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chore: use config
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Signed-off-by: tzhong518 <[email protected]>
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tzhong518 committed Jan 30, 2024
1 parent e4cae6f commit 51e55aa
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Showing 5 changed files with 35 additions and 74 deletions.
1 change: 1 addition & 0 deletions perception/tensorrt_yolox/CMakeLists.txt
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Expand Up @@ -114,4 +114,5 @@ endif()

ament_auto_package(INSTALL_TO_SHARE
launch
config
)
15 changes: 15 additions & 0 deletions perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
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/**:
ros__parameters:
model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
label_path: "$(var data_path)/tensorrt_yolox/label.txt"
score_threshold: 0.35
nms_threshold: 0.7
precision: "int8"
calibration_algorithm: "Entropy"
dla_core_id: -1
quantize_first_layer: false
quantize_last_layer: false
profile_per_layer: false
clip_value: 6.0
preprocess_on_gpu: true
calibration_image_list_path: ""
15 changes: 15 additions & 0 deletions perception/tensorrt_yolox/config/yolox_tiny.param.yaml
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/**:
ros__parameters:
model_path: "$(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: ""
39 changes: 2 additions & 37 deletions perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
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Expand Up @@ -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"/>

Expand All @@ -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>
39 changes: 2 additions & 37 deletions perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
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Expand Up @@ -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"/>

Expand All @@ -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>

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