submodule/sapiens/pose/mmpose/models/backbones/hrformer.py

# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.


import math

import torch
import torch.nn as nn
from mmcv.cnn import build_activation_layer, build_conv_layer, build_norm_layer
from mmcv.cnn.bricks.transformer import build_dropout
from mmengine.model import BaseModule, trunc_normal_init
from torch.nn.functional import pad

from mmpose.registry import MODELS
from .hrnet import Bottleneck, HRModule, HRNet


def nlc_to_nchw(x, hw_shape):
    """Convert [N, L, C] shape tensor to [N, C, H, W] shape tensor.

    Args:
        x (Tensor): The input tensor of shape [N, L, C] before conversion.
        hw_shape (Sequence[int]): The height and width of output feature map.

    Returns:
        Tensor: The output tensor of shape [N, C, H, W] after conversion.
    """
    H, W = hw_shape
    assert len(x.shape) == 3
    B, L, C = x.shape
    assert L == H * W, 'The seq_len doesn\'t match H, W'
    return x.transpose(1, 2).reshape(B, C, H, W)


def nchw_to_nlc(x):
    """Flatten [N, C, H, W] shape tensor to [N, L, C] shape tensor.

    Args:
        x (Tensor): The input tensor of shape [N, C, H, W] before conversion.

    Returns:
        Tensor: The output tensor of shape [N, L, C] after conversion.
    """
    assert len(x.shape) == 4
    return x.flatten(2).transpose(1, 2).contiguous()


def build_drop_path(drop_path_rate):
    """Build drop path layer."""
    return build_dropout(dict(type='DropPath', drop_prob=drop_path_rate))


class WindowMSA(BaseModule):
    """Window based multi-head self-attention (W-MSA) module with relative
    position bias.

    Args:
        embed_dims (int): Number of input channels.
        num_heads (int): Number of attention heads.
        window_size (tuple[int]): The height and width of the window.
        qkv_bias (bool, optional):  If True, add a learnable bias to q, k, v.
            Default: True.
        qk_scale (float | None, optional): Override default qk scale of
            head_dim ** -0.5 if set. Default: None.
        attn_drop_rate (float, optional): Dropout ratio of attention weight.
            Default: 0.0
        proj_drop_rate (float, optional): Dropout ratio of output. Default: 0.
        with_rpe (bool, optional): If True, use relative position bias.
            Default: True.
        init_cfg (dict or list[dict], optional): Initialization config dict.
            Default: None.
    """

    def __init__(self,
                 embed_dims,
                 num_heads,
                 window_size,
                 qkv_bias=True,
                 qk_scale=None,
                 attn_drop_rate=0.,
                 proj_drop_rate=0.,
                 with_rpe=True,
                 init_cfg=None):

        super().__init__(init_cfg=init_cfg)
        self.embed_dims = embed_dims
        self.window_size = window_size  # Wh, Ww
        self.num_heads = num_heads
        head_embed_dims = embed_dims // num_heads
        self.scale = qk_scale or head_embed_dims**-0.5

        self.with_rpe = with_rpe
        if self.with_rpe:
            # define a parameter table of relative position bias
            self.relative_position_bias_table = nn.Parameter(
                torch.zeros(
                    (2 * window_size[0] - 1) * (2 * window_size[1] - 1),
                    num_heads))  # 2*Wh-1 * 2*Ww-1, nH

            Wh, Ww = self.window_size
            rel_index_coords = self.double_step_seq(2 * Ww - 1, Wh, 1, Ww)
            rel_position_index = rel_index_coords + rel_index_coords.T
            rel_position_index = rel_position_index.flip(1).contiguous()
            self.register_buffer('relative_position_index', rel_position_index)

        self.qkv = nn.Linear(embed_dims, embed_dims * 3, bias=qkv_bias)
        self.attn_drop = nn.Dropout(attn_drop_rate)
        self.proj = nn.Linear(embed_dims, embed_dims)
        self.proj_drop = nn.Dropout(proj_drop_rate)

        self.softmax = nn.Softmax(dim=-1)

    def init_weights(self):
        trunc_normal_init(self.relative_position_bias_table, std=0.02)

