Merge branch 'master' of github.com:open-mmlab/mmdetection

Conflicts:
	tools/train.py

mmdet/datasets/__init__.py

 from .custom import CustomDataset
 from .coco import CocoDataset
 from .loader import GroupSampler, DistributedGroupSampler, build_dataloader
-from .utils import to_tensor, random_scale, show_ann
+from .utils import to_tensor, random_scale, show_ann, get_dataset
+from .concat_dataset import ConcatDataset
+from .repeat_dataset import RepeatDataset
 
 __all__ = [
     'CustomDataset', 'CocoDataset', 'GroupSampler', 'DistributedGroupSampler',
-    'build_dataloader', 'to_tensor', 'random_scale', 'show_ann'
+    'build_dataloader', 'to_tensor', 'random_scale', 'show_ann',
+    'get_dataset', 'ConcatDataset', 'RepeatDataset',
 ]

mmdet/datasets/concat_dataset.py

+import numpy as np
+from torch.utils.data.dataset import ConcatDataset as _ConcatDataset
+
+
+class ConcatDataset(_ConcatDataset):
+    """
+    Same as torch.utils.data.dataset.ConcatDataset, but
+    concat the group flag for image aspect ratio.
+    """
+    def __init__(self, datasets):
+        """
+        flag: Images with aspect ratio greater than 1 will be set as group 1,
+              otherwise group 0.
+        """
+        super(ConcatDataset, self).__init__(datasets)
+        if hasattr(datasets[0], 'flag'):
+            flags = []
+            for i in range(0, len(datasets)):
+                flags.append(datasets[i].flag)
+            self.flag = np.concatenate(flags)

mmdet/datasets/repeat_dataset.py

+import numpy as np
+
+
+class RepeatDataset(object):
+
+    def __init__(self, dataset, times):
+        self.dataset = dataset
+        self.times = times
+        if hasattr(self.dataset, 'flag'):
+            self.flag = np.tile(self.dataset.flag, times)
+        self._original_length = len(self.dataset)
+
+    def __getitem__(self, idx):
+        return self.dataset[idx % self._original_length]
+
+    def __len__(self):
+        return self.times * self._original_length

mmdet/datasets/utils.py

+import copy
 from collections import Sequence
 
 import mmcv
+from mmcv.runner import obj_from_dict
 import torch
 
 import matplotlib.pyplot as plt
 import numpy as np
+from .concat_dataset import ConcatDataset
+from .repeat_dataset import RepeatDataset
+from .. import datasets
 
 
 def to_tensor(data):
@@ -67,3 +72,45 @@ def show_ann(coco, img, ann_info):
     plt.axis('off')
     coco.showAnns(ann_info)
     plt.show()
+
+
+def get_dataset(data_cfg):
+    if data_cfg['type'] == 'RepeatDataset':
+        return RepeatDataset(
+            get_dataset(data_cfg['dataset']), data_cfg['times'])
+
+    if isinstance(data_cfg['ann_file'], (list, tuple)):
+        ann_files = data_cfg['ann_file']
+        num_dset = len(ann_files)
+    else:
+        ann_files = [data_cfg['ann_file']]
+        num_dset = 1
+
+    if 'proposal_file' in data_cfg.keys():
+        if isinstance(data_cfg['proposal_file'], (list, tuple)):
+            proposal_files = data_cfg['proposal_file']
+        else:
+            proposal_files = [data_cfg['proposal_file']]
+    else:
+        proposal_files = [None] * num_dset
+    assert len(proposal_files) == num_dset
+
+    if isinstance(data_cfg['img_prefix'], (list, tuple)):
+        img_prefixes = data_cfg['img_prefix']
+    else:
+        img_prefixes = [data_cfg['img_prefix']] * num_dset
+    assert len(img_prefixes) == num_dset
+
+    dsets = []
+    for i in range(num_dset):
+        data_info = copy.deepcopy(data_cfg)
+        data_info['ann_file'] = ann_files[i]
+        data_info['proposal_file'] = proposal_files[i]
+        data_info['img_prefix'] = img_prefixes[i]
+        dset = obj_from_dict(data_info, datasets)
+        dsets.append(dset)
+    if len(dsets) > 1:
+        dset = ConcatDataset(dsets)
+    else:
+        dset = dsets[0]
+    return dset

mmdet/models/bbox_heads/bbox_head.py

+import torch
 import torch.nn as nn
 import torch.nn.functional as F
 
@@ -99,7 +100,7 @@ class BBoxHead(nn.Module):
                        img_shape,
                        scale_factor,
                        rescale=False,
-                       nms_cfg=None):
+                       cfg=None):
         if isinstance(cls_score, list):
             cls_score = sum(cls_score) / float(len(cls_score))
         scores = F.softmax(cls_score, dim=1) if cls_score is not None else None
@@ -114,11 +115,80 @@ class BBoxHead(nn.Module):
         if rescale:
             bboxes /= scale_factor
 
-        if nms_cfg is None:
+        if cfg is None:
             return bboxes, scores
         else:
             det_bboxes, det_labels = multiclass_nms(
-                bboxes, scores, nms_cfg.score_thr, nms_cfg.nms_thr,
-                nms_cfg.max_per_img)
+                bboxes, scores, cfg.score_thr, cfg.nms, cfg.max_per_img)
 
