CodeCamp2023-555 (#2469)

* support condinst from mmdet

* remove

* update

* update

* support batch inference

* add condinst head unit testing

* fix lint error

* remove

* fix bug in postprocess

* remove

* update

---------

Co-authored-by: RunningLeon <[email protected]>

csrc/mmdeploy/codebase/mmdet/instance_segmentation.cpp

@@ -149,7 +149,7 @@ class ResizeInstanceMask : public ResizeBBox {
       int resize_width = int(mask_width / scale_factor_[1] + 0.5);
       // skip resize if scale_factor is 1.0
       if (resize_height != mask_height || resize_width != mask_width) {
-        cv::resize(mask_mat, mask_mat, cv::Size(resize_height, resize_width), cv::INTER_LINEAR);
+        cv::resize(mask_mat, mask_mat, cv::Size(resize_width, resize_height), cv::INTER_LINEAR);
       }
       // crop masks
       mask_mat = mask_mat(cv::Range(0, img_h), cv::Range(0, img_w)).clone();

mmdeploy/codebase/mmdet/deploy/object_detection.py

@@ -320,6 +320,11 @@ def get_postprocess(self, *args, **kwargs) -> Dict:
             type = 'ResizeInstanceMask'  # for instance-seg
             # resize and crop mask to origin image
             params['is_resize_mask'] = True
+        if 'mask_thr' in params:
+            type = 'ResizeInstanceMask'  # for instance-seg
+            # resize and crop mask to origin image
+            params['mask_thr_binary'] = params['mask_thr']
+            params['is_resize_mask'] = True
 
         if get_backend(self.deploy_cfg) == Backend.RKNN:
             if 'YOLO' in self.model_cfg.model.type or \

mmdeploy/codebase/mmdet/deploy/object_detection_model.py

@@ -241,7 +241,7 @@ def postprocessing_results(self,
                 masks = batch_masks[i]
                 img_h, img_w = img_metas[i]['img_shape'][:2]
                 ori_h, ori_w = img_metas[i]['ori_shape'][:2]
-                if model_type == 'RTMDet':
+                if model_type in ['RTMDet', 'CondInst']:
                     export_postprocess_mask = True
                 else:
                     export_postprocess_mask = False

mmdeploy/codebase/mmdet/models/dense_heads/__init__.py

@@ -1,6 +1,7 @@
 # Copyright (c) OpenMMLab. All rights reserved.
 from . import base_dense_head  # noqa: F401,F403
 from . import centernet_head  # noqa: F401,F403
+from . import condinst_head  # noqa: F401,F403
 from . import detr_head  # noqa: F401,F403
 from . import fovea_head  # noqa: F401,F403
 from . import gfl_head  # noqa: F401,F403

