121 lines
3.4 KiB
Markdown
121 lines
3.4 KiB
Markdown
YoloP
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=====
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The original pytorch model is from [hustvl/YOLOP](https://github.com/hustvl/YOLOP)
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## Authors
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<a href="https://github.com/ausk"><img src="https://avatars.githubusercontent.com/u/4545060?v=4?s=48" width="40px;" alt=""/></a>
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<a href="https://github.com/aliceint"><img src="https://avatars.githubusercontent.com/u/15520773?v=4?s=48" width="40px;" alt=""/></a>
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<a href="https://github.com/mantuoluozk"><img src="https://avatars.githubusercontent.com/u/43333969?v=4?s=48" width="40px;" alt=""/></a>
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## 1. Prepare building environments
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Make sure you have install `c++`(support c++11)、 `cmake`、`opencv`(4.x)、`cuda`(10.x)、`nvinfer`(7.x).
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## 2. build yolop
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Go to `yolop`.
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```
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mkdir build
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cd build
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cmake ..
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make
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```
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Now you can get `yolop` and `libmyplugins.so`.
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## 3. Test in C++
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Go to `yolop/build`.
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### 3.1 generate yolop.wts
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Download/Clone [YOLOP](https://github.com/hustvl/YOLOP)
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Edit `gen_wts.py` , change `YOLOP_BASE_DIR` to realpath of `YOLOP`.
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```
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# [WARN] Please download/clone YOLOP, then set YOLOP_BASE_DIR to the root of YOLOP
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python3 ../gen_wts.py
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```
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### 3.2 generate yolop.trt
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```
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./yolop -s yolop.wts yolop.trt
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```
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Now you have such files: `libmyplugins.so yolop yolop.wts yolop.trt`
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### 3.3 test yolop.trt
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```
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mkdir ../results
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YOLOP_BASE_DIR=/home/user/jetson/tmp/YOLOP
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./yolop -d yolop.trt $YOLOP_BASE_DIR/inference/images/
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```
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It will output like as follow if successful! ( test on `Jetson Xavier NX - Jetpack 4.4`)
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```
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1601ms # the fist time is slow
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26ms # then it is faster
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29ms
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27ms
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29ms
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29ms
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```
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## 4. Test in python3
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Go to `yolop`.
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Make sure you have install `pycuda` `tensorrt`; and modify `image_dir` to your image dir.
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```
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# usage: xxx <engine file> <plugin file> <image dir>
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python3 yolop_trt.py build/yolop.trt build/libmyplugins.so /home/user/jetson/tmp/YOLOP/inference/images
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```
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It will output like as follow if successful! ( test on `Jetson Xavier NX - Jetpack 4.4`)
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```
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usage: xxx <engine file> <plugin file> <image dir>
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[WARN] preaprea you image_dir, such as: samples, or /home/user/jetson/tmp/YOLOP/inference/images
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bingding: data (3, 384, 640)
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bingding: det (6001, 1, 1)
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bingding: seg (1, 360, 640)
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bingding: lane (1, 360, 640)
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batch size is 1
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warm_up->(384, 640, 3), time->1070.87ms
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input->['/home/user/jetson/tmp/YOLOP/inference/images/3c0e7240-96e390d2.jpg'], time->25.94ms, saving into output/
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input->['/home/user/jetson/tmp/YOLOP/inference/images/adb4871d-4d063244.jpg'], time->25.34ms, saving into output/
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input->['/home/user/jetson/tmp/YOLOP/inference/images/8e1c1ab0-a8b92173.jpg'], time->25.03ms, saving into output/
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input->['/home/user/jetson/tmp/YOLOP/inference/images/7dd9ef45-f197db95.jpg'], time->25.45ms, saving into output/
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input->['/home/user/jetson/tmp/YOLOP/inference/images/9aa94005-ff1d4c9a.jpg'], time->24.93ms, saving into output/
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input->['/home/user/jetson/tmp/YOLOP/inference/images/0ace96c3-48481887.jpg'], time->25.33ms, saving into output/
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done!
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```
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**Notice** : The results of c++ and python are not aligned for now!
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----------------------------------------
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```BibTeX
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@misc{2108.11250,
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Author = {Dong Wu and Manwen Liao and Weitian Zhang and Xinggang Wang},
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Title = {YOLOP: You Only Look Once for Panoptic Driving Perception},
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Year = {2021},
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Eprint = {arXiv:2108.11250},
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}
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```
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