[Enhancement] Support RTMDet-Ins (#1867)

* support RTMDet-Ins

* optimization

* avoid out of boundary

---------

Co-authored-by: lvhan028 <lvhan_028@163.com>

csrc/mmdeploy/codebase/mmdet/instance_segmentation.cpp

@@ -3,6 +3,8 @@
 #include "mmdeploy/core/registry.h"
 #include "mmdeploy/core/utils/device_utils.h"
 #include "mmdeploy/experimental/module_adapter.h"
+#include "mmdeploy/operation/managed.h"
+#include "mmdeploy/operation/vision.h"
 #include "object_detection.h"
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv_utils.h"
@@ -14,7 +16,10 @@ class ResizeInstanceMask : public ResizeBBox {
   explicit ResizeInstanceMask(const Value& cfg) : ResizeBBox(cfg) {
     if (cfg.contains("params")) {
       mask_thr_binary_ = cfg["params"].value("mask_thr_binary", mask_thr_binary_);
+      is_rcnn_ = cfg["params"].contains("rcnn");
     }
+    operation::Context ctx(device_, stream_);
+    warp_affine_ = operation::Managed<operation::WarpAffine>::Create("bilinear");
   }
 
   // TODO: remove duplication
@@ -53,15 +58,17 @@ class ResizeInstanceMask : public ResizeBBox {
 
       OUTCOME_TRY(auto _dets, MakeAvailableOnDevice(dets, kHost, stream()));
       OUTCOME_TRY(auto _labels, MakeAvailableOnDevice(labels, kHost, stream()));
-      OUTCOME_TRY(auto _masks, MakeAvailableOnDevice(masks, kHost, stream()));
-      OUTCOME_TRY(stream().Wait());
+      // Note: `masks` are kept on device to avoid data copy overhead from device to host.
+      // refer to https://github.com/open-mmlab/mmdeploy/issues/1849
+      // OUTCOME_TRY(auto _masks, MakeAvailableOnDevice(masks, kHost, stream()));
+      // OUTCOME_TRY(stream().Wait());
 
       OUTCOME_TRY(auto result, DispatchGetBBoxes(prep_res["img_metas"], _dets, _labels));
 
       auto ori_w = prep_res["img_metas"]["ori_shape"][2].get<int>();
       auto ori_h = prep_res["img_metas"]["ori_shape"][1].get<int>();
 
-      ProcessMasks(result, _masks, ori_w, ori_h);
+      ProcessMasks(result, masks, _dets, ori_w, ori_h);
 
       return to_value(result);
     } catch (const std::exception& e) {
@@ -71,14 +78,23 @@ class ResizeInstanceMask : public ResizeBBox {
   }
 
