Object Detection Quantization

This tutorial is also available as a Jupyter notebook that can be cloned directly from GitHub. See the installation guide for instructions to run this tutorial locally on Windows, Linux or macOS. To run without installing anything, click the launch binder button.

Binder Github

This tutorial shows how to quantize an object detection model, using OpenVINO’s Post-Training Optimization Tool API.

For demonstration purposes, we use a very small dataset of 10 images presenting people at the airport. The images have been resized from the original resolution of 1920x1080 to 960x540. For any real use cases, a representative dataset of about 300 images is recommended. The model used is: person-detection-retail-0013

Preparation

Imports

import json
import sys
import time
from pathlib import Path
from typing import Sequence, Tuple

import addict
import cv2
import matplotlib.pyplot as plt
import numpy as np
import torch
import torchmetrics
from compression.api import DataLoader, Metric
from compression.engines.ie_engine import IEEngine
from compression.graph import load_model, save_model
from compression.graph.model_utils import compress_model_weights
from compression.pipeline.initializer import create_pipeline
from openvino.runtime import Core
from yaspin import yaspin

sys.path.append("../utils")
from notebook_utils import benchmark_model

Download Model

Download the model from Open Model Zoo, if it does not yet exist.

ir_path = Path("intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml")

if not ir_path.exists():
    ! omz_downloader --name "person-detection-retail-0013" --precisions FP32
################|| Downloading person-detection-retail-0013 ||################

========== Downloading /opt/home/k8sworker/cibuilds/ov-notebook/OVNotebookOps-104/.workspace/scm/ov-notebook/notebooks/111-detection-quantization/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml


========== Downloading /opt/home/k8sworker/cibuilds/ov-notebook/OVNotebookOps-104/.workspace/scm/ov-notebook/notebooks/111-detection-quantization/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.bin

Load Model

Load the IR model, and get information about network inputs and outputs.

ie = Core()
model = ie.read_model(model=ir_path)
compiled_model = ie.compile_model(model=model, device_name="CPU")
input_layer = next(iter(compiled_model.inputs))
output_layer = next(iter(compiled_model.outputs))
input_size = input_layer.shape
_, _, input_height, input_width = input_size

Post-Training Optimization Tool (POT) Quantization

The Post-Training Optimization Tool (POT) compression API defines base classes for Metric and DataLoader. In this notebook, we use a custom Metric and DataLoader class that implement all the required methods.

To implement the Metric and Dataloader, we need to know the outputs of the model and the annotation format.

The dataset in this example uses annotations in JSON format, with keys: ['categories', 'annotations', 'images']. annotations is a list of dictionaries, with one item per annotation. Such item contains a boxes key, which holds the prediction boxes, in the [xmin, xmax, ymin, ymax] format. In this dataset there is only one label: “person”.

The model documentation specifies that the model returns an array of shape [1, 1, 200, 7] where 200 is the number of detected boxes. Each detection has the format of [image_id, label, conf, x_min, y_min, x_max, y_max]. For this dataset the label of 1 indicates a person.

Configuration

Dataset

The DetectionDataLoader class follows POT’s compression.api.DataLoader interface, which should implement __init__, __getitem__ and __len__, where __getitem__ should return data as (annotation, image) or optionally (annotation, image, metadata), with annotation as (index, label).

class DetectionDataLoader(DataLoader):
    def __init__(self, basedir: str, target_size: Tuple[int, int]):
        """
        :param basedir: Directory that contains images and annotation as "annotation.json"
        :param target_size: Tuple of (width, height) to resize images to.
        """
        self.images = sorted(Path(basedir).glob("*.jpg"))
        self.target_size = target_size
        with open(f"{basedir}/annotation_person_train.json") as f:
            self.annotations = json.load(f)
        self.image_ids = {
            Path(item["file_name"]).name: item["id"]
            for item in self.annotations["images"]
        }

        for image_filename in self.images:
            annotations = [
                item
                for item in self.annotations["annotations"]
                if item["image_id"] == self.image_ids[Path(image_filename).name]
            ]
            assert (
                len(annotations) != 0
            ), f"No annotations found for image id {image_filename}"

        print(
            f"Created dataset with {len(self.images)} items. Data directory: {basedir}"
        )

    def __getitem__(self, index):
        """
        Get an item from the dataset at the specified index.
        Detection boxes are converted from absolute coordinates to relative coordinates
        between 0 and 1 by dividing xmin, xmax by image width and ymin, ymax by image height.