             return det_bboxes, det_labels
+
+    def refine_bboxes(self, rois, labels, bbox_preds, pos_is_gts, img_metas):
+        """Refine bboxes during training.
+
+        Args:
+            rois (Tensor): Shape (n*bs, 5), where n is image number per GPU,
+                and bs is the sampled RoIs per image.
+            labels (Tensor): Shape (n*bs, ).
+            bbox_preds (Tensor): Shape (n*bs, 4) or (n*bs, 4*#class).
+            pos_is_gts (list[Tensor]): Flags indicating if each positive bbox
+                is a gt bbox.
+            img_metas (list[dict]): Meta info of each image.
+
+        Returns:
+            list[Tensor]: Refined bboxes of each image in a mini-batch.
+        """
+        img_ids = rois[:, 0].long().unique(sorted=True)
+        assert img_ids.numel() == len(img_metas)
+
+        bboxes_list = []
+        for i in range(len(img_metas)):
+            inds = torch.nonzero(rois[:, 0] == i).squeeze()
+            num_rois = inds.numel()
+
+            bboxes_ = rois[inds, 1:]
+            label_ = labels[inds]
+            bbox_pred_ = bbox_preds[inds]
+            img_meta_ = img_metas[i]
+            pos_is_gts_ = pos_is_gts[i]
+
+            bboxes = self.regress_by_class(bboxes_, label_, bbox_pred_,
+                                           img_meta_)
+            # filter gt bboxes
+            pos_keep = 1 - pos_is_gts_
+            keep_inds = pos_is_gts_.new_ones(num_rois)
+            keep_inds[:len(pos_is_gts_)] = pos_keep
+
+            bboxes_list.append(bboxes[keep_inds])
+
+        return bboxes_list
+
+    def regress_by_class(self, rois, label, bbox_pred, img_meta):
+        """Regress the bbox for the predicted class. Used in Cascade R-CNN.
+
+        Args:
+            rois (Tensor): shape (n, 4) or (n, 5)
+            label (Tensor): shape (n, )
+            bbox_pred (Tensor): shape (n, 4*(#class+1)) or (n, 4)
+            img_meta (dict): Image meta info.
+
+        Returns:
+            Tensor: Regressed bboxes, the same shape as input rois.
+        """
+        assert rois.size(1) == 4 or rois.size(1) == 5
+
+        if not self.reg_class_agnostic:
+            label = label * 4
+            inds = torch.stack((label, label + 1, label + 2, label + 3), 1)
+            bbox_pred = torch.gather(bbox_pred, 1, inds)
+        assert bbox_pred.size(1) == 4
+
+        if rois.size(1) == 4:
+            new_rois = delta2bbox(rois, bbox_pred, self.target_means,
+                                  self.target_stds, img_meta['img_shape'])
+        else:
+            bboxes = delta2bbox(rois[:, 1:], bbox_pred, self.target_means,
+                                self.target_stds, img_meta['img_shape'])
+            new_rois = torch.cat((rois[:, [0]], bboxes), dim=1)
+
+        return new_rois

mmdet/models/builder.py

@@ -2,11 +2,12 @@ from mmcv.runner import obj_from_dict
 from torch import nn
 
 from . import (backbones, necks, roi_extractors, rpn_heads, bbox_heads,
-               mask_heads)
+               mask_heads, single_stage_heads)
 
 __all__ = [
     'build_backbone', 'build_neck', 'build_rpn_head', 'build_roi_extractor',
-    'build_bbox_head', 'build_mask_head', 'build_detector'
+    'build_bbox_head', 'build_mask_head', 'build_single_stage_head',
+    'build_detector'
 ]
 
 
@@ -47,6 +48,10 @@ def build_mask_head(cfg):
     return build(cfg, mask_heads)
 
 
+def build_single_stage_head(cfg):
+    return build(cfg, single_stage_heads)
+
+
 def build_detector(cfg, train_cfg=None, test_cfg=None):
     from . import detectors
     return build(cfg, detectors, dict(train_cfg=train_cfg, test_cfg=test_cfg))

mmdet/models/detectors/__init__.py

 from .base import BaseDetector
+from .single_stage import SingleStageDetector
 from .two_stage import TwoStageDetector
 from .rpn import RPN
 from .fast_rcnn import FastRCNN
 from .faster_rcnn import FasterRCNN
 from .mask_rcnn import MaskRCNN
+from .cascade_rcnn import CascadeRCNN
+from .retinanet import RetinaNet
 
 __all__ = [
-    'BaseDetector', 'TwoStageDetector', 'RPN', 'FastRCNN', 'FasterRCNN',
-    'MaskRCNN'
+    'BaseDetector', 'SingleStageDetector', 'TwoStageDetector', 'RPN',
+    'FastRCNN', 'FasterRCNN', 'MaskRCNN', 'CascadeRCNN', 'RetinaNet'
 ]

mmdet/models/detectors/base.py

@@ -4,6 +4,7 @@ from abc import ABCMeta, abstractmethod
 import mmcv
 import numpy as np
 import torch.nn as nn
+import pycocotools.mask as maskUtils
 
 from mmdet.core import tensor2imgs, get_classes
 
@@ -86,6 +87,11 @@ class BaseDetector(nn.Module):
                     img_norm_cfg,
                     dataset='coco',
                     score_thr=0.3):
+        if isinstance(result, tuple):
+            bbox_result, segm_result = result
+        else:
+            bbox_result, segm_result = result, None
+
         img_tensor = data['img'][0]
         img_metas = data['img_meta'][0].data[0]
         imgs = tensor2imgs(img_tensor, **img_norm_cfg)
@@ -102,12 +108,23 @@ class BaseDetector(nn.Module):
         for img, img_meta in zip(imgs, img_metas):
             h, w, _ = img_meta['img_shape']
             img_show = img[:h, :w, :]
+
+            bboxes = np.vstack(bbox_result)
+            # draw segmentation masks
+            if segm_result is not None:
+                segms = mmcv.concat_list(segm_result)
+                inds = np.where(bboxes[:, -1] > score_thr)[0]
+                for i in inds:
+                    color_mask = np.random.randint(
+                        0, 256, (1, 3), dtype=np.uint8)
+                    mask = maskUtils.decode(segms[i]).astype(np.bool)
+                    img_show[mask] = img_show[mask] * 0.5 + color_mask * 0.5
+            # draw bounding boxes
             labels = [
                 np.full(bbox.shape[0], i, dtype=np.int32)
-                for i, bbox in enumerate(result)
+                for i, bbox in enumerate(bbox_result)
             ]
             labels = np.concatenate(labels)
-            bboxes = np.vstack(result)
             mmcv.imshow_det_bboxes(
                 img_show,
                 bboxes,

