CUDA-FastBEV

This repository contains sources and model for Fast-BEV inference using CUDA & TensorRT. And provide PTQ and QAT int8 quantization code.

3D Object Detection(on nuScenes validation set)

• For all models, I used the configs/fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f1.py configuration, delete time sequence.
  • The camera resolution is 256x704
  • Backbone is ResNet18, without DCN

Model	Framework	Precision	mAP	FPS
ResNet18	TensorRT	FP16	24.3	113.6(on RTX2080Ti)
ResNet18-PTQ	TensorRT	FP16+INT8	23.89	143.8
ResNet18-head-PTQ	TensorRT	FP16 + INT8	23.83	144.9

Model and Data

• For quick practice, I provide an example data of nuScenes.You can download from Google Drive It contains the following:

  1. Camera images in 6 directions.
  2. Transformation matrix of camera/lidar and vtrans need data.

• All models (model.zip) can be downloaded from Google Drive .It contains the following:

  1. fastbev onnx models and pytorch models.
  2. resnet18 int8 onnx and PTQ models.

Prerequisites

To build fastbev, we need to depend on the following libraries:

• CUDA >= 11.0
• CUDNN >= 8.2
• TensorRT >= 8.5.0
• libprotobuf-dev == 3.6.1
• Compute Capability >= sm_80
• Python >= 3.6

The data in the performance table was obtained by us on the Nvidia Orin platform, using TensorRT-8.6, cuda-11.4 and cudnn8.6 statistics.

Quick Start for Inference

1. Download models and datas to CUDA-FastBEV directory

• download model.zip
• download nuScenes-example-data.zip

# download models and datas to CUDA-FastBEV
cd CUDA-FastBEV

# unzip models and datas
unzip model.zip
unzip nuScenes-example-data.zip

# here is the directory structure after unzipping
CUDA-FastBEV
|-- example-data
    |-- 0-FRONT.jpg
    |-- 1-FRONT_RIGHT.jpg
    |-- ...
    |-- example-data.pth
    |-- x.tensor
    |-- y.tensor
    `-- valid_c_idx.tensor
|-- src
|-- ptq
|-- model
    |-- resnet18int8
    |   |-- fastbev_pre_trt.onnx
    |   |-- fastbev_post_trt_decode.onnx
    |   |-- fastbev_ptq.pth
    |-- resnet18
    `-- resnet18int8head
`-- tool

2. Configure the environment.sh

• Install python dependency libraries

apt install libprotobuf-dev
pip install onnx

• Modify the TensorRT/CUDA/CUDNN/fastbev variable values in the tool/environment.sh file.

# change the path to the directory you are currently using
export TensorRT_Lib=/path/to/TensorRT/lib
export TensorRT_Inc=/path/to/TensorRT/include
export TensorRT_Bin=/path/to/TensorRT/bin

export CUDA_Lib=/path/to/cuda/lib64
export CUDA_Inc=/path/to/cuda/include
export CUDA_Bin=/path/to/cuda/bin
export CUDA_HOME=/path/to/cuda

export CUDNN_Lib=/path/to/cudnn/lib

# resnet18/resnet18int8/resnet18int8head
export DEBUG_MODEL=resnet18int8

# fp16/int8
export DEBUG_PRECISION=int8
export DEBUG_DATA=example-data
export USE_Python=OFF

• Apply the environment to the current terminal.

. tool/environment.sh

3. Compile and run

1. Building the models for tensorRT

bash tool/build_trt_engine.sh

2. Compile and run the program

bash tool/run.sh

PTQ and export ONNX

• PTQ

python ptq_bev.py

• QAT

python qat_bev.py

• export ONNX

python export_onnx.py

DEMO show

References

• [https://github.com/Sense-GVT/Fast-BEV]
• [https://github.com/NVIDIA-AI-IOT/Lidar_AI_Solution]