refactor(lidar_centerpoint)!: fix namespace and directory structure (a…

…utowarefoundation#8049) * add prefix in lidar_centerpoint Signed-off-by: MasatoSaeki <[email protected]> * add .gitignore Signed-off-by: MasatoSaeki <[email protected]> * change include package name in image_projection_based fusion Signed-off-by: MasatoSaeki <[email protected]> * fix Signed-off-by: MasatoSaeki <[email protected]> * change in codeowner Signed-off-by: MasatoSaeki <[email protected]> * delete package Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * solve conflict too Signed-off-by: MasatoSaeki <[email protected]> * fix include file Signed-off-by: MasatoSaeki <[email protected]> * fix typo in launch file Signed-off-by: MasatoSaeki <[email protected]> * add prefix in README Signed-off-by: MasatoSaeki <[email protected]> * fix bugs by conflict Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * change namespace from to Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: MasatoSaeki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
kyoichi-sugahara · Jul 23, 2024 · 3348e1e · 3348e1e
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -129,7 +129,7 @@ perception/image_projection_based_fusion/** [email protected] koji.minoda@tier
 perception/lidar_apollo_instance_segmentation/** [email protected] [email protected]
 perception/lidar_apollo_segmentation_tvm/** [email protected] [email protected]
 perception/lidar_apollo_segmentation_tvm_nodes/** [email protected] [email protected]
-perception/lidar_centerpoint/** [email protected] [email protected]
+perception/autoware_lidar_centerpoint/** [email protected] [email protected]
 perception/occupancy_grid_map_outlier_filter/** [email protected] [email protected] [email protected]
 perception/probabilistic_occupancy_grid_map/** [email protected] [email protected] [email protected]
 perception/radar_tracks_msgs_converter/** [email protected] [email protected] [email protected] [email protected]

diff --git a/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -37,10 +37,10 @@
   <!-- CenterPoint -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
-    <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
+    <arg name="lidar_model_param_path" default="$(find-pkg-share autoware_lidar_centerpoint)/config"/>
 
     <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+      <include file="$(find-pkg-share autoware_lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output/objects" value="$(var output/objects)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>

diff --git a/perception/lidar_centerpoint/.gitignore → ...ion/autoware_lidar_centerpoint/.gitignore b/perception/lidar_centerpoint/.gitignore → ...ion/autoware_lidar_centerpoint/.gitignore
diff --git a/perception/lidar_centerpoint/CMakeLists.txt → ...autoware_lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt → ...autoware_lidar_centerpoint/CMakeLists.txt
@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 3.14)
-project(lidar_centerpoint)
+project(autoware_lidar_centerpoint)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-# TODO(lidar_centerpoint): Remove once upgrading to TensorRT 8.5 is complete
+# TODO(autoware_lidar_centerpoint): Remove once upgrading to TensorRT 8.5 is complete
 add_compile_options(-Wno-deprecated-declarations)
 
 option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF)
@@ -79,7 +79,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
   )
 
   ### centerpoint ###
-  ament_auto_add_library(centerpoint_lib SHARED
+  ament_auto_add_library(${PROJECT_NAME}_lib SHARED
     lib/centerpoint_trt.cpp
     lib/detection_class_remapper.cpp
     lib/utils.cpp
@@ -91,48 +91,48 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     lib/preprocess/voxel_generator.cpp
   )
 
-  cuda_add_library(centerpoint_cuda_lib SHARED
+  cuda_add_library(${PROJECT_NAME}_cuda_lib SHARED
     lib/postprocess/circle_nms_kernel.cu
     lib/postprocess/postprocess_kernel.cu
     lib/network/scatter_kernel.cu
     lib/preprocess/preprocess_kernel.cu
   )
 
-  target_link_libraries(centerpoint_lib
+  target_link_libraries(${PROJECT_NAME}_lib
     ${NVINFER}
     ${NVONNXPARSER}
     ${CUDA_LIBRARIES}
     ${CUBLAS_LIBRARIES}
     ${CUDA_curand_LIBRARY}
     ${CUDNN_LIBRARY}
-    centerpoint_cuda_lib
+    ${PROJECT_NAME}_cuda_lib
   )
 
-  target_include_directories(centerpoint_lib
+  target_include_directories(${PROJECT_NAME}_lib
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
   )
 
   # To suppress unknown-pragmas error. The root-cause is CUB library in CUDA 11.6.
   # This issue was fixed by https://github.com/NVIDIA/cub/commit/7d608bf1dc14553e2fb219eabeed80b76621b6fe
-  target_include_directories(centerpoint_lib
+  target_include_directories(${PROJECT_NAME}_lib
     SYSTEM PUBLIC
       ${CUDA_INCLUDE_DIRS}
   )
 
