text: from __future__ import division
  
  import torch
  import torch.nn as nn
  
  from mmdet.core import (bbox2result, bbox2roi, build_assigner, build_sampler,
                          merge_aug_masks)
  from .. import builder
  from ..registry import DETECTORS
  from .base import BaseDetector
  from .test_mixins import RPNTestMixin
  
  # training code is done, the test code is unmodified 2019/11/25
  @DETECTORS.register_module
  class CascadeRCNN_back(BaseDetector, RPNTestMixin):
  
      def __init__(self,
                   num_stages,
                   backbone,
                   neck=None,
                   shared_head=None,
                   rpn_head=None,
                   bbox_roi_extractor=None,
                   bbox_head=None,
                   # context_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_back, self).__init__()
  
          self.num_stages = num_stages
          self.backbone = builder.build_backbone(backbone)
  
          if neck is not None:
              self.neck = builder.build_neck(neck)
  
          if rpn_head is not None:
              self.rpn_head = builder.build_head(rpn_head)
  
          if shared_head is not None:
              self.shared_head = builder.build_shared_head(shared_head)
  
          # if context_head is not None:
          #     self.context_head = builder.build_head(context_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_head(head))
  
          if mask_head is not None:
              self.mask_head = nn.ModuleList()
              if not isinstance(mask_head, list):
                  mask_head = [mask_head for _ in range(num_stages)]
              assert len(mask_head) == self.num_stages
              for head in mask_head:
                  self.mask_head.append(builder.build_head(head))
              if mask_roi_extractor is not None:
                  self.share_roi_extractor = False
                  self.mask_roi_extractor = nn.ModuleList()
                  if not isinstance(mask_roi_extractor, list):
                      mask_roi_extractor = [
                          mask_roi_extractor for _ in range(num_stages)
                      ]
                  assert len(mask_roi_extractor) == self.num_stages
                  for roi_extractor in mask_roi_extractor:
                      self.mask_roi_extractor.append(
                          builder.build_roi_extractor(roi_extractor))
              else:
                  self.share_roi_extractor = True
                  self.mask_roi_extractor = self.bbox_roi_extractor
  
          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_back, 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()
          if self.with_shared_head:
              self.shared_head.init_weights(pretrained=pretrained)
          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:
                  if not self.share_roi_extractor:
                      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_dummy(self, img):
          outs = ()
          # backbone
          x = self.extract_feat(img)
          # rpn
          if self.with_rpn:
              rpn_outs = self.rpn_head(x)
              outs = outs + (rpn_outs, )
          proposals = torch.randn(1000, 4).cuda()
          # bbox heads
          rois = bbox2roi([proposals])
          if self.with_bbox:
              for i in range(self.num_stages):
                  bbox_feats = self.bbox_roi_extractor[i](
                      x[:self.bbox_roi_extractor[i].num_inputs], rois)
                  if self.with_shared_head:
                      bbox_feats = self.shared_head(bbox_feats)
                  cls_score, bbox_pred = self.bbox_head[i](bbox_feats)
                  outs = outs + (cls_score, bbox_pred)
          # mask heads
          if self.with_mask:
              mask_rois = rois[:100]
              for i in range(self.num_stages):
                  mask_feats = self.mask_roi_extractor[i](
                      x[:self.mask_roi_extractor[i].num_inputs], mask_rois)
                  if self.with_shared_head:
                      mask_feats = self.shared_head(mask_feats)
                  mask_pred = self.mask_head[i](mask_feats)
                  outs = outs + (mask_pred, )
          return outs
  
      def forward_train(self,
                        img,
                        img_meta,
                        gt_bboxes,
                        gt_labels,
                        gt_bboxes_ignore=None,
                        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, gt_bboxes_ignore=gt_bboxes_ignore)
              losses.update(rpn_losses)
  
              proposal_cfg = self.train_cfg.get('rpn_proposal',
                                                self.test_cfg.rpn)
              proposal_inputs = rpn_outs + (img_meta, proposal_cfg)
              proposal_list = self.rpn_head.get_bboxes(*proposal_inputs)
          else:
              proposal_list = proposals
  
          for i in range(self.num_stages):
              self.current_stage = i
              rcnn_train_cfg = self.train_cfg.rcnn[i]
              lw = self.train_cfg.stage_loss_weights[i]
  
