瀚博半导体载天VA1 模型转换过程

爱学习的小道长

已于 2023-03-14 13:54:55 修改

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分类专栏： AI ubuntu 文章标签： python 深度学习

于 2023-03-14 11:42:37 首次发布

本文链接：https://blog.csdn.net/weixin_40378209/article/details/129522160

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背景：
使用训练出来的.pth模型 ----> .onnx 模型 ----> .json .params .so 三件套

模型由格式pth 转 onnx
转换过程中建议用显卡直接专用，避免出现有关cuda的问题，并且完成这个过程后再装瀚博半导体载天VA1加速卡：
转换环境参考：ubuntu 18.04 OpenPCDet pointpillar v0.5.2 环境搭建与问题解决
安装过程：

$ conda create -n OpenPCDetv0602 python==3.7
$ conda activate OpenPCDetv0602
$ python -m pip install spconv-cu102 -i https://mirror.baidu.com/pypi/simple
$ conda install pytorch==1.10.0 torchvision==0.11.0 torchaudio==0.10.0 cudatoolkit=10.2 -c pytorch

打开 requirements.txt 把有关 pytorch 的注释掉

$ gedit requirements.txt

numpy
llvmlite
numba
#torch>=1.1
tensorboardX
easydict
pyyaml
scikit-image
tqdm
torchvision
SharedArray
opencv-python

$ python -m pip install -r requirements.txt -i https://mirror.baidu.com/pypi/simple

然后：

python setup.py develop

记得每次 pytorch 版本变动，都得 python setup.py develop，重新生成.so 动态库
用的配置文件根据自己的需要修改，pointpillar_single_head.yaml：

CLASS_NAMES: ['car', 'truck', 'bus', 'non_motor_vehicles', 'pedestrians']

DATA_CONFIG: 
    _BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
    POINT_CLOUD_RANGE: [0, -49.6, -1,80, 49.6, 4] #[0, -49.6, -3,80, 49.6, 1]
    DATA_PROCESSOR:
        - NAME: mask_points_and_boxes_outside_range
          REMOVE_OUTSIDE_BOXES: True

        - NAME: shuffle_points
          SHUFFLE_ENABLED: {
            'train': True,
            'test': False
          }

        - NAME: transform_points_to_voxels
          VOXEL_SIZE: [0.2, 0.2, 5]
          MAX_POINTS_PER_VOXEL: 32
          MAX_NUMBER_OF_VOXELS: {
            'train': 16000,
            'test': 40000
          }
    DATA_AUGMENTOR:
        DISABLE_AUG_LIST: ['placeholder']
        AUG_CONFIG_LIST:
            - NAME: gt_sampling
              USE_ROAD_PLANE: False
              DB_INFO_PATH:
                  - kitti_dbinfos_train.pkl
              PREPARE: {
                
                 filter_by_min_points: ['car:5', 'truck:5', 'bus:5', 'non_motor_vehicles:5', 'pedestrians:5'],
                 filter_by_difficulty: [-1],
              }

              SAMPLE_GROUPS: ['car:20', 'truck:20', 'bus:20', 'non_motor_vehicles:15', 'pedestrians:15']
              NUM_POINT_FEATURES: 4
              DATABASE_WITH_FAKELIDAR: False
              REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
              LIMIT_WHOLE_SCENE: False

            - NAME: random_world_flip
              ALONG_AXIS_LIST: ['x']

            - NAME: random_world_rotation
              WORLD_ROT_ANGLE: [-0.78539816, 0.78539816]

            - NAME: random_world_scaling
              WORLD_SCALE_RANGE: [0.95, 1.05]

MODEL:
    NAME: PointPillar

    VFE:
        NAME: PillarVFE
        WITH_DISTANCE: False
        USE_ABSLOTE_XYZ: True
        USE_NORM: True
        NUM_FILTERS: [64]

    MAP_TO_BEV:
        NAME: PointPillarScatter
        NUM_BEV_FEATURES: 64

    BACKBONE_2D:
        NAME: BaseBEVBackbone
        LAYER_NUMS: [3, 5, 5]
        LAYER_STRIDES: [2, 2, 2]
        NUM_FILTERS: [64, 128, 256]
        UPSAMPLE_STRIDES: [1, 2, 4]
        NUM_UPSAMPLE_FILTERS: [128, 128, 128]

