root@c2e4ebaf0adf:/home/zhutao/horizon_j6/model# hb_compile --config bev_fushion.yaml 
2025-04-21 07:14:13,647 INFO log will be stored in /home/zhutao/horizon_j6/model/hb_compile.log
2025-04-21 07:14:13,647 INFO Start hb_compile...
2025-04-21 07:14:13,647 INFO hbdk version: 4.1.17
2025-04-21 07:14:13,647 INFO hmct version: 2.1.9
2025-04-21 07:14:13,647 INFO hb_compile version: 3.3.11
2025-04-21 07:14:13,647 INFO Start verifying yaml
2025-04-21 07:14:13,849 INFO Using onnx model file: /home/zhutao/horizon_j6/model/bev_fushion/onnx/bev_v1.onnx
2025-04-21 07:14:13,849 INFO Model has 3 inputs according to model file
2025-04-21 07:14:13,849 INFO Input shape [40000, 4] has length: 2, make sure it is a featuremap input
2025-04-21 07:14:13,849 WARNING Input shape is not four-dimensional, input_layout_train should be featuremap
2025-04-21 07:14:13,849 WARNING norm_type parameter is deprecated and will be determined by the configuration of mean/scale/std parameter
2025-04-21 07:14:13,850 WARNING Input node img's input_source not set, it will be set to None by default
2025-04-21 07:14:13,850 WARNING Input node feature's input_source not set, it will be set to None by default
2025-04-21 07:14:13,850 WARNING Input node onnx::Gather_3's input_source not set, it will be set to None by default
2025-04-21 07:14:13,850 INFO Parameter compile_mode is set to latency, balance_factor will set to 100.
2025-04-21 07:14:13,850 INFO End verifying yaml
2025-04-21 07:14:13,850 INFO Processing calibration set data for input[img]
2025-04-21 07:14:13,851 INFO *******************************************
2025-04-21 07:14:13,851 INFO First calibration picture name: /home/zhutao/horizon_j6/code/bevfusion-swmotion/export/saved_inputs/img/frame_000000_img.npy
2025-04-21 07:14:13,872 INFO First calibration picture md5: 216191ef338679bc86a3427d9ea71855
2025-04-21 07:14:13,872 INFO *******************************************
2025-04-21 07:14:14,618 INFO Finished. data num: 81
2025-04-21 07:14:14,618 INFO Processing calibration set data for input[feature]
2025-04-21 07:14:14,619 INFO *******************************************
2025-04-21 07:14:14,619 INFO First calibration picture name: /home/zhutao/horizon_j6/code/bevfusion-swmotion/export/saved_inputs/feature/frame_000000_feature.npy
2025-04-21 07:14:14,678 INFO First calibration picture md5: 4cedbd9c7e1cec1def342d4611819d17
2025-04-21 07:14:14,678 INFO *******************************************
2025-04-21 07:14:17,707 INFO Finished. data num: 81
2025-04-21 07:14:17,707 INFO Processing calibration set data for input[onnx::Gather_3]
2025-04-21 07:14:17,707 INFO *******************************************
2025-04-21 07:14:17,707 INFO First calibration picture name: /home/zhutao/horizon_j6/code/bevfusion-swmotion/export/saved_inputs/coors/frame_000000_gather.npy
2025-04-21 07:14:17,709 INFO First calibration picture md5: ae7ccb6b5f7538e438f64d9fa07912f7
2025-04-21 07:14:17,709 INFO *******************************************
2025-04-21 07:14:18,471 INFO Finished. data num: 81
2025-04-21 07:14:19,085 INFO Start to Horizon NN Model Convert.
2025-04-21 07:14:19,200 INFO Loading horizon_nn debug methods: set().
2025-04-21 07:14:19,201 INFO The specified model compilation architecture: nash.
2025-04-21 07:14:19,201 INFO The specified model compilation optimization parameters: [].
2025-04-21 07:14:19,211 INFO Start to prepare the onnx model.
2025-04-21 07:14:19,231 INFO Input ONNX Model Information:
ONNX IR version:          8
Opset version:            ['ai.onnx v16', 'horizon v1']
Producer:                 pytorch v1.12.1
Domain:                   None
Version:                  None
Graph input:
    img:                  shape=[5, 3, 256, 704], dtype=FLOAT32
    feature:              shape=[40000, 10, 1, 20], dtype=FLOAT32
    ...Gather_3:          shape=[40000, 4], dtype=INT32
Graph output:
    reg_0:                shape=[1, 2, 120, 180], dtype=FLOAT32
    height_0:             shape=[1, 1, 120, 180], dtype=FLOAT32
    dim_0:                shape=[1, 3, 120, 180], dtype=FLOAT32
    rot_0:                shape=[1, 2, 120, 180], dtype=FLOAT32
    vel_0:                shape=[1, 2, 120, 180], dtype=FLOAT32
    hm_0:                 shape=[1, 1, 120, 180], dtype=FLOAT32
    reg_1:                shape=[1, 2, 120, 180], dtype=FLOAT32
    height_1:             shape=[1, 1, 120, 180], dtype=FLOAT32
    dim_1:                shape=[1, 3, 120, 180], dtype=FLOAT32
    rot_1:                shape=[1, 2, 120, 180], dtype=FLOAT32
    vel_1:                shape=[1, 2, 120, 180], dtype=FLOAT32
    hm_1:                 shape=[1, 1, 120, 180], dtype=FLOAT32
    reg_2:                shape=[1, 2, 120, 180], dtype=FLOAT32
    height_2:             shape=[1, 1, 120, 180], dtype=FLOAT32
    dim_2:                shape=[1, 3, 120, 180], dtype=FLOAT32
    rot_2:                shape=[1, 2, 120, 180], dtype=FLOAT32
    vel_2:                shape=[1, 2, 120, 180], dtype=FLOAT32
    hm_2:                 shape=[1, 1, 120, 180], dtype=FLOAT32
    reg_3:                shape=[1, 2, 120, 180], dtype=FLOAT32
    height_3:             shape=[1, 1, 120, 180], dtype=FLOAT32
    dim_3:                shape=[1, 3, 120, 180], dtype=FLOAT32
    rot_3:                shape=[1, 2, 120, 180], dtype=FLOAT32
    vel_3:                shape=[1, 2, 120, 180], dtype=FLOAT32
    hm_3:                 shape=[1, 2, 120, 180], dtype=FLOAT32
2025-04-21 07:14:19,714 INFO The original model's opset version is 16, try converting to opset 19.
2025-04-21 07:14:20,211 INFO End to prepare the onnx model.
2025-04-21 07:14:20,458 INFO Saving model to: /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6_original_float_model.onnx.
2025-04-21 07:14:20,458 INFO Start to optimize the onnx model.
2025-04-21 07:14:23,008 INFO End to optimize the onnx model.
2025-04-21 07:14:23,230 INFO Saving model to: /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6_optimized_float_model.onnx.
2025-04-21 07:14:23,230 INFO The weight calibration parameters:
    bias_correction:      {'num_sample': 1, 'metric': 'cosine-similarity'}
The layerwise search parameters:
    metric:               cosine-similarity
The input of all ScatterND nodes are set to : float16
2025-04-21 07:14:23,230 INFO Start to calibrate the model.
Warning: The input0 of Node(name:ScatterND_19, type:ScatterND) does not support data type: float16
Warning: The input2 of Node(name:ScatterND_19, type:ScatterND) does not support data type: float16
Warning: The input2 of Node(name:ScatterND_19, type:ScatterND) does not support data type: int16
Warning: The input2 of Node(name:ScatterND_19, type:ScatterND) does not support data type: int8
2025-04-21 07:14:23,691 INFO There are 81 samples in the dataset.
2025-04-21 07:14:27,669 INFO Provided calibration data md5: 742407a3e0b097ab1ca540c028169194
2025-04-21 07:14:27,670 INFO Run calibration model with layerwise search method.
2025-04-21 07:14:28,021 INFO Calibration using batch 1
calibration in progress: 100%|██████████████████████████████████████████████████████████████████████| 81/81 [09:27<00:00,  7.01s/it]
2025-04-21 07:24:11,018 INFO Calculate all sensitivity nodes with max calibration method using cosine-similarity metric.
2025-04-21 07:24:11,093 INFO Start calculating activation sensitivity...
2025-04-21 07:24:11,822 INFO There are 1 samples in the dataset.
Progress:   0%|                                                                                              | 0/96 [00:00<?, ?it/s]2025-04-21 07:24:14,044 INFO There are 1 samples in the dataset.
Progress:   1%|▉                                                                                     | 1/96 [00:01<03:04,  1.94s/it]2025-04-21 07:24:15,991 INFO There are 1 samples in the dataset.