mmdet/models/detectors/cascade_rcnn.py

+from __future__ import division
+
+import torch
+import torch.nn as nn
+
+from .base import BaseDetector
+from .test_mixins import RPNTestMixin
+from .. import builder
+from mmdet.core import (assign_and_sample, bbox2roi, bbox2result, multi_apply,
+                        merge_aug_masks)
+
+
+class CascadeRCNN(BaseDetector, RPNTestMixin):
+
+    def __init__(self,
+                 num_stages,
+                 backbone,
+                 neck=None,
+                 rpn_head=None,
+                 bbox_roi_extractor=None,
+                 bbox_head=None,
+                 mask_roi_extractor=None,
+                 mask_head=None,
+                 train_cfg=None,
+                 test_cfg=None,
+                 pretrained=None):
+        assert bbox_roi_extractor is not None
+        assert bbox_head is not None
+        super(CascadeRCNN, self).__init__()
+
+        self.num_stages = num_stages
+        self.backbone = builder.build_backbone(backbone)
+
+        if neck is not None:
+            self.neck = builder.build_neck(neck)
+        else:
+            raise NotImplementedError
+
+        if rpn_head is not None:
+            self.rpn_head = builder.build_rpn_head(rpn_head)
+
+        if bbox_head is not None:
+            self.bbox_roi_extractor = nn.ModuleList()
+            self.bbox_head = nn.ModuleList()
+            if not isinstance(bbox_roi_extractor, list):
+                bbox_roi_extractor = [
+                    bbox_roi_extractor for _ in range(num_stages)
+                ]
+            if not isinstance(bbox_head, list):
+                bbox_head = [bbox_head for _ in range(num_stages)]
+            assert len(bbox_roi_extractor) == len(bbox_head) == self.num_stages
+            for roi_extractor, head in zip(bbox_roi_extractor, bbox_head):
+                self.bbox_roi_extractor.append(
+                    builder.build_roi_extractor(roi_extractor))
+                self.bbox_head.append(builder.build_bbox_head(head))
+
+        if mask_head is not None:
+            self.mask_roi_extractor = nn.ModuleList()
+            self.mask_head = nn.ModuleList()
+            if not isinstance(mask_roi_extractor, list):
+                mask_roi_extractor = [
+                    mask_roi_extractor for _ in range(num_stages)
+                ]
+            if not isinstance(mask_head, list):
+                mask_head = [mask_head for _ in range(num_stages)]
+            assert len(mask_roi_extractor) == len(mask_head) == self.num_stages
+            for roi_extractor, head in zip(mask_roi_extractor, mask_head):
+                self.mask_roi_extractor.append(
+                    builder.build_roi_extractor(roi_extractor))
+                self.mask_head.append(builder.build_mask_head(head))
+
+        self.train_cfg = train_cfg
+        self.test_cfg = test_cfg
+
+        self.init_weights(pretrained=pretrained)
+
+    @property
+    def with_rpn(self):
+        return hasattr(self, 'rpn_head') and self.rpn_head is not None
+
+    def init_weights(self, pretrained=None):
+        super(CascadeRCNN, self).init_weights(pretrained)
+        self.backbone.init_weights(pretrained=pretrained)
+        if self.with_neck:
+            if isinstance(self.neck, nn.Sequential):
+                for m in self.neck:
+                    m.init_weights()
+            else:
+                self.neck.init_weights()
+        if self.with_rpn:
+            self.rpn_head.init_weights()
+        for i in range(self.num_stages):
+            if self.with_bbox:
+                self.bbox_roi_extractor[i].init_weights()
+                self.bbox_head[i].init_weights()
+            if self.with_mask:
+                self.mask_roi_extractor[i].init_weights()
+                self.mask_head[i].init_weights()
+
+    def extract_feat(self, img):
+        x = self.backbone(img)
+        if self.with_neck:
+            x = self.neck(x)
+        return x
+
+    def forward_train(self,
+                      img,
+                      img_meta,
+                      gt_bboxes,
+                      gt_bboxes_ignore,
+                      gt_labels,
+                      gt_masks=None,
+                      proposals=None):
+        x = self.extract_feat(img)
+
+        losses = dict()
+
+        if self.with_rpn:
+            rpn_outs = self.rpn_head(x)
+            rpn_loss_inputs = rpn_outs + (gt_bboxes, img_meta,
+                                          self.train_cfg.rpn)
+            rpn_losses = self.rpn_head.loss(*rpn_loss_inputs)
+            losses.update(rpn_losses)
+
+            proposal_inputs = rpn_outs + (img_meta, self.test_cfg.rpn)
+            proposal_list = self.rpn_head.get_proposals(*proposal_inputs)
+        else:
+            proposal_list = proposals
+
+        for i in range(self.num_stages):
+            rcnn_train_cfg = self.train_cfg.rcnn[i]
+            lw = self.train_cfg.stage_loss_weights[i]
+
+            # assign gts and sample proposals
+            assign_results, sampling_results = multi_apply(
+                assign_and_sample,
+                proposal_list,
+                gt_bboxes,
+                gt_bboxes_ignore,
+                gt_labels,
+                cfg=rcnn_train_cfg)
+
+            # bbox head forward and loss
+            bbox_roi_extractor = self.bbox_roi_extractor[i]
+            bbox_head = self.bbox_head[i]
+
+            rois = bbox2roi([res.bboxes for res in sampling_results])
+            bbox_feats = bbox_roi_extractor(x[:bbox_roi_extractor.num_inputs],
+                                            rois)
+            cls_score, bbox_pred = bbox_head(bbox_feats)
+
+            bbox_targets = bbox_head.get_target(sampling_results, gt_bboxes,
+                                                gt_labels, rcnn_train_cfg)
+            loss_bbox = bbox_head.loss(cls_score, bbox_pred, *bbox_targets)
+            for name, value in loss_bbox.items():
+                losses['s{}.{}'.format(i, name)] = (value * lw if
+                                                    'loss' in name else value)
+
+            # mask head forward and loss
+            if self.with_mask:
+                mask_roi_extractor = self.mask_roi_extractor[i]
+                mask_head = self.mask_head[i]
+                pos_rois = bbox2roi(
+                    [res.pos_bboxes for res in sampling_results])
+                mask_feats = mask_roi_extractor(
+                    x[:mask_roi_extractor.num_inputs], pos_rois)
+                mask_pred = mask_head(mask_feats)
+                mask_targets = mask_head.get_target(sampling_results, gt_masks,
+                                                    rcnn_train_cfg)