    DENSE_HEAD:
        NAME: AnchorHeadSingle
        CLASS_AGNOSTIC: False

        USE_DIRECTION_CLASSIFIER: True
        DIR_OFFSET: 0.78539
        DIR_LIMIT_OFFSET: 0.0
        NUM_DIR_BINS: 2

        ANCHOR_GENERATOR_CONFIG: [
            {
                'class_name': 'car',
                'anchor_sizes': [ [ 4.6, 1.9, 1.7 ] ], #l,w,h
                'anchor_rotations': [ 0, 1.57 ],
                'anchor_bottom_heights': [ -0.005 ],
                'align_center': False,
                'feature_map_stride': 2,
                'matched_threshold': 0.6,
                'unmatched_threshold': 0.45
            },
            {
                'class_name': 'truck',
                'anchor_sizes': [ [ 7.2, 2.5, 2.7 ] ],
                'anchor_rotations': [ 0, 1.57 ],
                'anchor_bottom_heights': [ 0.016 ],
                'align_center': False,
                'feature_map_stride': 2,
                'matched_threshold': 0.6,
                'unmatched_threshold': 0.45
            },
            {
                'class_name': 'bus',
                'anchor_sizes': [ [ 10.0, 2.8, 3.2 ] ],
                'anchor_rotations': [0, 1.57],
                'anchor_bottom_heights': [ -0.056 ],
                'align_center': False,
                'feature_map_stride': 2,
                'matched_threshold': 0.6,
                'unmatched_threshold': 0.45
            },
            {
                'class_name': 'non_motor_vehicles',
                'anchor_sizes': [ [ 1.8, 0.81, 1.61 ] ],#1.98, 0.91, 1.52
                'anchor_rotations': [ 0, 1.57 ],
                'anchor_bottom_heights': [ 0.077 ],
                'align_center': False,
                'feature_map_stride': 2,
                'matched_threshold': 0.5,
                'unmatched_threshold': 0.35
            },
            {
                'class_name': 'pedestrians',
                'anchor_sizes': [ [ 0.7, 0.68, 1.65 ] ],# 0.83, 0.75, 1.66
                'anchor_rotations': [ 0, 1.57 ],
                'anchor_bottom_heights': [ 0.13 ],
                'align_center': False,
                'feature_map_stride': 2,
                'matched_threshold': 0.5,
                'unmatched_threshold': 0.35
            }
        ]

        TARGET_ASSIGNER_CONFIG:
            NAME: AxisAlignedTargetAssigner
            POS_FRACTION: -1.0
            SAMPLE_SIZE: 512
            NORM_BY_NUM_EXAMPLES: False
            MATCH_HEIGHT: False
            BOX_CODER: ResidualCoder

        LOSS_CONFIG:
            LOSS_WEIGHTS: {
                'cls_weight': 1.0,
                'loc_weight': 2.0,
                'dir_weight': 0.2,
                'code_weights': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
            }

    POST_PROCESSING:
        RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
        SCORE_THRESH: 0.3
        OUTPUT_RAW_SCORE: False

        EVAL_METRIC: kitti

        NMS_CONFIG:
            MULTI_CLASSES_NMS: False
            NMS_TYPE: nms_gpu
            NMS_THRESH: 0.01
            NMS_PRE_MAXSIZE: 4096
            NMS_POST_MAXSIZE: 500


OPTIMIZATION:
    BATCH_SIZE_PER_GPU: 8
    NUM_EPOCHS: 200

    OPTIMIZER: adam_onecycle
    LR: 0.003
    WEIGHT_DECAY: 0.01
    MOMENTUM: 0.9

    MOMS: [0.95, 0.85]
    PCT_START: 0.2
    DIV_FACTOR: 10
    DECAY_STEP_LIST: [35, 45]
    LR_DECAY: 0.1
    LR_CLIP: 0.0000001

    LR_WARMUP: False
    WARMUP_EPOCH: 1

    GRAD_NORM_CLIP: 10

修改 export_ls.py：

import argparse
import glob
from pathlib import Path

import numpy as np
import torch
from pcdet.config import cfg, cfg_from_yaml_file
from pcdet.datasets import DatasetTemplate
from pcdet.models import build_network
from pcdet.utils import common_utils
from torch.onnx import register_custom_op_symbolic
from torch.onnx.symbolic_helper import parse_args


@parse_args("v","v","v","i","i","i","i")
def symbolic(g, pillar_features,
                coords,
                mask,
                size_x,size_y,size_z,
                size_features):
    return g.op('custom::PointPillarScatterFunction',
                pillar_features,
                coords,
                mask,
                size_x,size_y,size_z,
                size_features)
register_custom_op_symbolic("vacc::PointPillarScatterFunction", symbolic,11)

class DemoDataset(DatasetTemplate):
    def __init__(self, dataset_cfg, class_names, training=True, root_path=None, logger=None, ext='.bin'):
        """
        Args:
            root_path:
            dataset_cfg:
            class_names:
            training:
            logger:
        """
        super().__init__(
            dataset_cfg=dataset_cfg, class_names=class_names, training=training, root_path=root_path, logger=logger
        )
        self.root_path = root_path
        self.ext = ext
        data_file_list = glob.glob(str(root_path / f'*{self.ext}')) if self.root_path.is_dir() else [self.root_path]

        data_file_list.sort()
        self.sample_file_list = data_file_list

    def __len__(self):
        return len(self.sample_file_list)

    def __getitem__(self, index):
        if self.ext == '.bin':
            points = np.fromfile(self.sample_file_list[index], dtype=np.float32).reshape(-1, 4)
        elif self.ext == '.npy':
            points = np.load(self.sample_file_list[index])
        else:
            raise NotImplementedError

        input_dict = {
            'points': points,
            'frame_id': index,
        }

        data_dict = self.prepare_data(data_dict=input_dict)
        return data_dict


def parse_config():
    parser = argparse.ArgumentParser(description='arg parser')
    parser.add_argument('--cfg_file', type=str, default='cfgs_ls/config/pointpillar_single_head.yaml',
                        help='specify the config for demo')
    parser.add_argument('--data_path', type=str, default='data/000006.bin',
                        help='specify the point cloud data file or directory')
    parser.add_argument('--ckpt', type=str, default="../pointpillar_7728.pth", help='specify the pretrained model')
    parser.add_argument('--ext', type=str, default='.bin', help='specify the extension of your point cloud data file')
    parser.add_argument('--model_path', type=str, default='./', help='specify model file or directory')
    args = parser.parse_args()

    cfg_from_yaml_file(args.cfg_file, cfg)

    return args, cfg


def main():
    args, cfg = parse_config()
    logger = common_utils.create_logger()
    logger.info('-----------------Quick Demo of OpenPCDet-------------------------')
    demo_dataset = DemoDataset(
        dataset_cfg=cfg.DATA_CONFIG, class_names=cfg.CLASS_NAMES, training=False,
        root_path=Path(args.data_path), ext=args.ext, logger=logger
    )
    logger.info(f'Total number of samples: \t{len(demo_dataset)}')

    model = build_network(model_cfg=cfg.MODEL, num_class=len(cfg.CLASS_NAMES), dataset=demo_dataset)
    print("model is:",model)
    model.load_params_from_file(filename=args.ckpt, logger=logger, to_cpu=True)


    ############## onnx 导出################################
    model_path = args.model_path + args.ckpt.split("/")[-1].split(".")[-2]+ ".onnx" 
    print(model_path)
    np.set_printoptions(threshold=np.inf)
    with torch.no_grad():

        MAX_VOXELS = 12000

        dummy_voxels = torch.zeros(
            (MAX_VOXELS, 32, 10),
            dtype=torch.float32,
            device='cpu')

        dummy_voxel_idxs = torch.zeros(
            (MAX_VOXELS,4),
            dtype=torch.int16,
            device='cpu')

        dummy_mask = torch.ones(
            (1,MAX_VOXELS),
            dtype=torch.int8,
            device='cpu')

        dummy_input = dict()
        dummy_input['voxels'] = dummy_voxels
        dummy_input['voxel_coords'] = dummy_voxel_idxs
        dummy_input['mask'] = dummy_mask
        #dummy_input['spatial_features'] = dummy_spatial_features
        dummy_input['batch_size'] = 1

