Testing TF-TRT Object Detectors on Jetson Nano

Jun 3, 2019

I tested TF-TRT object detection models on my Jetson Nano DevKit. I also compared model inferencing time against Jetson TX2. This post documents the results.

Reference

Prerequisite

• Set up software development environment on the Jetson Nano DevKit. Reference: Setting up Jetson Nano: The Basics

• Build and install opencv on the Jetson Nano. Reference: Installing OpenCV 3.4.6 on Jetson Nano

• Important: Install ‘cpp_implementation of protobuf-3.6.1 for python3’, so as to resolve the extremely long TF-TRT model loading time problem. Reference: TensorFlow/TensorRT (TF-TRT) Revisted

• Install a proper version of tensorflow. I’m using tensorflow-1.12.2. Reference: Building TensorFlow 1.12.2 on Jetson Nano

• If you’d also like to test the hand (egohands) detection models, you’d need to train those models by following my Training a Hand Detector with TensorFlow Object Detection API post.

How to test

I’m only highlighting the major steps here. Please refer to my earlier posts as listed in the ‘Reference’ section for more details.

1. Clone my ‘tf_trt_models’ code and run the install.sh.

   $ cd ${HOME}/project
   $ git clone --recursive https://github.com/jkjung-avt/tf_trt_models
   $ cd tf_trt_models
   $ ./install.sh
   

2. Set MEASURE_MODEL_TIME = True in the source code: utils/od_utils.py

3. Copy over the trained ‘egohands’ models. For example, I copied the tensorflow model checkpoint files from my training PC to Jetson Nano. (Replace account name and IP address with your own settings.)

   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/ssd_mobilenet_v1_egohands/model.ckpt-20000.* data/ssd_mobilenet_v1_egohands/ 
   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/ssdinception_v2_egohands/model.ckpt-20000.* data/ssd_inception_v2_egohands/ 
   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/ssd_mobilenet_v2_egohands/model.ckpt-20000.* data/ssd_mobilenet_v2_egohands/ 
   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/ssdlite_mobilenet_v2_egohands/model.ckpt-20000.* data/ssdlite_mobilenet_v2_egohands/ 
   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/rfcn_resnet101_egohands/model.ckpt-50000.* data/rfcn_resnet101_egohands/ 
   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/faster_rcnn_resnet50_egohands/model.ckpt-50000.* data/faster_rcnn_resnet50_egohands/ 
   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/faster_rcnn_resnet101_egohands/model.ckpt-50000.* data/faster_rcnn_resnet101_egohands/ 
   $ scp [email protected]:/home/jkjung/project/hand-detection-tutorial/faster_rcnn_inception_v2_egohands/model.ckpt-50000.* data/faster_rcnn_inception_v2_egohands/ 
   

4. Set Jetson Nano to 10W mode before testing.

   $ sudo nvpmodel -m 0
   $ sudo jetson_clocks
   

5. For each of the models, repeat the ‘build’ and ‘test’ steps as below. Record the numbers in the ‘tf_sess.run() took XXX ms on average’ messages. (Hit ESC to break out of the camera_tf_trt.py script.)

   It’s a good idea to run sudo tegrastats in another terminal while testing. You could monitor RAM occupancy while the TF-TRT model is being built, loaded and run.

   $ python3 camera_tf_trt.py --model ssd_mobilenet_v1_coco \
                              --image \
                              --filename examples/detection/data/huskies.jpg \
                              --build
   $ python3 camera_tf_trt.py --model ssd_mobilenet_v1_coco \
                              --image \
                              --filename examples/detection/data/huskies.jpg
   ......
   $ python3 camera_tf_trt.py --model ssd_mobilenet_v1_egohands \
                              --image \
                              --filename jk-son-hands.jpg \
                              --labelmap data/egohands_label_map.pbtxt \
                              --num-classes 1 \
                              --build
   $ python3 camera_tf_trt.py --model ssd_mobilenet_v1_egohands \
                              --image \
                              --filename jk-son-hands.jpg \
                              --labelmap data/egohands_label_map.pbtxt \
                              --num-classes 1
   ### repeat the same steps for the other models...
   

Results

Please note that the results might depend a lot on the software environment. For example, if you’re using a different version of tensorflow, you could get different measurements from mine.

I summarize my test results in the table below. The ‘TX2’ numbers are from my previous test results done on a Jetson TX2 with JetPack-3.3 and tensorlow-1.12.0. And the ‘Nano’ numbers are done on my Jetson Nano DevKit with JetPack-4.2 and tensorflow-1.12.2.

The results are somewhat disappointing since the larger TF-TRT object detection models simply do not work on Jetson Nano…

‘OOM’: Out of Memory.

‘SegFault”: Segmentation Fault, which was also caused by system running out of memory.

# class TX2 Nano ssd_mobilenet_v1_coco 90 43.5 ms 62.0 ms ssd_inception_v2_coco 90 45.9 ms OOM ssd_mobilenet_v1_egohands 1 24.5 ms 48.6 ms ssd_inception_v2_egohands 1 25.9 ms 55.9 ms ssd_mobilenet_v2_egohands 1 28.7 ms 58.0 ms ssdlite_inception_v2_egohands 1 28.9 ms OOM rfcn_resnet101_egohands 1 351 ms SegFault faster_rcnn_resnet50_egohands 1 226 ms SegFault faster_rcnn_resnet101_egohands 1 317 ms SegFault faster_rcnn_inception_v2_egohands 1 117 ms SegFault