Model loading does not finish

[ouyangjunyuan]

Model loading does not finish

[OuyangJunyuan]

Does it work well without CUDA_MODULE_LOADING=LAZY?
I have no idea why it does not load anymore under LAZY mode.

[YoushaaMurhij]

No either way , it reaches this line

pointcloud-3d-detector-tensorrt/src/point_detector.cpp

Line 50 in 1226f54

PointDetection::TRTDetector3D detector(cfg);

and freezes

[OuyangJunyuan]

====== model infos ======
-> points(1, 16384, 4)
<- boxes(1, 256, 8)
<- scores(1, 256)
<- nums(1, 1)
=========================

the above messages indicated that SummarizeEngine in construction function of TRTDetector3D is completed.
I guess the program freezing may happen among the succeeding codes.
can you tell me which function really causes this case?

pointcloud-3d-detector-tensorrt/inc/model.h

Lines 230 to 240 in 1226f54

	SummarizeEngine(engine_);
	buffers_ = std::make_unique<BufferManager>(engine_, max_batch_size_);
	context_ = std::unique_ptr<nvinfer1::IExecutionContext>(engine_->createExecutionContext());
	assert(context_);
	context_->setBindingDimensions(0, nvinfer1::Dims3(max_batch_size_, max_point_num_, 4));
	// TODO: multi stream optimization for inference.
	cudaStreamCreate(&stream_);
	context_->setOptimizationProfileAsync(0, stream_);

In addition, after fully loading the engine, this program will sleep and wait for a ROS message, which also looks like the program is frozen if always not message comes in.

[YoushaaMurhij]

I checked them. Everything works fine but, the callback function does not trigger.

pointcloud-3d-detector-tensorrt/src/point_detector.cpp

Line 58 in 1226f54

auto sub = n.subscribe<sensor_msgs::PointCloud2>("/points", 1, [&](auto &&msg) {

I am running a rosbag that contains a topic /points.

[reddittoob]

I got same issue. Please tell me what I have to do.
@OuyangJunyuan