        torch.onnx.export(model,       # model being run
            dummy_input,               # model input (or a tuple for multiple inputs)
            model_path,  # where to save the model (can be a file or file-like object)
            export_params=True,        # store the trained parameter weights inside the model file
            opset_version=9,          # the ONNX version to export the model to
            do_constant_folding=True,  # whether to execute constant folding for optimization
            keep_initializers_as_inputs=True,
            #custom_opsets = 10
            input_names = ['voxels', 'voxel_coords', 'mask'],   # the model's input names
            #input_names = ['spatial_features',],
            output_names = ['cls_preds', 'box_preds', 'dir_cls_preds'], # the model's output names
            )
    print("export ok")
    exit(0)


if __name__ == '__main__':
    main()

转换模型：

$ python export_ls.py --ckpt /home/wxf/vacc/OpenPCDet/tools/checkpoint_epoch_191.pth

转换模型中出现一些问题时，不妨提高 pytorch 的版本，之前 pytorch 1.8.1 时转换有问题，提高到 1.10.0 后，成功转换
此时：

$ conda list
# packages in environment at /home/xxx/3rdparty/anaconda3/envs/OpenPCDetv0602:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                        main    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
_openmp_mutex             5.1                       1_gnu    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
blas                      1.0                         mkl    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
bzip2                     1.0.8                h7b6447c_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
ca-certificates           2023.01.10           h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
ccimport                  0.4.2                    pypi_0    pypi
certifi                   2022.12.7        py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
charset-normalizer        3.1.0                    pypi_0    pypi
cudatoolkit               10.2.89              hfd86e86_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
cumm-cu102                0.4.7                    pypi_0    pypi
easydict                  1.10                     pypi_0    pypi
ffmpeg                    4.3                  hf484d3e_0    pytorch
fire                      0.5.0                    pypi_0    pypi
flit-core                 3.6.0              pyhd3eb1b0_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
freetype                  2.12.1               h4a9f257_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
giflib                    5.2.1                h5eee18b_3    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
gmp                       6.2.1                h295c915_3    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
gnutls                    3.6.15               he1e5248_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
idna                      3.4                      pypi_0    pypi
imageio                   2.26.0                   pypi_0    pypi
importlib-metadata        6.0.0                    pypi_0    pypi
intel-openmp              2021.4.0          h06a4308_3561    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
jpeg                      9e                   h5eee18b_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
lame                      3.100                h7b6447c_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
lark                      1.1.5                    pypi_0    pypi
lcms2                     2.12                 h3be6417_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
lerc                      3.0                  h295c915_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libdeflate                1.17                 h5eee18b_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libedit                   3.1.20221030         h5eee18b_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libffi                    3.2.1             hf484d3e_1007    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libgcc-ng                 11.2.0               h1234567_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libgomp                   11.2.0               h1234567_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libiconv                  1.16                 h7f8727e_2    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libidn2                   2.3.2                h7f8727e_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libpng                    1.6.39               h5eee18b_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libstdcxx-ng              11.2.0               h1234567_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libtasn1                  4.16.0               h27cfd23_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libtiff                   4.5.0                h6a678d5_2    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libunistring              0.9.10               h27cfd23_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libuv                     1.44.2               h5eee18b_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libwebp                   1.2.4                h11a3e52_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
libwebp-base              1.2.4                h5eee18b_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
llvmlite                  0.39.1                   pypi_0    pypi
lz4-c                     1.9.4                h6a678d5_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
mkl                       2021.4.0           h06a4308_640    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
mkl-service               2.4.0            py37h7f8727e_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
mkl_fft                   1.3.1            py37hd3c417c_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
mkl_random                1.2.2            py37h51133e4_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
ncurses                   6.4                  h6a678d5_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
nettle                    3.7.3                hbbd107a_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
networkx                  2.6.3                    pypi_0    pypi
ninja                     1.11.1                   pypi_0    pypi
numba                     0.56.4                   pypi_0    pypi
numpy                     1.21.6                   pypi_0    pypi
numpy-base                1.21.5           py37ha15fc14_3    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
opencv-python             4.7.0.72                 pypi_0    pypi
openh264                  2.1.1                h4ff587b_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
openssl                   1.0.2u               h7b6447c_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
packaging                 23.0                     pypi_0    pypi
pccm                      0.4.6                    pypi_0    pypi
pcdet                     0.6.0+31f6758             dev_0    <develop>
pillow                    9.4.0            py37h6a678d5_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pip                       22.3.1           py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
portalocker               2.7.0                    pypi_0    pypi
protobuf                  3.20.3                   pypi_0    pypi
pybind11                  2.10.3                   pypi_0    pypi
python                    3.7.0                h6e4f718_3    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
pytorch                   1.10.0          py3.7_cuda10.2_cudnn7.6.5_0    pytorch
pytorch-mutex             1.0                        cuda    pytorch
pywavelets                1.4.0                    pypi_0    pypi
pyyaml                    6.0                      pypi_0    pypi
readline                  7.0                  h7b6447c_5    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
requests                  2.28.2                   pypi_0    pypi
scikit-image              0.19.3                   pypi_0    pypi
scipy                     1.7.3                    pypi_0    pypi
setuptools                65.6.3           py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
sharedarray               3.2.2                    pypi_0    pypi
six                       1.16.0             pyhd3eb1b0_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
spconv-cu102              2.3.3                    pypi_0    pypi
sqlite                    3.33.0               h62c20be_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
tensorboardx              2.6                      pypi_0    pypi
termcolor                 2.2.0                    pypi_0    pypi
tifffile                  2021.11.2                pypi_0    pypi
tk                        8.6.12               h1ccaba5_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
torchaudio                0.10.0               py37_cu102    pytorch
torchvision               0.11.0               py37_cu102    pytorch
tqdm                      4.65.0                   pypi_0    pypi
typing-extensions         4.5.0                    pypi_0    pypi
typing_extensions         4.4.0            py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
urllib3                   1.26.15                  pypi_0    pypi
wheel                     0.38.4           py37h06a4308_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
xz                        5.2.10               h5eee18b_1    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
zipp                      3.15.0                   pypi_0    pypi
zlib                      1.2.13               h5eee18b_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
zstd                      1.5.2                ha4553b6_0    https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main

