2024-06-27 10:00:17,685 file: tool_utils.py func: tool_utils line No: 81 log will be stored in /home/qinyonghang/UniAD/horizon/UniAD/hb_compile.log
2024-06-27 10:00:17,686 file: hb_compile.py func: hb_compile line No: 335 Start hb_compile...
2024-06-27 10:00:17,686 file: hb_compile.py func: hb_compile line No: 336 hbdk version: 4.0.22
2024-06-27 10:00:17,686 file: hb_compile.py func: hb_compile line No: 337 horizon_nn version: 2.0.3
2024-06-27 10:00:17,686 file: hb_compile.py func: hb_compile line No: 338 hb_compile version: 3.2.2
2024-06-27 10:00:19,701 file: yaml_builder.py func: yaml_builder line No: 71 {'model_parameters': {'layer_out_dump': False, 'working_dir': '.hb_compile'}, 'input_parameters': {'input_name': '', 'input_shape': '', 'input_space_and_range': '', 'input_type_rt': 'featuremap', 'input_type_train': 'featuremap', 'norm_type': 'no_preprocess'}, 'calibration_parameters': {'calibration_type': 'skip', 'per_channel': False, 'run_on_bpu': '', 'run_on_cpu': ''}, 'compiler_parameters': {'compile_mode': 'latency', 'core_num': 1, 'debug': True, 'jobs': 32, 'max_time_per_fc': 0, 'optimize_level': 'O0'}}
2024-06-27 10:00:19,701 file: yaml_builder.py func: yaml_builder line No: 72 check template yaml load success
2024-06-27 10:00:19,702 file: yaml_builder.py func: yaml_builder line No: 220 Updated yaml config info: {'model_parameters': {'layer_out_dump': False, 'working_dir': '/home/qinyonghang/UniAD/horizon/UniAD/.hb_compile', 'onnx_model': '/home/qinyonghang/UniAD/models/onnx/UniAD.onnx', 'march': 'nash-e', 'output_model_file_prefix': 'UniAD'}, 'input_parameters': {'input_name': 'bev;bev_pos;track_query;track_boxes;command', 'input_shape': '40000x1x256;1x256x200x200;1x64x256;1x64x11;1', 'input_space_and_range': '', 'input_type_rt': 'featuremap;featuremap;featuremap;featuremap;featuremap', 'input_type_train': 'featuremap;featuremap;featuremap;featuremap;featuremap', 'norm_type': 'no_preprocess;no_preprocess;no_preprocess;no_preprocess;no_preprocess'}, 'calibration_parameters': {'calibration_type': 'skip', 'per_channel': False, 'run_on_bpu': '', 'run_on_cpu': ''}, 'compiler_parameters': {'compile_mode': 'latency', 'core_num': 1, 'debug': True, 'jobs': 32, 'max_time_per_fc': 0, 'optimize_level': 'O0'}}
2024-06-27 10:00:19,704 file: hb_compile.py func: hb_compile line No: 37 Start verifying yaml
2024-06-27 10:00:19,806 file: params_parser.py func: params_parser line No: 156 Using onnx model file: /home/qinyonghang/UniAD/models/onnx/UniAD.onnx
2024-06-27 10:00:19,807 file: onnx_parser.py func: onnx_parser line No: 39 Model input names: ['bev', 'bev_pos', 'track_query', 'track_boxes', 'command']
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 166 Model has 5 inputs according to model file
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 330 node_dict: {self.node_dict}
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 423 Input shape [40000, 1, 256] has length: 3, make sure it is a featuremap input
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 423 Input shape [1, 64, 256] has length: 3, make sure it is a featuremap input
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 423 Input shape [1, 64, 11] has length: 3, make sure it is a featuremap input
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 423 Input shape [1] has length: 1, make sure it is a featuremap input
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 668 Parameter calibration_type is skip. cal_data_dir check skipped
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 800 Input node bev's input_source not set, it will be set to None by default
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 800 Input node bev_pos's input_source not set, it will be set to None by default
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 800 Input node track_query's input_source not set, it will be set to None by default
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 800 Input node track_boxes's input_source not set, it will be set to None by default
2024-06-27 10:00:19,807 file: params_parser.py func: params_parser line No: 800 Input node command's input_source not set, it will be set to None by default
2024-06-27 10:00:19,808 file: params_parser.py func: params_parser line No: 862 Parameter compile_mode is set to latency, balance_factor will set to 100.