  protected:
-  void ProcessMasks(Detections& result, Tensor cpu_masks, int img_w, int img_h) const {
-    auto shape = TensorShape{cpu_masks.shape(1), cpu_masks.shape(2), cpu_masks.shape(3)};
-    cpu_masks.Reshape(shape);
-    MMDEPLOY_DEBUG("{}, {}", cpu_masks.shape(), cpu_masks.data_type());
+  Result<void> ProcessMasks(Detections& result, Tensor d_mask, Tensor cpu_dets, int img_w,
+                            int img_h) {
+    d_mask.Squeeze(0);
+    cpu_dets.Squeeze(0);
+
+    ::mmdeploy::operation::Context ctx(device_, stream_);
+
+    std::vector<Tensor> warped_masks;
+    warped_masks.reserve(result.size());
+
+    std::vector<Tensor> h_warped_masks;
+    h_warped_masks.reserve(result.size());
+
     for (auto& det : result) {
-      auto mask = cpu_masks.Slice(det.index);
-      cv::Mat mask_mat((int)mask.shape(1), (int)mask.shape(2), CV_32F, mask.data<float>());
-      cv::Mat warped_mask;
+      auto mask = d_mask.Slice(det.index);
+      auto mask_height = (int)mask.shape(1);
+      auto mask_width = (int)mask.shape(2);
       auto& bbox = det.bbox;
       // same as mmdet with skip_empty = True
       auto x0 = std::max(std::floor(bbox[0]) - 1, 0.f);
@@ -88,22 +104,67 @@ class ResizeInstanceMask : public ResizeBBox {
       auto width = static_cast<int>(x1 - x0);
       auto height = static_cast<int>(y1 - y0);
       // params align_corners = False
-      auto fx = (float)mask_mat.cols / (bbox[2] - bbox[0]);
-      auto fy = (float)mask_mat.rows / (bbox[3] - bbox[1]);
-      auto tx = (x0 + .5f - bbox[0]) * fx - .5f;
-      auto ty = (y0 + .5f - bbox[1]) * fy - .5f;
-
-      cv::Mat m = (cv::Mat_<float>(2, 3) << fx, 0, tx, 0, fy, ty);
-      cv::warpAffine(mask_mat, warped_mask, m, cv::Size{width, height},
-                     cv::INTER_LINEAR | cv::WARP_INVERSE_MAP);
-      warped_mask = warped_mask > mask_thr_binary_;
-
-      det.mask = Mat(height, width, PixelFormat::kGRAYSCALE, DataType::kINT8,
-                     std::shared_ptr<void>(warped_mask.data, [mat = warped_mask](void*) {}));
+      float fx;
+      float fy;
+      float tx;
+      float ty;
+      if (is_rcnn_) {  // mask r-cnn
+        fx = (float)mask_width / (bbox[2] - bbox[0]);
+        fy = (float)mask_height / (bbox[3] - bbox[1]);
+        tx = (x0 + .5f - bbox[0]) * fx - .5f;
+        ty = (y0 + .5f - bbox[1]) * fy - .5f;
+      } else {  // rtmdet-ins
+        auto raw_bbox = cpu_dets.Slice(det.index);
+        auto raw_bbox_data = raw_bbox.data<float>();
+        fx = (raw_bbox_data[2] - raw_bbox_data[0]) / (bbox[2] - bbox[0]);
+        fy = (raw_bbox_data[3] - raw_bbox_data[1]) / (bbox[3] - bbox[1]);
+        tx = (x0 + .5f - bbox[0]) * fx - .5f + raw_bbox_data[0];
+        ty = (y0 + .5f - bbox[1]) * fy - .5f + raw_bbox_data[1];
+      }
+
+      float affine_matrix[] = {fx, 0, tx, 0, fy, ty};
+
+      cv::Mat_<float> m(2, 3, affine_matrix);
+      cv::invertAffineTransform(m, m);
+
+      mask.Reshape({1, mask_height, mask_width, 1});
+
+      Tensor& warped_mask = warped_masks.emplace_back();
+      OUTCOME_TRY(warp_affine_.Apply(mask, warped_mask, affine_matrix, height, width));
+
+      OUTCOME_TRY(CopyToHost(warped_mask, h_warped_masks.emplace_back()));
     }
+
+    OUTCOME_TRY(stream_.Wait());
+
+    for (size_t i = 0; i < h_warped_masks.size(); ++i) {
+      result[i].mask = ThresholdMask(h_warped_masks[i]);
+    }
+
+    return success();
+  }
+
+  Result<void> CopyToHost(const Tensor& src, Tensor& dst) {
+    if (src.device() == kHost) {
+      dst = src;
+      return success();
+    }
+    dst = TensorDesc{kHost, src.data_type(), src.shape()};
+    OUTCOME_TRY(stream_.Copy(src.buffer(), dst.buffer(), dst.byte_size()));
+    return success();
+  }
+
+  Mat ThresholdMask(const Tensor& h_mask) const {
+    cv::Mat warped_mat = cpu::Tensor2CVMat(h_mask);
+    warped_mat = warped_mat > mask_thr_binary_;
+    return {warped_mat.rows, warped_mat.cols, PixelFormat::kGRAYSCALE, DataType::kINT8,
+            std::shared_ptr<void>(warped_mat.data, [mat = warped_mat](void*) {})};
   }
 
+ private:
+  operation::Managed<operation::WarpAffine> warp_affine_;
   float mask_thr_binary_{.5f};
+  bool is_rcnn_{true};
 };
 
 MMDEPLOY_REGISTER_CODEBASE_COMPONENT(MMDetection, ResizeInstanceMask);

demo/python/object_detection.py

@@ -1,5 +1,6 @@
 # Copyright (c) OpenMMLab. All rights reserved.
 import argparse
+import math
 
 import cv2
 from mmdeploy_python import Detector
@@ -36,7 +37,10 @@ def main():
         if masks[index].size:
             mask = masks[index]
             blue, green, red = cv2.split(img)
-            mask_img = blue[top:top + mask.shape[0], left:left + mask.shape[1]]
+
+            x0 = int(max(math.floor(bbox[0]) - 1, 0))
+            y0 = int(max(math.floor(bbox[1]) - 1, 0))
+            mask_img = blue[y0:y0 + mask.shape[0], x0:x0 + mask.shape[1]]
             cv2.bitwise_or(mask, mask_img, mask_img)
             img = cv2.merge([blue, green, red])
 

mmdeploy/codebase/mmdet/deploy/object_detection.py

@@ -311,7 +311,8 @@ def get_postprocess(self, *args, **kwargs) -> Dict:
             params['score_thr'] = params['rcnn']['score_thr']
             if 'mask_thr_binary' in params['rcnn']:
                 params['mask_thr_binary'] = params['rcnn']['mask_thr_binary']
-                type = 'ResizeInstanceMask'  # for instance-seg
+        if 'mask_thr_binary' in params:
+            type = 'ResizeInstanceMask'  # for instance-seg
         if get_backend(self.deploy_cfg) == Backend.RKNN:
             if 'YOLO' in self.model_cfg.model.type or \
                'RTMDet' in self.model_cfg.model.type: