得到"LogicError:explicit_context_dependent失败:无效的设备上下文-当前没有活动的上下文? "在ROS中运行tensorRT时 [英] get "LogicError: explicit_context_dependent failed: invalid device context - no currently active context? " when running tensorRT in ROS
问题描述
我在TensorRT(使用python)中有一个推理代码.我想在ROS中运行此代码，但是在尝试分配缓冲区时出现以下错误:
I have an inference code in TensorRT(with python). I want to run this code in ROS but I get the below error when trying to allocate buffer:
LogicError: explicit_context_dependent failed: invalid device context - no currently active context?
该代码在ROS包中运行良好. ROS节点发布图像，给定的代码获取图像进行推断.推断代码如下所示:
The code works well out of the ROS package. A ROS node publishes an image and the given code get the image to do inference. The inference code is shown below:
#!/usr/bin/env python
# Revision $Id$
import rospy
from std_msgs.msg import String
from cv_bridge import CvBridge
import cv2
import os
import numpy as np
import argparse
import torch
from torch.autograd import Variable
from torchvision import transforms
import torch.nn.functional as F
import torch._utils
from PIL import Image
from sensor_msgs.msg import Image as ImageMsg
import tensorrt as trt
import pycuda.driver as cuda
import pycuda.autoinit
import random
import sys
import common
import shutil
from itertools import chain
TRT_LOGGER = trt.Logger()
# cuda.init()
class ModelData(object):
def __init__(self):
self.MODEL_PATH = "./MobileNet_v2_Final.onnx" ## converted model from pytorch to onnx
self.batch_size = 1
self.num_classes = 3
self.engine = build_int8_engine(self.MODEL_PATH, self.batch_size)
self.context = self.engine.create_execution_context()
### ROS PART
self.bridge_ROS = CvBridge()
self.loop_rate = rospy.Rate(1)
self.pub = rospy.Publisher('Image_Label', String, queue_size=1)
print('INIT Successfully')
def callback(self, msg):
rospy.loginfo('Image received...')
cv_image = self.bridge_ROS.imgmsg_to_cv2(msg, desired_encoding="passthrough")
inputs, outputs, bindings, stream = common.allocate_buffers(context.engine)
[output] = common.do_inference(context, bindings=bindings, inputs=inputs, outputs=outputs, stream=stream, batch_size=effective_batch_size)
def listener(self):
rospy.Subscriber("chatter", ImageMsg, self.callback)
while not rospy.is_shutdown():
rospy.loginfo('Getting image...')
self.loop_rate.sleep()
def build_int8_engine(model_file, batch_size=32):
with trt.Builder(TRT_LOGGER) as builder, builder.create_network() as network, trt.OnnxParser(network, TRT_LOGGER) as parser:
builder.max_batch_size = batch_size
builder.max_workspace_size = common.GiB(1)
with open(model_file, 'rb') as model:
parser.parse(model.read(),)
return builder.build_cuda_engine(network)
if __name__ == '__main__':
rospy.init_node("listener", anonymous=True)
infer = ModelData()
infer.listener()
错误来自stream = cuda.Stream()中的以下类:
The error comes from the below class in stream = cuda.Stream():
#!/usr/bin/env python
# Revision $Id$
from itertools import chain
import argparse
import os
import pycuda.driver as cuda
import pycuda.autoinit
import numpy as np
import tensorrt as trt
# Simple helper data class that's a little nicer to use than a 2-tuple.
class HostDeviceMem(object):
def __init__(self, host_mem, device_mem):
self.host = host_mem
self.device = device_mem
def __str__(self):
return "Host:\n" + str(self.host) + "\nDevice:\n" + str(self.device)
def __repr__(self):
return self.__str__()
# Allocates all buffers required for an engine, i.e. host/device inputs/outputs.
def allocate_buffers(engine):
inputs = []
outputs = []
bindings = []
stream = cuda.Stream()
for binding in engine:
size = trt.volume(engine.get_binding_shape(binding)) * engine.max_batch_size
dtype = trt.nptype(engine.get_binding_dtype(binding))
# Allocate host and device buffers
host_mem = cuda.pagelocked_empty(size, dtype)
device_mem = cuda.mem_alloc(host_mem.nbytes)
# Append the device buffer to device bindings.
bindings.append(int(device_mem))
# Append to the appropriate list.
if engine.binding_is_input(binding):
inputs.append(HostDeviceMem(host_mem, device_mem))
else:
outputs.append(HostDeviceMem(host_mem, device_mem))
ctx.pop()
del ctx
return inputs, outputs, bindings, stream
# This function is generalized for multiple inputs/outputs.
# inputs and outputs are expected to be lists of HostDeviceMem objects.
def do_inference(context, bindings, inputs, outputs, batch_size=1):
# Transfer input data to the GPU.
[cuda.memcpy_htod_async(inp.device, inp.host, stream) for inp in inputs]
# [cuda.memcpy_htod(inp.device, inp.host) for inp in inputs]
# Run inference.
context.execute_async(batch_size=batch_size, bindings=bindings, stream_handle=stream.handle)
# context.execute(batch_size=batch_size, bindings=bindings)
# Transfer predictions back from the GPU.
[cuda.memcpy_dtoh_async(out.host, out.device, stream) for out in outputs]
# [cuda.memcpy_dtoh(out.host, out.device) for out in outputs]
# Synchronize the stream
stream.synchronize()
# Return only the host outputs.
return [out.host for out in outputs]
更多信息:
TensorRT:6.1.5
Python:2.7
rosversion:1.14.3
rosdistro:旋律
TensorRT: 6.1.5
Python: 2.7
rosversion: 1.14.3
rosdistro: melodic
推荐答案
您需要显式创建Cuda Device并在辅助线程(即回调函数)中加载Cuda Context，而不是在主线程中使用import pycuda.autoinit，如下所示
You need to explicitly create Cuda Device and load Cuda Context in the worker thread i.e. your callback function, instead of using import pycuda.autoinit in the main thread, as follows
import pycuda.driver as cuda
import threading
def callback():
cuda.init()
device = cuda.Device(0) # enter your Gpu id here
ctx = device.make_context()
allocate_buffers() # load Cuda buffers or any other Cuda or TenosrRT operations
ctx.pop() # very important
if __name__ == "__main__":
worker_thread = threading.Thread(target=callback())
worker_thread.start()
worker_thread.join()
注意:不要忘记在两个模块中都删除import pycuda.autoinit
Note: do not forget to remove import pycuda.autoinit in both modules
这篇关于得到"LogicError:explicit_context_dependent失败:无效的设备上下文-当前没有活动的上下文? "在ROS中运行tensorRT时的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！