              # assign gts and sample proposals
              sampling_results = []
              if self.with_bbox or self.with_mask:
                  bbox_assigner = build_assigner(rcnn_train_cfg.assigner)
                  bbox_sampler = build_sampler(
                      rcnn_train_cfg.sampler, context=self)
                  num_imgs = img.size(0)
                  if gt_bboxes_ignore is None:
                      gt_bboxes_ignore = [None for _ in range(num_imgs)]
  
                  for j in range(num_imgs):
                      assign_result = bbox_assigner.assign(
                          proposal_list[j], gt_bboxes[j], gt_bboxes_ignore[j],
                          gt_labels[j])
                      sampling_result = bbox_sampler.sample(
                          assign_result,
                          proposal_list[j],
                          gt_bboxes[j],
                          gt_labels[j],
                          feats=[lvl_feat[j][None] for lvl_feat in x])
                      sampling_results.append(sampling_result)
  
              # mask head forward and loss
              if self.with_mask:
                  if not self.share_roi_extractor:
                      mask_roi_extractor = self.mask_roi_extractor[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)
                      if self.with_shared_head:
                          mask_feats = self.shared_head(mask_feats)
                  else:
                      # reuse positive bbox feats
                      pos_inds = []
                      device = bbox_feats.device
                      for res in sampling_results:
                          pos_inds.append(
                              torch.ones(
                                  res.pos_bboxes.shape[0],
                                  device=device,
                                  dtype=torch.uint8))
                          pos_inds.append(
                              torch.zeros(
                                  res.neg_bboxes.shape[0],
                                  device=device,
                                  dtype=torch.uint8))
                      pos_inds = torch.cat(pos_inds)
                      mask_feats = bbox_feats[pos_inds]
                  mask_head = self.mask_head[i]
                  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])
                  neg_labels = [torch.zeros_like(res.neg_inds) for res in sampling_result]
                  labels = zip(pos_labels, neg_labels)
                  torch.cat([torch.cat(label) for label in labels])
  
                  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)
  
  
              # 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)
              if self.with_shared_head:
                  bbox_feats = self.shared_head(bbox_feats)
  
              # bbox_feats = self.context_head(bbox_feats, mask_pred.detach())
              cls_score, bbox_pred = bbox_head(bbox_feats, mask_pred.detach())
  
              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)
  
              # 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)
          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)], rois)
              if self.with_shared_head:
                  mask_feats = self.shared_head(mask_feats)
              mask_pred = self.mask_head[i](mask_feats)
              aug_masks.append(mask_pred.sigmoid().cpu().numpy())
  
              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)
              if self.with_shared_head:
                  bbox_feats = self.shared_head(bbox_feats)
  
              cls_score, bbox_pred = bbox_head(bbox_feats, mask_pred)
              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:
                          mask_classes = mask_head.num_classes - 1
                          segm_result = [[] for _ in range(mask_classes)]
                      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)
                          if self.with_shared_head:
                              mask_feats = self.shared_head(mask_feats, i)
                          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:
                  mask_classes = self.mask_head[-1].num_classes - 1
                  segm_result = [[] for _ in range(mask_classes)]
              else:
                  if isinstance(scale_factor, float):  # aspect ratio fixed
                      _bboxes = (
                          det_bboxes[:, :4] *
                          scale_factor if rescale else det_bboxes)
                  else:
                      _bboxes = (
                          det_bboxes[:, :4] *
                          torch.from_numpy(scale_factor).to(det_bboxes.device)
                          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)
                      if self.with_shared_head:
                          mask_feats = self.shared_head(mask_feats)
                      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, **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_back, self).show_result(data, result, **kwargs)
  