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| # Copyright (c) OpenMMLab. All rights reserved. | |
| import torch | |
| from mmcv.ops import batched_nms | |
| from mmdet.core import (bbox2result, bbox2roi, bbox_mapping, merge_aug_bboxes, | |
| multiclass_nms) | |
| from mmdet.models.roi_heads.standard_roi_head import StandardRoIHead | |
| from ..builder import HEADS | |
| class TridentRoIHead(StandardRoIHead): | |
| """Trident roi head. | |
| Args: | |
| num_branch (int): Number of branches in TridentNet. | |
| test_branch_idx (int): In inference, all 3 branches will be used | |
| if `test_branch_idx==-1`, otherwise only branch with index | |
| `test_branch_idx` will be used. | |
| """ | |
| def __init__(self, num_branch, test_branch_idx, **kwargs): | |
| self.num_branch = num_branch | |
| self.test_branch_idx = test_branch_idx | |
| super(TridentRoIHead, self).__init__(**kwargs) | |
| def merge_trident_bboxes(self, trident_det_bboxes, trident_det_labels): | |
| """Merge bbox predictions of each branch.""" | |
| if trident_det_bboxes.numel() == 0: | |
| det_bboxes = trident_det_bboxes.new_zeros((0, 5)) | |
| det_labels = trident_det_bboxes.new_zeros((0, ), dtype=torch.long) | |
| else: | |
| nms_bboxes = trident_det_bboxes[:, :4] | |
| nms_scores = trident_det_bboxes[:, 4].contiguous() | |
| nms_inds = trident_det_labels | |
| nms_cfg = self.test_cfg['nms'] | |
| det_bboxes, keep = batched_nms(nms_bboxes, nms_scores, nms_inds, | |
| nms_cfg) | |
| det_labels = trident_det_labels[keep] | |
| if self.test_cfg['max_per_img'] > 0: | |
| det_labels = det_labels[:self.test_cfg['max_per_img']] | |
| det_bboxes = det_bboxes[:self.test_cfg['max_per_img']] | |
| return det_bboxes, det_labels | |
| def simple_test(self, | |
| x, | |
| proposal_list, | |
| img_metas, | |
| proposals=None, | |
| rescale=False): | |
| """Test without augmentation as follows: | |
| 1. Compute prediction bbox and label per branch. | |
| 2. Merge predictions of each branch according to scores of | |
| bboxes, i.e., bboxes with higher score are kept to give | |
| top-k prediction. | |
| """ | |
| assert self.with_bbox, 'Bbox head must be implemented.' | |
| det_bboxes_list, det_labels_list = self.simple_test_bboxes( | |
| x, img_metas, proposal_list, self.test_cfg, rescale=rescale) | |
| num_branch = self.num_branch if self.test_branch_idx == -1 else 1 | |
| for _ in range(len(det_bboxes_list)): | |
| if det_bboxes_list[_].shape[0] == 0: | |
| det_bboxes_list[_] = det_bboxes_list[_].new_empty((0, 5)) | |
| det_bboxes, det_labels = [], [] | |
| for i in range(len(img_metas) // num_branch): | |
| det_result = self.merge_trident_bboxes( | |
| torch.cat(det_bboxes_list[i * num_branch:(i + 1) * | |
| num_branch]), | |
| torch.cat(det_labels_list[i * num_branch:(i + 1) * | |
| num_branch])) | |
| det_bboxes.append(det_result[0]) | |
| det_labels.append(det_result[1]) | |
| bbox_results = [ | |
| bbox2result(det_bboxes[i], det_labels[i], | |
| self.bbox_head.num_classes) | |
| for i in range(len(det_bboxes)) | |
| ] | |
| return bbox_results | |
| def aug_test_bboxes(self, feats, img_metas, proposal_list, rcnn_test_cfg): | |
| """Test det bboxes with test time augmentation.""" | |
| aug_bboxes = [] | |
| aug_scores = [] | |
| for x, img_meta in zip(feats, img_metas): | |
| # only one image in the batch | |
| img_shape = img_meta[0]['img_shape'] | |
| scale_factor = img_meta[0]['scale_factor'] | |
| flip = img_meta[0]['flip'] | |
| flip_direction = img_meta[0]['flip_direction'] | |
| trident_bboxes, trident_scores = [], [] | |
| for branch_idx in range(len(proposal_list)): | |
| proposals = bbox_mapping(proposal_list[0][:, :4], img_shape, | |
| scale_factor, flip, flip_direction) | |
| rois = bbox2roi([proposals]) | |
| bbox_results = self._bbox_forward(x, rois) | |
| bboxes, scores = self.bbox_head.get_bboxes( | |
| rois, | |
| bbox_results['cls_score'], | |
| bbox_results['bbox_pred'], | |
| img_shape, | |
| scale_factor, | |
| rescale=False, | |
| cfg=None) | |
| trident_bboxes.append(bboxes) | |
| trident_scores.append(scores) | |
| aug_bboxes.append(torch.cat(trident_bboxes, 0)) | |
| aug_scores.append(torch.cat(trident_scores, 0)) | |
| # after merging, bboxes will be rescaled to the original image size | |
| merged_bboxes, merged_scores = merge_aug_bboxes( | |
| aug_bboxes, aug_scores, img_metas, rcnn_test_cfg) | |
| det_bboxes, det_labels = multiclass_nms(merged_bboxes, merged_scores, | |
| rcnn_test_cfg.score_thr, | |
| rcnn_test_cfg.nms, | |
| rcnn_test_cfg.max_per_img) | |
| return det_bboxes, det_labels | |