TensorRT 系列 （2）动态shape

TensorRT支持输入动态shape的推理，在编译模型时可以指定shape的动态范围为[L, H]，推理时允许L <= shape <= H，输入动态shape可通过createOptimizationProfile优化配置文件，来指定输入的shape可以变换的范围，当然也可以通过ONNX导出模型时进行指定，本次只演示前一种。

示例代码：

// tensorRT include
#include <NvInfer.h>
#include <NvInferRuntime.h>

// cuda include
#include <cuda_runtime.h>

// system include
#include <stdio.h>
#include <math.h>

#include <iostream> 
#include <fstream> // 后面要用到ios这个库
#include <vector>

using namespace std;

class TRTLogger : public nvinfer1::ILogger
{
public:
    virtual void log(Severity severity, nvinfer1::AsciiChar const* msg) noexcept override
    {
        if(severity <= Severity::kINFO)
        {
            printf("%d: %s\n", severity, msg);
        }
    }
} logger;

nvinfer1::Weights make_weights(float* ptr, int n)
{
    nvinfer1::Weights w;
    w.count = n;
    w.type = nvinfer1::DataType::kFLOAT;
    w.values = ptr;
    return w;
}

bool build_model()
{
    TRTLogger logger;

    // ----------------------------- 1. 定义 builder, config 和network -----------------------------
    nvinfer1::IBuilder* builder = nvinfer1::createInferBuilder(logger);
    nvinfer1::IBuilderConfig* config = builder->createBuilderConfig();
    nvinfer1::INetworkDefinition* network = builder->createNetworkV2(1);

    // 构建一个模型
    /*
        Network definition:

        image
          |
        conv(3x3, pad=1)  input = 1, output = 1, bias = True     w=[[1.0, 2.0, 0.5], [0.1, 0.2, 0.5], [0.2, 0.2, 0.1]], b=0.0
          |
        relu
          |
        prob
    */


    // ----------------------------- 2. 输入，模型结构和输出的基本信息 -----------------------------
    const int num_input = 1;
    const int num_output = 1;
    float layer1_weight_values[] = {
        1.0, 2.0, 3.1, 
        0.1, 0.1, 0.1, 
        0.2, 0.2, 0.2
    }; // 行优先
    float layer1_bias_values[]   = {0.0};

    // 如果要使用动态shape，必须让NetworkDefinition的维度定义为-1，in_channel是固定的
    nvinfer1::ITensor* input = network->addInput("image", nvinfer1::DataType::kFLOAT, nvinfer1::Dims4(-1, num_input, -1, -1));
    nvinfer1::Weights layer1_weight = make_weights(layer1_weight_values, 9);
    nvinfer1::Weights layer1_bias   = make_weights(layer1_bias_values, 1);
    auto layer1 = network->addConvolution(*input, num_output, nvinfer1::DimsHW(3, 3), layer1_weight, layer1_bias);
    layer1->setPadding(nvinfer1::DimsHW(1, 1));

    auto prob = network->addActivation(*layer1->getOutput(0), nvinfer1::ActivationType::kRELU); // *(layer1->getOutput(0))
     
    // 将我们需要的prob标记为输出
    network->markOutput(*prob->getOutput(0));

    int maxBatchSize = 10;
    printf("Workspace Size = %.2f MB\n", (1 << 28) / 1024.0f / 1024.0f);
    // 配置暂存存储器，用于layer实现的临时存储，也用于保存中间激活值
    config->setMaxWorkspaceSize(1 << 28);

    // --------------------------------- 2.1 关于profile ----------------------------------
    // 如果模型有多个输入，则必须多个profile
    auto profile = builder->createOptimizationProfile();

    // 配置最小允许1 x 1 x 3 x 3
    profile->setDimensions(input->getName(), nvinfer1::OptProfileSelector::kMIN, nvinfer1::Dims4(1, num_input, 3, 3));

    // 配置最优配置允许1 x 1 x 3 x 3
    profile->setDimensions(input->getName(), nvinfer1::OptProfileSelector::kOPT, nvinfer1::Dims4(1, num_input, 3, 3));

    // 配置最大允许10 x 1 x 5 x 5
    profile->setDimensions(input->getName(), nvinfer1::OptProfileSelector::kMAX, nvinfer1::Dims4(maxBatchSize, num_input, 5, 5));

    config->addOptimizationProfile(profile);

    nvinfer1::ICudaEngine* engine = builder->buildEngineWithConfig(*network, *config);
    if(engine == nullptr)
    {
        printf("Build engine failed.\n");
        return false;
    }

    // -------------------------- 3. 序列化 ----------------------------------
    // 将模型序列化，并储存为文件
    nvinfer1::IHostMemory* model_data = engine->serialize();
    FILE* f = fopen("engine.trtmodel", "wb");
    fwrite(model_data->data(), 1, model_data->size(), f);
    fclose(f);

    // 卸载顺序按照构建顺序倒序
    model_data->destroy();
    engine->destroy();
    network->destroy();
    config->destroy();
    builder->destroy();
    printf("Done.\n");
    return true;
}

vector<unsigned char> load_file(const string& file)
{
    ifstream in(file, ios::in | ios::binary);
    if (!in.is_open())
        return {};

    in.seekg(0, ios::end);
    size_t length = in.tellg();

    std::vector<uint8_t> data;
    if (length > 0)
    {
        in.seekg(0, ios::beg);
        data.resize(length);

        in.read((char*)&data[0], length);
    }
    in.close();
    return data;
}

void inference()
{
    // ------------------------------- 1. 加载model并反序列化 -------------------------------
    TRTLogger logger;
    auto engine_data = load_file("engine.trtmodel");
    nvinfer1::IRuntime* runtime   = nvinfer1::createInferRuntime(logger);
    nvinfer1::ICudaEngine* engine = runtime->deserializeCudaEngine(engine_data.data(), engine_data.size());
    if(engine == nullptr)
    {
        printf("Deserialize cuda engine failed.\n");
        runtime->destroy();
        return;
    }

    nvinfer1::IExecutionContext* execution_context = engine->createExecutionContext();
    cudaStream_t stream = nullptr;
    cudaStreamCreate(&stream);

    /*
        Network definition:

        image
          |
        conv(3x3, pad=1)  input = 1, output = 1, bias = True     w=[[1.0, 2.0, 0.5], [0.1, 0.2, 0.5], [0.2, 0.2, 0.1]], b=0.0
          |
        relu
          |
        prob
    */

    // ------------------------------- 2. 输入与输出 -------------------------------
    float input_data_host[] = {
        // batch 0
        1,   1,   1,
        1,   1,   1,
        1,   1,   1,

        // batch 1
        -1,   1,   1,
        1,   0,   1,
        1,   1,   -1
    };
    float* input_data_device = nullptr;

    // 3x3输入，对应3x3输出
    int ib = 2;
    int iw = 3;
    int ih = 3;
    float output_data_host[ib * iw * ih];
    float* output_data_device = nullptr;
    cudaMalloc(&input_data_device, sizeof(input_data_host));
    cudaMalloc(&output_data_device, sizeof(output_data_host));
    cudaMemcpyAsync(input_data_device, input_data_host, sizeof(input_data_host), cudaMemcpyHostToDevice, stream);


    // ------------------------------- 3. 推理 -------------------------------
    // 明确当前推理时，使用的数据输入大小
    execution_context->setBindingDimensions(0, nvinfer1::Dims4(ib, 1, ih, iw));
    float* bindings[] = {input_data_device, output_data_device};
    bool success = execution_context->enqueueV2((void**)bindings, stream, nullptr);
    cudaMemcpyAsync(output_data_host, output_data_device, sizeof(output_data_host), cudaMemcpyDeviceToHost, stream);
    cudaStreamSynchronize(stream);


    // ------------------------------- 4. 输出结果 -------------------------------
    for(int b = 0; b < ib; ++b)
    {
        printf("batch %d. output_data_host = \n", b);
        for(int i = 0; i < iw * ih; ++i)
        {
            printf("%f, ", output_data_host[b * iw * ih + i]);
            if((i + 1) % iw == 0)
                printf("\n");
        }
    }

    printf("Clean memory\n");
    cudaStreamDestroy(stream);
    cudaFree(input_data_device);
    cudaFree(output_data_device);
    execution_context->destroy();
    engine->destroy();
    runtime->destroy();
}

int main(){

    if(!build_model())
    {
        return -1;
    }
    inference();
    return 0;
}

 Makefile:

cc        := g++
name      := pro
workdir   := workspace
srcdir    := src
objdir    := objs
stdcpp    := c++11
cuda_home := /home/liuhongyuan/miniconda3/envs/trtpy/lib/python3.8/site-packages//trtpy/trt8cuda112cudnn8
syslib    := /home/liuhongyuan/miniconda3/envs/trtpy/lib/python3.8/site-packages//trtpy/lib
cpp_pkg   := /home/liuhongyuan/miniconda3/envs/trtpy/lib/python3.8/site-packages//trtpy/cpp-packages
cuda_arch := 
nvcc      := $(cuda_home)/bin/nvcc -ccbin=$(cc)

# 定义cpp的路径查找和依赖项mk文件
cpp_srcs := $(shell find $(srcdir) -name "*.cpp")
cpp_objs := $(cpp_srcs:.cpp=.cpp.o)
cpp_objs := $(cpp_objs:$(srcdir)/%=$(objdir)/%)
cpp_mk   := $(cpp_objs:.cpp.o=.cpp.mk)