+                pos_labels = torch.cat(
+                    [res.pos_gt_labels for res in sampling_results])
+                loss_mask = mask_head.loss(mask_pred, mask_targets, pos_labels)
+                for name, value in loss_mask.items():
+                    losses['s{}.{}'.format(i, name)] = (value * lw
+                                                        if 'loss' in name else
+                                                        value)
+
+            # refine bboxes
+            if i < self.num_stages - 1:
+                pos_is_gts = [res.pos_is_gt for res in sampling_results]
+                roi_labels = bbox_targets[0]  # bbox_targets is a tuple
+                with torch.no_grad():
+                    proposal_list = bbox_head.refine_bboxes(
+                        rois, roi_labels, bbox_pred, pos_is_gts, img_meta)
+
+        return losses
+
+    def simple_test(self, img, img_meta, proposals=None, rescale=False):
+        x = self.extract_feat(img)
+        proposal_list = self.simple_test_rpn(
+            x, img_meta, self.test_cfg.rpn) if proposals is None else proposals
+
+        img_shape = img_meta[0]['img_shape']
+        ori_shape = img_meta[0]['ori_shape']
+        scale_factor = img_meta[0]['scale_factor']
+
+        # "ms" in variable names means multi-stage
+        ms_bbox_result = {}
+        ms_segm_result = {}
+        ms_scores = []
+        rcnn_test_cfg = self.test_cfg.rcnn
+
+        rois = bbox2roi(proposal_list)
+        for i in range(self.num_stages):
+            bbox_roi_extractor = self.bbox_roi_extractor[i]
+            bbox_head = self.bbox_head[i]
+
+            bbox_feats = bbox_roi_extractor(
+                x[:len(bbox_roi_extractor.featmap_strides)], rois)
+            cls_score, bbox_pred = bbox_head(bbox_feats)
+            ms_scores.append(cls_score)
+
+            if self.test_cfg.keep_all_stages:
+                det_bboxes, det_labels = bbox_head.get_det_bboxes(
+                    rois,
+                    cls_score,
+                    bbox_pred,
+                    img_shape,
+                    scale_factor,
+                    rescale=rescale,
+                    cfg=rcnn_test_cfg)
+                bbox_result = bbox2result(det_bboxes, det_labels,
+                                          bbox_head.num_classes)
+                ms_bbox_result['stage{}'.format(i)] = bbox_result
+
+                if self.with_mask:
+                    mask_roi_extractor = self.mask_roi_extractor[i]
+                    mask_head = self.mask_head[i]
+                    if det_bboxes.shape[0] == 0:
+                        segm_result = [
+                            [] for _ in range(mask_head.num_classes - 1)
+                        ]
+                    else:
+                        _bboxes = (det_bboxes[:, :4] * scale_factor
+                                   if rescale else det_bboxes)
+                        mask_rois = bbox2roi([_bboxes])
+                        mask_feats = mask_roi_extractor(
+                            x[:len(mask_roi_extractor.featmap_strides)],
+                            mask_rois)
+                        mask_pred = mask_head(mask_feats)
+                        segm_result = mask_head.get_seg_masks(
+                            mask_pred, _bboxes, det_labels, rcnn_test_cfg,
+                            ori_shape, scale_factor, rescale)
+                    ms_segm_result['stage{}'.format(i)] = segm_result
+
+            if i < self.num_stages - 1:
+                bbox_label = cls_score.argmax(dim=1)
+                rois = bbox_head.regress_by_class(rois, bbox_label, bbox_pred,
+                                                  img_meta[0])
+
+        cls_score = sum(ms_scores) / self.num_stages
+        det_bboxes, det_labels = self.bbox_head[-1].get_det_bboxes(
+            rois,
+            cls_score,
+            bbox_pred,
+            img_shape,
+            scale_factor,
+            rescale=rescale,
+            cfg=rcnn_test_cfg)
+        bbox_result = bbox2result(det_bboxes, det_labels,
+                                  self.bbox_head[-1].num_classes)
+        ms_bbox_result['ensemble'] = bbox_result
+
+        if self.with_mask:
+            if det_bboxes.shape[0] == 0:
+                segm_result = [
+                    [] for _ in range(self.mask_head[-1].num_classes - 1)
+                ]
+            else:
+                _bboxes = (det_bboxes[:, :4] * scale_factor
+                           if rescale else det_bboxes)
+                mask_rois = bbox2roi([_bboxes])
+                aug_masks = []
+                for i in range(self.num_stages):
+                    mask_roi_extractor = self.mask_roi_extractor[i]
+                    mask_feats = mask_roi_extractor(
+                        x[:len(mask_roi_extractor.featmap_strides)], mask_rois)
+                    mask_pred = self.mask_head[i](mask_feats)
+                    aug_masks.append(mask_pred.sigmoid().cpu().numpy())
+                merged_masks = merge_aug_masks(aug_masks,
+                                               [img_meta] * self.num_stages,
+                                               self.test_cfg.rcnn)
+                segm_result = self.mask_head[-1].get_seg_masks(
+                    merged_masks, _bboxes, det_labels, rcnn_test_cfg,
+                    ori_shape, scale_factor, rescale)
+            ms_segm_result['ensemble'] = segm_result
+
+        if not self.test_cfg.keep_all_stages:
+            if self.with_mask:
+                results = (ms_bbox_result['ensemble'],
+                           ms_segm_result['ensemble'])
+            else:
+                results = ms_bbox_result['ensemble']
+        else:
+            if self.with_mask:
+                results = {
+                    stage: (ms_bbox_result[stage], ms_segm_result[stage])
+                    for stage in ms_bbox_result
+                }
+            else:
+                results = ms_bbox_result
+
+        return results
+
+    def aug_test(self, img, img_meta, proposals=None, rescale=False):
+        raise NotImplementedError
+
+    def show_result(self, data, result, img_norm_cfg, **kwargs):
+        if self.with_mask:
+            ms_bbox_result, ms_segm_result = result
+            if isinstance(ms_bbox_result, dict):
+                result = (ms_bbox_result['ensemble'],
+                          ms_segm_result['ensemble'])
+        else:
+            if isinstance(result, dict):
+                result = result['ensemble']
+        super(CascadeRCNN, self).show_result(data, result, img_norm_cfg,
+                                             **kwargs)

