Hi there. I was trying to deploy a pointpillars .onnx model using the dnn_inference package. The model takes three tensor lists as input. Normally, I should write an encoder that publishes all three required nitros tensorlist data with different topics. However, I don't know how to connect the encoder with the tensor_rt_node.
I read part of the source code of this package and it seems that the tensor_rt_node does not support subscribing to multiple topics. However, in the tensor_rt_inference GXF extension, I found that the model loaded by the TensorRtInference component can fetch data from multiple rx components (inferred from the tick() function) and thus complete the populating of multiple inputs.
I was confused. Do I need to modify the source code for tensor_rt_node?
What should I do?
After further examination of the source code, I have developed some ideas.
Maybe I need to modify the dnn_image_encoder_node.yaml file (adding the DoubleBufferTransmitter components) and modify the nitros::NitrosPublisherSubscriberConfigMap CONFIG_MAP variable accordingly (in tensor_rt_node.cpp file) based on the names of the new components.
Am I thinking right？
Hi there. I was trying to deploy a pointpillars .onnx model using the dnn_inference package. The model takes three tensor lists as input. Normally, I should write an encoder that publishes all three required nitros tensorlist data with different topics. However, I don't know how to connect the encoder with the tensor_rt_node.
I read part of the source code of this package and it seems that the tensor_rt_node does not support subscribing to multiple topics. However, in the tensor_rt_inference GXF extension, I found that the model loaded by the TensorRtInference component can fetch data from multiple rx components (inferred from the
tick()function) and thus complete the populating of multiple inputs.I was confused. Do I need to modify the source code for tensor_rt_node?
What should I do?
After further examination of the source code, I have developed some ideas.
Maybe I need to modify the
dnn_image_encoder_node.yamlfile (adding the DoubleBufferTransmitter components) and modify thenitros::NitrosPublisherSubscriberConfigMap CONFIG_MAPvariable accordingly (intensor_rt_node.cppfile) based on the names of the new components.Am I thinking right？