# 定义cu文件的路径查找和依赖项mk文件
cu_srcs := $(shell find $(srcdir) -name "*.cu")
cu_objs := $(cu_srcs:.cu=.cu.o)
cu_objs := $(cu_objs:$(srcdir)/%=$(objdir)/%)
cu_mk   := $(cu_objs:.cu.o=.cu.mk)

# 定义opencv和cuda需要用到的库文件
link_cuda      := cudart cudnn
link_trtpro    := 
link_tensorRT  := nvinfer
link_opencv    := 
link_sys       := stdc++ dl
link_librarys  := $(link_cuda) $(link_tensorRT) $(link_sys) $(link_opencv)

# 定义头文件路径，请注意斜杠后边不能有空格
# 只需要写路径，不需要写-I
include_paths := src              \
    $(cuda_home)/include/cuda     \
	$(cuda_home)/include/tensorRT \
	$(cpp_pkg)/opencv4.2/include

# 定义库文件路径，只需要写路径，不需要写-L
library_paths := $(cuda_home)/lib64 $(syslib) $(cpp_pkg)/opencv4.2/lib

# 把library path给拼接为一个字符串，例如a b c => a:b:c
# 然后使得LD_LIBRARY_PATH=a:b:c
empty := 
library_path_export := $(subst $(empty) $(empty),:,$(library_paths))

# 把库路径和头文件路径拼接起来成一个，批量自动加-I、-L、-l
run_paths     := $(foreach item,$(library_paths),-Wl,-rpath=$(item))
include_paths := $(foreach item,$(include_paths),-I$(item))
library_paths := $(foreach item,$(library_paths),-L$(item))
link_librarys := $(foreach item,$(link_librarys),-l$(item))

# 如果是其他显卡，请修改-gencode=arch=compute_75,code=sm_75为对应显卡的能力
# 显卡对应的号码参考这里：https://developer.nvidia.com/zh-cn/cuda-gpus#compute
# 如果是 jetson nano，提示找不到-m64指令，请删掉 -m64选项。不影响结果
cpp_compile_flags := -std=$(stdcpp) -w -g -O0 -m64 -fPIC -fopenmp -pthread
cu_compile_flags  := -std=$(stdcpp) -w -g -O0 -m64 $(cuda_arch) -Xcompiler "$(cpp_compile_flags)"
link_flags        := -pthread -fopenmp -Wl,-rpath='$$ORIGIN'

cpp_compile_flags += $(include_paths)
cu_compile_flags  += $(include_paths)
link_flags        += $(library_paths) $(link_librarys) $(run_paths)

# 如果头文件修改了，这里的指令可以让他自动编译依赖的cpp或者cu文件
ifneq ($(MAKECMDGOALS), clean)
-include $(cpp_mk) $(cu_mk)
endif

$(name)   : $(workdir)/$(name)

all       : $(name)
run       : $(name)
	@cd $(workdir) && ./$(name) $(run_args)

$(workdir)/$(name) : $(cpp_objs) $(cu_objs)
	@echo Link $@
	@mkdir -p $(dir $@)
	@$(cc) $^ -o $@ $(link_flags)

$(objdir)/%.cpp.o : $(srcdir)/%.cpp
	@echo Compile CXX $<
	@mkdir -p $(dir $@)
	@$(cc) -c $< -o $@ $(cpp_compile_flags)

$(objdir)/%.cu.o : $(srcdir)/%.cu
	@echo Compile CUDA $<
	@mkdir -p $(dir $@)
	@$(nvcc) -c $< -o $@ $(cu_compile_flags)

# 编译cpp依赖项，生成mk文件
$(objdir)/%.cpp.mk : $(srcdir)/%.cpp
	@echo Compile depends C++ $<
	@mkdir -p $(dir $@)
	@$(cc) -M $< -MF $@ -MT $(@:.cpp.mk=.cpp.o) $(cpp_compile_flags)
    
# 编译cu文件的依赖项，生成cumk文件
$(objdir)/%.cu.mk : $(srcdir)/%.cu
	@echo Compile depends CUDA $<
	@mkdir -p $(dir $@)
	@$(nvcc) -M $< -MF $@ -MT $(@:.cu.mk=.cu.o) $(cu_compile_flags)

# 定义清理指令
clean :
	@rm -rf $(objdir) $(workdir)/$(name) $(workdir)/*.trtmodel

# 防止符号被当做文件
.PHONY : clean run $(name)

# 导出依赖库路径，使得能够运行起来
export LD_LIBRARY_PATH:=$(library_path_export)