easycv/models/segmentation/heads/pixel_decoder.py

import copy
from typing import Callable, List, Optional, Union

import numpy as np
import torch
from torch import nn
from torch.cuda.amp import autocast
from torch.nn import functional as F
from torch.nn.init import normal_

from .transformer_decoder import PositionEmbeddingSine, _get_activation_fn


def _get_clones(module, N):
    return nn.ModuleList([copy.deepcopy(module) for i in range(N)])


def c2_xavier_fill(module: nn.Module):
    """
    Initialize `module.weight` using the "XavierFill" implemented in Caffe2.
    Also initializes `module.bias` to 0.
    Args:
        module (torch.nn.Module): module to initialize.
    """
    # Caffe2 implementation of XavierFill in fact
    # corresponds to kaiming_uniform_ in PyTorch
    # pyre-fixme[6]: For 1st param expected `Tensor` but got `Union[Module, Tensor]`.
    nn.init.kaiming_uniform_(module.weight, a=1)
    if module.bias is not None:
        # pyre-fixme[6]: Expected `Tensor` for 1st param but got `Union[nn.Module,
        #  torch.Tensor]`.
        nn.init.constant_(module.bias, 0)


class Conv2d(torch.nn.Conv2d):
    """
    A wrapper around :class:`torch.nn.Conv2d` to support empty inputs and more features.
    """

    def __init__(self, *args, **kwargs):
        """
        Extra keyword arguments supported in addition to those in `torch.nn.Conv2d`:
        Args:
            norm (nn.Module, optional): a normalization layer
            activation (callable(Tensor) -> Tensor): a callable activation function
        It assumes that norm layer is used before activation.
        """
        norm = kwargs.pop('norm', None)
        activation = kwargs.pop('activation', None)
        super().__init__(*args, **kwargs)

        self.norm = norm
        self.activation = activation

    def forward(self, x):
        # torchscript does not support SyncBatchNorm yet
        # https://github.com/pytorch/pytorch/issues/40507
        # and we skip these codes in torchscript since:
        # 1. currently we only support torchscript in evaluation mode
        # 2. features needed by exporting module to torchscript are added in PyTorch 1.6 or
        # later version, `Conv2d` in these PyTorch versions has already supported empty inputs.
        if not torch.jit.is_scripting():
            if x.numel() == 0 and self.training:
                # https://github.com/pytorch/pytorch/issues/12013
                assert not isinstance(
                    self.norm, torch.nn.SyncBatchNorm
                ), 'SyncBatchNorm does not support empty inputs!'

        x = F.conv2d(x, self.weight, self.bias, self.stride, self.padding,
                     self.dilation, self.groups)
        if self.norm is not None:
            x = self.norm(x)
        if self.activation is not None:
            x = self.activation(x)
        return x


# Modified from https://github.com/facebookresearch/Mask2Former/blob/main/mask2former/modeling/pixel_decoder/msdeformattn.py
class MSDeformAttnTransformerEncoderOnly(nn.Module):

    def __init__(
        self,
        d_model=256,
        nhead=8,
        num_encoder_layers=6,
        dim_feedforward=1024,
        dropout=0.1,
        activation='relu',
        num_feature_levels=4,
        enc_n_points=4,
    ):
        super().__init__()

        self.d_model = d_model
        self.nhead = nhead

        encoder_layer = MSDeformAttnTransformerEncoderLayer(
            d_model, dim_feedforward, dropout, activation, num_feature_levels,
            nhead, enc_n_points)
        self.encoder = MSDeformAttnTransformerEncoder(encoder_layer,
                                                      num_encoder_layers)

        self.level_embed = nn.Parameter(
            torch.Tensor(num_feature_levels, d_model))

        self._reset_parameters()

    def _reset_parameters(self):
        for p in self.parameters():
            if p.dim() > 1:
                nn.init.xavier_uniform_(p)
        for m in self.modules():
            from easycv.thirdparty.deformable_attention.modules import MSDeformAttn
            if isinstance(m, MSDeformAttn):
                m._reset_parameters()
        normal_(self.level_embed)

