pointpillar部署-TensorRT实现（二）

模型推理部分

模型推理主要使用tensorRT进行推理计算

1.整体过程

class TRT {
private:
//    Params params_;cudaEvent_t start_, stop_;Logger_pp gLogger_;nvinfer1::IExecutionContext *context_ = nullptr;nvinfer1::ICudaEngine *engine_ = nullptr;cudaStream_t stream_ = 0;
public:TRT(std::string modelFile, cudaStream_t stream = 0);~TRT(void);int doinfer(void **buffers);
};

2.模型加载与推理

TRT::TRT(std::string modelFile, cudaStream_t stream) : stream_(stream) {std::string modelCache = modelFile + ".cache";std::fstream trtCache(modelCache, std::ifstream::in);checkCudaErrors(cudaEventCreate(&start_));checkCudaErrors(cuda