    def forward(self, x, mask=None):
        """
        Args:

            x (tensor): input features with shape of (B*num_windows, N, C)
            mask (tensor | None, Optional): mask with shape of (num_windows,
                Wh*Ww, Wh*Ww), value should be between (-inf, 0].
        """
        B, N, C = x.shape
        qkv = self.qkv(x).reshape(B, N, 3, self.num_heads,
                                  C // self.num_heads).permute(2, 0, 3, 1, 4)
        q, k, v = qkv[0], qkv[1], qkv[2]

        q = q * self.scale
        attn = (q @ k.transpose(-2, -1))

        if self.with_rpe:
            relative_position_bias = self.relative_position_bias_table[
                self.relative_position_index.view(-1)].view(
                    self.window_size[0] * self.window_size[1],
                    self.window_size[0] * self.window_size[1],
                    -1)  # Wh*Ww,Wh*Ww,nH
            relative_position_bias = relative_position_bias.permute(
                2, 0, 1).contiguous()  # nH, Wh*Ww, Wh*Ww
            attn = attn + relative_position_bias.unsqueeze(0)

        if mask is not None:
            nW = mask.shape[0]
            attn = attn.view(B // nW, nW, self.num_heads, N,
                             N) + mask.unsqueeze(1).unsqueeze(0)
            attn = attn.view(-1, self.num_heads, N, N)
        attn = self.softmax(attn)

        attn = self.attn_drop(attn)

        x = (attn @ v).transpose(1, 2).reshape(B, N, C)
        x = self.proj(x)
        x = self.proj_drop(x)
        return x

    @staticmethod
    def double_step_seq(step1, len1, step2, len2):
        seq1 = torch.arange(0, step1 * len1, step1)
        seq2 = torch.arange(0, step2 * len2, step2)
        return (seq1[:, None] + seq2[None, :]).reshape(1, -1)


class LocalWindowSelfAttention(BaseModule):
    r""" Local-window Self Attention (LSA) module with relative position bias.

    This module is the short-range self-attention module in the
    Interlaced Sparse Self-Attention <https://arxiv.org/abs/1907.12273>`_.

    Args:
        embed_dims (int): Number of input channels.
        num_heads (int): Number of attention heads.
        window_size (tuple[int] | int): The height and width of the window.
        qkv_bias (bool, optional):  If True, add a learnable bias to q, k, v.
            Default: True.
        qk_scale (float | None, optional): Override default qk scale of
            head_dim ** -0.5 if set. Default: None.
        attn_drop_rate (float, optional): Dropout ratio of attention weight.
            Default: 0.0
        proj_drop_rate (float, optional): Dropout ratio of output. Default: 0.
        with_rpe (bool, optional): If True, use relative position bias.
            Default: True.
        with_pad_mask (bool, optional): If True, mask out the padded tokens in
            the attention process. Default: False.
        init_cfg (dict or list[dict], optional): Initialization config dict.
            Default: None.
    """

    def __init__(self,
                 embed_dims,
                 num_heads,
                 window_size,
                 qkv_bias=True,
                 qk_scale=None,
                 attn_drop_rate=0.,
                 proj_drop_rate=0.,
                 with_rpe=True,
                 with_pad_mask=False,
                 init_cfg=None):
        super().__init__(init_cfg=init_cfg)
        if isinstance(window_size, int):
            window_size = (window_size, window_size)
        self.window_size = window_size
        self.with_pad_mask = with_pad_mask
        self.attn = WindowMSA(
            embed_dims=embed_dims,
            num_heads=num_heads,
            window_size=window_size,
            qkv_bias=qkv_bias,
            qk_scale=qk_scale,
            attn_drop_rate=attn_drop_rate,
            proj_drop_rate=proj_drop_rate,
            with_rpe=with_rpe,
            init_cfg=init_cfg)

    def forward(self, x, H, W, **kwargs):
        """Forward function."""
        B, N, C = x.shape
        x = x.view(B, H, W, C)
        Wh, Ww = self.window_size

        # center-pad the feature on H and W axes
        pad_h = math.ceil(H / Wh) * Wh - H
        pad_w = math.ceil(W / Ww) * Ww - W
        x = pad(x, (0, 0, pad_w // 2, pad_w - pad_w // 2, pad_h // 2,
                    pad_h - pad_h // 2))

        # permute
        x = x.view(B, math.ceil(H / Wh), Wh, math.ceil(W / Ww), Ww, C)
        x = x.permute(0, 1, 3, 2, 4, 5)
        x = x.reshape(-1, Wh * Ww, C)  # (B*num_window, Wh*Ww, C)

        # attention
        if self.with_pad_mask and pad_h > 0 and pad_w > 0:
            pad_mask = x.new_zeros(1, H, W, 1)
            pad_mask = pad(
                pad_mask, [
                    0, 0, pad_w // 2, pad_w - pad_w // 2, pad_h // 2,
                    pad_h - pad_h // 2
                ],
                value=-float('inf'))
            pad_mask = pad_mask.view(1, math.ceil(H / Wh), Wh,
                                     math.ceil(W / Ww), Ww, 1)
            pad_mask = pad_mask.permute(1, 3, 0, 2, 4, 5)
            pad_mask = pad_mask.reshape(-1, Wh * Ww)
            pad_mask = pad_mask[:, None, :].expand([-1, Wh * Ww, -1])
            out = self.attn(x, pad_mask, **kwargs)
        else:
            out = self.attn(x, **kwargs)

        # reverse permutation
        out = out.reshape(B, math.ceil(H / Wh), math.ceil(W / Ww), Wh, Ww, C)
        out = out.permute(0, 1, 3, 2, 4, 5)
        out = out.reshape(B, H + pad_h, W + pad_w, C)

        # de-pad
        out = out[:, pad_h // 2:H + pad_h // 2, pad_w // 2:W + pad_w // 2]
        return out.reshape(B, N, C)


class CrossFFN(BaseModule):
    r"""FFN with Depthwise Conv of HRFormer.

    Args:
        in_features (int): The feature dimension.
        hidden_features (int, optional): The hidden dimension of FFNs.
            Defaults: The same as in_features.
        act_cfg (dict, optional): Config of activation layer.
            Default: dict(type='GELU').
        dw_act_cfg (dict, optional): Config of activation layer appended
            right after DW Conv. Default: dict(type='GELU').
        norm_cfg (dict, optional): Config of norm layer.
            Default: dict(type='SyncBN').
        init_cfg (dict or list[dict], optional): Initialization config dict.
            Default: None.
    """

    def __init__(self,
                 in_features,
                 hidden_features=None,
                 out_features=None,
                 act_cfg=dict(type='GELU'),
                 dw_act_cfg=dict(type='GELU'),
                 norm_cfg=dict(type='SyncBN'),
                 init_cfg=None):
        super().__init__(init_cfg=init_cfg)
        out_features = out_features or in_features
        hidden_features = hidden_features or in_features
        self.fc1 = nn.Conv2d(in_features, hidden_features, kernel_size=1)
        self.act1 = build_activation_layer(act_cfg)
        self.norm1 = build_norm_layer(norm_cfg, hidden_features)[1]
        self.dw3x3 = nn.Conv2d(
            hidden_features,
            hidden_features,
            kernel_size=3,
            stride=1,
            groups=hidden_features,
            padding=1)
        self.act2 = build_activation_layer(dw_act_cfg)
        self.norm2 = build_norm_layer(norm_cfg, hidden_features)[1]
        self.fc2 = nn.Conv2d(hidden_features, out_features, kernel_size=1)
        self.act3 = build_activation_layer(act_cfg)
        self.norm3 = build_norm_layer(norm_cfg, out_features)[1]

    def forward(self, x, H, W):
        """Forward function."""
        x = nlc_to_nchw(x, (H, W))
        x = self.act1(self.norm1(self.fc1(x)))
        x = self.act2(self.norm2(self.dw3x3(x)))
        x = self.act3(self.norm3(self.fc2(x)))
        x = nchw_to_nlc(x)
        return x


class HRFormerBlock(BaseModule):
    """High-Resolution Block for HRFormer.