mmdeploy/codebase/mmdet/models/dense_heads/condinst_head.py

@@ -0,0 +1,202 @@
+# Copyright (c) OpenMMLab. All rights reserved.
+from typing import Dict, List, Optional
+
+import torch
+from mmdet.models.utils import aligned_bilinear
+from mmengine.config import ConfigDict
+from torch import Tensor
+
+from mmdeploy.codebase.mmdet.deploy import get_post_processing_params
+from mmdeploy.core import FUNCTION_REWRITER
+from mmdeploy.mmcv.ops.nms import multiclass_nms
+
+
+@FUNCTION_REWRITER.register_rewriter(
+    'mmdet.models.dense_heads.CondInstBboxHead.predict_by_feat')
+def condinst_bbox_head__predict_by_feat(
+    self,
+    cls_scores: List[Tensor],
+    bbox_preds: List[Tensor],
+    score_factors: Optional[List[Tensor]] = None,
+    param_preds: Optional[List[Tensor]] = None,
+    batch_img_metas: Optional[List[dict]] = None,
+    cfg: Optional[ConfigDict] = None,
+    rescale: bool = False,
+    with_nms: bool = True,
+):
+    ctx = FUNCTION_REWRITER.get_context()
+    deploy_cfg = ctx.cfg
+
+    assert len(cls_scores) == len(bbox_preds)
+    device = bbox_preds[0].device
+    cfg = self.test_cfg if cfg is None else cfg
+    batch_size = bbox_preds[0].shape[0]
+    featmap_sizes = [cls_score.shape[-2:] for cls_score in cls_scores]
+
+    all_level_points_strides = self.prior_generator.grid_priors(
+        featmap_sizes, device=device, with_stride=True)
+    all_level_points = [i[:, :2] for i in all_level_points_strides]
+    all_level_strides = [i[:, 2] for i in all_level_points_strides]
+
+    flatten_cls_scores = [
+        cls_score.permute(0, 2, 3, 1).reshape(batch_size, -1,
+                                              self.cls_out_channels)
+        for cls_score in cls_scores
+    ]
+    flatten_bbox_preds = [
+        bbox_pred.permute(0, 2, 3, 1).reshape(batch_size, -1, 4)
+        for bbox_pred in bbox_preds
+    ]
+    flatten_score_factors = [
+        score_factor.permute(0, 2, 3, 1).reshape(batch_size, -1, 1)
+        for score_factor in score_factors
+    ]
+    flatten_param_preds = [
+        param_pred.permute(0, 2, 3, 1).reshape(batch_size, -1, self.num_params)
+        for param_pred in param_preds
+    ]
+    flatten_cls_scores = torch.cat(flatten_cls_scores, dim=1).sigmoid()
+    flatten_bbox_preds = torch.cat(flatten_bbox_preds, dim=1)
+    flatten_score_factors = torch.cat(flatten_score_factors, dim=1).sigmoid()
+    flatten_param_preds = torch.cat(flatten_param_preds, dim=1)
+
+    points = torch.cat(all_level_points)
+    strides = torch.cat(all_level_strides)
+    tl_x = points[..., 0] - flatten_bbox_preds[..., 0]
+    tl_y = points[..., 1] - flatten_bbox_preds[..., 1]
+    br_x = points[..., 0] + flatten_bbox_preds[..., 2]
+    br_y = points[..., 1] + flatten_bbox_preds[..., 3]
+
+    bboxes = torch.stack([tl_x, tl_y, br_x, br_y], -1)
+    scores = flatten_cls_scores
+    score_factors = flatten_score_factors
+    param_preds = flatten_param_preds
+    scores = scores * score_factors
+
+    # get post processing config
+    post_params = get_post_processing_params(deploy_cfg)
+    max_output_boxes_per_class = post_params.max_output_boxes_per_class
+    iou_threshold = cfg.nms.get('iou_threshold', post_params.iou_threshold)
+    score_threshold = cfg.get('score_thr', post_params.score_threshold)
+    pre_top_k = post_params.pre_top_k
+    keep_top_k = cfg.get('max_per_img', post_params.keep_top_k)
+
+    dets, labels, inds = multiclass_nms(
+        bboxes,
+        scores,
+        max_output_boxes_per_class,
+        iou_threshold,
+        score_threshold,
+        pre_top_k=pre_top_k,
+        keep_top_k=keep_top_k,
+        output_index=True,
+    )
+
+    batch_inds = torch.arange(batch_size, device=bboxes.device).view(-1, 1)
+    points = points.unsqueeze(0).repeat(batch_size, 1, 1)
+    strides = strides.unsqueeze(0).repeat(batch_size, 1)
+    param_preds = param_preds[batch_inds, inds, :]
+    points = points[batch_inds, inds, :]
+    strides = strides[batch_inds, inds]
+    results = dict(
+        dets=dets,
+        labels=labels,
+        param_preds=param_preds,
+        points=points,
+        strides=strides)
+    return results
+
+
+@FUNCTION_REWRITER.register_rewriter(
+    'mmdet.models.dense_heads.CondInstMaskHead.forward')
+def condinst_mask_head__forward(self, x: tuple,
+                                positive_infos: Dict[str, torch.Tensor]):
+    mask_feats = self.mask_feature_head(x)
+
+    param_preds = positive_infos['param_preds']
+    points = positive_infos['points']
+    strides = positive_infos['strides']
+
+    batch_size = points.shape[0]
+    num_insts = points.shape[1]
+    hw = mask_feats.size()[-2:]
+    mask_feats = mask_feats.unsqueeze(1).repeat(1, num_insts, 1, 1, 1)
+
+    points = points.reshape(-1, 1, 2).unsqueeze(0)
+    locations = self.prior_generator.single_level_grid_priors(
+        hw, level_idx=0, device=mask_feats.device)
+    locations = locations.unsqueeze(0).repeat(batch_size, 1,
+                                              1).reshape(batch_size, 1, -1, 2)
+    centers = points.reshape(batch_size, -1, 1, 2)
+    rel_coordinates = (centers - locations).permute(0, 1, 3, 2).float()
+    rel_coordinates /= (strides[:, :, None, None] * self.size_of_interest)
+    rel_coords = rel_coordinates.reshape(batch_size, -1, 2, hw[0], hw[1])
+    mask_head_inputs = torch.cat([rel_coords, mask_feats], dim=2)
+
+    weights, biases = _parse_dynamic_params(self, param_preds)
+    mask_preds = _dynamic_conv_forward(mask_head_inputs, weights, biases)
+    mask_preds = mask_preds.reshape(batch_size, num_insts, hw[0], hw[1])
+    mask_preds = aligned_bilinear(
+        mask_preds, int(self.mask_feat_stride / self.mask_out_stride))
+    return (mask_preds, )
+
+
+@FUNCTION_REWRITER.register_rewriter(
+    'mmdet.models.dense_heads.CondInstMaskHead.predict_by_feat')
+def condinst_mask_head__predict_by_feat(self,
+                                        mask_preds: Tensor,
+                                        results_list: Dict[str, torch.Tensor],
+                                        batch_img_metas: List[dict],
+                                        rescale: bool = True,
+                                        **kwargs):
+    cfg = self.test_cfg
+
+    dets = results_list['dets']
+    labels = results_list['labels']
+    img_hw = batch_img_metas[0]['img_shape'][:2]
+
+    mask_preds = mask_preds.sigmoid()
+    mask_preds = aligned_bilinear(mask_preds, self.mask_out_stride)
+    mask_preds = mask_preds[:, :, :img_hw[0], :img_hw[1]]
+    masks = (mask_preds > cfg.mask_thr).float()
+
+    return dets, labels, masks
+
+
+def _parse_dynamic_params(self, params: Tensor):
+    """parse the dynamic params for dynamic conv."""
+    batch_size = params.shape[0]
+    num_insts = params.shape[1]
+    params = params.permute(1, 0, 2)
+    params_splits = list(
+        torch.split_with_sizes(
+            params, self.weight_nums + self.bias_nums, dim=2))
+
+    weight_splits = params_splits[:self.num_layers]
+    bias_splits = params_splits[self.num_layers:]
+
+    for idx in range(self.num_layers):
+        if idx < self.num_layers - 1:
+            weight_splits[idx] = weight_splits[idx].reshape(
+                batch_size, num_insts, self.in_channels, -1)
+        else:
+            weight_splits[idx] = weight_splits[idx].reshape(
+                batch_size, num_insts, 1, -1)
+
+    return weight_splits, bias_splits
+
+
+def _dynamic_conv_forward(features: Tensor, weights: List[Tensor],
+                          biases: List[Tensor]):
+    """dynamic forward, each layer follow a relu."""
+    n_layers = len(weights)
+    x = features.flatten(0, 1).flatten(2)
+    for i, (w, b) in enumerate(zip(weights, biases)):
+        # replace dynamic conv with bmm
+        w = w.flatten(0, 1)
+        b = b.flatten(0, 1).unsqueeze(2)
+        x = torch.bmm(w, x)
+        x = x + b
+        if i < n_layers - 1:
+            x = x.clamp_(min=0)
+    return x