    def get_valid_ratio(self, mask):
        _, H, W = mask.shape
        valid_H = torch.sum(~mask[:, :, 0], 1)
        valid_W = torch.sum(~mask[:, 0, :], 1)
        valid_ratio_h = valid_H.float() / H
        valid_ratio_w = valid_W.float() / W
        valid_ratio = torch.stack([valid_ratio_w, valid_ratio_h], -1)
        return valid_ratio

    def forward(self, srcs, pos_embeds):
        masks = [
            torch.zeros((x.size(0), x.size(2), x.size(3)),
                        device=x.device,
                        dtype=torch.bool) for x in srcs
        ]
        # prepare input for encoder
        src_flatten = []
        mask_flatten = []
        lvl_pos_embed_flatten = []
        spatial_shapes = []
        for lvl, (src, mask,
                  pos_embed) in enumerate(zip(srcs, masks, pos_embeds)):
            bs, c, h, w = src.shape
            spatial_shape = (h, w)
            spatial_shapes.append(spatial_shape)
            src = src.flatten(2).transpose(1, 2)
            mask = mask.flatten(1)
            pos_embed = pos_embed.flatten(2).transpose(1, 2)
            lvl_pos_embed = pos_embed + self.level_embed[lvl].view(1, 1, -1)
            lvl_pos_embed_flatten.append(lvl_pos_embed)
            src_flatten.append(src)
            mask_flatten.append(mask)
        src_flatten = torch.cat(src_flatten, 1)
        mask_flatten = torch.cat(mask_flatten, 1)
        lvl_pos_embed_flatten = torch.cat(lvl_pos_embed_flatten, 1)
        spatial_shapes = torch.as_tensor(
            spatial_shapes, dtype=torch.long, device=src_flatten.device)
        level_start_index = torch.cat((spatial_shapes.new_zeros(
            (1, )), spatial_shapes.prod(1).cumsum(0)[:-1]))
        valid_ratios = torch.stack([self.get_valid_ratio(m) for m in masks], 1)
        # encoder
        memory = self.encoder(src_flatten, spatial_shapes, level_start_index,
                              valid_ratios, lvl_pos_embed_flatten,
                              mask_flatten)

        return memory, spatial_shapes, level_start_index


class MSDeformAttnTransformerEncoderLayer(nn.Module):

    def __init__(self,
                 d_model=256,
                 d_ffn=1024,
                 dropout=0.1,
                 activation='relu',
                 n_levels=4,
                 n_heads=8,
                 n_points=4):
        super().__init__()

        # self attention
        from easycv.thirdparty.deformable_attention.modules import MSDeformAttn
        self.self_attn = MSDeformAttn(d_model, n_levels, n_heads, n_points)
        self.dropout1 = nn.Dropout(dropout)
        self.norm1 = nn.LayerNorm(d_model)

        # ffn
        self.linear1 = nn.Linear(d_model, d_ffn)
        self.activation = _get_activation_fn(activation)
        self.dropout2 = nn.Dropout(dropout)
        self.linear2 = nn.Linear(d_ffn, d_model)
        self.dropout3 = nn.Dropout(dropout)
        self.norm2 = nn.LayerNorm(d_model)

    @staticmethod
    def with_pos_embed(tensor, pos):
        return tensor if pos is None else tensor + pos

    def forward_ffn(self, src):
        src2 = self.linear2(self.dropout2(self.activation(self.linear1(src))))
        src = src + self.dropout3(src2)
        src = self.norm2(src)
        return src

    def forward(self,
                src,
                pos,
                reference_points,
                spatial_shapes,
                level_start_index,
                padding_mask=None):
        # self attention
        src2 = self.self_attn(
            self.with_pos_embed(src, pos), reference_points, src,
            spatial_shapes, level_start_index, padding_mask)
        src = src + self.dropout1(src2)
        src = self.norm1(src)

        # ffn
        src = self.forward_ffn(src)

        return src


class MSDeformAttnTransformerEncoder(nn.Module):

    def __init__(self, encoder_layer, num_layers):
        super().__init__()
        self.layers = _get_clones(encoder_layer, num_layers)
        self.num_layers = num_layers

