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187 - Optimize pytorch weight loading on startup + dependencies update #193
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Delay reduced to ~0.5s on my machine. Won't be at university until Thursday due to work - would appreciate a quick test of this fix on the lab PCs to see if it works :) Thanks |
Here is a short video from the delay, it is about 1-2 seconds when looking at the ros time. |
@samuelkuehnel Thanks for testing. I saw that with the recent additions in the VisionNode by the LIDAR/distance features by Leon, the overall calculation time increased. It's ~50ms (20 FPS) on my PC, looks like it's more like 200ms on the lab PCs. I can try to check if I can do anything to fix this in the VisionNode without breaking the distance/LIDAR stuff, but I doubt it. |
Added further measures to ensure up-to-date classification data:
Overall, the timings of the VisionNode changed like this (tested on a 4070 Ti): Before:
Now:
Using the NAS models was not possible because of (hours of) dependency hell with Ultralytics + Super-Gradients... also converting the RT-DETR model to a way faster format like TensorRT is not loadable with Ultralytics. Dependencies changed, please run |
5 days ago, a new/improved version of the standard YOLO model has been released: https://github.com/WongKinYiu/yolov9 |
Description
Fixes PyTorch auto-downloading models on node-start even if its not used (causes significant delay until ready to process).
Dependencies updated to fix building issues (b5 update) and have newest versions of PyTorch/Ultralytics and other libraries.
Fixes #187
Type of change
Checklist: