Building Machine Learning Software with Reference Images for Yocto Project
In this article, we will show how to integrate to the Toradex Reference Images for Yocto Project Software the following AI runtimes:
|Toradex BSP Version
|Based on NXP BSP L6.1.22_2.0.0
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|TensorFlow Lite v2.10.0
You can find more detailed information on the features of eIQ for each specific version on the i.MX Machine Learning User's Guide available on the NXP's Embedded Linux Documentation.
OpenVX provides NPU/GPU acceleration for TensorFlow Lite, but not OpenCV (as stated on the i.MX Machine Learning User's Guide).
As stated in the TensorFlow Lite Documentation:
TensorFlow Lite is a set of tools that enables on-device machine learning by helping developers run their models on mobile, embedded, and IoT devices.
In order to execute TensorFlow models with TensorFlow Lite, you need to use the TensorFlow Lite Converter. The TensorFlow Lite version needs to match the TensorFlow version used to design the model.
Not every TensorFlow model is directly convertible to TensorFlow Lite, because some TensorFlow operators (ops) do not have a TensorFlow Lite equivalent. However, in some situations, you can use a mix of TensorFlow and TensorFlow Lite ops by enabling the Select TensorFlow Ops feature. Please, see the TensorFlow Lite Documentation for more information about this feature and how to enable it.
To learn how to use Tensorflow-lite with Torizon, read the following article:
- One of the following Toradex SoM's:
- A compatible Carrier Board.
- Read the Build a Reference Image with Yocto Project article.
Adding eIQ recipes to Reference Images for Yocto Project
Cloning the Toradex BSP repository
In an empty directory, use git-repo to obtain the Toradex BSP on the version
6.4.0, as explained in the section First-time Configuration of the Build a Reference Image with Yocto Project article:
To improve the comprehension of this article, we will create a directory named
$ mkdir -p ~/yocto-ml-build/bsp-toradex
$ cd ~/yocto-ml-build/bsp-toradex
$ repo init -u git://git.toradex.com/toradex-manifest.git -b kirkstone-6.x.y -m tdxref/default.xml
$ repo sync
Source the file
export to setup the environment. On the first invocation, this also copies a sample configuration to
$ . export
eIQ is provided on a Yocto layer called meta-imx/meta-ml.
The next steps expect the current directory to be
Git clone the
meta-imx repository to your project directory:
$ git clone --depth 1 -b mickledore-6.1.22-2.0.0 https://github.com/nxp-imx/meta-imx.git ../meta-imx
Copying the Recipes to your environment
First, create a layer named
meta-ml, add it to your environment and remove the example recipe:
This step may fail due to missing packages in your computer:
ERROR: The following required tools (as specified by HOSTTOOLS) appear to be unavailable in PATH, please install them in order to proceed:
If that is the case, install the required packages and repeat this step.
$ bitbake-layers create-layer ../layers/meta-ml
$ bitbake-layers add-layer ../layers/meta-ml
$ rm -rf ../layers/meta-ml/recipes-example
Copy the recipes from
meta-imx to your layer:
$ cp -r ../meta-imx/meta-ml/recipes-* ../layers/meta-ml/
Adding the recipes to your distribution
meta-ml recipes and some image processing libraries to your image:
$ echo 'IMAGE_INSTALL:append = " tensorflow-lite tensorflow-lite-vx-delegate opencv python3-pillow adwaita-icon-theme "' >> conf/local.conf
In order to build the image a little bit faster, for now, we will remove the Qt packages. Keep it if you are planning to use Qt in your image.
$ echo 'IMAGE_INSTALL:remove = " packagegroup-tdx-qt5 wayland-qtdemo-launch-cinematicexperience "' >> conf/local.conf
Configuring the Machine
If you want to build for a machine based on an NXP SoM, some downloads require you to read and accept the NXP/Freescale EULA available in
You have to state your acceptance by appending the following line to your
ACCEPT_FSL_EULA = "1"
Select the SoM in
<project-folder>/build/conf/local.conf by uncommenting (removing the
# in) the line corresponding to your SoM. For example, for the Verdin iMX8MP:
MACHINE ?= "verdin-imx8mp"
tdx-reference-multimedia-image image for your target SoM as explained on the Build a Reference Image with Yocto Project article:
$ bitbake tdx-reference-multimedia-image
In some situations of internet or server instability, trying to build may fail with:
do_fetch: Fetcher failure for URL:
In most cases, this issue is solved by re-trying to build.
Building with reduced RAM usage
Your computer may run out of RAM while compiling some packages. To reduce the RAM usage, limit the number of threads used by BitBake and Make.
Flashing the image
To flash your image to the board, see the Quickstart Guide for your SoM.
NXP provides an inference example, supporting CPU, GPU, and NPU.
To execute it,
cd to the example's directory:
# cd /usr/bin/tensorflow-lite-2.10.0/examples/
This demo will take an arbitrary picture (
grace_hopper.bmp) as an input of an image classification neural network based on
Mobilenet V1 (224x224 input size).
See more information about this demo on the NXP's i.MX Machine Learning User's Guide.
To run the demo:
# USE_GPU_INFERENCE=0 ./label_image -m mobilenet_v1_1.0_224_quant.tflite -i grace_hopper.bmp -l labels.txt --external_delegate_path=/usr/lib/libvx_delegate.so
# USE_GPU_INFERENCE=1 ./label_image -m mobilenet_v1_1.0_224_quant.tflite -i grace_hopper.bmp -l labels.txt --external_delegate_path=/usr/lib/libvx_delegate.so
# ./label_image -m mobilenet_v1_1.0_224_quant.tflite -i grace_hopper.bmp -l labels.txt
See below a comparison of Inference Time executing this demo:
|FPS (1/Inference Time)
|Verdin iMX8M Plus - CPU only
|Verdin iMX8M Plus with GPU Support
|Verdin iMX8M Plus with NPU Support
|Apalis iMX8Q Max - CPU only
|Apalis iMX8Q Max with GPU Support
|Colibri iMX8QX Plus - CPU only
|Colibri iMX8QX Plus with GPU Support
Alternatively, you can run the same example using a Python implementation:
# USE_GPU_INFERENCE=0 python3 label_image.py -e /usr/lib/libvx_delegate.so
# USE_GPU_INFERENCE=1 python3 label_image.py -e /usr/lib/libvx_delegate.so
# USE_GPU_INFERENCE=0 python3 label_image.py
As explained on the NXP's Application Note AN12964, the i.MX 8M Plus SoC requires an Warmup Time of about 7 seconds to initiate before delivering its expected high performance. You will observe this extra time when starting an application with NPU support.
See the version-specific NXP's i.MX Machine Learning User's Guide for more information about eIQ.