From 51e55aa6607892b5e5860d94daa6bad33c924c9c Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Tue, 30 Jan 2024 22:31:01 +0900
Subject: [PATCH 1/6] chore: use config
Signed-off-by: tzhong518 <sworgun@gmail.com>
---
perception/tensorrt_yolox/CMakeLists.txt | 1 +
.../config/yolox_s_plus_opt.yaml | 15 +++++++
.../config/yolox_tiny.param.yaml | 15 +++++++
.../launch/yolox_s_plus_opt.launch.xml | 39 +------------------
.../launch/yolox_tiny.launch.xml | 39 +------------------
5 files changed, 35 insertions(+), 74 deletions(-)
create mode 100644 perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
create mode 100644 perception/tensorrt_yolox/config/yolox_tiny.param.yaml
diff --git a/perception/tensorrt_yolox/CMakeLists.txt b/perception/tensorrt_yolox/CMakeLists.txt
index 21860854ccd5f..a5498a845e62e 100644
--- a/perception/tensorrt_yolox/CMakeLists.txt
+++ b/perception/tensorrt_yolox/CMakeLists.txt
@@ -114,4 +114,5 @@ endif()
ament_auto_package(INSTALL_TO_SHARE
launch
+ config
)
diff --git a/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml b/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
new file mode 100644
index 0000000000000..d88eadd9a6c98
--- /dev/null
+++ b/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
@@ -0,0 +1,15 @@
+/**:
+ ros__parameters:
+ model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+ label_path: "$(var data_path)/tensorrt_yolox/label.txt"
+ score_threshold: 0.35
+ nms_threshold: 0.7
+ precision: "int8"
+ calibration_algorithm: "Entropy"
+ dla_core_id: -1
+ quantize_first_layer: false
+ quantize_last_layer: false
+ profile_per_layer: false
+ clip_value: 6.0
+ preprocess_on_gpu: true
+ calibration_image_list_path: ""
\ No newline at end of file
diff --git a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
new file mode 100644
index 0000000000000..ea9faa5575d34
--- /dev/null
+++ b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
@@ -0,0 +1,15 @@
+/**:
+ ros__parameters:
+ model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+ label_path: "$(var data_path)/tensorrt_yolox/label.txt"
+ score_threshold: 0.35
+ nms_threshold: 0.7
+ precision: "fp16"
+ calibration_algorithm: "MinMax"
+ dla_core_id: -1
+ quantize_first_layer: false
+ quantize_last_layer: false
+ profile_per_layer: false
+ clip_value: 0.0
+ preprocess_on_gpu: true
+ calibration_image_list_path: ""
\ No newline at end of file
diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
index 3f8d7897ab5d3..dd15eda2913ce 100644
--- a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
+++ b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
@@ -5,30 +5,7 @@
<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
<arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
- <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
- <arg name="score_threshold" default="0.35"/>
- <arg name="nms_threshold" default="0.7"/>
- <arg name="precision" default="int8" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
- <arg
- name="calibration_algorithm"
- default="Entropy"
- description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
- />
- <arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
- <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"/>
- <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"/>
- <arg
- name="profile_per_layer"
- default="false"
- 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."
- />
- <arg
- name="clip_value"
- default="6.0"
- 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."
- />
- <arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
- <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."/>
+ <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
<arg name="use_decompress" default="true" description="use image decompress"/>
<arg name="build_only" default="false" description="exit after trt engine is built"/>
@@ -40,19 +17,7 @@
<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
- <param name="score_threshold" value="$(var score_threshold)"/>
- <param name="nms_threshold" value="$(var nms_threshold)"/>
- <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
- <param name="label_path" value="$(var model_path)/label.txt"/>
- <param name="precision" value="$(var precision)"/>
- <param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
- <param name="dla_core_id" value="$(var dla_core_id)"/>
- <param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
- <param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
- <param name="profile_per_layer" value="$(var profile_per_layer)"/>
- <param name="clip_value" value="$(var clip_value)"/>
- <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
- <param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
+ <param from="$(var yolox_param_path)" allow_substs="true"/>
<param name="build_only" value="$(var build_only)"/>
</node>
</launch>
diff --git a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
index 2f08031ea159f..9e5d1c371b13b 100644
--- a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
+++ b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
@@ -4,30 +4,7 @@
<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
<arg name="model_name" default="yolox-tiny"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
- <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
- <arg name="score_threshold" default="0.35"/>
- <arg name="nms_threshold" default="0.7"/>
- <arg name="precision" default="fp16" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
- <arg
- name="calibration_algorithm"
- default="MinMax"
- description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
- />
- <arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
- <arg name="quantize_first_layer" default="false" description="If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8"/>
- <arg name="quantize_last_layer" default="false" description="If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8"/>
- <arg
- name="profile_per_layer"
- default="false"
- description="If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose."