mmdet/models/detectors/mask_rcnn.py

@@ -25,10 +25,3 @@ class MaskRCNN(TwoStageDetector):
             train_cfg=train_cfg,
             test_cfg=test_cfg,
             pretrained=pretrained)
-
-    def show_result(self, data, result, img_norm_cfg, **kwargs):
-        # TODO: show segmentation masks
-        assert isinstance(result, tuple)
-        assert len(result) == 2  # (bbox_results, segm_results)
-        super(MaskRCNN, self).show_result(data, result[0], img_norm_cfg,
-                                          **kwargs)

mmdet/models/detectors/retinanet.py

+from .single_stage import SingleStageDetector
+
+
+class RetinaNet(SingleStageDetector):
+
+    def __init__(self,
+                 backbone,
+                 neck,
+                 bbox_head,
+                 train_cfg=None,
+                 test_cfg=None,
+                 pretrained=None):
+        super(RetinaNet, self).__init__(backbone, neck, bbox_head, train_cfg,
+                                        test_cfg, pretrained)

mmdet/models/detectors/single_stage.py

+import torch.nn as nn
+
+from .base import BaseDetector
+from .. import builder
+from mmdet.core import bbox2result
+
+
+class SingleStageDetector(BaseDetector):
+
+    def __init__(self,
+                 backbone,
+                 neck=None,
+                 bbox_head=None,
+                 train_cfg=None,
+                 test_cfg=None,
+                 pretrained=None):
+        super(SingleStageDetector, self).__init__()
+        self.backbone = builder.build_backbone(backbone)
+        if neck is not None:
+            self.neck = builder.build_neck(neck)
+        self.bbox_head = builder.build_single_stage_head(bbox_head)
+        self.train_cfg = train_cfg
+        self.test_cfg = test_cfg
+        self.init_weights(pretrained=pretrained)
+
+    def init_weights(self, pretrained=None):
+        super(SingleStageDetector, self).init_weights(pretrained)
+        self.backbone.init_weights(pretrained=pretrained)
+        if self.with_neck:
+            if isinstance(self.neck, nn.Sequential):
+                for m in self.neck:
+                    m.init_weights()
+            else:
+                self.neck.init_weights()
+        self.bbox_head.init_weights()
+
+    def extract_feat(self, img):
+        x = self.backbone(img)
+        if self.with_neck:
+            x = self.neck(x)
+        return x
+
+    def forward_train(self, img, img_metas, gt_bboxes, gt_labels):
+        x = self.extract_feat(img)
+        outs = self.bbox_head(x)
+        loss_inputs = outs + (gt_bboxes, gt_labels, img_metas, self.train_cfg)
+        losses = self.bbox_head.loss(*loss_inputs)
+        return losses
+
+    def simple_test(self, img, img_meta, rescale=False):
+        x = self.extract_feat(img)
+        outs = self.bbox_head(x)
+        bbox_inputs = outs + (img_meta, self.test_cfg, rescale)
+        bbox_list = self.bbox_head.get_det_bboxes(*bbox_inputs)
+        bbox_results = [
+            bbox2result(det_bboxes, det_labels, self.bbox_head.num_classes)
+            for det_bboxes, det_labels in bbox_list
+        ]
+        return bbox_results[0]
+
+    def aug_test(self, imgs, img_metas, rescale=False):
+        raise NotImplementedError

mmdet/models/detectors/test_mixins.py

@@ -47,7 +47,7 @@ class BBoxTestMixin(object):
             img_shape,
             scale_factor,
             rescale=rescale,
-            nms_cfg=rcnn_test_cfg)
+            cfg=rcnn_test_cfg)
         return det_bboxes, det_labels
 
     def aug_test_bboxes(self, feats, img_metas, proposal_list, rcnn_test_cfg):
@@ -73,15 +73,15 @@ class BBoxTestMixin(object):
                 img_shape,
                 scale_factor,
                 rescale=False,
-                nms_cfg=None)
+                cfg=None)
             aug_bboxes.append(bboxes)
             aug_scores.append(scores)
         # after merging, bboxes will be rescaled to the original image size
         merged_bboxes, merged_scores = merge_aug_bboxes(
-            aug_bboxes, aug_scores, img_metas, self.test_cfg.rcnn)
+            aug_bboxes, aug_scores, img_metas, rcnn_test_cfg)
         det_bboxes, det_labels = multiclass_nms(
-            merged_bboxes, merged_scores, self.test_cfg.rcnn.score_thr,
-            self.test_cfg.rcnn.nms_thr, self.test_cfg.rcnn.max_per_img)
+            merged_bboxes, merged_scores, rcnn_test_cfg.score_thr,
+            rcnn_test_cfg.nms, rcnn_test_cfg.max_per_img)
         return det_bboxes, det_labels
 
 

mmdet/models/rpn_heads/rpn_head.py

@@ -160,7 +160,7 @@ class RPNHead(nn.Module):
         if cls_reg_targets is None:
             return None
         (labels_list, label_weights_list, bbox_targets_list, bbox_weights_list,
-         num_total_samples) = cls_reg_targets
+         num_total_pos, num_total_neg) = cls_reg_targets
         losses_cls, losses_reg = multi_apply(
             self.loss_single,
             rpn_cls_scores,
@@ -169,7 +169,7 @@ class RPNHead(nn.Module):
             label_weights_list,
             bbox_targets_list,
             bbox_weights_list,
-            num_total_samples=num_total_samples,
+            num_total_samples=num_total_pos + num_total_neg,
             cfg=cfg)
         return dict(loss_rpn_cls=losses_cls, loss_rpn_reg=losses_reg)
 
@@ -234,13 +234,13 @@ class RPNHead(nn.Module):
             proposals = proposals[valid_inds, :]
             scores = scores[valid_inds]
             proposals = torch.cat([proposals, scores.unsqueeze(-1)], dim=-1)
-            nms_keep = nms(proposals, cfg.nms_thr)[:cfg.nms_post]
-            proposals = proposals[nms_keep, :]
+            proposals, _ = nms(proposals, cfg.nms_thr)
+            proposals = proposals[:cfg.nms_post, :]
             mlvl_proposals.append(proposals)
         proposals = torch.cat(mlvl_proposals, 0)
         if cfg.nms_across_levels:
-            nms_keep = nms(proposals, cfg.nms_thr)[:cfg.max_num]
-            proposals = proposals[nms_keep, :]
+            proposals, _ = nms(proposals, cfg.nms_thr)
+            proposals = proposals[:cfg.max_num, :]
         else:
             scores = proposals[:, 4]
             _, order = scores.sort(0, descending=True)

mmdet/models/single_stage_heads/__init__.py

+from .retina_head import RetinaHead
+
+__all__ = ['RetinaHead']