    Args:
        in_features (int): The input dimension.
        out_features (int): The output dimension.
        num_heads (int): The number of head within each LSA.
        window_size (int, optional): The window size for the LSA.
            Default: 7
        mlp_ratio (int, optional): The expansion ration of FFN.
            Default: 4
        act_cfg (dict, optional): Config of activation layer.
            Default: dict(type='GELU').
        norm_cfg (dict, optional): Config of norm layer.
            Default: dict(type='SyncBN').
        transformer_norm_cfg (dict, optional): Config of transformer norm
            layer. Default: dict(type='LN', eps=1e-6).
        init_cfg (dict or list[dict], optional): Initialization config dict.
            Default: None.
    """

    expansion = 1

    def __init__(self,
                 in_features,
                 out_features,
                 num_heads,
                 window_size=7,
                 mlp_ratio=4.0,
                 drop_path=0.0,
                 act_cfg=dict(type='GELU'),
                 norm_cfg=dict(type='SyncBN'),
                 transformer_norm_cfg=dict(type='LN', eps=1e-6),
                 init_cfg=None,
                 **kwargs):
        super(HRFormerBlock, self).__init__(init_cfg=init_cfg)
        self.num_heads = num_heads
        self.window_size = window_size
        self.mlp_ratio = mlp_ratio

        self.norm1 = build_norm_layer(transformer_norm_cfg, in_features)[1]
        self.attn = LocalWindowSelfAttention(
            in_features,
            num_heads=num_heads,
            window_size=window_size,
            init_cfg=None,
            **kwargs)

        self.norm2 = build_norm_layer(transformer_norm_cfg, out_features)[1]
        self.ffn = CrossFFN(
            in_features=in_features,
            hidden_features=int(in_features * mlp_ratio),
            out_features=out_features,
            norm_cfg=norm_cfg,
            act_cfg=act_cfg,
            dw_act_cfg=act_cfg,
            init_cfg=None)

        self.drop_path = build_drop_path(
            drop_path) if drop_path > 0.0 else nn.Identity()

    def forward(self, x):
        """Forward function."""
        B, C, H, W = x.size()
        # Attention
        x = x.view(B, C, -1).permute(0, 2, 1)
        x = x + self.drop_path(self.attn(self.norm1(x), H, W))
        # FFN
        x = x + self.drop_path(self.ffn(self.norm2(x), H, W))
        x = x.permute(0, 2, 1).view(B, C, H, W)
        return x

    def extra_repr(self):
        """(Optional) Set the extra information about this module."""
        return 'num_heads={}, window_size={}, mlp_ratio={}'.format(
            self.num_heads, self.window_size, self.mlp_ratio)


class HRFomerModule(HRModule):
    """High-Resolution Module for HRFormer.

    Args:
        num_branches (int): The number of branches in the HRFormerModule.
        block (nn.Module): The building block of HRFormer.
            The block should be the HRFormerBlock.
        num_blocks (tuple): The number of blocks in each branch.
            The length must be equal to num_branches.
        num_inchannels (tuple): The number of input channels in each branch.
            The length must be equal to num_branches.
        num_channels (tuple): The number of channels in each branch.
            The length must be equal to num_branches.
        num_heads (tuple): The number of heads within the LSAs.
        num_window_sizes (tuple): The window size for the LSAs.
        num_mlp_ratios (tuple): The expansion ratio for the FFNs.
        drop_path (int, optional): The drop path rate of HRFomer.
            Default: 0.0
        multiscale_output (bool, optional): Whether to output multi-level
            features produced by multiple branches. If False, only the first
            level feature will be output. Default: True.
        conv_cfg (dict, optional): Config of the conv layers.
            Default: None.
        norm_cfg (dict, optional): Config of the norm layers appended
            right after conv. Default: dict(type='SyncBN', requires_grad=True)
        transformer_norm_cfg (dict, optional): Config of the norm layers.
            Default: dict(type='LN', eps=1e-6)
        with_cp (bool): Use checkpoint or not. Using checkpoint will save some
            memory while slowing down the training speed. Default: False
        upsample_cfg(dict, optional): The config of upsample layers in fuse
            layers. Default: dict(mode='bilinear', align_corners=False)
        init_cfg (dict or list[dict], optional): Initialization config dict.
            Default: None.
    """