- />
- <arg
- name="clip_value"
- default="0.0"
- description="If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration."
- />
- <arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
- <arg name="calibration_image_list_path" default="" description="Path to a file which contains path to images. Those images will be used for int8 quantization."/>
+ <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
<arg name="use_decompress" default="true" description="use image decompress"/>
<arg name="build_only" default="false" description="exit after trt engine is built"/>
@@ -39,19 +16,7 @@
<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
- <param name="score_threshold" value="$(var score_threshold)"/>
- <param name="nms_threshold" value="$(var nms_threshold)"/>
- <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
- <param name="label_path" value="$(var model_path)/label.txt"/>
- <param name="precision" value="$(var precision)"/>
- <param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
- <param name="dla_core_id" value="$(var dla_core_id)"/>
- <param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
- <param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
- <param name="profile_per_layer" value="$(var profile_per_layer)"/>
- <param name="clip_value" value="$(var clip_value)"/>
- <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
- <param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
+ <param from="$(var yolox_param_path)" allow_substs="true"/>
<param name="build_only" value="$(var build_only)"/>
</node>
</launch>
From 5446bbe597fcf91af0dc127249a8f4b77656cb4d Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 30 Jan 2024 13:35:33 +0000
Subject: [PATCH 2/6] style(pre-commit): autofix
---
perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml | 2 +-
perception/tensorrt_yolox/config/yolox_tiny.param.yaml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml b/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
index d88eadd9a6c98..76666e5106118 100644
--- a/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
+++ b/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
@@ -12,4 +12,4 @@
profile_per_layer: false
clip_value: 6.0
preprocess_on_gpu: true
- calibration_image_list_path: ""
\ No newline at end of file
+ calibration_image_list_path: ""
diff --git a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
index ea9faa5575d34..e8832952a1af5 100644
--- a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
+++ b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
@@ -12,4 +12,4 @@
profile_per_layer: false
clip_value: 0.0
preprocess_on_gpu: true
- calibration_image_list_path: ""
\ No newline at end of file
+ calibration_image_list_path: ""
From d88251c03f73f4c597850b6225d5e0efc23db8a3 Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Fri, 2 Feb 2024 09:21:08 +0900
Subject: [PATCH 3/6] fix: rename
Signed-off-by: tzhong518 <sworgun@gmail.com>
---
.../config/{yolox_s_plus_opt.yaml => yolox_s_plus_opt.param.yaml} | 0
1 file changed, 0 insertions(+), 0 deletions(-)
rename perception/tensorrt_yolox/config/{yolox_s_plus_opt.yaml => yolox_s_plus_opt.param.yaml} (100%)
diff --git a/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml b/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
similarity index 100%
rename from perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
rename to perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
From f6cae459f85abafb96401ec40975c5b7b13f0719 Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Mon, 19 Feb 2024 13:16:03 +0900
Subject: [PATCH 4/6] fix: add json schema
Signed-off-by: tzhong518 <sworgun@gmail.com>
---
.../schema/yolox_s_plus_opt.schema.json | 94 +++++++++++++++++++
.../schema/yolox_tiny.schema.json | 94 +++++++++++++++++++
2 files changed, 188 insertions(+)
create mode 100644 perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
create mode 100644 perception/tensorrt_yolox/schema/yolox_tiny.schema.json
diff --git a/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json b/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
new file mode 100644
index 0000000000000..88932769ac874
--- /dev/null
+++ b/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
@@ -0,0 +1,94 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for tensorrt_yolox_s_plus_opt Nodes",
+ "type": "object",
+ "definitions": {
+ "yolox_s_plus_opt": {
+ "type": "object",
+ "properties": {
+ "model_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
+ "description": "Path to onnx model."
+ },
+ "label_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/label.txt",
+ "description": "Path to label file."
+ },
+ "score_threshold": {
+ "type": "number",
+ "default": 0.35,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
+ },
+ "nms_threshold": {
+ "type": "number",
+ "default": 0.7,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of NMS."