Progress:   2%|█▊                                                                                    | 2/96 [00:03<03:02,  1.94s/it]2025-04-21 07:24:17,925 INFO There are 1 samples in the dataset.
Progress:   3%|██▋                                                                                   | 3/96 [00:05<02:58,  1.92s/it]2025-04-21 07:24:19,818 INFO There are 1 samples in the dataset.
Progress:   4%|███▌                                                                                  | 4/96 [00:07<02:57,  1.93s/it]2025-04-21 07:24:21,872 INFO There are 1 samples in the dataset.
Progress:   5%|████▍                                                                                 | 5/96 [00:09<02:55,  1.93s/it]2025-04-21 07:24:23,710 INFO There are 1 samples in the dataset.
Progress:   6%|█████▍                                                                                | 6/96 [00:11<02:51,  1.91s/it]2025-04-21 07:24:25,568 INFO There are 1 samples in the dataset.
Progress:   7%|██████▎                                                                               | 7/96 [00:13<02:50,  1.91s/it]2025-04-21 07:24:27,490 INFO There are 1 samples in the dataset.
Progress:   8%|███████▏                                                                              | 8/96 [00:15<02:49,  1.93s/it]2025-04-21 07:24:29,446 INFO There are 1 samples in the dataset.
Progress:   9%|████████                                                                              | 9/96 [00:17<02:47,  1.93s/it]2025-04-21 07:24:31,370 INFO There are 1 samples in the dataset.
Progress:  10%|████████▊                                                                            | 10/96 [00:19<02:44,  1.92s/it]2025-04-21 07:24:33,262 INFO There are 1 samples in the dataset.
Progress:  11%|█████████▋                                                                           | 11/96 [00:21<02:42,  1.92s/it]2025-04-21 07:24:35,292 INFO There are 1 samples in the dataset.
Progress:  12%|██████████▋                                                                          | 12/96 [00:23<02:43,  1.95s/it]2025-04-21 07:24:37,197 INFO There are 1 samples in the dataset.
Progress:  14%|███████████▌                                                                         | 13/96 [00:25<02:39,  1.92s/it]2025-04-21 07:24:39,067 INFO There are 1 samples in the dataset.
Progress:  15%|████████████▍                                                                        | 14/96 [00:26<02:36,  1.91s/it]2025-04-21 07:24:40,928 INFO There are 1 samples in the dataset.
Progress:  16%|█████████████▎                                                                       | 15/96 [00:28<02:36,  1.93s/it]2025-04-21 07:24:42,913 INFO There are 1 samples in the dataset.
Progress:  17%|██████████████▏                                                                      | 16/96 [00:30<02:33,  1.92s/it]2025-04-21 07:24:44,800 INFO There are 1 samples in the dataset.
Progress:  18%|███████████████                                                                      | 17/96 [00:32<02:32,  1.93s/it]2025-04-21 07:24:46,886 INFO There are 1 samples in the dataset.
Progress:  19%|███████████████▉                                                                     | 18/96 [00:35<02:41,  2.07s/it]2025-04-21 07:24:49,155 INFO There are 1 samples in the dataset.
Progress:  20%|████████████████▊                                                                    | 19/96 [00:37<02:35,  2.02s/it]2025-04-21 07:24:51,058 INFO There are 1 samples in the dataset.
Progress:  21%|█████████████████▋                                                                   | 20/96 [00:38<02:32,  2.00s/it]2025-04-21 07:24:53,024 INFO There are 1 samples in the dataset.
Progress:  22%|██████████████████▌                                                                  | 21/96 [00:40<02:28,  1.98s/it]2025-04-21 07:24:54,969 INFO There are 1 samples in the dataset.
Progress:  23%|███████████████████▍                                                                 | 22/96 [00:42<02:25,  1.96s/it]2025-04-21 07:24:56,873 INFO There are 1 samples in the dataset.
Progress:  24%|████████████████████▎                                                                | 23/96 [00:44<02:21,  1.94s/it]2025-04-21 07:24:58,881 INFO There are 1 samples in the dataset.
Progress:  25%|█████████████████████▎                                                               | 24/96 [00:46<02:23,  1.99s/it]2025-04-21 07:25:00,865 INFO There are 1 samples in the dataset.
Progress:  26%|██████████████████████▏                                                              | 25/96 [00:48<02:21,  1.99s/it]2025-04-21 07:25:02,858 INFO There are 1 samples in the dataset.
Progress:  27%|███████████████████████                                                              | 26/96 [00:50<02:18,  1.98s/it]2025-04-21 07:25:04,819 INFO There are 1 samples in the dataset.
Progress:  28%|███████████████████████▉                                                             | 27/96 [00:52<02:16,  1.98s/it]2025-04-21 07:25:06,803 INFO There are 1 samples in the dataset.
Progress:  29%|████████████████████████▊                                                            | 28/96 [00:54<02:13,  1.96s/it]2025-04-21 07:25:08,698 INFO There are 1 samples in the dataset.
Progress:  30%|█████████████████████████▋                                                           | 29/96 [00:56<02:10,  1.95s/it]2025-04-21 07:25:10,746 INFO There are 1 samples in the dataset.
Progress:  31%|██████████████████████████▌                                                          | 30/96 [00:58<02:09,  1.96s/it]2025-04-21 07:25:12,606 INFO There are 1 samples in the dataset.
Progress:  32%|███████████████████████████▍                                                         | 31/96 [01:00<02:06,  1.95s/it]2025-04-21 07:25:14,553 INFO There are 1 samples in the dataset.
Progress:  33%|████████████████████████████▎                                                        | 32/96 [01:02<02:04,  1.94s/it]2025-04-21 07:25:16,474 INFO There are 1 samples in the dataset.
Progress:  34%|█████████████████████████████▏                                                       | 33/96 [01:04<02:00,  1.91s/it]2025-04-21 07:25:18,322 INFO There are 1 samples in the dataset.
Progress:  35%|██████████████████████████████                                                       | 34/96 [01:06<01:59,  1.93s/it]2025-04-21 07:25:20,278 INFO There are 1 samples in the dataset.
Progress:  36%|██████████████████████████████▉                                                      | 35/96 [01:08<01:58,  1.95s/it]2025-04-21 07:25:22,394 INFO There are 1 samples in the dataset.
Progress:  38%|███████████████████████████████▉                                                     | 36/96 [01:10<01:58,  1.98s/it]2025-04-21 07:25:24,345 INFO There are 1 samples in the dataset.
Progress:  39%|████████████████████████████████▊                                                    | 37/96 [01:12<01:56,  1.97s/it]2025-04-21 07:25:26,282 INFO There are 1 samples in the dataset.
Progress:  40%|█████████████████████████████████▋                                                   | 38/96 [01:14<01:54,  1.97s/it]2025-04-21 07:25:28,257 INFO There are 1 samples in the dataset.
Progress:  41%|██████████████████████████████████▌                                                  | 39/96 [01:16<01:52,  1.98s/it]2025-04-21 07:25:30,241 INFO There are 1 samples in the dataset.
Progress:  42%|███████████████████████████████████▍                                                 | 40/96 [01:18<01:51,  2.00s/it]2025-04-21 07:25:32,288 INFO There are 1 samples in the dataset.
Progress:  43%|████████████████████████████████████▎                                                | 41/96 [01:20<01:49,  1.99s/it]2025-04-21 07:25:34,361 INFO There are 1 samples in the dataset.
Progress:  44%|█████████████████████████████████████▏                                               | 42/96 [01:22<01:49,  2.03s/it]2025-04-21 07:25:36,376 INFO There are 1 samples in the dataset.
Progress:  45%|██████████████████████████████████████                                               | 43/96 [01:24<01:45,  2.00s/it]2025-04-21 07:25:38,301 INFO There are 1 samples in the dataset.
Progress:  46%|██████████████████████████████████████▉                                              | 44/96 [01:26<01:43,  1.99s/it]2025-04-21 07:25:40,274 INFO There are 1 samples in the dataset.
Progress:  47%|███████████████████████████████████████▊                                             | 45/96 [01:28<01:41,  1.99s/it]2025-04-21 07:25:42,266 INFO There are 1 samples in the dataset.
Progress:  48%|████████████████████████████████████████▋                                            | 46/96 [01:30<01:38,  1.97s/it]2025-04-21 07:25:44,179 INFO There are 1 samples in the dataset.
Progress:  49%|█████████████████████████████████████████▌                                           | 47/96 [01:32<01:37,  1.98s/it]2025-04-21 07:25:46,312 INFO There are 1 samples in the dataset.