模型由格式onnx 转模型三件套
卸掉显卡，安装瀚博半导体载天VA1 加速卡
查看驱动环境：

$ sudo dpkg --get-selections | grep vastai
 vastai-pci-d2-4-v2-1-a1-3-hv-hwtype-2-dkms	install

这个时候也需要python环境，为了避免干扰重新建立一个Python 虚拟环境
因为 vamc 是配Python 3.7 的，所以虚拟环境 Python 的版本为3.7

$ conda create --name VACC python=3.7
$ conda activate VACC
$ /xxx/1_模型转换工具/vamc工具使用/2.1.0/vamc_2.1.0
$ python -m pip install --no-cache-dir \
-r requirements.txt -i https://mirror.baidu.com/pypi/simple
$ cd ..
$ pip install vamc-2.1.0-cp37-cp37m-linux_x86_64.whl

然后;

$ vamc
Usage: vamc [OPTIONS] COMMAND [ARGS]...

  vamc Command Line Interface.

  vamc provides a unified API for deploy and run vastai model zoo.

Options:
  --modelType  show vamc support modelType and exit.
  --version    Show the version and exit.
  -h, --help   Show this message and exit.

此时不能使用 vamc build 命令

$ vamc build
Usage: vamc [OPTIONS] COMMAND [ARGS]...
Try 'vamc -h' for help.

Error: No such command 'build'.

需要改变环境变量：

$ cd /xxx/vaststream
$ gedit env.sh

修改 env.sh 中的 export VASTSTREAM_HOME

#!/bin/bash

export VASTSTREAM_HOME=/xxx/vaststream
export LIBVA_DRIVER_NAME=hantro
export VACC_IRTEXT_ENABLE=1
export VASTSTREAM_PIPELINE=true
export TVM_HOME=$VASTSTREAM_HOME/tvm
export PYTHONPATH=$TVM_HOME/python:$TVM_HOME/topi/python:$TVM_HOME/vacc/python
export OS_NAME=ubuntu
export OS_VERSION=18.04
export LD_LIBRARY_PATH=$TVM_HOME/lib:$VASTSTREAM_HOME/lib:$LD_LIBRARY_PATH
export PATH=$VASTSTREAM_HOME/tool/:$PATH

