExecutionContext; _Dp = std::default_delete<nvinfer1::IExecutionContext>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:101:49:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IExecutionContext::~IExecutionContext()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /usr/include/x86_64-linux-gnu/NvInfer.h:53,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInferRuntime.h:1693:13: note: declared protected here
 1693 |     virtual ~IExecutionContext() noexcept {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IRuntime]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IRuntime; _Dp = std::default_delete<nvinfer1::IRuntime>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:226:72:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IRuntime::~IRuntime()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /usr/include/x86_64-linux-gnu/NvInfer.h:53,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInferRuntime.h:801:13: note: declared protected here
  801 |     virtual ~IRuntime() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IBuilder]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IBuilder; _Dp = std::default_delete<nvinfer1::IBuilder>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:247:72:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IBuilder::~IBuilder()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInfer.h:7261:13: note: declared protected here
 7261 |     virtual ~IBuilder()
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IBuilderConfig]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IBuilderConfig; _Dp = std::default_delete<nvinfer1::IBuilderConfig>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:253:79:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IBuilderConfig::~IBuilderConfig()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInfer.h:6756:13: note: declared protected here
 6756 |     virtual ~IBuilderConfig() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::INetworkDefinition]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::INetworkDefinition; _Dp = std::default_delete<nvinfer1::INetworkDefinition>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:259:46:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::INetworkDefinition::~INetworkDefinition()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInfer.h:5434:13: note: declared protected here
 5434 |     virtual ~INetworkDefinition() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvonnxparser::IParser]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvonnxparser::IParser; _Dp = std::default_delete<nvonnxparser::IParser>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:264:53:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvonnxparser::IParser::~IParser()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:12,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvOnnxParser.h:232:13: note: declared protected here
  232 |     virtual ~IParser() {}
      |             ^
make[2]: *** [CMakeFiles/rangenet_lib.dir/build.make:76：CMakeFiles/rangenet_lib.dir/src/netTensorRT.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:336：CMakeFiles/rangenet_lib.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
SlamCabbage commented 2 years ago

非常感谢您的回复！上述问题已经解决，但是又遇到了新的：

<command-line>: warning: ISO C++11 requires whitespace after the macro name
<command-line>: warning: ISO C++11 requires whitespace after the macro name
<command-line>: warning: ISO C++11 requires whitespace after the macro name
<command-line>: warning: ISO C++11 requires whitespace after the macro name
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp: In member function ‘void rangenet::segmentation::NetTensorRT::serializeEngine(const string&, const string&)’:
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:256:32: error: ‘kPREFER_PRECISION_CONSTRAINTS’ is not a member of ‘nvinfer1::BuilderFlag’
  256 |   config->setFlag(BuilderFlag::kPREFER_PRECISION_CONSTRAINTS);
      |                                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:291:16: error: ‘class nvinfer1::IBuilder’ has no member named ‘buildSerializedNetwork’
  291 |       builder->buildSerializedNetwork(*network, *config));
      |                ^~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::ICudaEngine]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::ICudaEngine; _Dp = std::default_delete<nvinfer1::ICudaEngine>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:100:42:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::ICudaEngine::~ICudaEngine()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /usr/include/x86_64-linux-gnu/NvInfer.h:53,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInferRuntime.h:1358:13: note: declared protected here
 1358 |     virtual ~ICudaEngine() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IExecutionContext]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IExecutionContext; _Dp = std::default_delete<nvinfer1::IExecutionContext>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:101:49:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IExecutionContext::~IExecutionContext()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /usr/include/x86_64-linux-gnu/NvInfer.h:53,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInferRuntime.h:1693:13: note: declared protected here
 1693 |     virtual ~IExecutionContext() noexcept {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IRuntime]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IRuntime; _Dp = std::default_delete<nvinfer1::IRuntime>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:226:72:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IRuntime::~IRuntime()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /usr/include/x86_64-linux-gnu/NvInfer.h:53,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInferRuntime.h:801:13: note: declared protected here
  801 |     virtual ~IRuntime() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IBuilder]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IBuilder; _Dp = std::default_delete<nvinfer1::IBuilder>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:247:72:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IBuilder::~IBuilder()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInfer.h:7261:13: note: declared protected here
 7261 |     virtual ~IBuilder()
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::IBuilderConfig]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::IBuilderConfig; _Dp = std::default_delete<nvinfer1::IBuilderConfig>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:253:79:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::IBuilderConfig::~IBuilderConfig()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInfer.h:6756:13: note: declared protected here
 6756 |     virtual ~IBuilderConfig() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvinfer1::INetworkDefinition]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvinfer1::INetworkDefinition; _Dp = std::default_delete<nvinfer1::INetworkDefinition>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:259:46:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvinfer1::INetworkDefinition::~INetworkDefinition()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:10,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvInfer.h:5434:13: note: declared protected here
 5434 |     virtual ~INetworkDefinition() {}
      |             ^
In file included from /usr/include/c++/9/memory:80,
                 from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
                 from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
                 from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
                 from /usr/local/include/opencv4/opencv2/core.hpp:54,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/net.hpp:13,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:9,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘void std::default_delete<_Tp>::operator()(_Tp*) const [with _Tp = nvonnxparser::IParser]’:
/usr/include/c++/9/bits/unique_ptr.h:292:17:   required from ‘std::unique_ptr<_Tp, _Dp>::~unique_ptr() [with _Tp = nvonnxparser::IParser; _Dp = std::default_delete<nvonnxparser::IParser>]’
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:264:53:   required from here
/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvonnxparser::IParser::~IParser()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~
In file included from /home/llz/catkin_RNT/src/RangeNetTrt8/include/netTensorRT.hpp:12,
                 from /home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:1:
/usr/include/x86_64-linux-gnu/NvOnnxParser.h:232:13: note: declared protected here
  232 |     virtual ~IParser() {}
      |             ^
make[2]: *** [CMakeFiles/rangenet_lib.dir/build.make:76：CMakeFiles/rangenet_lib.dir/src/netTensorRT.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:336：CMakeFiles/rangenet_lib.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2