    def __init__(self,
                 num_branches,
                 block,
                 num_blocks,
                 num_inchannels,
                 num_channels,
                 num_heads,
                 num_window_sizes,
                 num_mlp_ratios,
                 multiscale_output=True,
                 drop_paths=0.0,
                 with_rpe=True,
                 with_pad_mask=False,
                 conv_cfg=None,
                 norm_cfg=dict(type='SyncBN', requires_grad=True),
                 transformer_norm_cfg=dict(type='LN', eps=1e-6),
                 with_cp=False,
                 upsample_cfg=dict(mode='bilinear', align_corners=False),
                 **kwargs):

        self.transformer_norm_cfg = transformer_norm_cfg
        self.drop_paths = drop_paths
        self.num_heads = num_heads
        self.num_window_sizes = num_window_sizes
        self.num_mlp_ratios = num_mlp_ratios
        self.with_rpe = with_rpe
        self.with_pad_mask = with_pad_mask

        super().__init__(num_branches, block, num_blocks, num_inchannels,
                         num_channels, multiscale_output, with_cp, conv_cfg,
                         norm_cfg, upsample_cfg, **kwargs)

    def _make_one_branch(self,
                         branch_index,
                         block,
                         num_blocks,
                         num_channels,
                         stride=1):
        """Build one branch."""
        # HRFormerBlock does not support down sample layer yet.
        assert stride == 1 and self.in_channels[branch_index] == num_channels[
            branch_index]
        layers = []
        layers.append(
            block(
                self.in_channels[branch_index],
                num_channels[branch_index],
                num_heads=self.num_heads[branch_index],
                window_size=self.num_window_sizes[branch_index],
                mlp_ratio=self.num_mlp_ratios[branch_index],
                drop_path=self.drop_paths[0],
                norm_cfg=self.norm_cfg,
                transformer_norm_cfg=self.transformer_norm_cfg,
                init_cfg=None,
                with_rpe=self.with_rpe,
                with_pad_mask=self.with_pad_mask))

        self.in_channels[
            branch_index] = self.in_channels[branch_index] * block.expansion
        for i in range(1, num_blocks[branch_index]):
            layers.append(
                block(
                    self.in_channels[branch_index],
                    num_channels[branch_index],
                    num_heads=self.num_heads[branch_index],
                    window_size=self.num_window_sizes[branch_index],
                    mlp_ratio=self.num_mlp_ratios[branch_index],
                    drop_path=self.drop_paths[i],
                    norm_cfg=self.norm_cfg,
                    transformer_norm_cfg=self.transformer_norm_cfg,
                    init_cfg=None,
                    with_rpe=self.with_rpe,
                    with_pad_mask=self.with_pad_mask))
        return nn.Sequential(*layers)

    def _make_fuse_layers(self):
        """Build fuse layers."""
        if self.num_branches == 1:
            return None
        num_branches = self.num_branches
        num_inchannels = self.in_channels
        fuse_layers = []
        for i in range(num_branches if self.multiscale_output else 1):
            fuse_layer = []
            for j in range(num_branches):
                if j > i:
                    fuse_layer.append(
                        nn.Sequential(
                            build_conv_layer(
                                self.conv_cfg,
                                num_inchannels[j],
                                num_inchannels[i],
                                kernel_size=1,
                                stride=1,
                                bias=False),
                            build_norm_layer(self.norm_cfg,
                                             num_inchannels[i])[1],
                            nn.Upsample(
                                scale_factor=2**(j - i),
                                mode=self.upsample_cfg['mode'],
                                align_corners=self.
                                upsample_cfg['align_corners'])))
                elif j == i:
                    fuse_layer.append(None)
                else:
                    conv3x3s = []
                    for k in range(i - j):
                        if k == i - j - 1:
                            num_outchannels_conv3x3 = num_inchannels[i]
                            with_out_act = False
                        else:
                            num_outchannels_conv3x3 = num_inchannels[j]
                            with_out_act = True
                        sub_modules = [
                            build_conv_layer(
                                self.conv_cfg,
                                num_inchannels[j],
                                num_inchannels[j],
                                kernel_size=3,
                                stride=2,
                                padding=1,
                                groups=num_inchannels[j],
                                bias=False,
                            ),
                            build_norm_layer(self.norm_cfg,
                                             num_inchannels[j])[1],
                            build_conv_layer(
                                self.conv_cfg,
                                num_inchannels[j],
                                num_outchannels_conv3x3,
                                kernel_size=1,
                                stride=1,
                                bias=False,
                            ),
                            build_norm_layer(self.norm_cfg,
                                             num_outchannels_conv3x3)[1]
                        ]
                        if with_out_act:
                            sub_modules.append(nn.ReLU(False))
                        conv3x3s.append(nn.Sequential(*sub_modules))
                    fuse_layer.append(nn.Sequential(*conv3x3s))
            fuse_layers.append(nn.ModuleList(fuse_layer))

