autoware_tensorrt_plugins

Purpose

The autoware_tensorrt_plugins package extends the operations available in TensorRT via plugins.

Algorithms

The following operations are implemented:

Sparse convolutions

We provide a wrapper for spconv (please see the correspondent package for details about the algorithms involved). This requires the installation of spconv_cpp which is automatically installed in autoware's setup script. If needed, the user can also build and install it using the repository's instructions.

BEV Pool

We provide a wrapper for the bev_pool operation presented in BEVFusion. Please refer to the original paper for specific details.