Cleaning up

src/perception/object_detector/inference.cu

@@ -1,8 +1,6 @@
 #include "inference.cuh"
 
 #include <NvInfer.h>
-#include <NvInferRuntime.h>
-#include <NvInferRuntimeBase.h>
 #include <NvOnnxParser.h>
 #include <cstdio>
 #include <cuda_runtime_api.h>
@@ -26,7 +24,7 @@ namespace mrover {
 
     Inference::Inference(std::filesystem::path const& onnxModelPath) {
         //Create the engine object from either the file or from onnx file
-        mEngine = std::unique_ptr<ICudaEngine, Destroy<ICudaEngine>>{createCudaEngine(onnxModelPath)};
+        mEngine = std::unique_ptr<ICudaEngine>{createCudaEngine(onnxModelPath)};
         if (!mEngine) throw std::runtime_error("Failed to create CUDA engine");
 
         mLogger.log(ILogger::Severity::kINFO, "Created CUDA Engine");
@@ -48,22 +46,22 @@ namespace mrover {
         constexpr auto explicitBatch = 1U << static_cast<uint32_t>(NetworkDefinitionCreationFlag::kEXPLICIT_BATCH);
 
         //Init logger
-        std::unique_ptr<IBuilder, Destroy<IBuilder>> builder{createInferBuilder(mLogger)};
+        std::unique_ptr<IBuilder> builder{createInferBuilder(mLogger)};
         if (!builder) throw std::runtime_error("Failed to create Infer Builder");
         mLogger.log(ILogger::Severity::kINFO, "Created Infer Builder");
 
         //Init Network
-        std::unique_ptr<INetworkDefinition, Destroy<INetworkDefinition>> network{builder->createNetworkV2(explicitBatch)};
+        std::unique_ptr<INetworkDefinition> network{builder->createNetworkV2(explicitBatch)};
         if (!network) throw std::runtime_error("Failed to create Network Definition");
         mLogger.log(ILogger::Severity::kINFO, "Created Network Definition");
 
         //Init the onnx file parser
-        std::unique_ptr<nvonnxparser::IParser, Destroy<nvonnxparser::IParser>> parser{nvonnxparser::createParser(*network, mLogger)};
+        std::unique_ptr<nvonnxparser::IParser> parser{nvonnxparser::createParser(*network, mLogger)};
         if (!parser) throw std::runtime_error("Failed to create ONNX Parser");
         mLogger.log(ILogger::Severity::kINFO, "Created ONNX Parser");
 
         //Init the builder
-        std::unique_ptr<IBuilderConfig, Destroy<IBuilderConfig>> config{builder->createBuilderConfig()};
+        std::unique_ptr<IBuilderConfig> config{builder->createBuilderConfig()};
         if (!config) throw std::runtime_error("Failed to create Builder Config");
         mLogger.log(ILogger::Severity::kINFO, "Created Builder Config");
 
@@ -75,7 +73,7 @@ namespace mrover {
         //Create runtime engine
         IRuntime* runtime = createInferRuntime(mLogger);
 
-        // TODO: use relative to package
+        //Define the engine file location relative to the mrover package
         std::filesystem::path packagePath = ros::package::getPath("mrover");
         std::filesystem::path enginePath = packagePath / "data" / "tensorrt-engine-best.engine";
 

src/perception/object_detector/inference.cuh

@@ -17,10 +17,10 @@ namespace mrover {
         nvinfer1::Logger mLogger;
 
         //Ptr to the engine
-        std::unique_ptr<ICudaEngine, nvinfer1::Destroy<ICudaEngine>> mEngine{};
+        std::unique_ptr<ICudaEngine> mEngine{};
 
         //Ptr to the context
-        std::unique_ptr<IExecutionContext, nvinfer1::Destroy<IExecutionContext>> mContext{};
+        std::unique_ptr<IExecutionContext> mContext{};
 
         //Input, output and reference tensors
         cv::Mat mInputTensor;

src/perception/object_detector/inference_wrapper.cu

@@ -1,6 +1,5 @@
 #include "inference_wrapper.hpp"
 
-#include <NvInferRuntimeBase.h>
 #include <opencv4/opencv2/core/mat.hpp>
 
 #include "inference.cuh"
@@ -30,7 +29,6 @@ namespace mrover {
     }
 
     cv::Mat InferenceWrapper::getOutputTensor() const {
-        //Get the output tensor from the inference object
         return mInference->getOutputTensor();
     }
 

src/perception/object_detector/logger.cuh

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <NvInferRuntimeBase.h>
+#include <NvInfer.h>
 
 namespace nvinfer1 {
 

src/perception/object_detector/object_detector.processing.cpp

@@ -53,6 +53,7 @@ namespace mrover {
         int rows = output.rows;
         int dimensions = output.cols;
         bool yolov8 = false;
+
         // yolov5 has an output of shape (batchSize, 25200, 85) (Num classes + box[x,y,w,h] + confidence[c])
         // yolov8 has an output of shape (batchSize, 84,  8400) (Num classes + box[x,y,w,h])
         if (dimensions > rows) // Check if the shape[2] is more than shape[1] (yolov8)
@@ -123,7 +124,7 @@ namespace mrover {
                     boxes.emplace_back(left, top, width, height);
                 }
             } else { //YOLO V5
-                throw std::runtime_error("Something is wrong with interpretation"); 
+                throw std::runtime_error("Something is wrong Model with interpretation"); 
             }
 
             data += dimensions;
@@ -156,10 +157,7 @@ namespace mrover {
             //Get the first detection to locate in 3D
             Detection firstDetection = detections[0];
 
-            //Get the associated confidence with the object
             float classConfidence = firstDetection.confidence;
-
-            //Get the associated box with the object
             cv::Rect box = firstDetection.box;
 
             //Fill out the msgData information to be published to the topic
@@ -170,10 +168,9 @@ namespace mrover {
             // msgData.width = static_cast<float>(box.width);
             // msgData.height = static_cast<float>(box.height);
 
-            //Calculate the center of the box
             std::pair center(box.x + box.width/2, box.y + box.height/2);
 
-            //Get the object's position in 3D from the point cloud
+            //Get the object's position in 3D from the point cloud and run this statement if the optional has a value
             if (std::optional<SE3> objectLocation = getObjectInCamFromPixel(msg, center.first * static_cast<float>(msg->width) / sizedImage.cols, center.second * static_cast<float>(msg->height) / sizedImage.rows, box.width, box.height); objectLocation) {
                 try{
                     //Publish Immediate
@@ -233,9 +230,6 @@ namespace mrover {
 
         }
 
-        //DEBUG TODO REMOVE
-        ROS_INFO_STREAM(std::format("Hit count: {}", mHitCount));
-
         if (mDebugImgPub.getNumSubscribers() > 0 || true) {
             // Init sensor msg image
             sensor_msgs::Image newDebugImageMessage;//I chose regular msg not ptr so it can be used outside of this process