+ },
+ "precision": {
+ "type": "string",
+ "default": "int8",
+ "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
+ },
+ "calibration_algorithm": {
+ "type": "string",
+ "default": "Entropy",
+ "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
+ },
+ "dla_core_id": {
+ "type": "number",
+ "default": -1,
+ "description": "If positive ID value is specified, the node assign inference task to the DLA core."
+ },
+ "quantize_first_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "quantize_last_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "profile_per_layer": {
+ "type": "boolean",
+ "default": false,
+ "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."
+ },
+ "clip_value": {
+ "type": "number",
+ "default": 6.0,
+ "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."
+ },
+ "preprocess_on_gpu": {
+ "type": "boolean",
+ "default": true,
+ "description": "If true, pre-processing is performed on GPU."
+ },
+ "calibration_image_list_path": {
+ "type": "string",
+ "default": "",
+ "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
+ }
+ },
+ "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"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/yolox_s_plus_opt"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+ }
\ No newline at end of file
diff --git a/perception/tensorrt_yolox/schema/yolox_tiny.schema.json b/perception/tensorrt_yolox/schema/yolox_tiny.schema.json
new file mode 100644
index 0000000000000..5f1803300344d
--- /dev/null
+++ b/perception/tensorrt_yolox/schema/yolox_tiny.schema.json
@@ -0,0 +1,94 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for tensorrt_yolox_tiny Nodes",
+ "type": "object",
+ "definitions": {
+ "yolox_tiny": {
+ "type": "object",
+ "properties": {
+ "model_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
+ "description": "Path to onnx model."
+ },
+ "label_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/label.txt",
+ "description": "Path to label file."
+ },
+ "score_threshold": {
+ "type": "number",
+ "default": 0.35,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
+ },
+ "nms_threshold": {
+ "type": "number",
+ "default": 0.7,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of NMS."
+ },
+ "precision": {
+ "type": "string",
+ "default": "fp16",
+ "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
+ },
+ "calibration_algorithm": {
+ "type": "string",
+ "default": "MinMax",
+ "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
+ },
+ "dla_core_id": {
+ "type": "number",
+ "default": -1,
+ "description": "If positive ID value is specified, the node assign inference task to the DLA core."
+ },
+ "quantize_first_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "quantize_last_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "profile_per_layer": {
+ "type": "boolean",
+ "default": false,
+ "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."
+ },
+ "clip_value": {
+ "type": "number",
+ "default": 0.0,
+ "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."
+ },
+ "preprocess_on_gpu": {
+ "type": "boolean",
+ "default": true,
+ "description": "If true, pre-processing is performed on GPU."
+ },
+ "calibration_image_list_path": {
+ "type": "string",
+ "default": "",
+ "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
+ }
+ },
+ "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"]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/yolox_tiny"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+ }
\ No newline at end of file
From 38232f1a0d9c441217246c9b453c694bbbc1650b Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 19 Feb 2024 04:18:04 +0000
Subject: [PATCH 5/6] style(pre-commit): autofix
---
.../schema/yolox_s_plus_opt.schema.json | 195 ++++++++++--------
.../schema/yolox_tiny.schema.json | 195 ++++++++++--------
2 files changed, 208 insertions(+), 182 deletions(-)
diff --git a/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json b/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
index 88932769ac874..ce1ad6c2d0caf 100644
--- a/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
+++ b/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
@@ -1,94 +1,107 @@
{
- "$schema": "http://json-schema.org/draft-07/schema#",
- "title": "Parameters for tensorrt_yolox_s_plus_opt Nodes",
- "type": "object",
- "definitions": {
- "yolox_s_plus_opt": {
- "type": "object",
- "properties": {
- "model_path": {
- "type": "string",
- "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
- "description": "Path to onnx model."
- },
- "label_path": {
- "type": "string",
- "default": "$(var data_path)/tensorrt_yolox/label.txt",
- "description": "Path to label file."
- },
- "score_threshold": {
- "type": "number",
- "default": 0.35,
- "minimum": 0.0,
- "maximum": 1.0,
- "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
- },
- "nms_threshold": {
- "type": "number",
- "default": 0.7,
- "minimum": 0.0,
- "maximum": 1.0,
- "description": "A threshold value of NMS."
- },
- "precision": {
- "type": "string",
- "default": "int8",
- "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
- },
- "calibration_algorithm": {
- "type": "string",
- "default": "Entropy",
- "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
- },
- "dla_core_id": {
- "type": "number",
- "default": -1,
- "description": "If positive ID value is specified, the node assign inference task to the DLA core."
- },
- "quantize_first_layer": {
- "type": "boolean",
- "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."
- },
- "quantize_last_layer": {
- "type": "boolean",
- "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."
