[Feature] Support ONNX and TensorRT exportation of RTMO models (#2597)

* support ONNX&TensorRT exportation of RTMO

* add configs for rtmo

* replace bbox expansion factor with parameter bbox_padding

* refine code

* refine comment

* apply model.switch_to_deploy in BaseTask.build_pytorch_model

* fix lint

* add rtmo into regression test

* add rtmo with trt backend into regression test

* add rtmo into supported model list

configs/mmpose/pose-detection_rtmo_onnxruntime_dynamic.py

@@ -0,0 +1,25 @@
+_base_ = ['./pose-detection_static.py', '../_base_/backends/onnxruntime.py']
+
+onnx_config = dict(
+    output_names=['dets', 'keypoints'],
+    dynamic_axes={
+        'input': {
+            0: 'batch',
+        },
+        'dets': {
+            0: 'batch',
+        },
+        'keypoints': {
+            0: 'batch'
+        }
+    })
+
+codebase_config = dict(
+    post_processing=dict(
+        score_threshold=0.05,
+        iou_threshold=0.5,
+        max_output_boxes_per_class=200,
+        pre_top_k=2000,
+        keep_top_k=50,
+        background_label_id=-1,
+    ))

configs/mmpose/pose-detection_rtmo_tensorrt-fp16_dynamic-640x640.py

@@ -0,0 +1,36 @@
+_base_ = ['./pose-detection_static.py', '../_base_/backends/tensorrt-fp16.py']
+
+onnx_config = dict(
+    output_names=['dets', 'keypoints'],
+    dynamic_axes={
+        'input': {
+            0: 'batch',
+        },
+        'dets': {
+            0: 'batch',
+        },
+        'keypoints': {
+            0: 'batch'
+        }
+    })
+
+backend_config = dict(
+    common_config=dict(max_workspace_size=1 << 30),
+    model_inputs=[
+        dict(
+            input_shapes=dict(
+                input=dict(
+                    min_shape=[1, 3, 640, 640],
+                    opt_shape=[1, 3, 640, 640],
+                    max_shape=[1, 3, 640, 640])))
+    ])
+
+codebase_config = dict(
+    post_processing=dict(
+        score_threshold=0.05,
+        iou_threshold=0.5,
+        max_output_boxes_per_class=200,
+        pre_top_k=2000,
+        keep_top_k=50,
+        background_label_id=-1,
+    ))

docs/en/04-supported-codebases/mmpose.md

@@ -161,3 +161,4 @@ TODO
 | [SimCC](https://mmpose.readthedocs.io/en/latest/model_zoo_papers/algorithms.html#simcc-eccv-2022)         | PoseDetection |      Y       |    Y     |  Y   |   N   |    Y     |
 | [RTMPose](https://github.com/open-mmlab/mmpose/tree/main/projects/rtmpose)                                | PoseDetection |      Y       |    Y     |  Y   |   N   |    Y     |
 | [YoloX-Pose](https://github.com/open-mmlab/mmpose/tree/main/projects/yolox_pose)                          | PoseDetection |      Y       |    Y     |  N   |   N   |    Y     |
+| [RTMO](https://github.com/open-mmlab/mmpose/tree/dev-1.x/projects/rtmo)                                   | PoseDetection |      Y       |    Y     |  N   |   N   |    N     |

docs/zh_cn/04-supported-codebases/mmpose.md

@@ -165,3 +165,4 @@ task_processor.visualize(
 | [SimCC](https://mmpose.readthedocs.io/en/latest/model_zoo_papers/algorithms.html#simcc-eccv-2022)         | PoseDetection |      Y       |    Y     |  Y   |   N   |    Y     |
 | [RTMPose](https://github.com/open-mmlab/mmpose/tree/main/projects/rtmpose)                                | PoseDetection |      Y       |    Y     |  Y   |   N   |    Y     |
 | [YoloX-Pose](https://github.com/open-mmlab/mmpose/tree/main/projects/yolox_pose)                          | PoseDetection |      Y       |    Y     |  N   |   N   |    Y     |
+| [RTMO](https://github.com/open-mmlab/mmpose/tree/dev-1.x/projects/rtmo)                                   | PoseDetection |      Y       |    Y     |  N   |   N   |    N     |

mmdeploy/codebase/base/task.py

@@ -126,6 +126,11 @@ def build_pytorch_model(self,
         if hasattr(model, 'backbone') and hasattr(model.backbone,
                                                   'switch_to_deploy'):
             model.backbone.switch_to_deploy()
+
+        if hasattr(model, 'switch_to_deploy') and callable(
+                model.switch_to_deploy):
+            model.switch_to_deploy()
+
         model = model.to(self.device)
         model.eval()
         return model

mmdeploy/codebase/mmpose/models/heads/__init__.py

@@ -1,4 +1,4 @@
 # Copyright (c) OpenMMLab. All rights reserved.
-from . import mspn_head, simcc_head, yolox_pose_head  # noqa: F401,F403
+from . import mspn_head, rtmo_head, simcc_head, yolox_pose_head
 
