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b/README.md @@ -0,0 +1,165 @@ +Teaser Image +
+ + +HuggingFace +HuggingFace + +> **MagicMotion: Controllable Video Generation with Dense-to-Sparse Trajectory Guidance** +>
+> [Quanhao Li\*](https://github.com/quanhaol), [Zhen Xing\*](https://chenhsing.github.io/), [Rui Wang](https://scholar.google.com/citations?user=116smmsAAAAJ&hl=en), [Hui Zhang](https://huizhang0812.github.io/), [Qi Dai](https://daiqi1989.github.io/), and [Zuxuan Wu](https://zxwu.azurewebsites.net/) +>
+\* equal contribution + +## 💡 Abstract + +Recent advances in video generation have led to remarkable improvements in visual quality and temporal coherence. Upon this, trajectory-controllable video generation has emerged to enable precise object motion control through explicitly defined spatial paths. +However, existing methods struggle with complex object movements and multi-object motion control, resulting in imprecise trajectory adherence, poor object consistency, and compromised visual quality. +Furthermore, these methods only support trajectory control in a single format, limiting their applicability in diverse scenarios. +Additionally, there is no publicly available dataset or benchmark specifically tailored for trajectory-controllable video generation, hindering robust training and systematic evaluation. +To address these challenges, we introduce **MagicMotion**, a novel image-to-video generation framework that enables trajectory control through three levels of conditions from dense to sparse: masks, bounding boxes, and sparse boxes. Given an input image and trajectories, MagicMotion seamlessly animates objects along defined trajectories while maintaining object consistency and visual quality. +Furthermore, we present **MagicData**, a large-scale trajectory-controlled video dataset, along with an automated pipeline for annotation and filtering. +We also introduce **MagicBench**, a comprehensive benchmark that assesses both video quality and trajectory control accuracy across different numbers of objects. +Extensive experiments demonstrate that MagicMotion outperforms previous methods across various metrics. + + +Teaser Image + +## 📣 Updates +- `2025/07/28` 🔥🔥MagicData has been released [`here`](https://huggingface.co/datasets/quanhaol/MagicData). Welcome to use our dataset! +- `2025/06/26` 🔥🔥MagicMotion has been accepted by ICCV2025!🎉🎉🎉 +- `2025/03/28` 🔥🔥We released interactive demo with gradio for MagicMotion. +- `2025/03/27` MagicMotion can now perform inference on a single 4090 GPU (with less than 24GB of GPU memory). +- `2025/03/21` 🔥🔥We released MagicMotion, including inference code and model weights. + +## 📑 Table of Contents + +- [💡 Abstract](#-abstract) +- [📣 Updates](#-updates) +- [📑 Table of Contents](#-table-of-contents) +- [✅ TODO List](#-todo-list) +- [🐍 Installation](#-installation) +- [📦 Model Weights](#-model-weights) + - [Folder Structure](#folder-structure) + - [Download Links](#download-links) +- [🔄 Inference](#-inference) + - [Scripts](#scripts) +- [🖥️ Gradio Demo](#️-gradio-demo) +- [🤝 Acknowledgements](#-acknowledgements) +- [📚 Contact](#-contact) + +## ✅ TODO List + +- [x] Release our inference code and model weights +- [x] Release gradio demo +- [x] Release MagicData +- [ ] Release MagicBench and evaluation code +- [ ] Release our training code + +## 🐍 Installation + +```bash +# Clone this repository. +git clone https://github.com/quanhaol/MagicMotion +cd MagicMotion + +# Install requirements +conda env create -n magicmotion --file environment.yml +conda activate magicmotion +pip install git+https://github.com/huggingface/diffusers + +# Install Grounded_SAM2 +cd trajectory_construction/Grounded_SAM2 +pip install -e . +pip install --no-build-isolation -e grounding_dino + +# Optional: For image editing +pip install git+https://github.com/huggingface/image_gen_aux +``` + +## 📦 Model Weights + +### Folder Structure + +``` +MagicMotion +└── ckpts + ├── stage1 + │ ├── mask.pt + ├── stage2 + │ └── box.pt + │ └── box_perception_head.pt + ├── stage3 + │ └── sparse_box.pt + │ └── sparse_box_perception_head.pt +``` + +### Download Links + +```bash +pip install "huggingface_hub[hf_transfer]" +HF_HUB_ENABLE_HF_TRANSFER=1 huggingface-cli download quanhaol/MagicMotion --local-dir ckpts +``` + +## 🔄 Inference +Inference requires **only 23GB of GPU memory** (tested on a single 24GB NVIDIA GeForce RTX 4090 GPU). +If you have sufficient GPU memory, you can modify `magicmotion/inference.py` to improve runtime performance: + +```python +# Optimized setting (for GPUs with sufficient memory) +pipe.to("cuda") +# pipe.enable_sequential_cpu_offload() +``` +> **Note**: Using the optimized setting can reduce runtime by up to 2x. + +### Scripts +```bash +# Demo inference script of each stage (Input Image & Trajectory already provided) +bash magicmotion/scripts/inference/inference_mask.sh +bash magicmotion/scripts/inference/inference_box.sh +bash magicmotion/scripts/inference/inference_sparse_box.sh + +# You an also construct trajectory for each stage by yourself -- See MagicMotion/trajectory_construction for more details +python trajectory_construction/plan_mask.py +python trajectory_construction/plan_box.py +python trajectory_construction/plan_sparse_box.py + +# Optional: Use FLUX to generate input image by text-to-image generation or image editing -- See MagicMotion/first_frame_generation for more details +python first_frame_generation/t2i_flux.py +python first_frame_generation/edit_image_flux.py +``` +## 🖥️ Gradio Demo + +Usage: + +```bash +bash magicmotion/scripts/app/app.sh +``` +Gradio Demo 1 Gradio Demo 2 + +## 🤝 Acknowledgements + +We would like to express our gratitude to the following open-source projects that have been instrumental in the development of our project: + +- [CogVideo](https://github.com/THUDM/CogVideo): An open source video generation framework by THUKEG. +- [Open-Sora](https://github.com/hpcaitech/Open-Sora): An open source video generation framework by HPC-AI Tech. +- [finetrainers](https://github.com/a-r-r-o-w/finetrainers): A Memory-optimized training library for diffusion models. + +Special thanks to the contributors of these libraries for their hard work and dedication! + +## 📚 Contact + +If you have any suggestions or find our work helpful, feel free to contact us + +Email: liqh24@m.fudan.edu.cn or zhenxingfd@gmail.com + +If you find our work useful, please consider giving a star to this github repository and citing it: + +```bibtex +@article{li2025magicmotion, + title={MagicMotion: Controllable Video Generation with Dense-to-Sparse Trajectory Guidance}, + author={Li, Quanhao and Xing, Zhen and Wang, Rui and Zhang, Hui and Dai, Qi and Wu, Zuxuan}, + journal={arXiv preprint arXiv:2503.16421}, + year={2025} +} +``` diff --git a/assets/box_trajectory/cartoon_wizard.mp4 b/assets/box_trajectory/cartoon_wizard.