- },
- "profile_per_layer": {
- "type": "boolean",
- "default": false,
- "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."
- },
- "clip_value": {
- "type": "number",
- "default": 6.0,
- "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."
- },
- "preprocess_on_gpu": {
- "type": "boolean",
- "default": true,
- "description": "If true, pre-processing is performed on GPU."
- },
- "calibration_image_list_path": {
- "type": "string",
- "default": "",
- "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
- }
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for tensorrt_yolox_s_plus_opt Nodes",
+ "type": "object",
+ "definitions": {
+ "yolox_s_plus_opt": {
+ "type": "object",
+ "properties": {
+ "model_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
+ "description": "Path to onnx model."
},
- "required": ["model_path", "label_path", "score_threshold", "nms_threshold", "precision", "calibration_algorithm", "dla_core_id", "quantize_first_layer", "quantize_last_layer", "profile_per_layer", "clip_value", "preprocess_on_gpu"]
- }
- },
- "properties": {
- "/**": {
- "type": "object",
- "properties": {
- "ros__parameters": {
- "$ref": "#/definitions/yolox_s_plus_opt"
- }
+ "label_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/label.txt",
+ "description": "Path to label file."
},
- "required": ["ros__parameters"]
- }
- },
- "required": ["/**"]
- }
\ No newline at end of file
+ "score_threshold": {
+ "type": "number",
+ "default": 0.35,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
+ },
+ "nms_threshold": {
+ "type": "number",
+ "default": 0.7,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of NMS."
+ },
+ "precision": {
+ "type": "string",
+ "default": "int8",
+ "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
+ },
+ "calibration_algorithm": {
+ "type": "string",
+ "default": "Entropy",
+ "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
+ },
+ "dla_core_id": {
+ "type": "number",
+ "default": -1,
+ "description": "If positive ID value is specified, the node assign inference task to the DLA core."
+ },
+ "quantize_first_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "quantize_last_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "profile_per_layer": {
+ "type": "boolean",
+ "default": false,
+ "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."
+ },
+ "clip_value": {
+ "type": "number",
+ "default": 6.0,
+ "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."
+ },
+ "preprocess_on_gpu": {
+ "type": "boolean",
+ "default": true,
+ "description": "If true, pre-processing is performed on GPU."
+ },
+ "calibration_image_list_path": {
+ "type": "string",
+ "default": "",
+ "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
+ }
+ },
+ "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"
+ ]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/yolox_s_plus_opt"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}
diff --git a/perception/tensorrt_yolox/schema/yolox_tiny.schema.json b/perception/tensorrt_yolox/schema/yolox_tiny.schema.json
index 5f1803300344d..f47b28e47a3f8 100644
--- a/perception/tensorrt_yolox/schema/yolox_tiny.schema.json
+++ b/perception/tensorrt_yolox/schema/yolox_tiny.schema.json
@@ -1,94 +1,107 @@
{
- "$schema": "http://json-schema.org/draft-07/schema#",
- "title": "Parameters for tensorrt_yolox_tiny Nodes",
- "type": "object",
- "definitions": {
- "yolox_tiny": {
- "type": "object",
- "properties": {
- "model_path": {
- "type": "string",
- "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
- "description": "Path to onnx model."
- },
- "label_path": {
- "type": "string",
- "default": "$(var data_path)/tensorrt_yolox/label.txt",
- "description": "Path to label file."
- },
- "score_threshold": {
- "type": "number",
- "default": 0.35,
- "minimum": 0.0,
- "maximum": 1.0,
- "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
- },
- "nms_threshold": {
- "type": "number",
- "default": 0.7,
- "minimum": 0.0,
- "maximum": 1.0,
- "description": "A threshold value of NMS."
- },
- "precision": {
- "type": "string",
- "default": "fp16",
- "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
- },
- "calibration_algorithm": {
- "type": "string",
- "default": "MinMax",
- "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
- },
- "dla_core_id": {
- "type": "number",
- "default": -1,
- "description": "If positive ID value is specified, the node assign inference task to the DLA core."
- },
- "quantize_first_layer": {
- "type": "boolean",
- "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."
- },
- "quantize_last_layer": {
- "type": "boolean",
- "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."
- },
- "profile_per_layer": {
- "type": "boolean",
- "default": false,
- "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."
- },
- "clip_value": {
- "type": "number",
- "default": 0.0,
- "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."
- },
- "preprocess_on_gpu": {
- "type": "boolean",
- "default": true,
- "description": "If true, pre-processing is performed on GPU."