mmdeploy/codebase/mmdet/models/detectors/single_stage_instance_seg.py

@@ -12,15 +12,30 @@
     'instance_segmentor_forward',
     inputs=['input'],
     outputs=['dets', 'labels', 'masks'])
-def __forward_impl_instance_seg(self, batch_inputs, data_samples, **kwargs):
+def __forward_impl_instance_seg(self,
+                                batch_inputs,
+                                data_samples,
+                                rescale=True,
+                                **kwargs):
     """Rewrite and adding mark for `forward`.
 
     Encapsulate this function for rewriting `forward` of BaseDetector.
     1. Add mark for BaseDetector.
     2. Support both dynamic and static export to onnx.
     """
     x = self.extract_feat(batch_inputs)
-    mask_outs = self.mask_head.predict(x, data_samples, rescale=False)
+    if self.with_bbox:
+        # the bbox branch does not need to be scaled to the original
+        # image scale, because the mask branch will scale both bbox
+        # and mask at the same time.
+        bbox_rescale = rescale if not self.with_mask else False
+        results_list = self.bbox_head.predict(
+            x, data_samples, rescale=bbox_rescale)
+    else:
+        results_list = None
+
+    mask_outs = self.mask_head.predict(
+        x, data_samples, rescale=rescale, results_list=results_list)
     return mask_outs
 
 

mmdeploy/pytorch/functions/repeat.py

@@ -19,6 +19,9 @@ def tensor__repeat__tensorrt(input: torch.Tensor, *size: Union[torch.Size,
 
     origin_func = ctx.origin_func
     if input.dim() == 1 and len(size) == 1:
+        if isinstance(*size, tuple):
+            return origin_func(input.unsqueeze(0),
+                               *([1] + list(*size))).squeeze(0)
         return origin_func(input.unsqueeze(0), *([1] + list(size))).squeeze(0)
     else:
         return origin_func(input, *size)

tests/regression/mmdet.yml

@@ -446,3 +446,13 @@ models:
     pipelines:
       - *pipeline_ort_dynamic_fp32
       - *pipeline_trt_dynamic_fp32
+
+  - name: CondInst
+    metafile: configs/condinst/metafile.yml
+    model_configs:
+      - configs/condinst/condinst_r50_fpn_ms-poly-90k_coco_instance.py
+    pipelines:
+      - deploy_config: configs/mmdet/instance-seg/instance-seg_onnxruntime_dynamic.py
+        backend_test: *default_backend_test
+      - deploy_config: configs/mmdet/instance-seg/instance-seg_tensorrt_dynamic-320x320-1344x1344.py
+        backend_test: *default_backend_test