2024-06-27 10:00:19,808 file: params_parser.py func: params_parser line No: 895 custom_op does not exist, skipped
2024-06-27 10:00:19,808 file: hb_compile.py func: hb_compile line No: 40 End verifying yaml
2024-06-27 10:00:19,808 file: ptq_model_builder.py func: ptq_model_builder line No: 241 quantize_params is {'cali_dict': {'calibration_type': 'max', 'quant_config': None}, 'input_dict': {'bev': {'input_shape': [40000, 1, 256]}, 'bev_pos': {'input_shape': [1, 256, 200, 200]}, 'track_query': {'input_shape': [1, 64, 256]}, 'track_boxes': {'input_shape': [1, 64, 11]}, 'command': {'input_shape': [1]}}, 'node_dict': {}, 'debug_methods': [], 'output_nodes': [], 'optimization_methods': None, 'quant_config': None}
2024-06-27 10:00:19,808 file: wrap_utils.py func: wrap_utils line No: 15 Start to execute horizon_nn.api.build_model.
2024-06-27 10:00:19,808 file: model_builder.py func: model_builder line No: 31 Start to Horizon NN Model Convert.
2024-06-27 10:00:20,076 file: model_debugger.py func: model_debugger line No: 66 Loading horizon_nn debug methods:[]
2024-06-27 10:00:20,077 file: model_builder.py func: model_builder line No: 183 The specified model compilation architecture: nash.
2024-06-27 10:00:20,077 file: model_builder.py func: model_builder line No: 187 The specified model compilation optimization parameters: [].
2024-06-27 10:00:20,077 file: model_builder.py func: model_builder line No: 31 Start to prepare the onnx model.
2024-06-27 10:00:20,307 file: prepare.py func: prepare line No: 100 Input ONNX Model Information:
ONNX IR version:          6
Opset version:            ['ai.onnx v11', 'horizon v1']
Producer:                 pytorch v1.9
Domain:                   None
Model version:            None
Graph input:
    bev:                  shape=[40000, 1, 256], dtype=FLOAT32
    bev_pos:              shape=[1, 256, 200, 200], dtype=FLOAT32
    ...ck_query:          shape=[1, 64, 256], dtype=FLOAT32
    ...ck_boxes:          shape=[1, 64, 11], dtype=FLOAT32
    command:              shape=[1], dtype=INT64
Graph output:
    19583:                shape=[1, 6, 2], dtype=FLOAT32
2024-06-27 10:00:20,933 file: opset_and_ir_version_handler.py func: opset_and_ir_version_handler line No: 18 INFO: The opset version of ai.onnx domain is 11, try to convert the model ai.onnx opset version to 19.
2024-06-27 10:00:22,983 file: model_builder.py func: model_builder line No: 34 End to prepare the onnx model.
2024-06-27 10:00:23,260 file: model_builder.py func: model_builder line No: 233 Saving model to: /home/qinyonghang/UniAD/horizon/UniAD/.hb_compile/UniAD_original_float_model.onnx.
2024-06-27 10:00:23,260 file: model_builder.py func: model_builder line No: 31 Start to optimize the onnx model.
2024-06-27 10:01:09,250 file: model_builder.py func: model_builder line No: 34 End to optimize the onnx model.
2024-06-27 10:01:09,617 file: model_builder.py func: model_builder line No: 233 Saving model to: /home/qinyonghang/UniAD/horizon/UniAD/.hb_compile/UniAD_optimized_float_model.onnx.
2024-06-27 10:01:09,618 file: model_builder.py func: model_builder line No: 31 Start to calibrate the model.
2024-06-27 10:01:21,775 file: calibration_data_set.py func: calibration_data_set line No: 82 input name: bev,  number_of_samples: 1
2024-06-27 10:01:21,775 file: calibration_data_set.py func: calibration_data_set line No: 82 input name: bev_pos,  number_of_samples: 1
2024-06-27 10:01:21,775 file: calibration_data_set.py func: calibration_data_set line No: 82 input name: track_query,  number_of_samples: 1
2024-06-27 10:01:21,775 file: calibration_data_set.py func: calibration_data_set line No: 82 input name: track_boxes,  number_of_samples: 1
2024-06-27 10:01:21,775 file: calibration_data_set.py func: calibration_data_set line No: 82 input name: command,  number_of_samples: 1
2024-06-27 10:01:21,775 file: calibration_data_set.py func: calibration_data_set line No: 96 There are 1 samples in the calibration data set.
2024-06-27 10:01:21,775 file: fixed_calibrater.py func: fixed_calibrater line No: 31 Run calibration model with fixed thresholds method.
2024-06-27 10:01:41,247 file: model_builder.py func: model_builder line No: 34 End to calibrate the model.
2024-06-27 10:01:42,122 file: model_builder.py func: model_builder line No: 233 Saving model to: /home/qinyonghang/UniAD/horizon/UniAD/.hb_compile/UniAD_calibrated_model.onnx.
2024-06-27 10:01:42,123 file: model_builder.py func: model_builder line No: 31 Start to precompile the model.
2024-06-27 10:02:10,069 file: model_builder.py func: model_builder line No: 34 End to precompile the model.
2024-06-27 10:02:10,864 file: model_builder.py func: model_builder line No: 233 Saving model to: /home/qinyonghang/UniAD/horizon/UniAD/.hb_compile/UniAD_ptq_model.onnx.