Progress:  50%|██████████████████████████████████████████▌                                          | 48/96 [01:34<01:36,  2.02s/it]2025-04-21 07:25:48,309 INFO There are 1 samples in the dataset.
Progress:  51%|███████████████████████████████████████████▍                                         | 49/96 [01:36<01:33,  2.00s/it]2025-04-21 07:25:50,256 INFO There are 1 samples in the dataset.
Progress:  52%|████████████████████████████████████████████▎                                        | 50/96 [01:38<01:31,  1.99s/it]2025-04-21 07:25:52,231 INFO There are 1 samples in the dataset.
Progress:  53%|█████████████████████████████████████████████▏                                       | 51/96 [01:40<01:29,  1.98s/it]2025-04-21 07:25:54,174 INFO There are 1 samples in the dataset.
Progress:  54%|██████████████████████████████████████████████                                       | 52/96 [01:42<01:26,  1.97s/it]2025-04-21 07:25:56,135 INFO There are 1 samples in the dataset.
Progress:  55%|██████████████████████████████████████████████▉                                      | 53/96 [01:44<01:25,  1.98s/it]2025-04-21 07:25:58,232 INFO There are 1 samples in the dataset.
Progress:  56%|███████████████████████████████████████████████▊                                     | 54/96 [01:46<01:24,  2.02s/it]2025-04-21 07:26:00,254 INFO There are 1 samples in the dataset.
Progress:  57%|████████████████████████████████████████████████▋                                    | 55/96 [01:48<01:22,  2.02s/it]2025-04-21 07:26:02,250 INFO There are 1 samples in the dataset.
Progress:  58%|█████████████████████████████████████████████████▌                                   | 56/96 [01:50<01:20,  2.00s/it]2025-04-21 07:26:04,241 INFO There are 1 samples in the dataset.
Progress:  59%|██████████████████████████████████████████████████▍                                  | 57/96 [01:52<01:17,  1.99s/it]2025-04-21 07:26:06,188 INFO There are 1 samples in the dataset.
Progress:  60%|███████████████████████████████████████████████████▎                                 | 58/96 [01:54<01:15,  1.99s/it]2025-04-21 07:26:08,163 INFO There are 1 samples in the dataset.
Progress:  61%|████████████████████████████████████████████████████▏                                | 59/96 [01:56<01:13,  1.99s/it]2025-04-21 07:26:10,285 INFO There are 1 samples in the dataset.
Progress:  62%|█████████████████████████████████████████████████████▏                               | 60/96 [01:58<01:13,  2.03s/it]2025-04-21 07:26:12,302 INFO There are 1 samples in the dataset.
Progress:  64%|██████████████████████████████████████████████████████                               | 61/96 [02:00<01:12,  2.07s/it]2025-04-21 07:26:14,443 INFO There are 1 samples in the dataset.
Progress:  65%|██████████████████████████████████████████████████████▉                              | 62/96 [02:02<01:09,  2.05s/it]2025-04-21 07:26:16,481 INFO There are 1 samples in the dataset.
Progress:  66%|███████████████████████████████████████████████████████▊                             | 63/96 [02:04<01:07,  2.05s/it]2025-04-21 07:26:18,516 INFO There are 1 samples in the dataset.
Progress:  67%|████████████████████████████████████████████████████████▋                            | 64/96 [02:06<01:05,  2.03s/it]2025-04-21 07:26:20,502 INFO There are 1 samples in the dataset.
Progress:  68%|█████████████████████████████████████████████████████████▌                           | 65/96 [02:08<01:02,  2.00s/it]2025-04-21 07:26:22,537 INFO There are 1 samples in the dataset.
Progress:  69%|██████████████████████████████████████████████████████████▍                          | 66/96 [02:10<01:00,  2.01s/it]2025-04-21 07:26:24,461 INFO There are 1 samples in the dataset.
Progress:  70%|███████████████████████████████████████████████████████████▎                         | 67/96 [02:12<00:58,  2.00s/it]2025-04-21 07:26:26,449 INFO There are 1 samples in the dataset.
Progress:  71%|████████████████████████████████████████████████████████████▏                        | 68/96 [02:14<00:55,  2.00s/it]2025-04-21 07:26:28,438 INFO There are 1 samples in the dataset.
Progress:  72%|█████████████████████████████████████████████████████████████                        | 69/96 [02:16<00:53,  1.98s/it]2025-04-21 07:26:30,384 INFO There are 1 samples in the dataset.
Progress:  73%|█████████████████████████████████████████████████████████████▉                       | 70/96 [02:18<00:51,  1.97s/it]2025-04-21 07:26:32,321 INFO There are 1 samples in the dataset.
Progress:  74%|██████████████████████████████████████████████████████████████▊                      | 71/96 [02:20<00:49,  1.98s/it]2025-04-21 07:26:34,438 INFO There are 1 samples in the dataset.
Progress:  75%|███████████████████████████████████████████████████████████████▊                     | 72/96 [02:22<00:48,  2.02s/it]2025-04-21 07:26:36,454 INFO There are 1 samples in the dataset.
Progress:  76%|████████████████████████████████████████████████████████████████▋                    | 73/96 [02:24<00:46,  2.02s/it]2025-04-21 07:26:38,462 INFO There are 1 samples in the dataset.
Progress:  77%|█████████████████████████████████████████████████████████████████▌                   | 74/96 [02:26<00:44,  2.01s/it]2025-04-21 07:26:40,429 INFO There are 1 samples in the dataset.
Progress:  78%|██████████████████████████████████████████████████████████████████▍                  | 75/96 [02:28<00:42,  2.01s/it]2025-04-21 07:26:42,470 INFO There are 1 samples in the dataset.
Progress:  79%|███████████████████████████████████████████████████████████████████▎                 | 76/96 [02:30<00:40,  2.03s/it]2025-04-21 07:26:44,520 INFO There are 1 samples in the dataset.
Progress:  80%|████████████████████████████████████████████████████████████████████▏                | 77/96 [02:32<00:38,  2.03s/it]2025-04-21 07:26:46,679 INFO There are 1 samples in the dataset.
Progress:  81%|█████████████████████████████████████████████████████████████████████                | 78/96 [02:34<00:37,  2.06s/it]2025-04-21 07:26:48,702 INFO There are 1 samples in the dataset.
Progress:  82%|█████████████████████████████████████████████████████████████████████▉               | 79/96 [02:36<00:34,  2.05s/it]2025-04-21 07:26:50,757 INFO There are 1 samples in the dataset.
Progress:  83%|██████████████████████████████████████████████████████████████████████▊              | 80/96 [02:38<00:33,  2.07s/it]2025-04-21 07:26:52,834 INFO There are 1 samples in the dataset.
Progress:  84%|███████████████████████████████████████████████████████████████████████▋             | 81/96 [02:40<00:30,  2.02s/it]2025-04-21 07:26:54,735 INFO There are 1 samples in the dataset.
Progress:  85%|████████████████████████████████████████████████████████████████████████▌            | 82/96 [02:42<00:27,  1.99s/it]2025-04-21 07:26:56,650 INFO There are 1 samples in the dataset.
Progress:  86%|█████████████████████████████████████████████████████████████████████████▍           | 83/96 [02:44<00:26,  2.00s/it]2025-04-21 07:26:58,686 INFO There are 1 samples in the dataset.
Progress:  88%|██████████████████████████████████████████████████████████████████████████▍          | 84/96 [02:46<00:24,  2.01s/it]2025-04-21 07:27:00,803 INFO There are 1 samples in the dataset.
Progress:  89%|███████████████████████████████████████████████████████████████████████████▎         | 85/96 [02:48<00:22,  2.01s/it]2025-04-21 07:27:02,710 INFO There are 1 samples in the dataset.
Progress:  90%|████████████████████████████████████████████████████████████████████████████▏        | 86/96 [02:50<00:19,  2.00s/it]2025-04-21 07:27:04,687 INFO There are 1 samples in the dataset.
Progress:  91%|█████████████████████████████████████████████████████████████████████████████        | 87/96 [02:52<00:17,  1.99s/it]2025-04-21 07:27:06,656 INFO There are 1 samples in the dataset.
Progress:  92%|█████████████████████████████████████████████████████████████████████████████▉       | 88/96 [02:54<00:15,  1.97s/it]2025-04-21 07:27:08,563 INFO There are 1 samples in the dataset.
Progress:  93%|██████████████████████████████████████████████████████████████████████████████▊      | 89/96 [02:56<00:13,  1.99s/it]2025-04-21 07:27:10,604 INFO There are 1 samples in the dataset.