        :return: (annotation, input_image, metadata) where annotation is (index, target_annotation)
                 with target_annotation as a dictionary with keys category_id, image_width, image_height
                 and bbox, containing the relative bounding box coordinates [xmin, ymin, xmax, ymax]
                 (with values between 0 and 1) and metadata a dictionary: {"filename": path_to_image}
        """
        image_path = self.images[index]
        image = cv2.imread(str(image_path))
        image = cv2.resize(image, self.target_size)
        image_id = self.image_ids[Path(image_path).name]

        # image_info contains height and width of the annotated image
        image_info = [
            image for image in self.annotations["images"] if image["id"] == image_id
        ][0]
        # image_annotations contains the boxes and labels for the image
        image_annotations = [
            item
            for item in self.annotations["annotations"]
            if item["image_id"] == image_id
        ]

        # annotations are in xmin, ymin, width, height format. Convert to
        # xmin, ymin, xmax, ymax and normalize to image width and height as
        # stored in the annotation
        target_annotations = []
        for annotation in image_annotations:
            xmin, ymin, width, height = annotation["bbox"]
            xmax = xmin + width
            ymax = ymin + height
            xmin /= image_info["width"]
            ymin /= image_info["height"]
            xmax /= image_info["width"]
            ymax /= image_info["height"]
            target_annotation = {}
            target_annotation["category_id"] = annotation["category_id"]
            target_annotation["image_width"] = image_info["width"]
            target_annotation["image_height"] = image_info["height"]
            target_annotation["bbox"] = [xmin, ymin, xmax, ymax]
            target_annotations.append(target_annotation)

        item_annotation = (index, target_annotations)
        input_image = np.expand_dims(image.transpose(2, 0, 1), axis=0).astype(
            np.float32
        )
        return (
            item_annotation,
            input_image,
            {"filename": str(image_path), "shape": image.shape},
        )

    def __len__(self):
        return len(self.images)

Metric

Define a metric to determine the model’s performance. For the Default Quantization algorithm used in this notebook, defining a metric is optional, but it can be used to compare the quantized INT8 model with the original FP IR model.

In this tutorial we use the Mean Average Precision (MAP) metric from TorchMetrics

A metric for POT inherits from compression.api.Metric and should implement all the methods in this example.

class MAPMetric(Metric):
    def __init__(self, map_value="map"):
        """
        Mean Average Precision Metric. Wraps torchmetrics implementation, see
        https://torchmetrics.readthedocs.io/en/latest/references/modules.html#map

        :map_value: specific metric to return. Default: "map"
                    Change `to one of the values in the list below to return a different value
                    ['mar_1', 'mar_10', 'mar_100', 'mar_small', 'mar_medium', 'mar_large',
                     'map', 'map_50', 'map_75', 'map_small', 'map_medium', 'map_large']
                    See torchmetrics documentation for more details.
        """
        assert (
            map_value
            in torchmetrics.detection.map.MARMetricResults.__slots__
            + torchmetrics.detection.map.MAPMetricResults.__slots__
        )

        self._name = map_value
        self.metric = torchmetrics.detection.map.MAP()
        super().__init__()

    @property
    def value(self):
        """
        Returns metric value for the last model output.
        Possible format: {metric_name: [metric_values_per_image]}
        """
        return {self._name: [0]}

    @property
    def avg_value(self):
        """
        Returns average metric value for all model outputs.
        Possible format: {metric_name: metric_value}
        """
        return {self._name: self.metric.compute()[self._name].item()}

    def update(self, output, target):
        """
        Convert network output and labels to the format that torchmetrics' MAP
        implementation expects, and call `metric.update()`.

        :param output: model output
        :param target: annotations for model output
        """
        targetboxes = []
        targetlabels = []
        predboxes = []
        predlabels = []
        scores = []

        image_width = target[0][0]["image_width"]
        image_height = target[0][0]["image_height"]

        for single_target in target[0]:
            txmin, tymin, txmax, tymax = single_target["bbox"]
            category = single_target["category_id"]
            txmin *= image_width
            txmax *= image_width
            tymin *= image_height
            tymax *= image_height

            targetbox = [round(txmin), round(tymin), round(txmax), round(tymax)]
            targetboxes.append(targetbox)
            targetlabels.append(category)

        for single_output in output:
            for pred in single_output[0, 0, ::]:
                image_id, label, conf, xmin, ymin, xmax, ymax = pred
                xmin *= image_width
                xmax *= image_width
                ymin *= image_height
                ymax *= image_height