   ## node ##
-  ament_auto_add_library(lidar_centerpoint_component SHARED
+  ament_auto_add_library(${PROJECT_NAME}_component SHARED
     src/node.cpp
   )
 
-  target_link_libraries(lidar_centerpoint_component
-    centerpoint_lib
+  target_link_libraries(${PROJECT_NAME}_component
+    ${PROJECT_NAME}_lib
   )
 
-  rclcpp_components_register_node(lidar_centerpoint_component
-    PLUGIN "centerpoint::LidarCenterPointNode"
-    EXECUTABLE lidar_centerpoint_node
+  rclcpp_components_register_node(${PROJECT_NAME}_component
+    PLUGIN "autoware::lidar_centerpoint::LidarCenterPointNode"
+    EXECUTABLE ${PROJECT_NAME}_node
   )
 
   ament_export_dependencies(ament_cmake_python)
@@ -144,7 +144,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
   )
 
   install(
-    TARGETS centerpoint_cuda_lib
+    TARGETS ${PROJECT_NAME}_cuda_lib
     DESTINATION lib
   )
 
@@ -176,7 +176,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
 #    )
 #
 #    target_link_libraries(test_preprocess_kernel
-#      centerpoint_cuda_lib
+#      ${PROJECT_NAME}_cuda_lib
 #      gtest
 #      gtest_main
 #    )
@@ -196,7 +196,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
 #    )
 #
 #    target_link_libraries(test_postprocess_kernel
-#      centerpoint_cuda_lib
+#      ${PROJECT_NAME}_cuda_lib
 #      gtest
 #      gtest_main
 #    )

diff --git a/perception/lidar_centerpoint/README.md → ...tion/autoware_lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md → ...tion/autoware_lidar_centerpoint/README.md
@@ -1,8 +1,8 @@
-# lidar_centerpoint
+# autoware_lidar_centerpoint
 
 ## Purpose
 
-lidar_centerpoint is a package for detecting dynamic 3D objects.
+autoware_lidar_centerpoint is a package for detecting dynamic 3D objects.
 
 ## Inner-workings / Algorithms
 
@@ -49,11 +49,11 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 
 ### The `build_only` option
 
-The `lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file.
+The `autoware_lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file.
 Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
 
 ```bash
-ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true
+ros2 launch autoware_lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix autoware_lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true
 ```
 
 ## Assumptions / Known limits
@@ -225,7 +225,7 @@ the base link location of the vehicle.
 
 #### Convert CenterPoint PyTorch model to ONNX Format
 
-The lidar_centerpoint implementation requires two ONNX models as input the voxel encoder and the backbone-neck-head of the CenterPoint model, other aspects of the network,
+The autoware_lidar_centerpoint implementation requires two ONNX models as input the voxel encoder and the backbone-neck-head of the CenterPoint model, other aspects of the network,
 such as preprocessing operations, are implemented externally. Under the fork of the mmdetection3d repository,
 we have included a script that converts the CenterPoint model to Autoware compatible ONNX format.
 You can find it in `mmdetection3d/projects/AutowareCenterPoint` file.
@@ -236,7 +236,7 @@ python projects/AutowareCenterPoint/centerpoint_onnx_converter.py --cfg projects
 
