DINO with TAO Deploy#

To generate an optimized TensorRT engine, a DINO .onnx file, which is first generated using tao model dino export, is taken as an input to tao deploy dino gen_trt_engine. For more information about training a DINO model, refer to the DINO training documentation.

Converting .onnx File into TensorRT Engine#

FTMS Client

SPECS=$(tao-client dino get-spec --action gen_trt_engine --job_type experiment --id $EXPERIMENT_ID)

See also

For information on how to create an experiment using the remote client, refer to the Creating an experiment section in the Remote Client documentation.

TAO Launcher

To convert the .onnx file, you can reuse the spec file from the tao model dino export command.

The gen_trt_engine parameter defines TensorRT engine generation.

gen_trt_engine:
  onnx_file: /path/to/onnx_file
  trt_engine: /path/to/trt_engine
  input_channel: 3
  input_width: 960
  input_height: 544
  tensorrt:
    data_type: int8
    workspace_size: 1024
    min_batch_size: 1
    opt_batch_size: 10
    max_batch_size: 10
    calibration:
      cal_image_dir:
        - /path/to/cal/images
      cal_cache_file: /path/to/cal.bin
      cal_batch_size: 10
      cal_batches: 1000

Parameter	Datatype	Default	Description	Supported Values
`onnx_file`	string		The precision to be used for the TensorRT engine
`trt_engine`	string		The maximum workspace size for the TensorRT engine
`input_channel`	unsigned int	3	The input channel size. Only the value 3 is supported.	3
`input_width`	unsigned int	960	The input width	>0
`input_height`	unsigned int	544	The input height	>0
`batch_size`	unsigned int	-1	The batch size of the ONNX model	>=-1

tensorrt#

The tensorrt parameter defines TensorRT engine generation.

Parameter	Datatype	Default	Description	Supported Values
`data_type`	string	fp32	The precision to be used for the TensorRT engine	fp32/fp16/int8
`workspace_size`	unsigned int	1024	The maximum workspace size for the TensorRT engine	>1024
`min_batch_size`	unsigned int	1	The minimum batch size used for the optimization profile shape	>0
`opt_batch_size`	unsigned int	1	The optimal batch size used for the optimization profile shape	>0
`max_batch_size`	unsigned int	1	The maximum batch size used for the optimization profile shape	>0

calibration#

The calibration parameter defines TensorRT engine generation with PTQ INT8 calibration.

Parameter	Datatype	Default	Description	Supported Values
`cal_image_dir`	string list		The list of paths that contain images used for calibration
`cal_cache_file`	string		The path to the calibration cache file to be dumped
`cal_batch_size`	unsigned int	1	The batch size per batch during calibration	>0
`cal_batches`	unsigned int	1	The number of batches to calibrate	>0

Use the following command to run DINO engine generation:

FTMS Client

GEN_TRT_ENGINE_JOB_ID=$(tao-client dino experiment-run-action --action gen_trt_engine --id $EXPERIMENT_ID --specs "$SPECS")

See also

For information on how to create an experiment using the remote client, refer to the Creating an experiment section in the Remote Client documentation.

TAO Launcher

tao deploy dino gen_trt_engine -e /path/to/spec.yaml \
         results_dir=/path/to/results \
         gen_trt_engine.onnx_file=/path/to/onnx/file \
         gen_trt_engine.trt_engine=/path/to/engine/file \
         gen_trt_engine.tensorrt.data_type=<data_type>

Required Arguments

-e, --experiment_spec: The experiment spec file to set up TensorRT engine generation

Optional Arguments

results_dir: The directory where the JSON status-log file will be dumped
gen_trt_engine.onnx_file: The .onnx model to be converted
gen_trt_engine.trt_engine: The path where the generated engine will be stored
gen_trt_engine.tensorrt.data_type: The precision to be exported

Sample Usage

Here’s an example of using the gen_trt_engine command to generate an FP16 TensorRT engine:

tao deploy dino gen_trt_engine -e $DEFAULT_SPEC
        gen_trt_engine.onnx_file=$ONNX_FILE \
        gen_trt_engine.trt_engine=$ENGINE_FILE \
        gen_trt_engine.tensorrt.data_type=FP16

Running Evaluation through a TensorRT Engine#

You can reuse the TAO evaluation spec file for evaluation through a TensorRT engine. The following is a sample spec file:

evaluate:
  trt_engine: /path/to/engine/file
  conf_threshold: 0.0
  input_width: 960
  input_height: 544
dataset:
  test_data_sources:
    image_dir: /data/raw-data/val2017/
    json_file: /data/raw-data/annotations/instances_val2017.json
  num_classes: 91
  batch_size: 8

Use the following command to run DINO engine evaluation:

FTMS Client

EVAL_JOB_ID=$(tao-client dino experiment-run-action --action evaluate --id $EXPERIMENT_ID --parent_job_id $GEN_TRT_ENGINE_JOB_ID --specs "$SPECS")

See also

For information on how to create an experiment using the remote client, refer to the Creating an experiment section in the Remote Client documentation.

TAO Launcher

tao deploy dino evaluate -e /path/to/spec.yaml \
         results_dir=/path/to/results \
         evaluate.trt_engine=/path/to/engine/file

Required Arguments

-e, --experiment_spec: The experiment spec file for evaluation

This should be the same as the tao evaluate spec file

Optional Arguments

results_dir: The directory where the JSON status-log file and evaluation results will be dumped
evaluate.trt_engine: The engine file for evaluation

Sample Usage

Here’s an example of using the evaluate command to run evaluation with a TensorRT engine:

tao deploy dino evaluate -e $DEFAULT_SPEC
        results_dir=$RESULTS_DIR \
        evaluate.trt_engine=$ENGINE_FILE

Running Inference through a TensorRT Engine#

You can reuse the TAO inference spec file for inference through a TensorRT engine. The following is a sample spec file:

inference:
  conf_threshold: 0.5
  input_width: 960
  input_height: 544
  trt_engine: /path/to/engine/file
  color_map:
    person: green
    car: red
    cat: blue
dataset:
  infer_data_sources:
    image_dir: /data/raw-data/val2017/
    classmap: /path/to/coco/annotations/coco_classmap.txt
  num_classes: 91
  batch_size: 8

Use the following command to run DINO engine inference:

FTMS Client

INFERENCE_JOB_ID=$(tao-client dino experiment-run-action --action inference --id $EXPERIMENT_ID --parent_job_id $GEN_TRT_ENGINE_JOB_ID --specs "$SPECS")

See also

For information on how to create an experiment using the remote client, refer to the Creating an experiment section in the Remote Client documentation.

TAO Launcher

tao deploy dino inference -e /path/to/spec.yaml \
         results_dir=/path/to/results \
         inference.trt_engine=/path/to/engine/file

Required Arguments

-e, --experiment_spec: The experiment spec file for inference.

This should be the same as the tao inference spec file.

Optional Arguments

results_dir: The directory where JSON status-log file and inference results will be dumped
inference.trt_engine: The engine file for inference

Sample Usage

Here’s an example of using the inference command to run inference with a TensorRT engine:

tao deploy dino inference -e $DEFAULT_SPEC
        results_dir=$RESULTS_DIR \
        evaluate.trt_engine=$ENGINE_FILE

The visualization will be stored in $RESULTS_DIR/images_annotated, and the KITTI format predictions will be stored under $RESULTS_DIR/labels.