                predbox = [round(xmin), round(ymin), round(xmax), round(ymax)]
                predboxes.append(predbox)
                predlabels.append(label)
                scores.append(conf)

        preds = [
            dict(
                boxes=torch.Tensor(predboxes).float(),
                labels=torch.Tensor(predlabels).short(),
                scores=torch.Tensor(scores),
            )
        ]
        targets = [
            dict(
                boxes=torch.Tensor(targetboxes).float(),
                labels=torch.Tensor(targetlabels).short(),
            )
        ]
        self.metric.update(preds, targets)

    def reset(self):
        """
        Resets metric
        """
        self.metric.reset()

    def get_attributes(self):
        """
        Returns a dictionary of metric attributes {metric_name: {attribute_name: value}}.
        Required attributes: 'direction': 'higher-better' or 'higher-worse'
                             'type': metric type
        """
        return {self._name: {"direction": "higher-better", "type": "mAP"}}

Quantization Config

POT methods expect configuration dictionaries as arguments, which are defined in the cell below. The variable ir_path points to the IR model’s xml file. It is defined at the top of the notebook. In this tutorial, we use the DefaultQuantization algorithm.

See Post-Training Optimization Best Practices and the main POT documentation page for more information about the settings and best practices.

# Model config specifies the model name and paths to model .xml and .bin file
model_config = addict.Dict(
    {
        "model_name": ir_path.stem,
        "model": ir_path,
        "weights": ir_path.with_suffix(".bin"),
    }
)

# Engine config
engine_config = addict.Dict({"device": "CPU"})

# Standard DefaultQuantization config. For this tutorial stat_subset_size is ignored
# because there are fewer than 300 images. For production use 300 is recommended.
default_algorithms = [
    {
        "name": "DefaultQuantization",
        "stat_subset_size": 300,
        "params": {
            "target_device": "ANY",
            "preset": "mixed",  # choose between "mixed" and "performance"
        },
    }
]

print(f"model_config: {model_config}")
model_config: {'model_name': 'person-detection-retail-0013', 'model': PosixPath('intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml'), 'weights': PosixPath('intel/person-detection-retail-0013/FP32/person-detection-retail-0013.bin')}

Run Quantization Pipeline

The POT pipeline uses the functions: load_model(), IEEngine, and create_pipeline(). load_model() loads an IR model specified in model_config. IEEngine is a POT implementation of Inference Engine that will be passed to the POT pipeline created by create_pipeline(). The POT classes and functions expect a config argument. These configs are created in the Config section in the cell above. The MAPMetric metric and DetectionDataLoader have been defined earlier in this notebook.

Creating and running the POT quantization pipeline takes just two lines of code. We create the pipeline with the create_pipeline function, and then run that pipeline with pipeline.run(). To reuse the quantized model later, we compress the model weights and save the compressed model to disk.

# Step 1: create data loader
data_loader = DetectionDataLoader(
    basedir="data", target_size=(input_width, input_height)
)

# Step 2: load model
ir_model = load_model(model_config=model_config)

# Step 3: initialize the metric
# For DefaultQuantization, specifying a metric is optional: metric can be set to None
metric = MAPMetric(map_value="map")

# Step 4: Initialize the engine for metric calculation and statistics collection.
engine = IEEngine(config=engine_config, data_loader=data_loader, metric=metric)

# Step 5: Create a pipeline of compression algorithms.
# algorithms is defined in the Config cell above this cell
pipeline = create_pipeline(default_algorithms, engine)

# Step 6: Execute the pipeline to quantize the model
algorithm_name = pipeline.algo_seq[0].name
with yaspin(
    text=f"Executing POT pipeline on {model_config['model']} with {algorithm_name}"
) as sp:
    start_time = time.perf_counter()
    compressed_model = pipeline.run(ir_model)
    end_time = time.perf_counter()
    sp.ok("✔")
print(f"Quantization finished in {end_time - start_time:.2f} seconds")

# Step 7 (Optional): Compress model weights to quantized precision
#                    in order to reduce the size of the final .bin file
compress_model_weights(compressed_model)

# Step 8: Save the compressed model to the desired path.
# Set save_path to the directory where the compressed model should be stored
preset = pipeline._algo_seq[0].config["preset"]
algorithm_name = pipeline.algo_seq[0].name
compressed_model_paths = save_model(
    model=compressed_model,
    save_path="optimized_model",
    model_name=f"{ir_model.name}_{preset}_{algorithm_name}",
)

compressed_model_path = compressed_model_paths[0]["model"]
print("The quantized model is stored at", compressed_model_path)
Created dataset with 10 items. Data directory: data
✔ Executing POT pipeline on intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml with DefaultQuantization
Quantization finished in 37.22 seconds
The quantized model is stored at optimized_model/person-detection-retail-0013_mixed_DefaultQuantization.xml

Compare Metric of Floating Point and Quantized Model

# Compute the mAP on the quantized model and compare with the mAP on the FP16 IR model.
ir_model = load_model(model_config=model_config)
evaluation_pipeline = create_pipeline(algo_config=dict(), engine=engine)

with yaspin(text="Evaluating original IR model") as sp:
    original_metric = evaluation_pipeline.evaluate(ir_model)

with yaspin(text="Evaluating quantized IR model") as sp:
    quantized_metric = pipeline.evaluate(compressed_model)

if original_metric:
    for key, value in original_metric.items():
        print(f"The {key} score of the original FP16 model is {value:.5f}")

if quantized_metric:
    for key, value in quantized_metric.items():
        print(f"The {key} score of the quantized INT8 model is {value:.5f}")
The map score of the original FP16 model is 0.67329
The map score of the quantized INT8 model is 0.65735

Visualize Results

Compare the annotated boxes (green) with the results of the floating point (red) and quantized (green) models. First, define a helper function to draw the boxes on an image using the specified color. Then, do inference on five images and show the results. The figure shows three images for every input image: the left image shows the annotation and both FP and INT8 predictions, the middle image shows the floating point model prediction separately, and the image to the right shows the quantized model prediction. The mAP score of the prediction is shown with each prediction. Predicted boxes with a confidence value of at least 0.5 will be shown.

def draw_boxes_on_image(
    box: Sequence[float], image: np.ndarray, color: str, scale: bool = True
):
    """
    Draw `box` on `image` with `color`, optionally scaling the box from normalized
    coordinates (between 0 and 1) to image coordinates.
    This is a utility function for binary detection where all boxes belong to one category

    :param box: Box coordinates as [xmin, ymin, xmax, ymax]
    :param image: numpy array of RGB image
    :param color: Box color, "red", "green" or "blue"
    "param scale: If True, scale normalized box coordinates to absolute coordinates based
                  on image size
    """
    colors = {"red": (255, 0, 64), "green": (0, 255, 0), "yellow": (255, 255, 128)}
    assert color in colors, f"{color} is not defined yet. Defined colors are: {colors}"
    image_height, image_width, _ = image.shape
    x_min, y_min, x_max, y_max = box
    if scale:
        x_min *= image_width
        x_max *= image_width
        y_min *= image_height
        y_max *= image_height

    image = cv2.rectangle(
        img=image,
        pt1=(round(x_min), round(y_min)),
        pt2=(round(x_max), round(y_max)),
        color=colors[color],
        thickness=2,
    )
    return image
# Change `map_value` to one of the values in the list below to show a different metric
# See https://torchmetrics.readthedocs.io/en/latest/references/modules.html#map
# ('map', 'map_50', 'map_75', 'map_small', 'map_medium', 'map_large'
#  'mar_1', 'mar_10', 'mar_100', 'mar_small', 'mar_medium', 'mar_large')

map_value = "map"
confidence_threshold = 0.5
num_images = 4

# FP prediction
fp_model = ie.read_model(model=ir_path)
fp_compiled_model = ie.compile_model(model=fp_model, device_name="CPU")
input_layer_fp = next(iter(fp_compiled_model.inputs))
output_layer_fp = next(iter(fp_compiled_model.outputs))
request_fp = fp_compiled_model.create_infer_request()

# INT8 prediction
int8_model = ie.read_model(model=compressed_model_path)
int8_compiled_model = ie.compile_model(model=int8_model, device_name="CPU")
input_layer_int8 = next(iter(int8_compiled_model.inputs))
output_layer_int8 = next(iter(int8_compiled_model.outputs))
request_int8 = int8_compiled_model.create_infer_request()

fig, axs = plt.subplots(nrows=num_images, ncols=3, figsize=(16, 14), squeeze=False)
for i in range(num_images):
    annotation, input_image, metadata = data_loader[i]
    image = cv2.cvtColor(
        src=cv2.imread(filename=metadata["filename"]), code=cv2.COLOR_BGR2RGB
    )
    orig_image = image.copy()
    resized_image = cv2.resize(image, (input_width, input_height))
    target_annotation = annotation[1]

