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Latency Server NVIDIA Jetson AGX Orin

This README shows how to run latency measurements on NVIDIA Jetson AGX Orin.

Measurement server is based on:

  • trtexec — standard TensorRT component that can measure inference time,
  • ENOT Latency Server — small open-source package that provides simple API for latency measurement.

The repository code was tested on Python 3.8.

To install the required packages run the following command:

pip install -r requirements.txt

Run a measurement server on Jetson:

python tools/server.py

The server gets a model in the ONNX format and measures its latency using trtexec:

<trtexec_path> \
    --onnx=<onnx_model_path> \
    --warmUp=<warmup> \
    --iterations=<iterations> \
    --avgRuns=<avgruns> \
    --noDataTransfers \
    --useSpinWait \
    --useCudaGraph \
    --separateProfileRun \
    --percentile=95 \
    --fp16

NOTE: If you pass a model with QuantizeLinear and DequantizeLinear layers to latency server, an engine with INT8 kernels will be automatically created.

We get stable results with the following parameter values (default values for our measurements):

  • warmUp: 10000 (10 sec)
  • iterations: 10000
  • avgRuns: 100

Parameter values can be checked by the following command:

python tools/server.py --help

To measure latency, use the following command:

python tools/measure.py --model-onnx=model.onnx

If you are running the client (tools/measure.py script) on another computer, please install the necessary packages first and then specify the server address using --host and --port arguments.

⚠️ Summary:

  • run tools/server.py on a target device (NVIDIA Jetson AGX Orin),
  • run tools/measure.py with the specified server address.

Unstable engine building

TensorRT sometimes builds an FP32 engine even if we pass --fp16 flag to trtexec, this affect the measurement results (issue).

To make sure that the engine is correct, we compare its size with the reference size: FP32 engine size or ONNX model size if --compare-with-onnx is passed. If the size of the built engine is too large, then it is incorrect, and we automatically rebuild it.

The measurement script uses 1.5 as a default threshold on reference size / current engine size value (this value can be changed using --threshold option). Latency server tries to build a correct engine for --n-trials times (20 by default) until reference size / current engine size becomes higher than the threshold.

If trtexec has failed to create a correct engine for n_trials times, latency server returns None as model latency. If you want to know the actual reference size / current engine size ratio, use --verbosity-level=1.