    @staticmethod
    def get_reference_points(spatial_shapes, valid_ratios, device):
        reference_points_list = []
        for lvl, (H_, W_) in enumerate(spatial_shapes):

            ref_y, ref_x = torch.meshgrid(
                torch.linspace(
                    0.5, H_ - 0.5, H_, dtype=torch.float32, device=device),
                torch.linspace(
                    0.5, W_ - 0.5, W_, dtype=torch.float32, device=device))
            ref_y = ref_y.reshape(-1)[None] / (
                valid_ratios[:, None, lvl, 1] * H_)
            ref_x = ref_x.reshape(-1)[None] / (
                valid_ratios[:, None, lvl, 0] * W_)
            ref = torch.stack((ref_x, ref_y), -1)
            reference_points_list.append(ref)
        reference_points = torch.cat(reference_points_list, 1)
        reference_points = reference_points[:, :, None] * valid_ratios[:, None]
        return reference_points

    def forward(self,
                src,
                spatial_shapes,
                level_start_index,
                valid_ratios,
                pos=None,
                padding_mask=None):
        output = src
        reference_points = self.get_reference_points(
            spatial_shapes, valid_ratios, device=src.device)
        for _, layer in enumerate(self.layers):
            output = layer(output, pos, reference_points, spatial_shapes,
                           level_start_index, padding_mask)

        return output


class MSDeformAttnPixelDecoder(nn.Module):

    def __init__(
        self,
        input_stride,
        input_channel,
        *,
        transformer_dropout: float = 0.0,
        transformer_nheads: int = 8,
        transformer_dim_feedforward: int = 1024,
        transformer_enc_layers: int = 6,
        conv_dim: int = 256,
        mask_dim: int = 256,
        norm: Optional[Union[str, Callable]] = 'GN',
        # deformable transformer encoder args
        transformer_in_features: List[int] = [1, 2, 3],
        common_stride: int = 4,
    ):
        """
        Args:
            input_stride: stride of the input features
            input_channel: channels of the input features
            transformer_dropout: dropout probability in transformer
            transformer_nheads: number of heads in transformer
            transformer_dim_feedforward: dimension of feedforward network
            transformer_enc_layers: number of transformer encoder layers
            conv_dims: number of output channels for the intermediate conv layers.
            mask_dim: number of output channels for the final conv layer.
            norm (str or callable): normalization for all conv layers
        """
        super().__init__()
        self.in_features = [i for i in range(len(input_stride))]
        self.feature_strides = input_stride
        self.feature_channels = input_channel

        # this is the input shape of transformer encoder (could use less features than pixel decoder
        # transformer_input_shape = sorted(transformer_input_shape.items(), key=lambda x: x[1].stride)
        self.transformer_in_features = transformer_in_features  # starting from "res2" to "res5"
        transformer_in_channels = [
            input_channel[i] for i in transformer_in_features
        ]
        self.transformer_feature_strides = [
            input_stride[i] for i in transformer_in_features
        ]  # to decide extra FPN layers

        self.transformer_num_feature_levels = len(transformer_in_features)
        if self.transformer_num_feature_levels > 1:
            input_proj_list = []
            # from low resolution to high resolution (res5 -> res2)
            for in_channels in transformer_in_channels[::-1]:
                input_proj_list.append(
                    nn.Sequential(
                        nn.Conv2d(in_channels, conv_dim, kernel_size=1),
                        nn.GroupNorm(32, conv_dim),
                    ))
            self.input_proj = nn.ModuleList(input_proj_list)
        else:
            self.input_proj = nn.ModuleList([
                nn.Sequential(
                    nn.Conv2d(
                        transformer_in_channels[-1], conv_dim, kernel_size=1),
                    nn.GroupNorm(32, conv_dim),
                )
            ])

        for proj in self.input_proj:
            nn.init.xavier_uniform_(proj[0].weight, gain=1)
            nn.init.constant_(proj[0].bias, 0)