    request_fp.infer({input_layer_fp.any_name: input_image})

    fp_res = request_fp.get_output_tensor(output_layer_fp.index).data
    fp_metric = MAPMetric(map_value=map_value)
    fp_metric.update(output=[fp_res], target=[target_annotation])

    for item in fp_res[0, 0, ::]:
        _, _, conf, xmin, xmax, ymin, ymax = item
        if conf > confidence_threshold:
            total_image = draw_boxes_on_image([xmin, xmax, ymin, ymax], image, "red")

    axs[i, 1].imshow(total_image)

    request_int8.infer({input_layer_int8.any_name: input_image})
    int8_res = request_int8.get_output_tensor(output_layer_int8.index).data
    int8_metric = MAPMetric(map_value=map_value)
    int8_metric.update(output=[int8_res], target=[target_annotation])

    for item in int8_res[0, 0, ::]:
        _, _, conf, xmin, xmax, ymin, ymax = item
        if conf > confidence_threshold:
            total_image = draw_boxes_on_image(
                [xmin, xmax, ymin, ymax], total_image, "yellow"
            )
            int8_image = draw_boxes_on_image(
                [xmin, xmax, ymin, ymax], orig_image, "yellow"
            )

    axs[i, 2].imshow(int8_image)

    # Annotation
    for annotation in target_annotation:
        total_image = draw_boxes_on_image(annotation["bbox"], total_image, "green")

    axs[i, 0].imshow(image)
    axs[i, 0].set_title(Path(metadata["filename"]).stem)
    axs[i, 1].set_title(f"FP32 mAP: {fp_metric.avg_value[map_value]:.3f}")
    axs[i, 2].set_title(f"INT8 mAP: {int8_metric.avg_value[map_value]:.3f}")
    fig.suptitle(
        "Annotated (green) and detected boxes on FP (red) and INT8 (yellow) model"
    )
../_images/111-detection-quantization-with-output_19_0.png

Compare the Size of the Original and Quantized Models

original_model_size = Path(ir_path).with_suffix(".bin").stat().st_size / 1024
quantized_model_size = (
    Path(compressed_model_path).with_suffix(".bin").stat().st_size / 1024
)

print(f"FP32 model size: {original_model_size:.2f} KB")
print(f"INT8 model size: {quantized_model_size:.2f} KB")
FP32 model size: 2823.60 KB
INT8 model size: 806.62 KB

Compare Performance of the Original and Quantized Models

To measure inference performance of the FP16 and INT8 models, we use OpenVINO’s benchmarking solution, the Benchmark Tool. It can be run in the notebook with: ! benchmark_app or %sx benchmark_app.

In this tutorial, we use a wrapper function from Notebook Utils. It prints the benchmark_app command with the chosen parameters.

NOTE: For the most accurate performance estimation, we recommended running benchmark_app in a terminal/command prompt after closing other applications. Run benchmark_app --help to see all command line options.

# ! benchmark_app --help
# benchmark_model??
# Benchmark FP16 model
benchmark_model(model_path=ir_path, device="CPU", seconds=15, api="sync")

Benchmark person-detection-retail-0013.xml with CPU for 15 seconds with sync inference

Benchmark command: benchmark_app -m intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml -d CPU -t 15 -api sync -b 1 -cdir model_cache

Count:          2917 iterations
Duration:       15005.00 ms
Latency:
Throughput: 195.77 FPS

Device: Intel(R) Core(TM) i9-10920X CPU @ 3.50GHz
# Benchmark INT8 model
benchmark_model(model_path=compressed_model_path, device="CPU", seconds=15, api="sync")

Benchmark person-detection-retail-0013_mixed_DefaultQuantization.xml with CPU for 15 seconds with sync inference

Benchmark command: benchmark_app -m optimized_model/person-detection-retail-0013_mixed_DefaultQuantization.xml -d CPU -t 15 -api sync -b 1 -cdir model_cache

Count:          7549 iterations
Duration:       15001.30 ms
Latency:
Throughput: 510.33 FPS

Device: Intel(R) Core(TM) i9-10920X CPU @ 3.50GHz
# Benchmark INT8 model on MULTI:CPU,GPU device (requires an Intel integrated GPU)
ie = Core()
if "GPU" in ie.available_devices:
    benchmark_model(
        model_path=compressed_model_path,
        device="MULTI:CPU,GPU",
        seconds=15,
        api="async",
        batch=4,
    )