我认为其中错误主要在:

/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:256:32: error: ‘kPREFER_PRECISION_CONSTRAINTS’ is not a member of ‘nvinfer1::BuilderFlag’
  256 |   config->setFlag(BuilderFlag::kPREFER_PRECISION_CONSTRAINTS);
      |                                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/llz/catkin_RNT/src/RangeNetTrt8/src/netTensorRT.cpp:291:16: error: ‘class nvinfer1::IBuilder’ has no member named ‘buildSerializedNetwork’
  291 |       builder->buildSerializedNetwork(*network, *config));
      |                ^~~~~~~~~~~~~~~~~~~~~~

/usr/include/c++/9/bits/unique_ptr.h:81:2: error: ‘virtual nvonnxparser::IParser::~IParser()’ is protected within this context
   81 |  delete __ptr;
      |  ^~~~~~

这两部分在终端中被标红

Natsu-Akatsuki commented 2 years ago

trt版本需8.2.3+

SlamCabbage commented 2 years ago

非常感谢您的回复！ 请问您所做的版本在有光追的显卡上效果如何呢

Natsu-Akatsuki commented 2 years ago

本工程主要是结合学到的cuda等技巧进行加速的，所以重点在于加速上。我是在titan rtx做实验，速度比原来的都要快很多。最新的数据一个是包括前后处理和预测为30ms左右。分割效果上rangenet++什么效果，这个就是什么效果。

SlamCabbage commented 2 years ago

您好，我已经更换了我的环境与您的一致。现在也都编译通过了，我想请问我要如何进行测试呢？ 就是像rangeNet_lib一样调用infer？ 并且在launch文件夹中没有launch文件存在。

SlamCabbage commented 2 years ago

非常感谢您的工作，如果可以的话我想添加您的好友，如果您愿意请留下您的邮箱，我联系您。

补充一点： 我使用 ./devel/lib/rangenet_plusplus/infer -h得到了以下输出

catkin_RNT ./devel/lib/rangenet_plusplus/infer -h 
./devel/lib/rangenet_plusplus/infer: error while loading shared libraries: libnvrtc.so.11.1: cannot open shared object file: No such file or directory

我全局搜索之后得到的文件列表 image

Natsu-Akatsuki commented 2 years ago
  1. ok，已提交launch文档（之前被ignore了...）；
  2. 您试过移除你新生成的trt文件和编译缓存，然后重新执行吗。
  3. 可以添加我学校的邮箱 2112004033@mail2.gdut.edu.cn
Egorundel commented 10 months ago

trt版本需8.2.3+

Natsu-Akatsuki 根据用户带来的错误，您是如何理解这一点的？

Natsu-Akatsuki commented 10 months ago

Just a API migration problem. A more detailed question is welcomed. @Egorundel