Progress:  94%|███████████████████████████████████████████████████████████████████████████████▋     | 90/96 [02:58<00:11,  1.98s/it]2025-04-21 07:27:12,718 INFO There are 1 samples in the dataset.
Progress:  95%|████████████████████████████████████████████████████████████████████████████████▌    | 91/96 [03:00<00:10,  2.01s/it]2025-04-21 07:27:14,652 INFO There are 1 samples in the dataset.
Progress:  96%|█████████████████████████████████████████████████████████████████████████████████▍   | 92/96 [03:02<00:08,  2.02s/it]2025-04-21 07:27:16,684 INFO There are 1 samples in the dataset.
Progress:  97%|██████████████████████████████████████████████████████████████████████████████████▎  | 93/96 [03:04<00:06,  2.00s/it]2025-04-21 07:27:18,678 INFO There are 1 samples in the dataset.
Progress:  98%|███████████████████████████████████████████████████████████████████████████████████▏ | 94/96 [03:06<00:04,  2.09s/it]2025-04-21 07:27:20,956 INFO There are 1 samples in the dataset.
Progress:  99%|████████████████████████████████████████████████████████████████████████████████████ | 95/96 [03:08<00:02,  2.06s/it]2025-04-21 07:27:22,941 INFO There are 1 samples in the dataset.
Progress: 100%|█████████████████████████████████████████████████████████████████████████████████████| 96/96 [03:11<00:00,  1.99s/it]
2025-04-21 07:27:24,885 INFO Calculate top12 sensitivity nodes with max-percentile:percentile=0.99995 calibration method using cosine-similarity metric.
2025-04-21 07:27:25,156 INFO Start calculating activation sensitivity...
2025-04-21 07:27:25,344 INFO Interested_nodes is given, only calculate sensitivity for these nodes, no matter what node_type is specified.
2025-04-21 07:27:25,851 INFO There are 1 samples in the dataset.
Progress:   0%|                                                                                              | 0/12 [00:00<?, ?it/s]2025-04-21 07:27:28,156 INFO There are 1 samples in the dataset.
Progress:   8%|███████▏                                                                              | 1/12 [00:02<00:23,  2.14s/it]2025-04-21 07:27:30,399 INFO There are 1 samples in the dataset.
Progress:  17%|██████████████▎                                                                       | 2/12 [00:04<00:21,  2.16s/it]2025-04-21 07:27:32,466 INFO There are 1 samples in the dataset.
Progress:  25%|█████████████████████▌                                                                | 3/12 [00:06<00:18,  2.10s/it]2025-04-21 07:27:34,503 INFO There are 1 samples in the dataset.
Progress:  33%|████████████████████████████▋                                                         | 4/12 [00:08<00:16,  2.10s/it]2025-04-21 07:27:36,593 INFO There are 1 samples in the dataset.
Progress:  42%|███████████████████████████████████▊                                                  | 5/12 [00:10<00:14,  2.11s/it]2025-04-21 07:27:38,703 INFO There are 1 samples in the dataset.
Progress:  50%|███████████████████████████████████████████                                           | 6/12 [00:12<00:12,  2.07s/it]2025-04-21 07:27:40,730 INFO There are 1 samples in the dataset.
Progress:  58%|██████████████████████████████████████████████████▏                                   | 7/12 [00:14<00:10,  2.08s/it]2025-04-21 07:27:42,914 INFO There are 1 samples in the dataset.
Progress:  67%|█████████████████████████████████████████████████████████▎                            | 8/12 [00:16<00:08,  2.09s/it]2025-04-21 07:27:44,922 INFO There are 1 samples in the dataset.
Progress:  75%|████████████████████████████████████████████████████████████████▌                     | 9/12 [00:18<00:06,  2.05s/it]2025-04-21 07:27:46,881 INFO There are 1 samples in the dataset.
Progress:  83%|██████████████████████████████████████████████████████████████████████▊              | 10/12 [00:20<00:04,  2.06s/it]2025-04-21 07:27:48,944 INFO There are 1 samples in the dataset.
Progress:  92%|█████████████████████████████████████████████████████████████████████████████▉       | 11/12 [00:22<00:02,  2.02s/it]2025-04-21 07:27:50,897 INFO There are 1 samples in the dataset.
Progress: 100%|█████████████████████████████████████████████████████████████████████████████████████| 12/12 [00:24<00:00,  2.07s/it]
2025-04-21 07:27:52,720 INFO Calculate top12 sensitivity nodes with kl:num_bin=1024,max_num_bin=16384 calibration method using cosine-similarity metric.
2025-04-21 07:27:52,817 INFO Start calculating activation sensitivity...
2025-04-21 07:27:53,090 INFO Interested_nodes is given, only calculate sensitivity for these nodes, no matter what node_type is specified.
2025-04-21 07:27:53,547 INFO There are 1 samples in the dataset.
Progress:   0%|                                                                                              | 0/12 [00:00<?, ?it/s]2025-04-21 07:27:55,754 INFO There are 1 samples in the dataset.
Progress:   8%|███████▏                                                                              | 1/12 [00:02<00:22,  2.04s/it]2025-04-21 07:27:57,894 INFO There are 1 samples in the dataset.
Progress:  17%|██████████████▎                                                                       | 2/12 [00:04<00:20,  2.06s/it]2025-04-21 07:27:59,860 INFO There are 1 samples in the dataset.
Progress:  25%|█████████████████████▌                                                                | 3/12 [00:06<00:18,  2.02s/it]2025-04-21 07:28:01,824 INFO There are 1 samples in the dataset.
Progress:  33%|████████████████████████████▋                                                         | 4/12 [00:08<00:15,  2.00s/it]2025-04-21 07:28:03,782 INFO There are 1 samples in the dataset.
Progress:  42%|███████████████████████████████████▊                                                  | 5/12 [00:10<00:14,  2.02s/it]2025-04-21 07:28:05,854 INFO There are 1 samples in the dataset.
Progress:  50%|███████████████████████████████████████████                                           | 6/12 [00:12<00:12,  2.02s/it]2025-04-21 07:28:07,875 INFO There are 1 samples in the dataset.
Progress:  58%|██████████████████████████████████████████████████▏                                   | 7/12 [00:14<00:10,  2.04s/it]2025-04-21 07:28:10,060 INFO There are 1 samples in the dataset.
Progress:  67%|█████████████████████████████████████████████████████████▎                            | 8/12 [00:16<00:08,  2.05s/it]2025-04-21 07:28:12,016 INFO There are 1 samples in the dataset.
Progress:  75%|████████████████████████████████████████████████████████████████▌                     | 9/12 [00:18<00:06,  2.07s/it]2025-04-21 07:28:14,146 INFO There are 1 samples in the dataset.
Progress:  83%|██████████████████████████████████████████████████████████████████████▊              | 10/12 [00:20<00:04,  2.12s/it]2025-04-21 07:28:16,362 INFO There are 1 samples in the dataset.
Progress:  92%|█████████████████████████████████████████████████████████████████████████████▉       | 11/12 [00:22<00:02,  2.08s/it]2025-04-21 07:28:18,348 INFO There are 1 samples in the dataset.
Progress: 100%|█████████████████████████████████████████████████████████████████████████████████████| 12/12 [00:24<00:00,  2.05s/it]
2025-04-21 07:28:20,076 INFO Topk is not set by the user, select top-12 nodes with cosine-similarity less than 0.999 to merge multi calibration methods.
2025-04-21 07:28:20,076 INFO ===============================Merge_Info(cosine-similarity)================================
Node                          max       percentile=0.99995  num_bin=1024,max_num_bin=16384  
--------------------------------------------------------------------------------------------
onnx::Conv_826_HzCalibration  0.831408  0.993511(select)    0.977784                        
onnx::Conv_820_HzCalibration  0.843358  0.812527            0.877471(select)                
onnx::Conv_829_HzCalibration  0.852224  0.991251            0.994915(select)                
onnx::Conv_823_HzCalibration  0.864356  0.884855(select)    0.850488                        
onnx::Conv_832_HzCalibration  0.889635  0.991094            0.998237(select)                
onnx::Conv_835_HzCalibration  0.918115  0.997092            0.998008(select)                
input.288_HzCalibration       0.992318  0.999568(select)    0.998971                        
feature_HzCalibration         0.992529  0.992529            0.998104(select)                
onnx::Conv_838_HzCalibration  0.993272  0.999468(select)    0.997170                        
onnx::Conv_841_HzCalibration  0.997507  0.999749(select)    0.998370                        
onnx::Conv_847_HzCalibration  0.998594  0.999532(select)    0.998090                        
onnx::Conv_850_HzCalibration  0.998947  0.999791(select)    0.999094
2025-04-21 07:28:37,645 INFO Select kl:num_bin=1024,max_num_bin=16384 method.
