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fix: add json schema
Signed-off-by: tzhong518 <sworgun@gmail.com>
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‎perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for tensorrt_yolox_s_plus_opt Nodes",
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"type": "object",
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"definitions": {
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"yolox_s_plus_opt": {
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"type": "object",
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"properties": {
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"model_path": {
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"type": "string",
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"default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
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"description": "Path to onnx model."
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},
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"label_path": {
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"type": "string",
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"default": "$(var data_path)/tensorrt_yolox/label.txt",
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"description": "Path to label file."
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},
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"score_threshold": {
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"type": "number",
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"default": 0.35,
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"minimum": 0.0,
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"maximum": 1.0,
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"description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
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},
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"nms_threshold": {
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"type": "number",
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"default": 0.7,
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"minimum": 0.0,
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"maximum": 1.0,
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"description": "A threshold value of NMS."
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},
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"precision": {
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"type": "string",
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"default": "int8",
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"description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
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},
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"calibration_algorithm": {
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"type": "string",
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"default": "Entropy",
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"description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
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},
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"dla_core_id": {
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"type": "number",
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"default": -1,
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"description": "If positive ID value is specified, the node assign inference task to the DLA core."
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},
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"quantize_first_layer": {
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"type": "boolean",
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"default": false,
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"description": "If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8."
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},
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"quantize_last_layer": {
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"type": "boolean",
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"default": false,
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"description": "If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8."
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},
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"profile_per_layer": {
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"type": "boolean",
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"default": false,
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"description": "If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose."
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},
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"clip_value": {
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"type": "number",
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"default": 6.0,
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"description": "If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration."
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},
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"preprocess_on_gpu": {
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"type": "boolean",
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"default": true,
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"description": "If true, pre-processing is performed on GPU."
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},
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"calibration_image_list_path": {
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"type": "string",
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"default": "",
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"description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
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}
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},
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"required": ["model_path", "label_path", "score_threshold", "nms_threshold", "precision", "calibration_algorithm", "dla_core_id", "quantize_first_layer", "quantize_last_layer", "profile_per_layer", "clip_value", "preprocess_on_gpu"]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/yolox_s_plus_opt"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎perception/tensorrt_yolox/schema/yolox_tiny.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for tensorrt_yolox_tiny Nodes",
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"type": "object",
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"definitions": {
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"yolox_tiny": {
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"type": "object",
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"properties": {
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"model_path": {
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"type": "string",
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"default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
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"description": "Path to onnx model."
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},
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"label_path": {
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"type": "string",
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"default": "$(var data_path)/tensorrt_yolox/label.txt",
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"description": "Path to label file."
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},
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"score_threshold": {
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"type": "number",
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"default": 0.35,
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"minimum": 0.0,
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"maximum": 1.0,
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"description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
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},
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"nms_threshold": {
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"type": "number",
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"default": 0.7,
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"minimum": 0.0,
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"maximum": 1.0,
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"description": "A threshold value of NMS."
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},
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"precision": {
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"type": "string",
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"default": "fp16",
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"description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
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},
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"calibration_algorithm": {
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"type": "string",
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"default": "MinMax",
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"description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
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},
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"dla_core_id": {
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"type": "number",
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"default": -1,
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"description": "If positive ID value is specified, the node assign inference task to the DLA core."
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},
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"quantize_first_layer": {
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"type": "boolean",
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"default": false,
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"description": "If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8."
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},
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"quantize_last_layer": {
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"type": "boolean",
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"default": false,
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"description": "If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8."
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},
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"profile_per_layer": {
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"type": "boolean",
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"default": false,
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"description": "If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose."
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},
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"clip_value": {
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"type": "number",
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"default": 0.0,
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"description": "If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration."
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},
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"preprocess_on_gpu": {
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"type": "boolean",
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"default": true,
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"description": "If true, pre-processing is performed on GPU."
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},
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"calibration_image_list_path": {
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"type": "string",
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"default": "",
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"description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
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}
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},
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"required": ["model_path", "label_path", "score_threshold", "nms_threshold", "precision", "calibration_algorithm", "dla_core_id", "quantize_first_layer", "quantize_last_layer", "profile_per_layer", "clip_value", "preprocess_on_gpu"]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/yolox_tiny"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

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