$ source env.sh
$ vamc
[03/14/23-11:10:47][I][global]: *****************************************************
[03/14/23-11:10:47][I][global]: Hardware name is vacc
[03/14/23-11:10:47][I][global]: DLC core number is 8
[03/14/23-11:10:47][I][global]: DLC big core number is 4
[03/14/23-11:10:47][I][global]: DLC tiny core number is 4
[03/14/23-11:10:47][I][global]: CE batch channel max is 192
[03/14/23-11:10:47][I][global]: PEP batch channel max is 128
[03/14/23-11:10:47][I][global]: TIEQ FIFO SIZE is 256
[03/14/23-11:10:47][I][global]: ODMA has 2 workers
[03/14/23-11:10:47][I][global]: Bank size of SRAM is 5120K
[03/14/23-11:10:47][I][global]: Sram alignment is 128 bytes
[03/14/23-11:10:47][I][global]: Capacity of big core's wdbuf is 4096K
[03/14/23-11:10:47][I][global]: Capacity of tiny core's wdbuf is 2048K
[03/14/23-11:10:47][I][global]: Bank size of WDBUF is 128K
[03/14/23-11:10:47][I][global]: Wdbuf alignment is 256 bytes
[03/14/23-11:10:47][I][global]: Margin for wdbuf weight area is 4096 bytes
[03/14/23-11:10:47][I][global]: *****************************************************
[03/14/23-11:10:47][I][global]: Stage cost time: 0.0s
Usage: vamc [OPTIONS] COMMAND [ARGS]...

  vamc Command Line Interface.

  vamc provides a unified API for deploy and run vastai model zoo.

Options:
  --modelType  show vamc support modelType and exit.
  --version    Show the version and exit.
  -h, --help   Show this message and exit.

Commands:
  build          convert front frame model to static vacc model
  build-dynamic  convert front frame model to dynamic vacc model
  run            debug engine model.
  run-dynamic    debug dynamic engine model.

修改 cfg_ls.yaml;

model:
  name: pointpillar
  inputs:
    voxels: [16000, 32, 10]
    voxel_coords: [3, 16000]
    mask: [1, 16000]
  checkpoint: /xxx/OpenPCDet1/tools/checkpoint_epoch_191.onnx

engine:
  type: vacc
  common:
    do_quantization: true
  add_extra_ops_to_graph:
    type: pointpillar_nms
    params:
      point_cloud_range: [0.0, -49.6, -1, 80, 49.6, 4]
      voxel_size: [0.2, 0.2, 5]
      grid_stride: [2, 2, 2]
      num_classes: 5
      nms_topk: 4096
      post_nms: 500
      confidence_thresh: 0.1
      nms_thresh: 0.02
      dir_offset: 0.78539
      dir_limit_offset: 0.0
      anchor_size:  [4.6, 1.9, 1.7, 7.2, 2.5, 2.7,10.2, 2.8,3.2,1.8,0.81,1.61,0.7,0.68,1.68]
      anchor_rotations: [0.0, 1.57,0.0, 1.57,0.0, 1.57,0.0, 1.57,0.0, 1.57]
      anchor_heights: [0, 0, 0, 0, 0]
  calibration:
    quant_mode: percentile
    per_channel: true
    skip_conv_layers: [0]

dataset:
  path: /media/xxx/Elements/data/POINTPILLAR/bin_addZ_npy
  sampler:
    get_data_num: 253


workspace:
  work_dir: /media/xxx/Elements/data/POINTPILLAR/model
  enable_ir: false
  save_log: false

模型转换：

vamc build /xxx/vaststream/sample/config/cfg_ls.yaml

在/media/xxx/Elements/data/POINTPILLAR/model 目录下，成功生成：

$ tree
.
└── pointpillar-int8-percentile-mutil_input-vacc
    ├── pointpillar.json
    ├── pointpillar.params
    └── pointpillar.so

1 directory, 3 files

如果量化时数据有问题，看看 /media/xxx/Elements/data/POINTPILLAR/bin_addZ_npy目录下是否有空数据。

未完待续…
后续有问题继续整理。