2025-04-21 07:28:38,336 INFO Run calibration model with bias correction method with bias samples: 1.
2025-04-21 07:28:38,421 INFO There are 1 samples in the dataset.
bias correction in progress: 107it [08:33,  4.80s/it]
2025-04-21 07:37:15,707 INFO There are 1 samples in the dataset.
2025-04-21 07:37:26,883 INFO ===========Bias_Correction_Info(cosine-similarity)===========
Node        Before-Bias-Correlation  After-Bias-Correlation  
-------------------------------------------------------------
output      nan                      nan
2025-04-21 07:37:27,997 INFO There are 1 samples in the dataset.
Testing:   0%|                                                                                                | 0/2 [00:00<?, ?it/s]2025-04-21 07:37:30,832 INFO There are 1 samples in the dataset.
Testing:  50%|████████████████████████████████████████████                                            | 1/2 [00:06<00:06,  6.05s/it]2025-04-21 07:37:36,950 INFO There are 1 samples in the dataset.
Testing: 100%|████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:12<00:00,  6.07s/it]
2025-04-21 07:37:43,115 INFO There are 1 samples in the dataset.
Testing:   0%|                                                                                                | 0/2 [00:00<?, ?it/s]2025-04-21 07:37:46,051 INFO There are 1 samples in the dataset.
Testing:  50%|████████████████████████████████████████████                                            | 1/2 [00:26<00:26, 26.49s/it]2025-04-21 07:38:12,574 INFO There are 1 samples in the dataset.
Testing: 100%|████████████████████████████████████████████████████████████████████████████████████████| 2/2 [00:52<00:00, 26.12s/it]
2025-04-21 07:38:37,507 INFO Result has been saved as ./bias_correction/conv_accumulate_err_of_qmodel_mean-diff-error.png
2025-04-21 07:38:37,865 WARNING find illegal threshold in onnx::ScatterND_595_HzCalibration, it will be set default.
2025-04-21 07:38:37,956 INFO End to calibrate the model.
2025-04-21 07:38:38,169 INFO Saving model to: /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6_calibrated_model.onnx.
2025-04-21 07:38:38,169 INFO Start to precompile the model.
2025-04-21 07:38:39,140 INFO End to precompile the model.
2025-04-21 07:38:39,341 INFO Saving model to: /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6_ptq_model.onnx.
2025-04-21 07:38:54,970 INFO End to Horizon NN Model Convert.
2025-04-21 07:38:54,970 INFO Start to export model.
2025-04-21 07:38:56,158 INFO Successful export model.
2025-04-21 07:38:56,241 INFO Start to convert model.
2025-04-21 07:38:58,102 INFO Successful convert model.
2025-04-21 07:38:58,123 INFO check params start
2025-04-21 07:38:59,026 INFO check params end
2025-04-21 07:38:59,032 INFO bev_fusion_j6_optimized_float_model inference...
2025-04-21 07:39:00,723 INFO bev_fusion_j6_quantized_model inference...
2025-04-21 07:39:37,039 WARNING [img_feat] Different shape, skip this tensor calculation.model shape: (5, 64, 16, 44) vs (16, 5, 64, 44)
2025-04-21 07:39:37,050 WARNING [onnx::Gather_797] Different shape, skip this tensor calculation.model shape: (1, 5, 64, 128, 44) vs (1, 5, 44, 64, 128)
2025-04-21 07:39:37,474 INFO node Gather_6 is not Add, Clip or Relu and has no thresholds
2025-04-21 07:39:37,474 INFO node Gather_10 is not Add, Clip or Relu and has no thresholds
2025-04-21 07:39:37,475 INFO node Cast_12 is not Add, Clip or Relu and has no thresholds
2025-04-21 07:39:37,475 INFO node Unsqueeze_16 is not Add, Clip or Relu and has no thresholds
2025-04-21 07:39:37,491 INFO +--------------------------------+------------+------+-----------+-------------------+------------------+------------------+
2025-04-21 07:39:37,491 INFO | Node                           | NodeType   | ON   | Threshold | Calibrated Cosine | Quantized Cosine | Output Data Type |
2025-04-21 07:39:37,491 INFO +--------------------------------+------------+------+-----------+-------------------+------------------+------------------+
2025-04-21 07:39:37,491 INFO | Conv_1+Relu_2                  | Conv+Relu  | BPU  | 58.699707 | 0.944587          | 0.944752         | si16             |
2025-04-21 07:39:37,491 INFO | ReduceMax_3                    | ReduceMax  | BPU  | 11.952341 | 0.905898          | 0.906087         | si16             |
2025-04-21 07:39:37,491 INFO | Squeeze_4                      | Reshape    | BPU  | 11.952341 | 0.905898          | 0.906087         | si16             |
2025-04-21 07:39:37,491 INFO | Gather_6                       | Gather     | BPU  | --        | 1.000000          | 1                | si32             |
2025-04-21 07:39:37,491 INFO | Gather_10                      | Gather     | BPU  | --        | 1.000000          | 1                | si32             |
2025-04-21 07:39:37,491 INFO | Add_11                         | Add        | CPU  | --        | 1.000000          | 5.07453e-06      | si32             |
2025-04-21 07:39:37,491 INFO | Cast_12                        | Cast       | --   | --        | 1.000000          | --               | --               |
2025-04-21 07:39:37,491 INFO | Unsqueeze_16                   | Reshape    | BPU  | --        | 1.000000          | 1                | si32             |
2025-04-21 07:39:37,491 INFO | ScatterND_19                   | ScatterND  | CPU  | 1.0       | 0.902297          | 0.902361         | si8              |
2025-04-21 07:39:37,491 INFO | Transpose_20                   | Transpose  | --   | 1.0       | 0.902302          | --               | --               |
2025-04-21 07:39:37,491 INFO | Reshape_22                     | Reshape    | BPU  | 1.0       | 0.899262          | 0.899267         | si8              |
2025-04-21 07:39:37,491 INFO | Conv_23+Relu_24                | Conv+Relu  | BPU  | 2.628399  | 0.999568          | 0.999568         | si8              |
2025-04-21 07:39:37,491 INFO | MaxPool_25                     | MaxPool    | BPU  | 1.717914  | 0.999422          | 0.999422         | si8              |
2025-04-21 07:39:37,491 INFO | Conv_26+Relu_27                | Conv+Relu  | BPU  | 1.717914  | 0.998865          | 0.998865         | si8              |
2025-04-21 07:39:37,491 INFO | Relu_30                        | Relu       | BPU  | --        | 0.999018          | 0.999017         | si8              |
2025-04-21 07:39:37,491 INFO | Conv_31+Relu_32                | Conv+Relu  | BPU  | 2.469976  | 0.996972          | 0.996965         | si8              |
2025-04-21 07:39:37,492 INFO | Relu_35                        | Relu       | BPU  | --        | 0.997754          | 0.997753         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_36+Relu_37                | Conv+Relu  | BPU  | 3.36939   | 0.995522          | 0.995534         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_38                        | Conv       | BPU  | 1.632584  | 0.996123          | 0.996146         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_39                        | Conv       | BPU  | 3.36939   | 0.995589          | --               | si32             |
2025-04-21 07:39:37,492 INFO | Relu_41                        | Relu       | BPU  | --        | 0.996398          | 0.996424         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_42+Relu_43                | Conv+Relu  | BPU  | 2.237685  | 0.994475          | 0.994548         | si8              |
2025-04-21 07:39:37,492 INFO | Relu_46                        | Relu       | BPU  | --        | 0.995896          | 0.995947         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_47+Relu_48                | Conv+Relu  | BPU  | 2.976404  | 0.995996          | 0.996034         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_49                        | Conv       | BPU  | 2.224893  | 0.997169          | 0.997204         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_50                        | Conv       | BPU  | 2.976404  | 0.998269          | --               | si32             |
2025-04-21 07:39:37,492 INFO | Relu_52                        | Relu       | BPU  | --        | 0.996945          | 0.996969         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_53+Relu_54                | Conv+Relu  | BPU  | 3.080486  | 0.994829          | 0.994931         | si8              |
2025-04-21 07:39:37,492 INFO | Relu_57                        | Relu       | BPU  | --        | 0.996242          | 0.996324         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_58+Relu_59                | Conv+Relu  | BPU  | 3.07879   | 0.994728          | 0.994912         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_60                        | Conv       | BPU  | 1.878303  | 0.997144          | 0.997254         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_61                        | Conv       | BPU  | 3.07879   | 0.996848          | --               | si32             |
2025-04-21 07:39:37,492 INFO | Relu_63                        | Relu       | BPU  | --        | 0.995653          | 0.995799         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_64+Relu_65                | Conv+Relu  | BPU  | 4.025212  | 0.995879          | 0.996034         | si8              |
2025-04-21 07:39:37,492 INFO | Relu_68                        | Relu       | BPU  | --        | 0.997498          | 0.9976           | si8              |