        self.transformer = MSDeformAttnTransformerEncoderOnly(
            d_model=conv_dim,
            dropout=transformer_dropout,
            nhead=transformer_nheads,
            dim_feedforward=transformer_dim_feedforward,
            num_encoder_layers=transformer_enc_layers,
            num_feature_levels=self.transformer_num_feature_levels,
        )
        N_steps = conv_dim // 2
        self.pe_layer = PositionEmbeddingSine(N_steps, normalize=True)

        self.mask_dim = mask_dim
        # use 1x1 conv instead
        self.mask_features = Conv2d(
            conv_dim,
            mask_dim,
            kernel_size=1,
            stride=1,
            padding=0,
        )
        c2_xavier_fill(self.mask_features)

        self.maskformer_num_feature_levels = 3  # always use 3 scales
        self.common_stride = common_stride

        # extra fpn levels
        stride = min(self.transformer_feature_strides)
        self.num_fpn_levels = int(
            np.log2(stride) - np.log2(self.common_stride))

        lateral_convs = []
        output_convs = []

        # use_bias = norm == ""
        use_bias = False
        for idx, in_channels in enumerate(
                self.feature_channels[:self.num_fpn_levels]):
            lateral_norm = torch.nn.GroupNorm(32, conv_dim)
            output_norm = torch.nn.GroupNorm(32, conv_dim)

            lateral_conv = Conv2d(
                in_channels,
                conv_dim,
                kernel_size=1,
                bias=use_bias,
                norm=lateral_norm)
            output_conv = Conv2d(
                conv_dim,
                conv_dim,
                kernel_size=3,
                stride=1,
                padding=1,
                bias=use_bias,
                norm=output_norm,
                activation=F.relu,
            )
            c2_xavier_fill(lateral_conv)
            c2_xavier_fill(output_conv)
            self.add_module('adapter_{}'.format(idx + 1), lateral_conv)
            self.add_module('layer_{}'.format(idx + 1), output_conv)

            lateral_convs.append(lateral_conv)
            output_convs.append(output_conv)
        # Place convs into top-down order (from low to high resolution)
        # to make the top-down computation in forward clearer.
        self.lateral_convs = lateral_convs[::-1]
        self.output_convs = output_convs[::-1]

    @autocast(enabled=False)
    def forward_features(self, features):
        srcs = []
        pos = []
        # Reverse feature maps into top-down order (from low to high resolution)
        for idx, f in enumerate(self.transformer_in_features[::-1]):
            x = features[f].float(
            )  # deformable detr does not support half precision
            srcs.append(self.input_proj[idx](x))
            pos.append(self.pe_layer(x))

        y, spatial_shapes, level_start_index = self.transformer(srcs, pos)
        bs = y.shape[0]

        split_size_or_sections = [None] * self.transformer_num_feature_levels
        for i in range(self.transformer_num_feature_levels):
            if i < self.transformer_num_feature_levels - 1:
                split_size_or_sections[i] = level_start_index[
                    i + 1] - level_start_index[i]
            else:
                split_size_or_sections[i] = y.shape[1] - level_start_index[i]
        y = torch.split(y, split_size_or_sections, dim=1)

        out = []
        multi_scale_features = []
        num_cur_levels = 0
        for i, z in enumerate(y):
            out.append(
                z.transpose(1, 2).view(bs, -1, spatial_shapes[i][0],
                                       spatial_shapes[i][1]))

        # append `out` with extra FPN levels
        # Reverse feature maps into top-down order (from low to high resolution)
        for idx, f in enumerate(self.in_features[:self.num_fpn_levels][::-1]):
            x = features[f].float()
            lateral_conv = self.lateral_convs[idx]
            output_conv = self.output_convs[idx]
            cur_fpn = lateral_conv(x)
            # Following FPN implementation, we use nearest upsampling here
            y = cur_fpn + F.interpolate(
                out[-1],
                size=cur_fpn.shape[-2:],
                mode='bilinear',
                align_corners=False)
            y = output_conv(y)
            out.append(y)

        for o in out:
            if num_cur_levels < self.maskformer_num_feature_levels:
                multi_scale_features.append(o)
                num_cur_levels += 1

        return self.mask_features(out[-1]), out[0], multi_scale_features