-__all__ = ['mspn_head', 'yolox_pose_head', 'simcc_head']
+__all__ = ['mspn_head', 'yolox_pose_head', 'simcc_head', 'rtmo_head']

mmdeploy/codebase/mmpose/models/heads/rtmo_head.py

@@ -0,0 +1,100 @@
+# Copyright (c) OpenMMLab. All rights reserved.
+from typing import List, Optional, Tuple
+
+import torch
+from mmpose.structures.bbox import bbox_xyxy2cs
+from torch import Tensor
+
+from mmdeploy.codebase.mmdet import get_post_processing_params
+from mmdeploy.core import FUNCTION_REWRITER
+from mmdeploy.mmcv.ops.nms import multiclass_nms
+from mmdeploy.utils import Backend, get_backend
+
+
+@FUNCTION_REWRITER.register_rewriter(
+    func_name='mmpose.models.heads.hybrid_heads.'
+    'rtmo_head.RTMOHead.forward')
+def predict(self,
+            x: Tuple[Tensor],
+            batch_data_samples: List = [],
+            test_cfg: Optional[dict] = None):
+    """Get predictions and transform to bbox and keypoints results.
+    Args:
+        x (Tuple[Tensor]): The input tensor from upstream network.
+        batch_data_samples: Batch image meta info. Defaults to None.
+        test_cfg: The runtime config for testing process.
+
+    Returns:
+        Tuple[Tensor]: Predict bbox and keypoint results.
+        - dets (Tensor): Predict bboxes and scores, which is a 3D Tensor,
+            has shape (batch_size, num_instances, 5), the last dimension 5
+            arrange as (x1, y1, x2, y2, score).
+        - pred_kpts (Tensor): Predict keypoints and scores, which is a 4D
+            Tensor, has shape (batch_size, num_instances, num_keypoints, 5),
+            the last dimension 3 arrange as (x, y, score).
+    """
+
+    # deploy context
+    ctx = FUNCTION_REWRITER.get_context()
+    backend = get_backend(ctx.cfg)
+    deploy_cfg = ctx.cfg
+
+    cfg = self.test_cfg if test_cfg is None else test_cfg
+
+    # get predictions
+    cls_scores, bbox_preds, _, kpt_vis, pose_vecs = self.head_module(x)[:5]
+    assert len(cls_scores) == len(bbox_preds)
+    num_imgs = cls_scores[0].shape[0]
+
+    # flatten and concat predictions
+    scores = self._flatten_predictions(cls_scores).sigmoid()
+    flatten_bbox_preds = self._flatten_predictions(bbox_preds)
+    flatten_pose_vecs = self._flatten_predictions(pose_vecs)
+    flatten_kpt_vis = self._flatten_predictions(kpt_vis).sigmoid()
+    bboxes = self.decode_bbox(flatten_bbox_preds, self.flatten_priors,
+                              self.flatten_stride)
+
+    if backend == Backend.TENSORRT:
+        # pad for batched_nms because its output index is filled with -1
+        bboxes = torch.cat(
+            [bboxes,
+             bboxes.new_zeros((bboxes.shape[0], 1, bboxes.shape[2]))],
+            dim=1)
+
+        scores = torch.cat(
+            [scores, scores.new_zeros((scores.shape[0], 1, 1))], dim=1)
+
+    # nms parameters
+    post_params = get_post_processing_params(deploy_cfg)
+    max_output_boxes_per_class = post_params.max_output_boxes_per_class
+    iou_threshold = cfg.get('nms_thr', post_params.iou_threshold)
+    score_threshold = cfg.get('score_thr', post_params.score_threshold)
+    pre_top_k = post_params.get('pre_top_k', -1)
+    keep_top_k = cfg.get('max_per_img', post_params.keep_top_k)
+
+    # do nms
+    _, _, nms_indices = 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(num_imgs, device=scores.device).view(-1, 1)
+
+    # filter predictions
+    dets = torch.cat([bboxes, scores], dim=2)
+    dets = dets[batch_inds, nms_indices, ...]
+    pose_vecs = flatten_pose_vecs[batch_inds, nms_indices, ...]
+    kpt_vis = flatten_kpt_vis[batch_inds, nms_indices, ...]
+    grids = self.flatten_priors[nms_indices, ...]
+
+    # decode keypoints
+    bbox_cs = torch.cat(bbox_xyxy2cs(dets[..., :4], self.bbox_padding), dim=-1)
+    keypoints = self.dcc.forward_test(pose_vecs, bbox_cs, grids)
+    pred_kpts = torch.cat([keypoints, kpt_vis.unsqueeze(-1)], dim=-1)
+
+    return dets, pred_kpts

tests/regression/mmpose.yml

@@ -150,3 +150,17 @@ models:
           input_img: *img_human_pose
           test_img: *img_human_pose
         deploy_config: configs/mmpose/pose-detection_yolox-pose_onnxruntime_dynamic.py
+
+  - name: RTMO
+    metafile: configs/body_2d_keypoint/rtmo/body7/rtmo_body7.yml
+    model_configs:
+      - configs/body_2d_keypoint/rtmo/body7/rtmo-s_8xb32-600e_body7-640x640.py
+    pipelines:
+      - convert_image:
+          input_img: *img_human_pose
+          test_img: *img_human_pose
+        deploy_config: configs/mmpose/pose-detection_rtmo_onnxruntime_dynamic.py
+      - convert_image:
+          input_img: *img_human_pose
+          test_img: *img_human_pose
+        deploy_config: configs/mmpose/pose-detection_rtmo_tensorrt-fp16_dynamic-640x640.py