2025-04-21 07:39:37,492 INFO | Conv_70                        | Conv       | BPU  | 28.872837 | 0.995324          | 0.995546         | si8              |
2025-04-21 07:39:37,492 INFO | Resize_77                      | Resize     | BPU  | 6.045148  | 0.995329          | 0.995551         | si8              |
2025-04-21 07:39:37,492 INFO | Conv_69+Add_78                 | Conv+Add   | CPU  | 3.07879   | 0.994954          | --               | si8              |
2025-04-21 07:39:37,492 INFO | Conv_79                        | Conv       | BPU  | 8.67087   | 0.996378          | --               | si8              |
2025-04-21 07:39:37,492 INFO | Transpose_135                  | Transpose  | --   | 6.489836  | 0.996377          | --               | --               |
2025-04-21 07:39:37,492 INFO | Reshape_139                    | Reshape    | --   | 6.489836  | 0.996377          | --               | --               |
2025-04-21 07:39:37,492 INFO | Gemm_140_transpose_in          | Transpose  | BPU  | 6.489836  | 0.996377          | 0.996525         | si8              |
2025-04-21 07:39:37,492 INFO | Gemm_140+Relu_141              | Conv+Relu  | BPU  | 6.489836  | 0.995774          | 0.996006         | si8              |
2025-04-21 07:39:37,492 INFO | Gemm_142+Relu_143              | Conv+Relu  | BPU  | 4.11674   | 0.996628          | 0.996614         | si8              |
2025-04-21 07:39:37,492 INFO | Relu_143_x.3_reshape_Transpose | Transpose  | --   | 15.711637 | 0.996627          | --               | --               |
2025-04-21 07:39:37,492 INFO | Relu_143x.3_Reshape_0          | Reshape    | --   | 15.711637 | 0.996627          | --               | --               |
2025-04-21 07:39:37,492 INFO | Transpose_152                  | Transpose  | --   | 15.711637 | 0.996627          | --               | --               |
2025-04-21 07:39:37,493 INFO | Reshape_162                    | Reshape    | BPU  | 15.711637 | 0.996627          | --               | si8              |
2025-04-21 07:39:37,493 INFO | Gather_164                     | Gather     | BPU  | 15.711637 | 0.997504          | 0.997601         | si8              |
2025-04-21 07:39:37,493 INFO | GridSample_166                 | GridSample | NULL | 15.711637 | 0.997566          | 0.984509         | si8              |
2025-04-21 07:39:37,493 INFO | Gather_168                     | Gather     | BPU  | 15.711637 | 0.997714          | 0.997615         | si8              |
2025-04-21 07:39:37,493 INFO | GridSample_170                 | GridSample | NULL | 15.711637 | 0.997542          | 0.986106         | si8              |
2025-04-21 07:39:37,493 INFO | Gather_172                     | Gather     | BPU  | 15.711637 | 0.994500          | 0.994582         | si8              |
2025-04-21 07:39:37,493 INFO | GridSample_174                 | GridSample | NULL | 15.711637 | 0.993780          | 0.990456         | si8              |
2025-04-21 07:39:37,493 INFO | Gather_176                     | Gather     | BPU  | 15.711637 | 0.996041          | 0.995815         | si8              |
2025-04-21 07:39:37,493 INFO | GridSample_178                 | GridSample | NULL | 15.711637 | 0.996481          | 0.986459         | si8              |
2025-04-21 07:39:37,493 INFO | Gather_180                     | Gather     | BPU  | 15.711637 | 0.996260          | 0.996416         | si8              |
2025-04-21 07:39:37,493 INFO | GridSample_182                 | GridSample | NULL | 15.711637 | 0.996122          | 0.972129         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_183+Relu_184              | Conv+Relu  | BPU  | 46.930164 | 0.953123          | 0.953074         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_185+Relu_186              | Conv+Relu  | BPU  | 12.2366   | 0.944946          | 0.944941         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_187+Relu_188              | Conv+Relu  | BPU  | 9.878327  | 0.907241          | 0.907246         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_189+Relu_190              | Conv+Relu  | BPU  | 12.10903  | 0.896674          | 0.896667         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_191+Relu_192              | Conv+Relu  | BPU  | 16.512878 | 0.857326          | 0.857352         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_193+Relu_194              | Conv+Relu  | BPU  | 10.168768 | 0.874470          | 0.874518         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_195+Relu_196              | Conv+Relu  | BPU  | 6.880012  | 0.840983          | 0.841022         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_197+Relu_198              | Conv+Relu  | BPU  | 4.896197  | 0.829647          | 0.829674         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_199+Relu_200              | Conv+Relu  | BPU  | 2.946382  | 0.810656          | 0.810695         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_201+Relu_202              | Conv+Relu  | BPU  | 4.104846  | 0.769354          | 0.768553         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_203+Relu_204              | Conv+Relu  | BPU  | 1.846334  | 0.730523          | 0.729868         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_205+Relu_206              | Conv+Relu  | BPU  | 2.820039  | 0.690513          | 0.68757          | si8              |
2025-04-21 07:39:37,493 INFO | Concat_207                     | Concat     | BPU  | 15.711637 | 0.856433          | 0.854475         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_208+Relu_209              | Conv+Relu  | BPU  | 4.39708   | 0.873746          | 0.872511         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_210+Relu_211              | Conv+Relu  | BPU  | 0.92713   | 0.944068          | 0.943616         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_212+Relu_213              | Conv+Relu  | BPU  | 1.929555  | 0.946977          | 0.947007         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_214+Relu_215              | Conv+Relu  | BPU  | 1.547771  | 0.951360          | 0.951157         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_216+Relu_217              | Conv+Relu  | BPU  | 2.547646  | 0.936135          | 0.935877         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_218+Relu_219              | Conv+Relu  | BPU  | 1.803159  | 0.893427          | 0.892668         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_220+Relu_221              | Conv+Relu  | BPU  | 1.831659  | 0.914269          | 0.912419         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_222+Relu_223              | Conv+Relu  | BPU  | 1.450618  | 0.916066          | 0.914807         | si8              |
2025-04-21 07:39:37,493 INFO | Conv_224+Relu_225              | Conv+Relu  | BPU  | 1.711653  | 0.902971          | 0.901073         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_226+Relu_227              | Conv+Relu  | BPU  | 1.616442  | 0.933436          | 0.932014         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_228+Relu_229              | Conv+Relu  | BPU  | 1.207666  | 0.934766          | 0.933395         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_230+Relu_231              | Conv+Relu  | BPU  | 1.534962  | 0.889947          | 0.88683          | si8              |
2025-04-21 07:39:37,494 INFO | Conv_232+Relu_233              | Conv+Relu  | BPU  | 2.534877  | 0.901728          | 0.897822         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_234+Relu_235              | Conv+Relu  | BPU  | 1.197067  | 0.868143          | 0.862259         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_236+Relu_237              | Conv+Relu  | BPU  | 1.255718  | 0.827334          | 0.817813         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_238+Relu_239              | Conv+Relu  | BPU  | 1.137748  | 0.838597          | 0.830454         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_240+Relu_241              | Conv+Relu  | BPU  | 1.352037  | 0.853822          | 0.845454         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_242+Relu_243              | Conv+Relu  | BPU  | 1.803159  | 0.881572          | 0.880694         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_244+Relu_245              | Conv+Relu  | BPU  | 1.534962  | 0.893961          | 0.890014         | si8              |
2025-04-21 07:39:37,494 INFO | Relu_248                       | Relu       | BPU  | --        | 0.903973          | 0.897408         | si8              |
2025-04-21 07:39:37,494 INFO | Concat_249                     | Concat     | BPU  | 1.864667  | 0.895188          | 0.89075          | si8              |
2025-04-21 07:39:37,494 INFO | Conv_250+Relu_251              | Conv+Relu  | BPU  | 1.864667  | 0.929578          | 0.927774         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_252+Relu_253              | Conv+Relu  | BPU  | 2.810932  | 0.731068          | 0.73612          | si8              |
2025-04-21 07:39:37,494 INFO | Conv_254                       | Conv       | NULL | 1.39118   | 0.964758          | 0.964931         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_255+Relu_256              | Conv+Relu  | BPU  | 2.810932  | 0.823167          | 0.816581         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_257                       | Conv       | NULL | 1.627059  | 0.968864          | 0.969091         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_258+Relu_259              | Conv+Relu  | BPU  | 2.810932  | 0.790489          | 0.79028          | si8              |