mmdet/models/single_stage_heads/retina_head.py

+from __future__ import division
+
+import numpy as np
+import torch
+import torch.nn as nn
+
+from mmdet.core import (AnchorGenerator, anchor_target, multi_apply,
+                        delta2bbox, weighted_smoothl1,
+                        weighted_sigmoid_focal_loss, multiclass_nms)
+from ..utils import normal_init, bias_init_with_prob
+
+
+class RetinaHead(nn.Module):
+    """Head of RetinaNet.
+
+            / cls_convs - retina_cls (3x3 conv)
+    input -
+            \ reg_convs - retina_reg (3x3 conv)
+
+    Args:
+        in_channels (int): Number of channels in the input feature map.
+        num_classes (int): Class number (including background).
+        stacked_convs (int): Number of convolutional layers added for cls and
+            reg branch.
+        feat_channels (int): Number of channels for the RPN feature map.
+        scales_per_octave (int): Number of anchor scales per octave.
+        octave_base_scale (int): Base octave scale. Anchor scales are computed
+            as `s*2^(i/n)`, for i in [0, n-1], where s is `octave_base_scale`
+            and n is `scales_per_octave`.
+        anchor_ratios (Iterable): Anchor aspect ratios.
+        anchor_strides (Iterable): Anchor strides.
+        target_means (Iterable): Mean values of regression targets.
+        target_stds (Iterable): Std values of regression targets.
+    """  # noqa: W605
+
+    def __init__(self,
+                 in_channels,
+                 num_classes,
+                 stacked_convs=4,
+                 feat_channels=256,
+                 octave_base_scale=4,
+                 scales_per_octave=3,
+                 anchor_ratios=[0.5, 1.0, 2.0],
+                 anchor_strides=[8, 16, 32, 64, 128],
+                 anchor_base_sizes=None,
+                 target_means=(.0, .0, .0, .0),
+                 target_stds=(1.0, 1.0, 1.0, 1.0)):
+        super(RetinaHead, self).__init__()
+        self.in_channels = in_channels
+        self.num_classes = num_classes
+        self.octave_base_scale = octave_base_scale
+        self.scales_per_octave = scales_per_octave
+        self.anchor_ratios = anchor_ratios
+        self.anchor_strides = anchor_strides
+        self.anchor_base_sizes = list(
+            anchor_strides) if anchor_base_sizes is None else anchor_base_sizes
+        self.target_means = target_means
+        self.target_stds = target_stds
+
+        self.anchor_generators = []
+        for anchor_base in self.anchor_base_sizes:
+            octave_scales = np.array(
+                [2**(i / scales_per_octave) for i in range(scales_per_octave)])
+            anchor_scales = octave_scales * octave_base_scale
+            self.anchor_generators.append(
+                AnchorGenerator(anchor_base, anchor_scales, anchor_ratios))
+        self.relu = nn.ReLU(inplace=True)
+        self.num_anchors = int(
+            len(self.anchor_ratios) * self.scales_per_octave)
+        self.cls_out_channels = self.num_classes - 1
+        self.bbox_pred_dim = 4
+
+        self.stacked_convs = stacked_convs
+        self.cls_convs = nn.ModuleList()
+        self.reg_convs = nn.ModuleList()
+        for i in range(self.stacked_convs):
+            chn = in_channels if i == 0 else feat_channels
+            self.cls_convs.append(
+                nn.Conv2d(chn, feat_channels, 3, stride=1, padding=1))
+            self.reg_convs.append(
+                nn.Conv2d(chn, feat_channels, 3, stride=1, padding=1))
+        self.retina_cls = nn.Conv2d(
+            feat_channels,
+            self.num_anchors * self.cls_out_channels,
+            3,
+            stride=1,
+            padding=1)
+        self.retina_reg = nn.Conv2d(
+            feat_channels,
+            self.num_anchors * self.bbox_pred_dim,
+            3,
+            stride=1,
+            padding=1)
+        self.debug_imgs = None
+
+    def init_weights(self):
+        for m in self.cls_convs:
+            normal_init(m, std=0.01)
+        for m in self.reg_convs:
+            normal_init(m, std=0.01)
+        bias_cls = bias_init_with_prob(0.01)
+        normal_init(self.retina_cls, std=0.01, bias=bias_cls)
+        normal_init(self.retina_reg, std=0.01)
+
+    def forward_single(self, x):
+        cls_feat = x
+        reg_feat = x
+        for cls_conv in self.cls_convs:
+            cls_feat = self.relu(cls_conv(cls_feat))
+        for reg_conv in self.reg_convs:
+            reg_feat = self.relu(reg_conv(reg_feat))
+        cls_score = self.retina_cls(cls_feat)
+        bbox_pred = self.retina_reg(reg_feat)
+        return cls_score, bbox_pred
+
+    def forward(self, feats):
+        return multi_apply(self.forward_single, feats)
+
+    def get_anchors(self, featmap_sizes, img_metas):
+        """Get anchors according to feature map sizes.
+
+        Args:
+            featmap_sizes (list[tuple]): Multi-level feature map sizes.
+            img_metas (list[dict]): Image meta info.
+
+        Returns:
+            tuple: anchors of each image, valid flags of each image
+        """
+        num_imgs = len(img_metas)
+        num_levels = len(featmap_sizes)
+
+        # since feature map sizes of all images are the same, we only compute
+        # anchors for one time
+        multi_level_anchors = []
+        for i in range(num_levels):
+            anchors = self.anchor_generators[i].grid_anchors(
+                featmap_sizes[i], self.anchor_strides[i])
+            multi_level_anchors.append(anchors)
+        anchor_list = [multi_level_anchors for _ in range(num_imgs)]
+
+        # for each image, we compute valid flags of multi level anchors
+        valid_flag_list = []
+        for img_id, img_meta in enumerate(img_metas):
+            multi_level_flags = []
+            for i in range(num_levels):
+                anchor_stride = self.anchor_strides[i]
+                feat_h, feat_w = featmap_sizes[i]
+                h, w, _ = img_meta['pad_shape']
+                valid_feat_h = min(int(np.ceil(h / anchor_stride)), feat_h)
+                valid_feat_w = min(int(np.ceil(w / anchor_stride)), feat_w)
+                flags = self.anchor_generators[i].valid_flags(
+                    (feat_h, feat_w), (valid_feat_h, valid_feat_w))
+                multi_level_flags.append(flags)
+            valid_flag_list.append(multi_level_flags)
+
+        return anchor_list, valid_flag_list
+
+    def loss_single(self, cls_score, bbox_pred, labels, label_weights,
+                    bbox_targets, bbox_weights, num_pos_samples, cfg):
+        # classification loss
+        labels = labels.contiguous().view(-1, self.cls_out_channels)
+        label_weights = label_weights.contiguous().view(
+            -1, self.cls_out_channels)
+        cls_score = cls_score.permute(0, 2, 3, 1).contiguous().view(
+            -1, self.cls_out_channels)
+        loss_cls = weighted_sigmoid_focal_loss(
+            cls_score,
+            labels,
+            label_weights,
+            cfg.gamma,
+            cfg.alpha,
+            avg_factor=num_pos_samples)
+        # regression loss
+        bbox_targets = bbox_targets.contiguous().view(-1, 4)
+        bbox_weights = bbox_weights.contiguous().view(-1, 4)
+        bbox_pred = bbox_pred.permute(0, 2, 3, 1).contiguous().view(-1, 4)
+        loss_reg = weighted_smoothl1(
+            bbox_pred,
+            bbox_targets,
+            bbox_weights,
+            beta=cfg.smoothl1_beta,
+            avg_factor=num_pos_samples)
+        return loss_cls, loss_reg
+
+    def loss(self, cls_scores, bbox_preds, gt_bboxes, gt_labels, img_metas,
+             cfg):
+        featmap_sizes = [featmap.size()[-2:] for featmap in cls_scores]
+        assert len(featmap_sizes) == len(self.anchor_generators)
+
+        anchor_list, valid_flag_list = self.get_anchors(
+            featmap_sizes, img_metas)
+        cls_reg_targets = anchor_target(
+            anchor_list,
+            valid_flag_list,
+            gt_bboxes,
+            img_metas,
+            self.target_means,
+            self.target_stds,
+            cfg,
+            gt_labels_list=gt_labels,
+            cls_out_channels=self.cls_out_channels,
+            sampling=False)
+        if cls_reg_targets is None:
+            return None
+        (labels_list, label_weights_list, bbox_targets_list, bbox_weights_list,
+         num_total_pos, num_total_neg) = cls_reg_targets
+
+        losses_cls, losses_reg = multi_apply(
+            self.loss_single,
+            cls_scores,
+            bbox_preds,
+            labels_list,
+            label_weights_list,
+            bbox_targets_list,
+            bbox_weights_list,
+            num_pos_samples=num_total_pos,
+            cfg=cfg)
+        return dict(loss_cls=losses_cls, loss_reg=losses_reg)
+
+    def get_det_bboxes(self,
+                       cls_scores,
+                       bbox_preds,
+                       img_metas,
+                       cfg,
+                       rescale=False):
+        assert len(cls_scores) == len(bbox_preds)
+        num_levels = len(cls_scores)
+
+        mlvl_anchors = [
+            self.anchor_generators[i].grid_anchors(cls_scores[i].size()[-2:],
+                                                   self.anchor_strides[i])
+            for i in range(num_levels)
+        ]
+
+        result_list = []
+        for img_id in range(len(img_metas)):
+            cls_score_list = [
+                cls_scores[i][img_id].detach() for i in range(num_levels)
+            ]
+            bbox_pred_list = [
+                bbox_preds[i][img_id].detach() for i in range(num_levels)
+            ]
+            img_shape = img_metas[img_id]['img_shape']
+            scale_factor = img_metas[img_id]['scale_factor']
+            results = self._get_det_bboxes_single(
+                cls_score_list, bbox_pred_list, mlvl_anchors, img_shape,
+                scale_factor, cfg, rescale)
+            result_list.append(results)
+        return result_list
+
+    def _get_det_bboxes_single(self,
+                               cls_scores,
+                               bbox_preds,
+                               mlvl_anchors,
+                               img_shape,
+                               scale_factor,
+                               cfg,
+                               rescale=False):
+        assert len(cls_scores) == len(bbox_preds) == len(mlvl_anchors)
+        mlvl_proposals = []
+        mlvl_scores = []
+        for cls_score, bbox_pred, anchors in zip(cls_scores, bbox_preds,
+                                                 mlvl_anchors):
+            assert cls_score.size()[-2:] == bbox_pred.size()[-2:]
+            cls_score = cls_score.permute(1, 2, 0).contiguous().view(
+                -1, self.cls_out_channels)
+            scores = cls_score.sigmoid()
+            bbox_pred = bbox_pred.permute(1, 2, 0).contiguous().view(-1, 4)
+            proposals = delta2bbox(anchors, bbox_pred, self.target_means,
+                                   self.target_stds, img_shape)
+            if cfg.nms_pre > 0 and scores.shape[0] > cfg.nms_pre:
+                maxscores, _ = scores.max(dim=1)
+                _, topk_inds = maxscores.topk(cfg.nms_pre)
+                proposals = proposals[topk_inds, :]
+                scores = scores[topk_inds, :]
+            mlvl_proposals.append(proposals)
+            mlvl_scores.append(scores)
+        mlvl_proposals = torch.cat(mlvl_proposals)
+        if rescale:
+            mlvl_proposals /= scale_factor
+        mlvl_scores = torch.cat(mlvl_scores)
+        padding = mlvl_scores.new_zeros(mlvl_scores.shape[0], 1)
+        mlvl_scores = torch.cat([padding, mlvl_scores], dim=1)
+        det_bboxes, det_labels = multiclass_nms(mlvl_proposals, mlvl_scores,
+                                                cfg.score_thr, cfg.nms,
+                                                cfg.max_per_img)
+        return det_bboxes, det_labels

