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chore(tensorrt_yolox): rework parameters (#6239)
* chore: use config Signed-off-by: tzhong518 <sworgun@gmail.com> * style(pre-commit): autofix * fix: rename Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: add json schema Signed-off-by: tzhong518 <sworgun@gmail.com> * style(pre-commit): autofix * fix: add comment to param.yaml Signed-off-by: tzhong518 <sworgun@gmail.com> --------- Signed-off-by: tzhong518 <sworgun@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
1 parent 539461f commit 5e86df6

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-74
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‎perception/tensorrt_yolox/CMakeLists.txt

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@@ -114,4 +114,5 @@ endif()
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ament_auto_package(INSTALL_TO_SHARE
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launch
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config
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)

‎perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml

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/**:
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ros__parameters:
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model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
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label_path: "$(var data_path)/tensorrt_yolox/label.txt"
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score_threshold: 0.35
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nms_threshold: 0.7
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precision: "int8" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
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calibration_algorithm: "Entropy" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
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dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
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quantize_first_layer: false # 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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quantize_last_layer: false # 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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profile_per_layer: false # 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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clip_value: 6.0 # 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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preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
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calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.

‎perception/tensorrt_yolox/config/yolox_tiny.param.yaml

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/**:
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ros__parameters:
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model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
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label_path: "$(var data_path)/tensorrt_yolox/label.txt"
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score_threshold: 0.35
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nms_threshold: 0.7
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precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
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calibration_algorithm: "MinMax" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
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dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
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quantize_first_layer: false # 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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quantize_last_layer: false # 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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profile_per_layer: false # 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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clip_value: 0.0 # 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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preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
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calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.

‎perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml

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@@ -5,30 +5,7 @@
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<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
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<arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
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<arg name="score_threshold" default="0.35"/>
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<arg name="nms_threshold" default="0.7"/>
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<arg name="precision" default="int8" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
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<arg
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name="calibration_algorithm"
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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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<arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
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<arg name="quantize_first_layer" default="false" 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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<arg name="quantize_last_layer" default="false" 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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<arg
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name="profile_per_layer"
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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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<arg
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name="clip_value"
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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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<arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
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<arg name="calibration_image_list_path" default="" description="Path to a file which contains path to images. Those images will be used for int8 quantization."/>
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<arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
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<arg name="use_decompress" default="true" description="use image decompress"/>
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<arg name="build_only" default="false" description="exit after trt engine is built"/>
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<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
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<remap from="~/in/image" to="$(var input/image)"/>
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<remap from="~/out/objects" to="$(var output/objects)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="nms_threshold" value="$(var nms_threshold)"/>
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<param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
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<param name="label_path" value="$(var model_path)/label.txt"/>
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<param name="precision" value="$(var precision)"/>
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<param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
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<param name="dla_core_id" value="$(var dla_core_id)"/>
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<param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
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<param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
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<param name="profile_per_layer" value="$(var profile_per_layer)"/>
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<param name="clip_value" value="$(var clip_value)"/>
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<param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
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<param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
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<param from="$(var yolox_param_path)" allow_substs="true"/>
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<param name="build_only" value="$(var build_only)"/>
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</node>
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</launch>

‎perception/tensorrt_yolox/launch/yolox_tiny.launch.xml

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@@ -4,30 +4,7 @@
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<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
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<arg name="model_name" default="yolox-tiny"/>
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
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<arg name="score_threshold" default="0.35"/>
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<arg name="nms_threshold" default="0.7"/>
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<arg name="precision" default="fp16" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
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<arg
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name="calibration_algorithm"
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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]"
15-
/>
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<arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
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<arg name="quantize_first_layer" default="false" 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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<arg name="quantize_last_layer" default="false" description="If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8"/>
19-
<arg
20-
name="profile_per_layer"
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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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<arg
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name="clip_value"
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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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<arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
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<arg name="calibration_image_list_path" default="" description="Path to a file which contains path to images. Those images will be used for int8 quantization."/>
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<arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
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<arg name="use_decompress" default="true" description="use image decompress"/>
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<arg name="build_only" default="false" description="exit after trt engine is built"/>
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@@ -39,19 +16,7 @@
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<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
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<remap from="~/in/image" to="$(var input/image)"/>
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<remap from="~/out/objects" to="$(var output/objects)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="nms_threshold" value="$(var nms_threshold)"/>
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<param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
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<param name="label_path" value="$(var model_path)/label.txt"/>
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<param name="precision" value="$(var precision)"/>
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<param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
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<param name="dla_core_id" value="$(var dla_core_id)"/>
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<param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
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<param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
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<param name="profile_per_layer" value="$(var profile_per_layer)"/>
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<param name="clip_value" value="$(var clip_value)"/>
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<param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
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<param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
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<param from="$(var yolox_param_path)" allow_substs="true"/>
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<param name="build_only" value="$(var build_only)"/>
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</node>
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</launch>

‎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": [
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"model_path",
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"label_path",
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"score_threshold",
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"nms_threshold",
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"precision",
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"calibration_algorithm",
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"dla_core_id",
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"quantize_first_layer",
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"quantize_last_layer",
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"profile_per_layer",
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"clip_value",
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"preprocess_on_gpu"
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]
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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": [
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"model_path",
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"label_path",
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"score_threshold",
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"nms_threshold",
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"precision",
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"calibration_algorithm",
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"dla_core_id",
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"quantize_first_layer",
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"quantize_last_layer",
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"profile_per_layer",
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"clip_value",
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"preprocess_on_gpu"
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]
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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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