- },
- "calibration_image_list_path": {
- "type": "string",
- "default": "",
- "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
- }
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for tensorrt_yolox_tiny Nodes",
+ "type": "object",
+ "definitions": {
+ "yolox_tiny": {
+ "type": "object",
+ "properties": {
+ "model_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
+ "description": "Path to onnx model."
},
- "required": ["model_path", "label_path", "score_threshold", "nms_threshold", "precision", "calibration_algorithm", "dla_core_id", "quantize_first_layer", "quantize_last_layer", "profile_per_layer", "clip_value", "preprocess_on_gpu"]
- }
- },
- "properties": {
- "/**": {
- "type": "object",
- "properties": {
- "ros__parameters": {
- "$ref": "#/definitions/yolox_tiny"
- }
+ "label_path": {
+ "type": "string",
+ "default": "$(var data_path)/tensorrt_yolox/label.txt",
+ "description": "Path to label file."
},
- "required": ["ros__parameters"]
- }
- },
- "required": ["/**"]
- }
\ No newline at end of file
+ "score_threshold": {
+ "type": "number",
+ "default": 0.35,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
+ },
+ "nms_threshold": {
+ "type": "number",
+ "default": 0.7,
+ "minimum": 0.0,
+ "maximum": 1.0,
+ "description": "A threshold value of NMS."
+ },
+ "precision": {
+ "type": "string",
+ "default": "fp16",
+ "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
+ },
+ "calibration_algorithm": {
+ "type": "string",
+ "default": "MinMax",
+ "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
+ },
+ "dla_core_id": {
+ "type": "number",
+ "default": -1,
+ "description": "If positive ID value is specified, the node assign inference task to the DLA core."
+ },
+ "quantize_first_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "quantize_last_layer": {
+ "type": "boolean",
+ "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."
+ },
+ "profile_per_layer": {
+ "type": "boolean",
+ "default": false,
+ "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."
+ },
+ "clip_value": {
+ "type": "number",
+ "default": 0.0,
+ "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."
+ },
+ "preprocess_on_gpu": {
+ "type": "boolean",
+ "default": true,
+ "description": "If true, pre-processing is performed on GPU."
+ },
+ "calibration_image_list_path": {
+ "type": "string",
+ "default": "",
+ "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
+ }
+ },
+ "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"
+ ]
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/yolox_tiny"
+ }
+ },
+ "required": ["ros__parameters"]
+ }
+ },
+ "required": ["/**"]
+}
From 148ae19673b566f8de7d0bd6407d0d35ebec52ef Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Mon, 26 Feb 2024 09:53:13 +0900
Subject: [PATCH 6/6] fix: add comment to param.yaml
Signed-off-by: tzhong518 <sworgun@gmail.com>
---
.../config/yolox_s_plus_opt.param.yaml | 18 +++++++++---------
.../config/yolox_tiny.param.yaml | 18 +++++++++---------
2 files changed, 18 insertions(+), 18 deletions(-)
diff --git a/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml b/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
index 76666e5106118..bc67173442094 100644
--- a/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
+++ b/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
@@ -4,12 +4,12 @@
label_path: "$(var data_path)/tensorrt_yolox/label.txt"
score_threshold: 0.35
nms_threshold: 0.7
- precision: "int8"
- calibration_algorithm: "Entropy"
- dla_core_id: -1
- quantize_first_layer: false
- quantize_last_layer: false
- profile_per_layer: false
- clip_value: 6.0
- preprocess_on_gpu: true
- calibration_image_list_path: ""
+ precision: "int8" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
+ calibration_algorithm: "Entropy" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
+ dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
+ quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8.
+ quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8.
+ profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose.
+ clip_value: 6.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration.
+ preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
+ calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.
diff --git a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
index e8832952a1af5..e45742a7afb95 100644
--- a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
+++ b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
@@ -4,12 +4,12 @@
label_path: "$(var data_path)/tensorrt_yolox/label.txt"
score_threshold: 0.35
nms_threshold: 0.7
- precision: "fp16"
- calibration_algorithm: "MinMax"
- dla_core_id: -1
- quantize_first_layer: false
- quantize_last_layer: false
- profile_per_layer: false
- clip_value: 0.0
- preprocess_on_gpu: true
- calibration_image_list_path: ""
+ precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
+ calibration_algorithm: "MinMax" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
+ dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
+ 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.
+ 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.
+ 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.
+ 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.
+ preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
+ calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.