 #### Create the config file for the custom model
 
-Create a new config file named **centerpoint_custom.param.yaml** under the config file directory of the lidar_centerpoint node. Sets the parameters of the config file like
+Create a new config file named **centerpoint_custom.param.yaml** under the config file directory of the autoware_lidar_centerpoint node. Sets the parameters of the config file like
 point_cloud_range, point_feature_size, voxel_size, etc. according to the training config file.
 
 ```yaml
@@ -262,7 +262,7 @@ point_cloud_range, point_feature_size, voxel_size, etc. according to the trainin
 ```bash
 cd /YOUR/AUTOWARE/PATH/Autoware
 source install/setup.bash
-ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml  model_name:=centerpoint_custom  model_path:=/PATH/TO/ONNX/FILE/
+ros2 launch autoware_lidar_centerpoint lidar_centerpoint.launch.xml  model_name:=centerpoint_custom  model_path:=/PATH/TO/ONNX/FILE/
 ```
 
 ### Changelog

diff --git a/...centerpoint/config/centerpoint.param.yaml → ...centerpoint/config/centerpoint.param.yaml b/...centerpoint/config/centerpoint.param.yaml → ...centerpoint/config/centerpoint.param.yaml
diff --git a/.../config/centerpoint_ml_package.param.yaml → .../config/centerpoint_ml_package.param.yaml b/.../config/centerpoint_ml_package.param.yaml → .../config/centerpoint_ml_package.param.yaml
diff --git a/...g/centerpoint_sigma_ml_package.param.yaml → ...g/centerpoint_sigma_ml_package.param.yaml b/...g/centerpoint_sigma_ml_package.param.yaml → ...g/centerpoint_sigma_ml_package.param.yaml
diff --git a/...rpoint/config/centerpoint_tiny.param.yaml → ...rpoint/config/centerpoint_tiny.param.yaml b/...rpoint/config/centerpoint_tiny.param.yaml → ...rpoint/config/centerpoint_tiny.param.yaml
diff --git a/...ig/centerpoint_tiny_ml_package.param.yaml → ...ig/centerpoint_tiny_ml_package.param.yaml b/...ig/centerpoint_tiny_ml_package.param.yaml → ...ig/centerpoint_tiny_ml_package.param.yaml
diff --git a/...onfig/detection_class_remapper.param.yaml → ...onfig/detection_class_remapper.param.yaml b/...onfig/detection_class_remapper.param.yaml → ...onfig/detection_class_remapper.param.yaml
diff --git a/.../lidar_centerpoint/centerpoint_config.hpp → .../lidar_centerpoint/centerpoint_config.hpp b/.../lidar_centerpoint/centerpoint_config.hpp → .../lidar_centerpoint/centerpoint_config.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_
-#define LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_
+#ifndef AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_
+#define AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_
 
 #include <cstddef>
 #include <vector>
 
-namespace centerpoint
+namespace autoware::lidar_centerpoint
 {
 class CenterPointConfig
 {
@@ -132,6 +132,6 @@ class CenterPointConfig
   std::size_t down_grid_size_y_ = grid_size_y_ / downsample_factor_;
 };
 
-}  // namespace centerpoint
+}  // namespace autoware::lidar_centerpoint
 
-#endif  // LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_
+#endif  // AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_CONFIG_HPP_
diff --git a/...ude/lidar_centerpoint/centerpoint_trt.hpp → ...are/lidar_centerpoint/centerpoint_trt.hpp b/...ude/lidar_centerpoint/centerpoint_trt.hpp → ...are/lidar_centerpoint/centerpoint_trt.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_
-#define LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_
+#ifndef AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_
+#define AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_
 
-#include "lidar_centerpoint/cuda_utils.hpp"
-#include "lidar_centerpoint/network/network_trt.hpp"
-#include "lidar_centerpoint/postprocess/postprocess_kernel.hpp"
-#include "lidar_centerpoint/preprocess/voxel_generator.hpp"
+#include "autoware/lidar_centerpoint/cuda_utils.hpp"
+#include "autoware/lidar_centerpoint/network/network_trt.hpp"
+#include "autoware/lidar_centerpoint/postprocess/postprocess_kernel.hpp"
+#include "autoware/lidar_centerpoint/preprocess/voxel_generator.hpp"
 #include "pcl/point_cloud.h"
 #include "pcl/point_types.h"
 
@@ -29,7 +29,7 @@
 #include <utility>
 #include <vector>
 
-namespace centerpoint
+namespace autoware::lidar_centerpoint
 {
 class NetworkParam
 {
@@ -107,6 +107,6 @@ class CenterPointTRT
   cuda::unique_ptr<unsigned int[]> num_voxels_d_{nullptr};
 };
 
-}  // namespace centerpoint
+}  // namespace autoware::lidar_centerpoint
 
-#endif  // LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_
+#endif  // AUTOWARE__LIDAR_CENTERPOINT__CENTERPOINT_TRT_HPP_
diff --git a/.../include/lidar_centerpoint/cuda_utils.hpp → ...autoware/lidar_centerpoint/cuda_utils.hpp b/.../include/lidar_centerpoint/cuda_utils.hpp → ...autoware/lidar_centerpoint/cuda_utils.hpp
@@ -39,8 +39,8 @@
  * https://creativecommons.org/publicdomain/zero/1.0/deed.en
  */
 
