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Ajinkya RasaneandCodex
5c123ce183
### What does this PR do? Type of change: new example, example simplification, and backward-breaking example migration Adds end-to-end PETRv1/PETRv2 ONNX PTQ and reduces PETR/FAR3D to one shared workflow: - quantizes the shared VoVNet image backbone/encoder to INT8 or FP8; - runs both the selected historical and current PETRv2 six-camera sweeps through the same precision-matched TensorRT backbone engine using distinct execution contexts during accuracy evaluation; - keeps the PETR head and FAR3D decoder in their exported mixed FP16/FP32 precision; - reuses one NPZ calibration format, VoVNet exclusion helper, quantization entry point, and TensorRT runner; - does not change generic Model Optimizer calibration behavior or its public CLI. ### Container boundary Both examples use two targets from one Dockerfile, with no virtual environments: - `evaluator`: a digest-pinned `nvcr.io/nvidia/pytorch:22.06-py3` base with the legacy PyTorch 1.13.1/OpenMMLab stack for source setup, metadata generation, ONNX export, direct PyTorch calibration capture, and final accuracy evaluation; - `modelopt`: a digest-pinned `nvcr.io/nvidia/pytorch:26.07-py3` base for Model Optimizer, ONNX Runtime CUDA, AutoCast, INT8/FP8 quantization, and TensorRT engine builds. Both targets use TensorRT `11.1.0.106`. Engines are built and evaluated on the same GPU architecture. Final metrics remain in the evaluator because they import the legacy model-framework postprocessing and dataset code; only artifacts cross the container boundary through the shared workspace. PETR is used without patches. FAR3D applies only the official `patch/far3d.patch` from the pinned NVIDIA DL4AGX revision. This PR carries no patch files. ### Evaluator dependencies The dependencies intentionally installed without transitive dependencies are listed in `requirements-evaluator-nodeps.txt`. Their pins rely on runtime packages supplied by the digest-pinned PyTorch 22.06 evaluator base. `lyft-dataset-sdk` is required only by mmdet3d's eager dataset import; neither PETR nor FAR3D uses Lyft data. `flash-attn` remains in the main evaluator requirements because its compiled installation uses the evaluator build step rather than the intentionally dependency-free legacy package step. Fresh setup and dependency approval is requested for the final reduced dependency set. ### Reproducible PETR metadata The documented workflow mounts raw nuScenes read-only and creates a writable dataset view using symlinks. It then runs the pinned mmdetection3d converter and a temporary, untracked copy of PETR's pinned sweep generator configured only for the validation prefix and writable dataset root. A clean run generated both metadata files with 6,019 validation records. The referenced camera, lidar, and sweep paths are absolute and resolvable through the writable dataset view. ### Example-local utilities The per-batch NPZ streaming and TensorRT runtime utilities remain example-local because they execute in the legacy evaluator, where Model Optimizer is not installed. The core `CalibrationDataProvider` consumes one in-memory mapping of stacked arrays and does not provide this streamed per-file workflow. ### Validation - Focused CPU tests: 10 passed. - Broader ONNX quantization CPU tests: 326 passed. - All applicable pre-commit and documentation checks, plus `git diff --check`, passed. - Rebuilt both Docker targets and verified their exact dependency versions, imports, TensorRT `11.1.0.106`, GPU runtime initialization, and absence of virtual environments. - Generated both PETR metadata files from a clean writable dataset view and verified 6,019 validation records plus resolvable data paths. - PETRv1 passed a one-sample TensorRT regression smoke. - PETRv2 passed FP16, INT8, and FP8 TensorRT smokes and full 6,019-sample validation. Both the selected historical and current sweeps are computed by the matching backbone engine; accuracy evaluation no longer extracts image features with PyTorch. - FAR3D passed a recurrent two-frame TensorRT smoke covering plugin loading and recurrent state. TensorRT `11.1.0.106` mAP follows. PETRv2 was remeasured after correcting its temporal feature path; the PETRv1 and FAR3D numerical paths are unchanged. | Pipeline | FP16 | INT8 | FP8 | | --- | ---: | ---: | ---: | | PETRv1: 1 backbone pass + fixed typed mixed FP16/FP32 head | 0.3778 | 0.3707 | 0.3756 | | PETRv2: 2 serial backbone passes + fixed typed mixed FP16/FP32 head | 0.4102 | 0.3982 | 0.4084 | | FAR3D: 1 encoder pass + fixed mixed FP16/FP32 decoder | 0.241 | 0.235 | 0.239 | Normalized engine-only performance improvement over each matching FP16 pipeline: | Pipeline | INT8 speedup | FP8 speedup | | --- | ---: | ---: | | PETRv1 | 1.49x | 1.29x | | PETRv2 | 1.51x | 1.30x | | FAR3D | 1.69x | 1.40x | Performance was measured with TensorRT `11.1.0.106` on an NVIDIA RTX 6000 Ada Generation GPU using five interleaved trials per engine component. Each component uses the median `trtexec`-reported GPU Compute Time with data transfers disabled and CUDA Graphs enabled. Component times are summed before normalization: PETRv1 uses one backbone pass plus its fixed head, PETRv2 uses two serial backbone passes plus its fixed head with no temporal cache assumed, and FAR3D uses one encoder pass plus its fixed decoder. Absolute latency values are intentionally not published. Adapted files retain exact public-source references and upstream notices, and the top-level license attribution is updated. - Is this change backward compatible?: ❌ - Did you write the necessary tests?: ✅ - Did you update the changelog?: ✅ > 🤖 _Generated by Codex (AI agent)._ --------- Signed-off-by: ajrasane <131806219+ajrasane@users.noreply.github.com> Co-authored-by: Codex <codex@openai.com>
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# Training and development dependencies are intentionally omitted for these legacy projects.
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av2==0.2.1
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lyft-dataset-sdk==0.0.8
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mmdet3d==1.0.0rc6
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nuscenes-devkit==1.1.11
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refile==0.4.1
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