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a6155c8807af3eec5826de3843d750090f251801 --- /dev/null +++ b/assets/box_trajectory/cartoon_wizard.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b549c275bde28bd18e2b79040802c1c39195464b1dfe3bbb1be15bffef9447c +size 18610 diff --git a/assets/box_trajectory/child_horse.mp4 b/assets/box_trajectory/child_horse.mp4 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@@ +import cv2 +import numpy as np +import os + +# 路径配置 +input_path = "/mnt/prev_nas/qhy/MagicMotion/assets/mask_trajectory/mammoth_rhino.mp4" +output_path = "/mnt/prev_nas/qhy/MagicMotion/assets/mask_trajectory/mammoth_rhino_frozen_pink_bgr_range.mp4" + +# 你已经验证通过的两个参考颜色（BGR） +pink_bgr = np.array([77, 80, 119], dtype=np.float32) # #77504D +red_bgr = np.array([33, 37, 117], dtype=np.float32) # #752521 + +# 阈值（根据你单帧测试结果，目前用 30，如果想收紧可以再调小） +T_pink = 30.0 +T_red = 30.0 + +def get_color_masks_bgr(frame_bgr): + """ + 输入: frame_bgr: uint8, HxWx3 + 输出: pink_mask, red_mask (bool 的 HxW) + 使用 BGR 空间的欧式距离 + 阈值来划分粉色和红色。 + """ + img = frame_bgr.astype(np.float32) + pixels = img.reshape(-1, 3) + + dist_to_pink = np.linalg.norm(pixels - pink_bgr, axis=1) + dist_to_red = np.linalg.norm(pixels - red_bgr, axis=1) + + h, w = frame_bgr.shape[:2] + pink_mask = (dist_to_pink < T_pink).reshape(h, w) + red_mask = (dist_to_red < T_red ).reshape(h, w) + + # 冲突点按“谁近归谁”分配 + both = pink_mask & red_mask + if both.any(): + idx_flat = np.where(both.ravel())[0] + closer_to_pink = dist_to_pink[idx_flat] <= dist_to_red[idx_flat] + + both_y, both_x = np.where(both) + for i, (y, x) in enumerate(zip(both_y, both_x)): + if closer_to_pink[i]: + red_mask[y, x] = False + else: + pink_mask[y, x] = False + + return pink_mask, red_mask + +def main(): + cap = cv2.VideoCapture(input_path) + if not cap.isOpened(): + raise RuntimeError(f"无法打开视频: {input_path}") + + fps = cap.get(cv2.CAP_PROP_FPS) + width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + + # 先用 mp4v 写 mp4，如果要 H.264 可以再用 ffmpeg 转 + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + out = cv2.VideoWriter(output_path, fourcc, fps, (width, height)) + if not out.isOpened(): + cap.release() + raise RuntimeError("VideoWriter 打开失败") + + # ---------- 第一帧：冻结粉色 ---------- + ret, first_frame = cap.read() + if not ret: + cap.release() + out.release() + raise RuntimeError("无法读取第一帧") + + pink_mask_first, _ = get_color_masks_bgr(first_frame) + + frozen_pink = np.zeros_like(first_frame) + frozen_pink[pink_mask_first] = first_frame[pink_mask_first] + + # 回到第一帧，从头处理整段视频 + cap.set(cv2.CAP_PROP_POS_FRAMES, 0) + + frame_idx = 0 + while True: + ret, frame = cap.read() + if not ret: + break + + _, red_mask = get_color_masks_bgr(frame) + + # 当前帧红色部分 + red_part = np.zeros_like(frame) + red_part[red_mask] = frame[red_mask] + + # 背景黑 + 冻结粉色 + 当前红色 + combined = np.zeros_like(frame) + combined += frozen_pink + combined += red_part + + out.write(combined) + frame_idx += 1 + if frame_idx % 50 == 0: + print(f"已处理帧数: {frame_idx}") + + cap.release() + out.release() + print("处理完成，输出文件:", output_path) + +if __name__ == "__main__": + main() diff --git a/environment.yml b/environment.yml new file mode 100644 index 0000000000000000000000000000000000000000..6d59c545f0667e44f1991fd781545e22a0a89c42 --- /dev/null +++ b/environment.yml @@ -0,0 +1,264 @@ +name: magicmotion +channels: + - defaults +dependencies: + - _libgcc_mutex=0.1=main + - _openmp_mutex=5.1=1_gnu + - bzip2=1.0.8=h5eee18b_6 + - ca-certificates=2024.7.2=h06a4308_0 + - ld_impl_linux-64=2.38=h1181459_1 + - libffi=3.4.4=h6a678d5_1 + - libgcc-ng=11.2.0=h1234567_1 + - libgomp=11.2.0=h1234567_1 + - libstdcxx-ng=11.2.0=h1234567_1 + - libuuid=1.41.5=h5eee18b_0 + - ncurses=6.4=h6a678d5_0 + - openssl=3.0.15=h5eee18b_0 + - pip=24.2=py310h06a4308_0 + - python=3.10.14=h955ad1f_1 + - readline=8.2=h5eee18b_0 + - setuptools=72.1.0=py310h06a4308_0 + - sqlite=3.45.3=h5eee18b_0 + - tk=8.6.14=h39e8969_0 + - wheel=0.43.0=py310h06a4308_0 + - xz=5.4.6=h5eee18b_1 + - zlib=1.2.13=h5eee18b_1 + - pip: + - --extra-index-url https://pypi.nvidia.com + - absl-py==2.1.0 + - accelerate==1.5.2 + - addict==2.4.0 + - aiohappyeyeballs==2.4.0 + - aiohttp==3.10.5 + - aiosignal==1.3.1 + - anyio==4.4.0 + - argon2-cffi==23.1.0 + - argon2-cffi-bindings==21.2.0 + - arrow==1.3.0 + - async-timeout==4.0.3 + - attrs==24.2.0 + - beautifulsoup4==4.12.3 + - bitsandbytes==0.45.3 + - bleach==6.1.0 + - blobfile==3.0.0 + - bokeh==3.4.3 + - cachetools==5.5.0 + - certifi==2024.8.30 + - cffi==1.17.1 + - charset-normalizer==3.3.2 + - click==8.1.7 + - cloudpickle==3.0.0 + - colorcet==3.1.0 + - contourpy==1.3.0 + - cucim-cu12==24.8.0 + - cuda-python==12.6.0 + - cudf-cu12==24.8.2 + - cugraph-cu12==24.8.0 + - cuml-cu12==24.8.0 + - cuproj-cu12==24.8.0 + - cupy-cuda12x==13.3.0 + - cuspatial-cu12==24.8.0 + - cuvs-cu12==24.8.0 + - cuxfilter-cu12==24.8.0 + - cycler==0.12.1 + - dask==2024.7.1 + - dask-cuda==24.8.2 + - dask-cudf-cu12==24.8.2 + - dask-expr==1.1.9 + - datasets==3.4.1 + - datashader==0.16.3 + - deepspeed==0.16.4 + - defusedxml==0.7.1 + - distributed==2024.7.1 + - distributed-ucxx-cu12==0.39.1 + - distro==1.9.0 + - einops==0.8.1 + - fairscale==0.4.13 + - fastapi==0.114.0 + - fastjsonschema==2.20.0 + - fastrlock==0.8.2 + - ffmpy==0.4.0 + - fire==0.6.0 + - fonttools==4.53.1 + - fqdn==1.5.1 + - frozenlist==1.4.1 + - fsspec==2024.9.0 + - gdown==5.2.0 + - geopandas==1.0.1 + - gitdb==4.0.11 + - gitpython==3.1.43 + - gradio==4.44.0 + - gradio-client==1.3.0 + - grpcio==1.66.1 + - gurobipy==11.0.3 + - h5py==3.11.0 + - hf-transfer==0.1.9 + - hickle==5.0.3 + - holoviews==1.19.1 + - httpcore==1.0.5 + - httpx==0.27.2 + - huggingface-hub==0.27.0 + - hydra-core==1.3.2 + - idna==3.8 + - imageio==2.35.1 + - importlib-metadata==8.5.0 + - importlib-resources==6.4.5 + - iopath==0.1.10 + - isoduration==20.11.0 + - jinja2==3.1.4 + - jiter==0.5.0 + - jmespath==1.0.1 + - joblib==1.4.2 + - jsonpointer==3.0.0 + - jsonschema==4.23.0 + - jsonschema-specifications==2023.12.1 + - jupyter-client==8.6.2 + - jupyter-core==5.7.2 + - jupyter-events==0.10.0 + - jupyter-server==2.14.2 + - jupyter-server-proxy==4.4.0 + - jupyter-server-terminals==0.5.3 + - jupyterlab-pygments==0.3.0 + - kiwisolver==1.4.7 + - kmeans-pytorch==0.3 + - lazy-loader==0.4 + - libucx-cu12==1.15.0.post1 + - linkify-it-py==2.0.3 + - llama-models==0.0.13 + - llama-toolchain==0.0.13 + - llvmlite==0.43.0 + - locket==1.0.0 + - lxml==5.3.0 + - markdown==3.7 + - markupsafe==2.1.5 + - matplotlib==3.9.2 + - mdit-py-plugins==0.4.2 + - mistune==3.0.2 + - multipledispatch==1.0.0 + - nbclient==0.10.0 + - nbconvert==7.16.4 + - nbformat==5.10.4 + - networkx==3.3 + - numba==0.60.0 + - numpy==1.26.4 + - nvidia-cublas-cu12==12.1.3.1 + - nvidia-cuda-cupti-cu12==12.1.105 + - nvidia-cuda-nvrtc-cu12==12.1.105 + - nvidia-cuda-runtime-cu12==12.1.105 + - nvidia-cudnn-cu12==9.1.0.70 + - nvidia-cufft-cu12==11.0.2.54 + - nvidia-curand-cu12==10.3.2.106 + - nvidia-cusolver-cu12==11.4.5.107 + - nvidia-cusparse-cu12==12.1.0.106 + - nvidia-ml-py==12.570.86 + - nvidia-nccl-cu12==2.20.5 + - nvidia-nvjitlink-cu12==12.6.68 + - nvidia-nvtx-cu12==12.1.105 + - nvtx==0.2.10 + - openai==1.44.1 + - opencv-python-headless==4.10.0.84 + - orjson==3.10.7 + - overrides==7.7.0 + - pandas==2.2.2 + - pandocfilters==1.5.1 + - panel==1.4.5 + - param==2.1.1 + - partd==1.4.2 + - peft==0.14.0 + - platformdirs==4.3.2 + - portalocker==2.10.1 + - prometheus-client==0.20.0 + - protobuf==5.28.0 + - psutil==6.0.0 + - ptyprocess==0.7.0 + - pulp==2.9.0 + - pyarrow==16.1.0 + - pycocotools==2.0.8 + - pycparser==2.22 + - pycryptodomex==3.20.0 + - pyct==0.5.0 + - pydantic==2.9.1 + - pydantic-core==2.23.3 + - pygments==2.18.0 + - pylibcugraph-cu12==24.8.0 + - pylibraft-cu12==24.8.1 + - pynvjitlink-cu12==0.3.0 + - pynvml==11.4.1 + - pyogrio==0.9.0 + - pyparsing==3.1.4 + - pyproj==3.6.1 + - pysocks==1.7.1 + - python-json-logger==2.0.7 + - python-multipart==0.0.9 + - pytz==2024.2 + - pyviz-comms==3.0.3 + - pyyaml==6.0.2 + - pyzmq==26.2.0 + - raft-dask-cu12==24.8.1 + - rapids-dask-dependency==24.8.0 + - referencing==0.35.1 + - rfc3339-validator==0.1.4 + - rfc3986-validator==0.1.1 + - rich==13.8.1 + - rmm-cu12==24.8.2 + - rpds-py==0.20.0 + - ruff==0.6.4 + - safetensors==0.4.5 + - scikit-image==0.23.2 + - scikit-learn==1.5.1 + - scipy==1.14.1 + - send2trash==1.8.3 + - sentencepiece==0.2.0 + - shapely==2.0.6 + - simpervisor==1.0.0 + - six==1.16.0 + - smmap==5.0.1 + - sortedcontainers==2.4.0 + - soupsieve==2.6 + - starlette==0.38.5 + - supervision==0.23.0 + - sympy==1.13.2 + - tblib==3.0.0 + - tensorboard==2.17.1 + - tensorboard-data-server==0.7.2 + - termcolor==2.4.0 + - terminado==0.18.1 + - threadpoolctl==3.5.0 + - tifffile==2024.8.30 + - tiktoken==0.7.0 + - timm==1.0.9 + - tinycss2==1.3.0 + - tokenizers==0.19.1 + - tomli==2.0.1 + - toolz==0.12.1 + - torch==2.4.1 + - torchao==0.9.0 + - torchaudio==2.4.1 + - torchdata==0.11.0 + - torchvision==0.19.1 + - tornado==6.4.1 + - traitlets==5.14.3 + - transformers==4.44.2 + - treelite==4.3.0 + - triton==3.0.0 + - typer==0.12.5 + - types-python-dateutil==2.9.0.20240906 + - tzdata==2024.1 + - uc-micro-py==1.0.3 + - ucx-py-cu12==0.39.2 + - ucxx-cu12==0.39.1 + - uri-template==1.3.0 + - urllib3==2.2.2 + - uvicorn==0.30.6 + - webcolors==24.8.0 + - webencodings==0.5.1 + - websocket-client==1.8.0 + - websockets==12.0 + - werkzeug==3.0.4 + - xarray==2024.9.0 + - xyzservices==2024.9.0 + - yapf==0.40.2 + - yarl==1.11.1 + - zict==3.0.0 + - zipp==3.20.1 + - imageio-ffmpeg==0.6.0 diff --git a/first_frame_generation/README.md b/first_frame_generation/README.md new file mode 100644 index 0000000000000000000000000000000000000000..42519c7b584bcdf210c55b336722a5291477cfc4 --- /dev/null +++ b/first_frame_generation/README.md @@ -0,0 +1,11 @@ +# First Frame Generation + +We provide scripts here that allow users to use FLUX to generate or edit an image to serve as the input image for MagicMotion. +Please refer to `edit_image_flux.py` and `t2i_flux.py` for more details. + +```bash +# For text-to-image generation +python first_frame_generation/t2i_flux.py --prompt "A tiger sitting, head facing camera." --save_path "assets/images/condition/tiger.png" +# For Image Editing +python first_frame_generation/edit_image_flux.py --prompt "A royal camel walking inside a palace." --ori_image_path "assets/images/ori_image/camel.jpg" --save_path "assets/images/condition/camel_royal.png" +``` diff --git a/first_frame_generation/edit_image_flux.py b/first_frame_generation/edit_image_flux.py new file mode 100644 index 0000000000000000000000000000000000000000..1fe206e4e4babadb4695b01300f44b5bb37c4e55 --- /dev/null +++ b/first_frame_generation/edit_image_flux.py @@ -0,0 +1,50 @@ +import torch +from diffusers import FluxControlPipeline, FluxTransformer2DModel +from diffusers.utils import load_image +from image_gen_aux import DepthPreprocessor +import argparse + + +def edit_image(prompt: str, ori_image_path: str, save_path: str): + pipe = FluxControlPipeline.from_pretrained( + "black-forest-labs/FLUX.1-Depth-dev", torch_dtype=torch.bfloat16 + ).to("cuda") + + control_image = load_image(ori_image_path) + + processor = DepthPreprocessor.from_pretrained("LiheYoung/depth-anything-large-hf") + control_image = processor(control_image)[0].convert("RGB") + + image = pipe( + prompt=prompt, + control_image=control_image, + height=480, + width=854, + num_inference_steps=30, + guidance_scale=10.0, + generator=torch.Generator().manual_seed(42), + ).images[0] + image.save(save_path) + print(f"Edited image saved to {save_path}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Edit an image using FLUX.") + parser.add_argument( + "--prompt", type=str, required=True, help="The prompt for image editing." + ) + parser.add_argument( + "--ori_image_path", + type=str, + required=True, + help="The path to the original image.", + ) + parser.add_argument( + "--save_path", + type=str, + required=True, + help="The path to save the edited image.", + ) + args = parser.parse_args() + + edit_image(args.prompt, args.ori_image_path, args.save_path) diff --git a/first_frame_generation/t2i_flux.py b/first_frame_generation/t2i_flux.py new file mode 100644 index 0000000000000000000000000000000000000000..2e2ab09e194c5acadc786a7ab9915254fdd8b8d1 --- /dev/null +++ b/first_frame_generation/t2i_flux.py @@ -0,0 +1,42 @@ +import torch +from diffusers import FluxPipeline +import argparse + + +def image_generation(prompt: str, save_path: str): + pipe = FluxPipeline.from_pretrained( + "black-forest-labs/FLUX.1-dev", torch_dtype=torch.bfloat16 + ) + pipe.enable_model_cpu_offload() + + out = pipe( + prompt=prompt, + guidance_scale=3.5, + height=480, + width=720, + num_inference_steps=50, + ).images[0] + out.save(save_path) + + print(f"Generated image saved to {save_path}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Generate an image using FLUX.") + parser.add_argument( + "--prompt", type=str, required=True, help="The prompt for image generation." + ) + parser.add_argument( + "--save_path", + type=str, + required=True, + help="The path to save the generated