-#ifndef LIDAR_CENTERPOINT__CUDA_UTILS_HPP_
-#define LIDAR_CENTERPOINT__CUDA_UTILS_HPP_
+#ifndef AUTOWARE__LIDAR_CENTERPOINT__CUDA_UTILS_HPP_
+#define AUTOWARE__LIDAR_CENTERPOINT__CUDA_UTILS_HPP_
 
 #include "cuda_runtime_api.h"
 
@@ -117,4 +117,4 @@ inline T * get_next_ptr(size_t num_elem, void *& workspace, size_t & workspace_s
 
 }  // namespace cuda
 
-#endif  // LIDAR_CENTERPOINT__CUDA_UTILS_HPP_
+#endif  // AUTOWARE__LIDAR_CENTERPOINT__CUDA_UTILS_HPP_
diff --git a/..._centerpoint/detection_class_remapper.hpp → ..._centerpoint/detection_class_remapper.hpp b/..._centerpoint/detection_class_remapper.hpp → ..._centerpoint/detection_class_remapper.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_
-#define LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_
+#ifndef AUTOWARE__LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_
+#define AUTOWARE__LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_
 
 #include <Eigen/Core>
 
@@ -24,7 +24,7 @@
 
 #include <vector>
 
-namespace centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 class DetectionClassRemapper
@@ -42,6 +42,6 @@ class DetectionClassRemapper
   int num_labels_;
 };
 
-}  // namespace centerpoint
+}  // namespace autoware::lidar_centerpoint
 
-#endif  // LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_
+#endif  // AUTOWARE__LIDAR_CENTERPOINT__DETECTION_CLASS_REMAPPER_HPP_
diff --git a/...lidar_centerpoint/network/network_trt.hpp → ...lidar_centerpoint/network/network_trt.hpp b/...lidar_centerpoint/network/network_trt.hpp → ...lidar_centerpoint/network/network_trt.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_
-#define LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_
+#ifndef AUTOWARE__LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_
+#define AUTOWARE__LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_
 
-#include "lidar_centerpoint/centerpoint_config.hpp"
-#include "lidar_centerpoint/network/tensorrt_wrapper.hpp"
+#include "autoware/lidar_centerpoint/centerpoint_config.hpp"
+#include "autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp"
 
 #include <vector>
 
-namespace centerpoint
+namespace autoware::lidar_centerpoint
 {
 class VoxelEncoderTRT : public TensorRTWrapper
 {
@@ -48,6 +48,6 @@ class HeadTRT : public TensorRTWrapper
   std::vector<std::size_t> out_channel_sizes_;
 };
 
-}  // namespace centerpoint
+}  // namespace autoware::lidar_centerpoint
 
-#endif  // LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_
+#endif  // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__NETWORK_TRT_HPP_
diff --git a/...ar_centerpoint/network/scatter_kernel.hpp → ...ar_centerpoint/network/scatter_kernel.hpp b/...ar_centerpoint/network/scatter_kernel.hpp → ...ar_centerpoint/network/scatter_kernel.hpp
@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_
-#define LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_
+#ifndef AUTOWARE__LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_
+#define AUTOWARE__LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_
 
 #include "cuda.h"
 #include "cuda_runtime_api.h"
 
-namespace centerpoint
+namespace autoware::lidar_centerpoint
 {
 cudaError_t scatterFeatures_launch(
   const float * pillar_features, const int * coords, const unsigned int * num_pillars,
   const std::size_t max_voxel_size, const std::size_t encoder_out_feature_size,
   const std::size_t grid_size_x, const std::size_t grid_size_y, float * scattered_features,
   cudaStream_t stream);
 
-}  // namespace centerpoint
+}  // namespace autoware::lidar_centerpoint
 
-#endif  // LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_
+#endif  // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__SCATTER_KERNEL_HPP_
diff --git a/..._centerpoint/network/tensorrt_wrapper.hpp → ..._centerpoint/network/tensorrt_wrapper.hpp b/..._centerpoint/network/tensorrt_wrapper.hpp → ..._centerpoint/network/tensorrt_wrapper.hpp
@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_
-#define LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_
+#ifndef AUTOWARE__LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_
+#define AUTOWARE__LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_
 
 #include "NvInfer.h"
-#include "lidar_centerpoint/centerpoint_config.hpp"
+#include "autoware/lidar_centerpoint/centerpoint_config.hpp"
 #include "tensorrt_common/tensorrt_common.hpp"
 
 #include <iostream>
 #include <memory>
 #include <string>
 
-namespace centerpoint
+namespace autoware::lidar_centerpoint
 {
 
 class TensorRTWrapper
@@ -62,6 +62,6 @@ class TensorRTWrapper
   tensorrt_common::TrtUniquePtr<nvinfer1::ICudaEngine> engine_{nullptr};
 };
 
-}  // namespace centerpoint
+}  // namespace autoware::lidar_centerpoint
 
-#endif  // LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_
+#endif  // AUTOWARE__LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_