        return nn.ModuleList(fuse_layers)

    def get_num_inchannels(self):
        """Return the number of input channels."""
        return self.in_channels


@MODELS.register_module()
class HRFormer(HRNet):
    """HRFormer backbone.

    This backbone is the implementation of `HRFormer: High-Resolution
    Transformer for Dense Prediction <https://arxiv.org/abs/2110.09408>`_.

    Args:
        extra (dict): Detailed configuration for each stage of HRNet.
            There must be 4 stages, the configuration for each stage must have
            5 keys:

                - num_modules (int): The number of HRModule in this stage.
                - num_branches (int): The number of branches in the HRModule.
                - block (str): The type of block.
                - num_blocks (tuple): The number of blocks in each branch.
                    The length must be equal to num_branches.
                - num_channels (tuple): The number of channels in each branch.
                    The length must be equal to num_branches.
        in_channels (int): Number of input image channels. Normally 3.
        conv_cfg (dict): Dictionary to construct and config conv layer.
            Default: None.
        norm_cfg (dict): Config of norm layer.
            Use `SyncBN` by default.
        transformer_norm_cfg (dict): Config of transformer norm layer.
            Use `LN` by default.
        norm_eval (bool): Whether to set norm layers to eval mode, namely,
            freeze running stats (mean and var). Note: Effect on Batch Norm
            and its variants only. Default: False.
        zero_init_residual (bool): Whether to use zero init for last norm layer
            in resblocks to let them behave as identity. Default: False.
        frozen_stages (int): Stages to be frozen (stop grad and set eval mode).
            -1 means not freezing any parameters. Default: -1.
        init_cfg (dict or list[dict], optional): Initialization config dict.
            Default:
            ``[
                dict(type='Normal', std=0.001, layer=['Conv2d']),
                dict(
                    type='Constant',
                    val=1,
                    layer=['_BatchNorm', 'GroupNorm'])
            ]``

    Example:
        >>> from mmpose.models import HRFormer
        >>> import torch
        >>> extra = dict(
        >>>     stage1=dict(
        >>>         num_modules=1,
        >>>         num_branches=1,
        >>>         block='BOTTLENECK',
        >>>         num_blocks=(2, ),
        >>>         num_channels=(64, )),
        >>>     stage2=dict(
        >>>         num_modules=1,
        >>>         num_branches=2,
        >>>         block='HRFORMER',
        >>>         window_sizes=(7, 7),
        >>>         num_heads=(1, 2),
        >>>         mlp_ratios=(4, 4),
        >>>         num_blocks=(2, 2),
        >>>         num_channels=(32, 64)),
        >>>     stage3=dict(
        >>>         num_modules=4,
        >>>         num_branches=3,
        >>>         block='HRFORMER',
        >>>         window_sizes=(7, 7, 7),
        >>>         num_heads=(1, 2, 4),
        >>>         mlp_ratios=(4, 4, 4),
        >>>         num_blocks=(2, 2, 2),
        >>>         num_channels=(32, 64, 128)),
        >>>     stage4=dict(
        >>>         num_modules=2,
        >>>         num_branches=4,
        >>>         block='HRFORMER',
        >>>         window_sizes=(7, 7, 7, 7),
        >>>         num_heads=(1, 2, 4, 8),
        >>>         mlp_ratios=(4, 4, 4, 4),
        >>>         num_blocks=(2, 2, 2, 2),
        >>>         num_channels=(32, 64, 128, 256)))
        >>> self = HRFormer(extra, in_channels=1)
        >>> self.eval()
        >>> inputs = torch.rand(1, 1, 32, 32)
        >>> level_outputs = self.forward(inputs)
        >>> for level_out in level_outputs:
        ...     print(tuple(level_out.shape))
        (1, 32, 8, 8)
        (1, 64, 4, 4)
        (1, 128, 2, 2)
        (1, 256, 1, 1)
    """

    blocks_dict = {'BOTTLENECK': Bottleneck, 'HRFORMERBLOCK': HRFormerBlock}

    def __init__(
        self,
        extra,
        in_channels=3,
        conv_cfg=None,
        norm_cfg=dict(type='BN', requires_grad=True),
        transformer_norm_cfg=dict(type='LN', eps=1e-6),
        norm_eval=False,
        with_cp=False,
        zero_init_residual=False,
        frozen_stages=-1,
        init_cfg=[
            dict(type='Normal', std=0.001, layer=['Conv2d']),
            dict(type='Constant', val=1, layer=['_BatchNorm', 'GroupNorm'])
        ],
    ):

        # stochastic depth
        depths = [
            extra[stage]['num_blocks'][0] * extra[stage]['num_modules']
            for stage in ['stage2', 'stage3', 'stage4']
        ]
        depth_s2, depth_s3, _ = depths
        drop_path_rate = extra['drop_path_rate']
        dpr = [
            x.item() for x in torch.linspace(0, drop_path_rate, sum(depths))
        ]
        extra['stage2']['drop_path_rates'] = dpr[0:depth_s2]
        extra['stage3']['drop_path_rates'] = dpr[depth_s2:depth_s2 + depth_s3]
        extra['stage4']['drop_path_rates'] = dpr[depth_s2 + depth_s3:]

        # HRFormer use bilinear upsample as default
        upsample_cfg = extra.get('upsample', {
            'mode': 'bilinear',
            'align_corners': False
        })
        extra['upsample'] = upsample_cfg
        self.transformer_norm_cfg = transformer_norm_cfg
        self.with_rpe = extra.get('with_rpe', True)
        self.with_pad_mask = extra.get('with_pad_mask', False)

        super().__init__(extra, in_channels, conv_cfg, norm_cfg, norm_eval,
                         with_cp, zero_init_residual, frozen_stages, init_cfg)

    def _make_stage(self,
                    layer_config,
                    num_inchannels,
                    multiscale_output=True):
        """Make each stage."""
        num_modules = layer_config['num_modules']
        num_branches = layer_config['num_branches']
        num_blocks = layer_config['num_blocks']
        num_channels = layer_config['num_channels']
        block = self.blocks_dict[layer_config['block']]
        num_heads = layer_config['num_heads']
        num_window_sizes = layer_config['window_sizes']
        num_mlp_ratios = layer_config['mlp_ratios']
        drop_path_rates = layer_config['drop_path_rates']

        modules = []
        for i in range(num_modules):
            # multiscale_output is only used at the last module
            if not multiscale_output and i == num_modules - 1:
                reset_multiscale_output = False
            else:
                reset_multiscale_output = True

            modules.append(
                HRFomerModule(
                    num_branches,
                    block,
                    num_blocks,
                    num_inchannels,
                    num_channels,
                    num_heads,
                    num_window_sizes,
                    num_mlp_ratios,
                    reset_multiscale_output,
                    drop_paths=drop_path_rates[num_blocks[0] *
                                               i:num_blocks[0] * (i + 1)],
                    with_rpe=self.with_rpe,
                    with_pad_mask=self.with_pad_mask,
                    conv_cfg=self.conv_cfg,
                    norm_cfg=self.norm_cfg,
                    transformer_norm_cfg=self.transformer_norm_cfg,
                    with_cp=self.with_cp,
                    upsample_cfg=self.upsample_cfg))
            num_inchannels = modules[-1].get_num_inchannels()

        return nn.Sequential(*modules), num_inchannels