Can anyone recommend a Tflite Colab Notebook for VOXL2 Training

When I get some time today I'll try to download your .tflite models and see what's going on. The good news is that the server is at least running! It very well may just be an issue with how the tensor is being parsed.

Thomas
thomas.patton@modalai.com

@sansoy

Hey, they just gave me access to the Google Drive folder. Can you confirm that the edgetpu.tflite in the root directory is the file you want me to try and get working?

Thomas

sansoy

@thomas i just checked permissions and you have access to all the files and yes to

edgetpu.tflit
ssd-mobilenet-v2-fpnlite-640_quant.tflite
ssd-mobilenet-v2-fpnlite-640.tflite
saved_models/saved_model.pb

@sansoy

Of these 4 models which is the custom trained YOLO model you mentioned above? I can't even get the edgetpu.tflite model to load so I need a little bit more information on how each of these files was generated.

Thomas

sansoy

@thomas here's a yolov5 trained model.
https://drive.google.com/file/d/1wRbIXdylgx-EOGDLnuWnsytGd2DcTNeY/view?usp=drive_link

I used this instruction set to train a yolov5 model which works well on my mac, rPI4, linux box and nvidia jetson.
https://docs.ultralytics.com/yolov5/tutorials/train_custom_data/#23-organize-directories

sansoy

@thomas here's the colab notebook i used to create the tflites and quantized tflites
https://colab.research.google.com/drive/1QdgpSl63OSQdLTnFwOyP8dxLQ7W0HtmW?usp=sharing

@sansoy

I found the bug in our code that's causing the issue. You can see on this line that a for YOLO models a former employee hardcoded the number of classes to be 80 leading to a segfault when we only have a single class like in your case. Here's what your model looks like on our server with the fix:

What I'm going to do is write a patch for voxl-tflite-server that more intelligently reads the number from the labels file. This will be available in our SDK Nightlies and so you'll be able to use the fix tomorrow morning. If you'd like the fix sooner, what I can do is package the new voxl-tflite-server into a .deb so you can deploy it manually to your VOXL. I can help you out with this process if you're not familiar.

Thanks,
Thomas Patton
thomas.patton@modalai.com

@thomas

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/merge_requests/22

Here's the merge request with the fix, this will be published both in tonight's nightly and new SDK releases.

Thomas

sansoy

@thomas you rock! awesome! thanks for troubleshooting.

sansoy

@thomas thanks thomas. will download tomorrow and test either in evening or next day. Really appreciate your help with this.
Great job! Sabri

@sansoy

Yeah of course, glad I could be of assistance! Be sure to let me know if you need any more help with this.

Two things I was thinking about on my drive home that you should know - First, when you're on that page I linked above for the software nightlies make sure you sort the files by date descending so that you get the most recent one. I always make the mistake of getting the wrong one. Secondly, when you flash that nightly SDK it will overwrite anything not in the /data/ directory and so you will need to put your model file and labels txt back into /usr/bin/dnn/.

Thomas

sansoy

@thomas Morning Thomas, just getting back to this. I couldnt find any SDK that had a 2024 stamp. Was this uploaded somewhere else?
Sabri

@sansoy

Here's the one from last night:

https://console.cloud.google.com/storage/browser/_details/platform-nightlies/voxl2/voxl2_SDK_nightly_20240117.tar.gz?pageState=("StorageObjectListTable":("s":[("i":"objectListDisplayFields%2FtimeLastModified","s":"1"),("i":"displayName","s":"0")%5D))&organizationId=517175400245&project=modalai-core-services

You just have to make sure when you're on this page that you sort date modified by descending.

Thanks,
Thomas

sansoy

@thomas

installed voxl2_SDK_nightly_20240117.tar.gz
per https://docs.modalai.com/flash-system-image/

still not getting any detection even with your default yolov5. ive tried with hires large color, small color and grey.

@sansoy

Checking this out right now, will let you know when I have something.

Thomas

@thomas @sansoy

So I was able to get our YOLO model running immediately, am about to try yours next. All I did was:

Flash the nightly SDK from last night using the steps you linked above
Edited /etc/modalai/voxl-tflite-server.conf so that the model was /usr/bin/dnn/yolov5_float16_quant.tflite and the input pipe was /run/mpa/hires_small_color.

You should definitely try to reproduce this result as if you can't it might indicate a deeper problem.

Then to use your custom model:

adb shell and then cd /usr/bin/dnn and then cp yolov5_labels.txt yolov5_labels.txt.bak && cp yolov5_float16_quant.tflite yolov5_float16_quant.tflite.bak to back up the existing model and label files.
vi yolov5_labels.txt and change to only have ar15 as a class
From outside ADB, adb push yolo5_fp16_quant.tflite /usr/bin/dnn/yolov5_float16_quant.tflite
voxl-tflite-server

Thomas
thomas.patton@modalai.com

sansoy

@thomas WORKED! i did most of what you stated except for renaming my file to your filename. !

in a future release would be able to use the original filename vs renaming it to something that is hardcoded?

@sansoy

Glad you got it working!

It's important to note that voxl-tflite-server isn't intended to be a high-grade tool for running any ML model with great configurations and optimizations; it's just an example of how you can use the VOXL ecosystem to run models. As much as I would enjoy building such a tool and implementing your request (and the others I get), there just isn't enough of a business demand for it right now.

That being said, the code is open source and right here is the line that does the string comparison. If you want to put out a merge request to add a new field for model_type to the /etc/modalai/voxl-tflite-server.conf JSON and have it select an inference method based on that, you can tag me and I'll review it.

Thanks,
Thomas Patton
thomas.patton@modalai.com

sansoy

@thomas said in Can anyone recommend a Tflite Colab Notebook for VOXL2 Training:

It's important to note that voxl-tflite-server isn't intended to be a high-grade tool for running any ML model with great configurations and optimizations; it's just an example of how you can use the VOXL ecosystem to run models. As much as I would enjoy building such a tool and implementing your request (and the others I get), there just isn't enough of a business demand for it right now.

Thanks for the info. how can i get access to the box coordinates in the image?

@sansoy

Check out https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/blob/master/include/ai_detection.h?ref_type=heads , this defines the detection output. This is streamed out to a pipe in /run/mpa

Thomas