mmdet/models/utils/__init__.py

 from .conv_module import ConvModule
 from .norm import build_norm_layer
-from .weight_init import xavier_init, normal_init, uniform_init, kaiming_init
+from .weight_init import (xavier_init, normal_init, uniform_init, kaiming_init,
+                          bias_init_with_prob)
 
 __all__ = [
     'ConvModule', 'build_norm_layer', 'xavier_init', 'normal_init',
-    'uniform_init', 'kaiming_init'
+    'uniform_init', 'kaiming_init', 'bias_init_with_prob'
 ]

mmdet/models/utils/weight_init.py

+import numpy as np
 import torch.nn as nn
 
 
@@ -37,3 +38,9 @@ def kaiming_init(module,
             module.weight, mode=mode, nonlinearity=nonlinearity)
     if hasattr(module, 'bias'):
         nn.init.constant_(module.bias, bias)
+
+
+def bias_init_with_prob(prior_prob):
+    """ initialize conv/fc bias value according to giving probablity"""
+    bias_init = float(-np.log((1 - prior_prob) / prior_prob))
+    return bias_init

mmdet/ops/nms/cpu_soft_nms.pyx

@@ -3,6 +3,7 @@
 # Copyright (c) University of Maryland, College Park
 # Licensed under The MIT License [see LICENSE for details]
 # Written by Navaneeth Bodla and Bharat Singh
+# Modified by Kai Chen
 # ----------------------------------------------------------
 
 import numpy as np
@@ -15,12 +16,13 @@ cdef inline np.float32_t max(np.float32_t a, np.float32_t b):
 cdef inline np.float32_t min(np.float32_t a, np.float32_t b):
     return a if a <= b else b
 