2025-04-21 07:39:37,494 INFO | Conv_260                       | Conv       | NULL | 0.896169  | 0.997417          | 0.997353         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_261+Relu_262              | Conv+Relu  | BPU  | 2.810932  | 0.719191          | 0.707839         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_263                       | Conv       | NULL | 2.760066  | 0.637449          | 0.625246         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_264+Relu_265              | Conv+Relu  | BPU  | 2.810932  | 0.811695          | 0.806891         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_266                       | Conv       | NULL | 2.967697  | 0.835490          | 0.824843         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_267+Relu_268              | Conv+Relu  | BPU  | 2.810932  | 0.787679          | 0.779563         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_269                       | Conv       | NULL | 2.300337  | 0.961607          | 0.963126         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_270+Relu_271              | Conv+Relu  | BPU  | 2.810932  | 0.722040          | 0.72401          | si8              |
2025-04-21 07:39:37,494 INFO | Conv_272                       | Conv       | NULL | 1.510393  | 0.946191          | 0.94365          | f32              |
2025-04-21 07:39:37,494 INFO | Conv_273+Relu_274              | Conv+Relu  | BPU  | 2.810932  | 0.768548          | 0.765997         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_275                       | Conv       | NULL | 1.862805  | 0.868761          | 0.875328         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_276+Relu_277              | Conv+Relu  | BPU  | 2.810932  | 0.796876          | 0.798481         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_278                       | Conv       | NULL | 1.182736  | 0.987547          | 0.98734          | f32              |
2025-04-21 07:39:37,494 INFO | Conv_279+Relu_280              | Conv+Relu  | BPU  | 2.810932  | 0.753225          | 0.747553         | si8              |
2025-04-21 07:39:37,494 INFO | Conv_281                       | Conv       | NULL | 2.922793  | 0.577158          | 0.546248         | f32              |
2025-04-21 07:39:37,494 INFO | Conv_282+Relu_283              | Conv+Relu  | BPU  | 2.810932  | 0.810519          | 0.80749          | si8              |
2025-04-21 07:39:37,495 INFO | Conv_284                       | Conv       | NULL | 2.443004  | 0.783615          | 0.792841         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_285+Relu_286              | Conv+Relu  | BPU  | 2.810932  | 0.880059          | 0.869746         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_287                       | Conv       | NULL | 3.474106  | 0.988744          | 0.988651         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_288+Relu_289              | Conv+Relu  | BPU  | 2.810932  | 0.699514          | 0.711882         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_290                       | Conv       | NULL | 2.830366  | 0.484833          | 0.576826         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_291+Relu_292              | Conv+Relu  | BPU  | 2.810932  | 0.732796          | 0.73649          | si8              |
2025-04-21 07:39:37,495 INFO | Conv_293                       | Conv       | NULL | 2.230002  | 0.938190          | 0.938692         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_294+Relu_295              | Conv+Relu  | BPU  | 2.810932  | 0.727034          | 0.727627         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_296                       | Conv       | NULL | 1.39141   | 0.929523          | 0.924647         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_297+Relu_298              | Conv+Relu  | BPU  | 2.810932  | 0.657947          | 0.651653         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_299                       | Conv       | NULL | 2.366545  | 0.588065          | 0.601557         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_300+Relu_301              | Conv+Relu  | BPU  | 2.810932  | 0.817401          | 0.806933         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_302                       | Conv       | NULL | 2.746369  | 0.902748          | 0.889083         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_303+Relu_304              | Conv+Relu  | BPU  | 2.810932  | 0.932091          | 0.928845         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_305                       | Conv       | NULL | 2.62433   | 0.999649          | 0.99964          | f32              |
2025-04-21 07:39:37,495 INFO | Conv_306+Relu_307              | Conv+Relu  | BPU  | 2.810932  | 0.705128          | 0.705088         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_308                       | Conv       | NULL | 1.569864  | 0.948162          | 0.947097         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_309+Relu_310              | Conv+Relu  | BPU  | 2.810932  | 0.770163          | 0.767324         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_311                       | Conv       | NULL | 1.683474  | 0.963072          | 0.962501         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_312+Relu_313              | Conv+Relu  | BPU  | 2.810932  | 0.823340          | 0.819553         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_314                       | Conv       | NULL | 1.418569  | 0.876298          | 0.877895         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_315+Relu_316              | Conv+Relu  | BPU  | 2.810932  | 0.746524          | 0.741802         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_317                       | Conv       | NULL | 2.371089  | 0.525395          | 0.498952         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_318+Relu_319              | Conv+Relu  | BPU  | 2.810932  | 0.837536          | 0.834734         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_320                       | Conv       | NULL | 2.750305  | 0.761043          | 0.755354         | f32              |
2025-04-21 07:39:37,495 INFO | Conv_321+Relu_322              | Conv+Relu  | BPU  | 2.810932  | 0.863666          | 0.855626         | si8              |
2025-04-21 07:39:37,495 INFO | Conv_323                       | Conv       | NULL | 3.109804  | 0.990646          | 0.990303         | f32              |
2025-04-21 07:39:37,495 INFO +--------------------------------+------------+------+-----------+-------------------+------------------+------------------+
2025-04-21 07:39:37,496 INFO +------------+-------------------+------------------+
2025-04-21 07:39:37,496 INFO | TensorName | Calibrated Cosine | Quantized Cosine |
2025-04-21 07:39:37,496 INFO +------------+-------------------+------------------+
2025-04-21 07:39:37,496 INFO | reg_0      | 0.964758          | 0.964931         |
2025-04-21 07:39:37,496 INFO | height_0   | 0.968864          | 0.969091         |
2025-04-21 07:39:37,496 INFO | dim_0      | 0.997417          | 0.997353         |
2025-04-21 07:39:37,496 INFO | rot_0      | 0.637449          | 0.625246         |
2025-04-21 07:39:37,496 INFO | vel_0      | 0.835490          | 0.824843         |
2025-04-21 07:39:37,496 INFO | hm_0       | 0.961607          | 0.963126         |
2025-04-21 07:39:37,496 INFO | reg_1      | 0.946191          | 0.94365          |
2025-04-21 07:39:37,496 INFO | height_1   | 0.868761          | 0.875328         |
2025-04-21 07:39:37,496 INFO | dim_1      | 0.987547          | 0.98734          |
2025-04-21 07:39:37,496 INFO | rot_1      | 0.577158          | 0.546248         |
2025-04-21 07:39:37,496 INFO | vel_1      | 0.783615          | 0.792841         |
2025-04-21 07:39:37,496 INFO | hm_1       | 0.988744          | 0.988651         |
2025-04-21 07:39:37,496 INFO | reg_2      | 0.484833          | 0.576826         |
2025-04-21 07:39:37,496 INFO | height_2   | 0.938190          | 0.938692         |
2025-04-21 07:39:37,496 INFO | dim_2      | 0.929523          | 0.924647         |
2025-04-21 07:39:37,496 INFO | rot_2      | 0.588065          | 0.601557         |
2025-04-21 07:39:37,496 INFO | vel_2      | 0.902748          | 0.889083         |
2025-04-21 07:39:37,496 INFO | hm_2       | 0.999649          | 0.99964          |
2025-04-21 07:39:37,496 INFO | reg_3      | 0.948162          | 0.947097         |
2025-04-21 07:39:37,496 INFO | height_3   | 0.963072          | 0.962501         |
2025-04-21 07:39:37,496 INFO | dim_3      | 0.876298          | 0.877895         |
2025-04-21 07:39:37,496 INFO | rot_3      | 0.525395          | 0.498952         |
2025-04-21 07:39:37,496 INFO | vel_3      | 0.761043          | 0.755354         |
2025-04-21 07:39:37,496 INFO | hm_3       | 0.990646          | 0.990303         |
2025-04-21 07:39:37,496 INFO +------------+-------------------+------------------+
2025-04-21 07:39:37,622 INFO Start to compile model.
