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fix: Petr3D support cpu inference with different mmcv version

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Link: https://code.alibaba-inc.com/Ali-MaaS/MaaS-lib/codereview/11663463

* support cpu inference with different mmcv version
This commit is contained in:
yuxiang.tyx
2023-02-14 14:49:47 +00:00
committed by wenmeng.zwm
parent 57670f1e64
commit 2738f659cf
1 changed files with 6 additions and 1 deletions
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7
modelscope/models/cv/object_detection_3d/depe/mmdet3d_plugin/models/detectors/petr3d.py
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@@ -4,6 +4,7 @@ https://github.com/megvii-research/PETR/blob/main/projects/mmdet3d_plugin/models
"""
import numpy as np
import torch
from mmcv.parallel.data_container import DataContainer as DC
from mmcv.runner import auto_fp16, force_fp32
from mmdet3d.core import bbox3d2result
from mmdet3d.models.detectors.mvx_two_stage import MVXTwoStageDetector
@@ -185,7 +186,11 @@ class Petr3D(MVXTwoStageDetector):
def simple_test(self, img_metas, img=None, rescale=False):
"""Test function without augmentaiton."""
if not torch.cuda.is_available() and img is not None:
img = img[0]
if isinstance(img, torch.Tensor):
img = img[0]
elif isinstance(img, DC) and isinstance(img_metas, DC):
img = img.data[0]
img_metas = img_metas.data[0]
img_feats = self.extract_feat(img=img, img_metas=img_metas)
bbox_list = [dict() for i in range(len(img_metas))]
bbox_pts = self.simple_test_pts(img_feats, img_metas, rescale=rescale)