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chore(tensorrt_yolox): rework parameters (#6239)
* chore: use config Signed-off-by: tzhong518 <[email protected]> * style(pre-commit): autofix * fix: rename Signed-off-by: tzhong518 <[email protected]> * fix: add json schema Signed-off-by: tzhong518 <[email protected]> * style(pre-commit): autofix * fix: add comment to param.yaml Signed-off-by: tzhong518 <[email protected]> --------- Signed-off-by: tzhong518 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <[email protected]>
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@@ -114,4 +114,5 @@ endif() | |
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| ament_auto_package(INSTALL_TO_SHARE | ||
| launch | ||
| config | ||
| ) | ||
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perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
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| /**: | ||
| ros__parameters: | ||
| model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" | ||
| label_path: "$(var data_path)/tensorrt_yolox/label.txt" | ||
| score_threshold: 0.35 | ||
| nms_threshold: 0.7 | ||
| precision: "int8" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]. | ||
| calibration_algorithm: "Entropy" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]. | ||
| dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core. | ||
| quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8. | ||
| quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8. | ||
| profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose. | ||
| clip_value: 6.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration. | ||
| preprocess_on_gpu: true # If true, pre-processing is performed on GPU. | ||
| calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization. |
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| /**: | ||
| ros__parameters: | ||
| model_path: "$(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" # 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. |
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107 changes: 107 additions & 0 deletions
107
perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for tensorrt_yolox_s_plus_opt Nodes", | ||
| "type": "object", | ||
| "definitions": { | ||
| "yolox_s_plus_opt": { | ||
| "type": "object", | ||
| "properties": { | ||
| "model_path": { | ||
| "type": "string", | ||
| "default": "$(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": { | ||
| "$ref": "#/definitions/yolox_s_plus_opt" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
107 changes: 107 additions & 0 deletions
107
perception/tensorrt_yolox/schema/yolox_tiny.schema.json
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| { | ||
| "$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": ["/**"] | ||
| } |