[==================================================]100%
[07h:46m:37s:948178221ns INFO hbrt4_log::logger] pid:33 tid:33 hbrt4_log/src/logger.rs:403: Logger of HBRT4 initialized, version = 4.1.17
[07h:46m:37s:952288448ns INFO hbrt4_loader::parsing] pid:33 tid:33 hbrt4_loader/src/parsing.rs:85: Load hbm from file; filename="/home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm"
2025-04-21 07:46:38,167 INFO Successful compile hbm /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm
  FPS=31.75, latency = 31500.599999999999 us, DDR = 360037888 bytes   (see /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.html)
HBDK hbm perf SUCCESS
2025-04-21 07:46:43,435 INFO Successful perf model, result generate at /home/zhutao/horizon_j6/model/bev_fushion/hbm_31
2025-04-21 07:46:43,435 INFO hbm_path: /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm
[07h:46m:43s:435644175ns INFO hbrt4_loader::parsing] pid:33 tid:33 hbrt4_loader/src/parsing.rs:42: Load hbm header from file; filename="/home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm"
[07h:46m:43s:450367170ns INFO hbrt4_log::logger] pid:33 tid:33 hbrt4_log/src/logger.rs:403: Logger of HBRT4 initialized, version = 4.1.17
[07h:46m:43s:450372384ns INFO hbrt4_loader::parsing] pid:33 tid:33 hbrt4_loader/src/parsing.rs:85: Load hbm from file; filename="/home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm"
HBDK hbm extract desc SUCCESS
2025-04-21 07:46:43,723 INFO ************* bev_fusion_j6 *************
2025-04-21 07:46:43,723 INFO ############# model deps info #############
2025-04-21 07:46:43,723 INFO builder version     : 3.3.11
2025-04-21 07:46:43,723 INFO hbdk version        : 4.1.17
2025-04-21 07:46:43,723 INFO horizon nn version  : 2.1.9
2025-04-21 07:46:43,723 INFO ############# model_parameters info #############
2025-04-21 07:46:43,723 INFO onnx_model          : /home/zhutao/horizon_j6/model/bev_fushion/onnx/bev_v1.onnx
2025-04-21 07:46:43,723 INFO BPU march           : nash-e
2025-04-21 07:46:43,723 INFO layer_out_dump      : False
2025-04-21 07:46:43,724 INFO working dir         : /home/zhutao/horizon_j6/model/bev_fushion/hbm_31
2025-04-21 07:46:43,724 INFO output_model_file_prefix: bev_fusion_j6
2025-04-21 07:46:43,724 INFO node_info           : {}
2025-04-21 07:46:43,724 INFO ############# input_parameters info #############
2025-04-21 07:46:43,724 INFO ------------------------------------------
2025-04-21 07:46:43,724 INFO ---------input info : img ---------
2025-04-21 07:46:43,724 INFO input_name          : img
2025-04-21 07:46:43,724 INFO input_type_rt       : featuremap
2025-04-21 07:46:43,724 INFO input_space&range   : regular
2025-04-21 07:46:43,724 INFO input_type_train    : featuremap
2025-04-21 07:46:43,724 INFO input_layout_train  : NCHW
2025-04-21 07:46:43,724 INFO norm_type           : no_preprocess
2025-04-21 07:46:43,724 INFO input_shape         : 5x3x256x704
2025-04-21 07:46:43,724 INFO mean_value          : []
2025-04-21 07:46:43,724 INFO scale_value         : []
2025-04-21 07:46:43,724 INFO std_value           : []
2025-04-21 07:46:43,725 INFO separate_batch      : False
2025-04-21 07:46:43,725 INFO ---------input info : img end -------
2025-04-21 07:46:43,725 INFO ---------input info : feature ---------
2025-04-21 07:46:43,725 INFO input_name          : feature
2025-04-21 07:46:43,725 INFO input_type_rt       : featuremap
2025-04-21 07:46:43,725 INFO input_space&range   : regular
2025-04-21 07:46:43,725 INFO input_type_train    : featuremap
2025-04-21 07:46:43,725 INFO input_layout_train  : NCHW
2025-04-21 07:46:43,725 INFO norm_type           : no_preprocess
2025-04-21 07:46:43,725 INFO input_shape         : 40000x10x1x20
2025-04-21 07:46:43,725 INFO mean_value          : []
2025-04-21 07:46:43,725 INFO scale_value         : []
2025-04-21 07:46:43,725 INFO std_value           : []
2025-04-21 07:46:43,725 INFO separate_batch      : False
2025-04-21 07:46:43,725 INFO ---------input info : feature end -------
2025-04-21 07:46:43,726 INFO ---------input info : onnx::Gather_3 ---------
2025-04-21 07:46:43,726 INFO input_name          : onnx::Gather_3
2025-04-21 07:46:43,726 INFO input_type_rt       : featuremap
2025-04-21 07:46:43,726 INFO input_space&range   : regular
2025-04-21 07:46:43,726 INFO input_type_train    : featuremap
2025-04-21 07:46:43,726 INFO input_layout_train  : NCHW
2025-04-21 07:46:43,726 INFO norm_type           : no_preprocess
2025-04-21 07:46:43,726 INFO input_shape         : 40000x4
2025-04-21 07:46:43,726 INFO mean_value          : []
2025-04-21 07:46:43,726 INFO scale_value         : []
2025-04-21 07:46:43,726 INFO std_value           : []
2025-04-21 07:46:43,726 INFO separate_batch      : False
2025-04-21 07:46:43,726 INFO ---------input info : onnx::Gather_3 end -------
2025-04-21 07:46:43,726 INFO ------------------------------------------
2025-04-21 07:46:43,726 INFO ############# calibration_parameters info #############
2025-04-21 07:46:43,726 INFO calibration_type    : default
2025-04-21 07:46:43,726 INFO max_percentile      : None
2025-04-21 07:46:43,726 INFO per_channel         : False
2025-04-21 07:46:43,726 INFO cal_data_dir        : /home/zhutao/horizon_j6/code/bevfusion-swmotion/export/saved_inputs/img;/home/zhutao/horizon_j6/code/bevfusion-swmotion/export/saved_inputs/feature;/home/zhutao/horizon_j6/code/bevfusion-swmotion/export/saved_inputs/coors
2025-04-21 07:46:43,726 INFO quant_config        : ./quant_config.json
2025-04-21 07:46:43,726 INFO ############# compiler_parameters info #############
2025-04-21 07:46:43,726 INFO debug               : True
2025-04-21 07:46:43,726 INFO optimize_level      : O2
2025-04-21 07:46:43,726 INFO compile_mode        : latency
2025-04-21 07:46:43,726 INFO core_num            : 1
2025-04-21 07:46:43,726 INFO max_time_per_fc     : 1000
2025-04-21 07:46:43,726 INFO balance_factor      : 100
2025-04-21 07:46:43,726 INFO input_source        : {'img': 'ddr', 'feature': 'ddr', 'onnx::Gather_3': 'ddr'}
2025-04-21 07:46:43,726 INFO hbdk3_compatible_mode: False
2025-04-21 07:46:43,726 INFO hbm_path: /home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm
[07h:46m:43s:727015281ns INFO hbrt4_loader::parsing] pid:33 tid:33 hbrt4_loader/src/parsing.rs:42: Load hbm header from file; filename="/home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm"
[07h:46m:43s:743550115ns INFO hbrt4_log::logger] pid:33 tid:33 hbrt4_log/src/logger.rs:403: Logger of HBRT4 initialized, version = 4.1.17
[07h:46m:43s:743559526ns INFO hbrt4_loader::parsing] pid:33 tid:33 hbrt4_loader/src/parsing.rs:85: Load hbm from file; filename="/home/zhutao/horizon_j6/model/bev_fushion/hbm_31/bev_fusion_j6.hbm"
2025-04-21 07:46:43,825 INFO ############# Model input/output info #############
2025-04-21 07:46:43,825 INFO NAME           TYPE   SHAPE              DATA_TYPE
2025-04-21 07:46:43,825 INFO -------------- ------ ------------------ ---------
2025-04-21 07:46:43,825 INFO img            input  [5, 3, 256, 704]   FLOAT32
2025-04-21 07:46:43,825 INFO feature        input  [40000, 10, 1, 20] FLOAT32
2025-04-21 07:46:43,825 INFO onnx::Gather_3 input  [40000, 4]         INT32
2025-04-21 07:46:43,825 INFO reg_0          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO height_0       output [1, 1, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO dim_0          output [1, 3, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO rot_0          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO vel_0          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO hm_0           output [1, 1, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO reg_1          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO height_1       output [1, 1, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO dim_1          output [1, 3, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO rot_1          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO vel_1          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO hm_1           output [1, 1, 120, 180]   FLOAT32
2025-04-21 07:46:43,825 INFO reg_2          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO height_2       output [1, 1, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO dim_2          output [1, 3, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO rot_2          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO vel_2          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO hm_2           output [1, 1, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO reg_3          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO height_3       output [1, 1, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO dim_3          output [1, 3, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO rot_3          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO vel_3          output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,826 INFO hm_3           output [1, 2, 120, 180]   FLOAT32
2025-04-21 07:46:43,836 INFO The hb_compile completes running