+
 def cpu_soft_nms(
     np.ndarray[float, ndim=2] boxes_in,
+    float iou_thr,
+    unsigned int method=1,
     float sigma=0.5,
-    float Nt=0.3,
-    float threshold=0.001,
-    unsigned int method=0
+    float min_score=0.001,
 ):
     boxes = boxes_in.copy()
     cdef unsigned int N = boxes.shape[0]
@@ -36,11 +38,11 @@ def cpu_soft_nms(
         maxscore = boxes[i, 4]
         maxpos = i
 
-        tx1 = boxes[i,0]
-        ty1 = boxes[i,1]
-        tx2 = boxes[i,2]
-        ty2 = boxes[i,3]
-        ts = boxes[i,4]
+        tx1 = boxes[i, 0]
+        ty1 = boxes[i, 1]
+        tx2 = boxes[i, 2]
+        ty2 = boxes[i, 3]
+        ts = boxes[i, 4]
         ti = inds[i]
 
         pos = i + 1
@@ -52,26 +54,26 @@ def cpu_soft_nms(
             pos = pos + 1
 
         # add max box as a detection
-        boxes[i,0] = boxes[maxpos,0]
-        boxes[i,1] = boxes[maxpos,1]
-        boxes[i,2] = boxes[maxpos,2]
-        boxes[i,3] = boxes[maxpos,3]
-        boxes[i,4] = boxes[maxpos,4]
+        boxes[i, 0] = boxes[maxpos, 0]
+        boxes[i, 1] = boxes[maxpos, 1]
+        boxes[i, 2] = boxes[maxpos, 2]
+        boxes[i, 3] = boxes[maxpos, 3]
+        boxes[i, 4] = boxes[maxpos, 4]
         inds[i] = inds[maxpos]
 
         # swap ith box with position of max box
-        boxes[maxpos,0] = tx1
-        boxes[maxpos,1] = ty1
-        boxes[maxpos,2] = tx2
-        boxes[maxpos,3] = ty2
-        boxes[maxpos,4] = ts
+        boxes[maxpos, 0] = tx1
+        boxes[maxpos, 1] = ty1
+        boxes[maxpos, 2] = tx2
+        boxes[maxpos, 3] = ty2
+        boxes[maxpos, 4] = ts
         inds[maxpos] = ti
 
-        tx1 = boxes[i,0]
-        ty1 = boxes[i,1]
-        tx2 = boxes[i,2]
-        ty2 = boxes[i,3]
-        ts = boxes[i,4]
+        tx1 = boxes[i, 0]
+        ty1 = boxes[i, 1]
+        tx2 = boxes[i, 2]
+        ty2 = boxes[i, 3]
+        ts = boxes[i, 4]
 
         pos = i + 1
         # NMS iterations, note that N changes if detection boxes fall below
@@ -89,35 +91,35 @@ def cpu_soft_nms(
                 ih = (min(ty2, y2) - max(ty1, y1) + 1)
                 if ih > 0:
                     ua = float((tx2 - tx1 + 1) * (ty2 - ty1 + 1) + area - iw * ih)
-                    ov = iw * ih / ua #iou between max box and detection box
+                    ov = iw * ih / ua  # iou between max box and detection box
 
-                    if method == 1: # linear
-                        if ov > Nt:
+                    if method == 1:  # linear
+                        if ov > iou_thr:
                             weight = 1 - ov
                         else:
                             weight = 1
-                    elif method == 2: # gaussian
-                        weight = np.exp(-(ov * ov)/sigma)
-                    else: # original NMS
-                        if ov > Nt:
+                    elif method == 2:  # gaussian
+                        weight = np.exp(-(ov * ov) / sigma)
+                    else:  # original NMS
+                        if ov > iou_thr:
                             weight = 0
                         else:
                             weight = 1
 
-                    boxes[pos, 4] = weight*boxes[pos, 4]
+                    boxes[pos, 4] = weight * boxes[pos, 4]
 
                     # if box score falls below threshold, discard the box by
                     # swapping with last box update N
-                    if boxes[pos, 4] < threshold:
-                        boxes[pos,0] = boxes[N-1, 0]
-                        boxes[pos,1] = boxes[N-1, 1]
-                        boxes[pos,2] = boxes[N-1, 2]
-                        boxes[pos,3] = boxes[N-1, 3]
-                        boxes[pos,4] = boxes[N-1, 4]
-                        inds[pos] = inds[N-1]
+                    if boxes[pos, 4] < min_score:
+                        boxes[pos, 0] = boxes[N-1, 0]
+                        boxes[pos, 1] = boxes[N-1, 1]
+                        boxes[pos, 2] = boxes[N-1, 2]
+                        boxes[pos, 3] = boxes[N-1, 3]
+                        boxes[pos, 4] = boxes[N-1, 4]
+                        inds[pos] = inds[N - 1]
                         N = N - 1
                         pos = pos - 1
 
             pos = pos + 1
 
-    return boxes[:N], inds[:N]
+    return boxes[:N], inds[:N]
\ No newline at end of file

mmdet/ops/nms/gpu_nms.pyx

@@ -19,7 +19,7 @@ memory_pool = {}
 def gpu_nms(np.ndarray[np.float32_t, ndim=2] dets, np.float thresh,
             np.int32_t device_id=0):
     cdef int boxes_num = dets.shape[0]
-    cdef int boxes_dim = dets.shape[1]
+    cdef int boxes_dim = 5
     cdef int num_out
     cdef size_t base
     cdef np.ndarray[np.int32_t, ndim=1] \
@@ -29,7 +29,7 @@ def gpu_nms(np.ndarray[np.float32_t, ndim=2] dets, np.float thresh,
     cdef np.ndarray[np.int_t, ndim=1] \
         order = scores.argsort()[::-1]
     cdef np.ndarray[np.float32_t, ndim=2] \
-        sorted_dets = dets[order, :]
+        sorted_dets = dets[order, :5]
     cdef float cthresh = thresh
     if device_id not in memory_pool:
         with nogil: