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CenterPointTRT.doc
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Section0{=20margin-top:72.0000pt;=20margin-bottom:72.0000pt;=20margin-left:72.0000pt;=20margin-right:72.0000pt;=20size:612.0000pt 792.0000pt;=20}=20div.Section0{page:Section0;}</style></head><body style=3D"tab-interval:21pt;" ><!--StartFragment--><div class=3D"Section0" ><h1 style=3D"mso-pagination:widow-orphan;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:24.0000pt;mso-font-kerning:22.0000pt;" >CenterPoint </span></b><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:24.0000pt;mso-font-kerning:22.0000pt;" >TRT 模型部署</span></b><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:24.0000pt;mso-font-kerning:22.0000pt;" ><o:p></o:p></span></b></h1><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><h2 style=3D"mso-pagination:widow-orphan;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >简介</font></span></b><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></h2><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TensorRT 是Nvidia开源的用来作深度学习模型优化加速的SDK, 支持主流的深度学习框架(TensorFlow, Pytorch, MXNet等). TensorRT主要用来优化已经训练好的神经网络模型, 以便在NVIDIA 硬件平台作推理(Inference)加速。TensorRT对于网络结构进行了重构和优化，主要体现在以下几个方面：</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >第一是</font>tensorRT通过解析网络模型将网络中无用的输出层消除以减小计算。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >第二是对于网络结构的垂直整合，即将目前主流神经网络的</font>conv、BN、Relu三个层融合为了一个层。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >第三是对于网络的水平组合，水平组合是指将输入为相同张量和执行相同操作的层融合一起。</font></span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >第四是对于</font>concat层，将contact层的输入直接送入下面的操作中，不用单独进行concat后在输入计算，相当于减少了一次传输吞吐</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><br></span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TebsorRT 从框架导入训练模型的方式主要通过ONNX交换格式, TensorRT 附带一个ONNX解析器库以帮助导入模型,在可能的情况下,解析器向后兼容到opser7以上的版本.</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >由于目前的感知模型会部署在</font>RTX3080服务器上, 我们选择用TensorRT 作为模型加速SDK.</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><h2 style=3D"mso-pagination:widow-orphan;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" >TensorRT Workflow</span></b><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></h2><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TensorRT 所需的函数一般包含在头文件 NvInfer.h中，且一般在nvinfer1 namespace中。其界面classes 的命名一般以 I开头，如ILogger，IBuilder等。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TRT创建执行的流程如下：</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-weight:bold;" > 1. The Build Phase</span></b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >创建</font>builder之前，需要实例化一个ILogger 界面，用来捕捉我们感兴趣的信息。然后实例化一个builder</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > IBuilder* builder =3D createInferBuilder(logger);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-weight:bold;" > </span></b><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;" ><font face=3D"宋体" >创建网络</font></span></b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >一旦</font>builder 创建完毕，第一步就是通过创建网络来优化模型</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > uint32_t flag =3D 1U <<static_cast<uint32_t>(NetworkDefinitionCreationFlag::kEXPLICIT_BATCH) </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > INetworkDefinition* network =3D builder->createNetworkV2(flag);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><i><span class=3D"18" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-style:italic;" > </span></i><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;" ><font face=3D"宋体" >通过</font></span></b><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-weight:bold;" >ONNX parser</span></b><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;" ><font face=3D"宋体" >导入模型</font></span></b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >现在，需要从</font> ONNX文件填充网络。 ONNX 解析器 API 位于文件 NvOnnxParser.h 中，解析器位于 nvonnxparser 命名空间中。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > IParser* parser =3D createParser(*network, logger);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >然后使用解析器读取</font>ONNX文件并处理报错</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > parser->parseFromFile(modelFile, ILogger::Severity::kWARNING);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > for (int32_t i =3D 0; i < parser.getNbErrors(); ++i)</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > {</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > std::cout << parser->getError(i)->desc() << std::endl;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > }</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-weight:bold;" >2. Building an Engine</span></b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >下一步是构建一个</font>config对象来指定TensorRT如何优化模型</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > IBuilderConfig* config =3D builder->createBuilderConfig();</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > Config 界面可以设置诸多属性来控制TensorRT优化网络。一个重要的属性就是最大工作空间。Layer 执行通常需要临时工作空间来存储，这个参数可以限制最大内存。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >如果超越了这个最大尺寸，</font>TensorRT将无法执行这一层。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > Config->setMaxWorkspaceSize(1U<<20);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >一旦配置文件被创建，就可以创建</font>engine</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > IHostMemory* serializedEngine =3D builder->buildSerializedNetwork（*network, *config）;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >因为序列化</font>engine包含模型所有的配置和权重，parser, network, config , builder 都可以删除了:</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > Delete parser;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > Delete network;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > Delete config;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > Delete builder;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >序列化</font>engine可以存储到磁盘以便下次使用。至此，build完毕。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-weight:bold;" >3. Engine</span></b><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;" ><font face=3D"宋体" >反序列化</font></span></b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >现在我们有了序列化引擎，为了执行模型推理，我们需要首先创建一个</font>Runtime 界面。 跟builder一样，runtime需要一个logger实例:</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > IRuntime* runtime =3D createInferRuntime(logger);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >然后进行反序列化</font>:</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > ICudaEngine* engine =3D runtime->deserializeCudaEngine(modelData, modelSize);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-weight:bold;" >4. </span></b><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;" ><font face=3D"宋体" >执行推理</font></span></b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > Engine持有优化的模型，但是为了执行推理，我们需要管理中间激活层的额外状态， 这通过 ExecutionContext 界面来实现:</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > IExecutionContext *context =3D engine→createExecutionContext();</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >一个引擎可以有多个执行上下文，允许一组权重用于多个重叠的推理任务。</font> <font face=3D"宋体" >（例外是使用动态形状时，每个优化配置文件只能有一个执行上下文。）要执行推理，我们必须为输入和输出传递</font> TensorRT buffers，TensorRT 要求在指针数组中指定这些buffers。 我们可以使用为输入和输出张量提供的名称查询引擎，以找到数组中的正确位置：</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > int32_t inputIndex =3D engine->getBindingIndex(INPUT_NAME);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > int32_t outputIndex =3D engine->getBindingIndex(OUTPUT_NAME);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > void* buffers[2];</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > buffers[inputIndex] =3D inputBuffer;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > buffers[outputIndex] =3D outputBuffer;</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >然后执行推理</font></span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > context->enqueueV2(buffers, stream, nullptr);</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > <font face=3D"宋体" >如果使用同步推理，可以使用</font>executeV2代替enqueueV2 </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><h2 style=3D"mso-pagination:widow-orphan;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >优化</font></span></b><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></h2><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >优化的目的主要是加快计算速度，尽可能减少</font>cpu计算量，最大程度上榨取GPU计算能力，同时减少cpu和gpu之间数据传递量和数据传递次数。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >1. </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >更改计算图，对于</font>pfe和rpn两个模块，github上有尝试使用onnxsim 做衔接，拼成一个onnx，但是这种方法依赖第三方库，不稳定，于是分成两个独立的模块分别做加速，中间衔接部分用cuda做加速，评测显示VoxelAssigning 部分用时只有0.4ms。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >2. </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >fp16和fp32 ， pfe和rpn部分使用fp16做加速，评测显示指标上没有差别，推理速度却有显著提升。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3DMsoNormal style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;mso-para-margin-right:0.0000gd;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >3. </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >GPU做postprocess， TensorRT samples会在engine context输出之后立即将buffer从device (gpu)拷贝到host (cpu)，但是由于rpn共有5个head，这会增加数据传输负荷，而且用cpu做后处理速度慢。优化策略是直接从buffer中读取device tensors, 用cuda api thrust 做张量操作(排序，索引)，将保留的bbox通过cuda做nms。这样最终只将后处理保留的若干bbox拷贝到cpu,其数据量远小于buffer中的device 内存。这里有个小trick, 假设n个boxes，unsigned long long 类型 64 bits，其二进制编码刚好可以作为64维哈希向量， 可创建 N x (N/64）数据类型维unsigned long long 的矩阵作为mask(在数据存储上可理解为 N x N/64 x 64 的tensor，通过位运算赋值box_i与其他box之间的0或1)，mask指示对应位置两个框是否高于阈值。其中N可以作为cuda gridDim, N/64作为cuda blockDim，可减小mask占用内存并提高计算速度。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3DMsoNormal style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;mso-para-margin-right:0.0000gd;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >4. </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >提前为</font>tensor分配GPU 内存和CPU内存，其中为了提升cpu与gpu之间的数据拷贝速度，cpu内存被分配为锁页内存</span><b><span class=3D"19" style=3D"mso-spacerun:'yes';font-family:'Times New Roman';font-weight:bold;" >(Page-locked</span></b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >),具体</span><span><a href=3D"https://zhuanlan.zhihu.com/p/188246455" ><u><span class=3D"17" style=3D"mso-spacerun:'yes';font-family:宋体;color:rgb(0,0,255);text-decoration:underline;text-underline:single;" ><font face=3D"宋体" >参考锁页内存的介绍</font></span></u></a></span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >。</font></span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3DMsoNormal style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;mso-para-margin-right:0.0000gd;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >5. </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TRT config， 异步拷贝和异步推理(实验发现没啥影响)</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><h2 style=3D"mso-pagination:widow-orphan;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >指标与速度评测</font></span></b><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:18.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></h2><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;margin-left:0.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >这里使用</font>waymo openset评估指标，评测车和人的mAP和mAPH(mAP of Heading)， 评测样本使用validation里面所有的39987帧点云，包括200多个场景。固定score_threshold =3D 0.2, nms_threshold=3D0.7, 分别评测了pytorch模型，以及TensorRT模型在用cpu nms, gpu nms 以及fp16 的情况下模型的指标，评测结果见下表：</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><table class=3DMsoNormalTable border=3D1 cellspacing=3D0 style=3D"border-collapse:collapse;width:93.3000%;margin-left:0.8000pt;border:none;mso-border-left-alt:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;mso-border-insideh:0.7500pt outset windowtext;mso-border-insidev:0.7500pt outset windowtext;mso-padding-alt:0.7500pt 0.7500pt 0.7500pt 0.7500pt ;" ><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >指标</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >VEHICLE_LEVEL_2/mAP</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >VEHICLE_LEVEL_2/mAPH</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3Dp align=3Dcenter style=3D"mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >VEHICLE_LEVEL_2</span></b><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp align=3Dcenter style=3D"mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >[email protected]</span></b><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >PEDESTRIAN_LEVEL_2/mAP</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >PEDESTRIAN_LEVEL_2/mAPH</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3Dp align=3Dcenter style=3D"mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >PEDESTRIAN_LEVEL_2</span></b><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp align=3Dcenter style=3D"mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >[email protected]</span></b><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td></tr><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TorchModel</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.6019407</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.50268275</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.024101596</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.55445445</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.5377141</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.05468624</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td></tr><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TRT Model</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >(fp32, cpu nms)</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.6116394</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.510643</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.04844979</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.5488818</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.53235453</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.089853205</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td></tr><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TRT Model</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >(fp 16, gpu nms)</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.602398</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.5030214</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.024047023</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.5544836</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.53773355</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.054202292</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td></tr><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >TRT Model</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >(fp 32, gpu nms)</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.6019431</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.50268227</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.02410362</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.5545563</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.5378138</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.054766897</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td></tr></table><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >从结果可以看出</font>torch模型，fp32+gpu nms, fp16+gpu nms的结果是严格对齐的，fp32+cpu nms结果与其他结果几乎一致，但是略有差异，这是因为cpu nms采用的iou计算公式与gpu iou计算公式有所不同，主要因为计算量跟不上，而gpu iou的计算公式即BEV_iou与paper是一致的。实验结果符合我们的预期。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><table class=3DMsoNormalTable border=3D1 cellspacing=3D0 style=3D"border-collapse:collapse;width:69.9200%;margin-left:0.8000pt;border:none;mso-border-left-alt:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;mso-border-insideh:0.7500pt outset windowtext;mso-border-insidev:0.7500pt outset windowtext;mso-padding-alt:0.7500pt 0.7500pt 0.7500pt 0.7500pt ;" ><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >速度/ms</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >Preprocess</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >PFE infer</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >VoxelAssign</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > RPN Infer</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:1.0000pt solid windowtext;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal align=3Dcenter style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:center;" ><b><span style=3D"mso-spacerun:'yes';font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >Postprocess</span></b><b><span style=3D"font-family:宋体;font-weight:bold;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></b></p></td></tr><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >fp32</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >9.29</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >8.47</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.36</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >25.00</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >2.01</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td></tr><tr><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:1.0000pt solid windowtext;mso-border-left-alt:1.0000pt solid windowtext;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >fp16</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >9.20</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >6.14</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >0.42</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >7.14</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td><td valign=3Dcenter style=3D"padding:5.0000pt 5.0000pt 5.0000pt 5.0000pt ;border-left:none;mso-border-left-alt:none;border-right:1.0000pt solid windowtext;mso-border-right-alt:1.0000pt solid windowtext;border-top:none;mso-border-top-alt:1.0000pt solid windowtext;border-bottom:1.0000pt solid windowtext;mso-border-bottom-alt:1.0000pt solid windowtext;" ><p class=3DMsoNormal style=3D"page-break-after:avoid;mso-pagination:widow-orphan;text-align:left;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" >2.10</span><span style=3D"font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></td></tr></table><p class=3Dp style=3D"margin-top:5.0000pt;margin-right:0.0000pt;margin-bottom:5.0000pt;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><font face=3D"宋体" >上述表格中可以看出</font>fp16对fp32在pfe infer和rpn infer上推理速度有明显提升。由于trt engine输入输出都是fp32， 只是在内部使用fp16,因此两者在其他三项指标上没有差异。</span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p><p class=3Dp style=3D"mso-pagination:widow-orphan;" ><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" > </span><span style=3D"mso-spacerun:'yes';font-family:宋体;font-size:12.0000pt;mso-font-kerning:0.0000pt;" ><o:p></o:p></span></p></div><!--EndFragment--></body></html>
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