image.", + ) + args = parser.parse_args() + + pipe = FluxPipeline.from_pretrained( + "black-forest-labs/FLUX.1-dev", torch_dtype=torch.bfloat16 + ) + pipe.enable_model_cpu_offload() + + image_generation(args.prompt, args.save_path) diff --git a/gain_color.py b/gain_color.py new file mode 100644 index 0000000000000000000000000000000000000000..efd6a2e9f8bd85f9863d1bade4bd4e77c3bd3ccb --- /dev/null +++ b/gain_color.py @@ -0,0 +1,52 @@ +import cv2 +import numpy as np + +video_path = "/mnt/prev_nas/qhy/MagicMotion/assets/mask_trajectory/mammoth_rhino.mp4" + +cap = cv2.VideoCapture(video_path) +ret, frame = cap.read() +cap.release() +if not ret: + raise RuntimeError("无法读取第一帧") + +# 你给的两个参考颜色（BGR） +pink_bgr = np.array([77, 80, 119], dtype=np.float32) # #77504D +red_bgr = np.array([33, 37, 117], dtype=np.float32) # #752521 + +# 阈值（可调）：单位是“颜色距离” +T_pink = 30.0 +T_red = 30.0 + +# 展平计算距离 +img = frame.astype(np.float32) +pixels = img.reshape(-1, 3) + +# 距参考颜色的 L2 距离 +dist_to_pink = np.linalg.norm(pixels - pink_bgr, axis=1) +dist_to_red = np.linalg.norm(pixels - red_bgr, axis=1) + +pink_mask = (dist_to_pink < T_pink).reshape(frame.shape[:2]) +red_mask = (dist_to_red < T_red ).reshape(frame.shape[:2]) + +# 如果有交叉：距离谁近归谁 +both = pink_mask & red_mask +if both.any(): + closer_to_pink = dist_to_pink[both.reshape(-1)] <= dist_to_red[both.reshape(-1)] + # 把 bool 拉回 2D 时处理稍微麻烦一点，简单写法如下： + pink_idx = np.where(both) + # 使用 zip 遍历坐标 + i = 0 + for y, x in zip(*pink_idx): + if closer_to_pink[i]: + red_mask[y, x] = False + else: + pink_mask[y, x] = False + i += 1 + +# 可视化看看 +vis = np.zeros_like(frame) +vis[pink_mask] = (255, 0, 255) +vis[red_mask] = (0, 0, 255) + +cv2.imwrite("first_frame_bgr_distance.png", vis) +print("已保存: first_frame_bgr_distance.png") diff --git a/magicmotion/__init__.py b/magicmotion/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..90f60fdd89ad8575faafe45188bd1d968852fc67 --- /dev/null +++ b/magicmotion/__init__.py @@ -0,0 +1 @@ +from .utils import * \ No newline at end of file diff --git a/magicmotion/app.py b/magicmotion/app.py new file mode 100644 index 0000000000000000000000000000000000000000..bfb16b73dcd0c9ff6374f80f64c428fa27684670 --- /dev/null +++ b/magicmotion/app.py @@ -0,0 +1,708 @@ +import argparse +import gc +import os +import tempfile +import threading +import time +import pandas as pd +import cv2 +import gradio as gr +import imageio +import numpy as np +import torch +from PIL import Image, ImageDraw +import shutil +import sys + +current_dir = os.path.dirname(os.path.abspath(__file__)) +project_root = os.path.abspath(os.path.join(current_dir, "..")) +sys.path.append(project_root) +from trajectory_construction.Grounded_SAM2.sam2.build_sam import build_sam2 +from trajectory_construction.Grounded_SAM2.sam2.sam2_image_predictor import ( + SAM2ImagePredictor, +) +from diffusers.models import AutoencoderKLCogVideoX +from diffusers.schedulers import CogVideoXDPMScheduler +from models.trajectory_controlnet import TrajectoryControlnet +from models.magicmotion_transformer_3d import MagicMotionTransformer3DModel +from pipelines.pipeline_magicmotion import MagicMotionPipeline +from transformers import T5EncoderModel, T5Tokenizer +from args import get_args +from diffusers.utils import export_to_video, load_image, load_video + +PROVIDED_EXAMPLES = { + "cartoon_wizard": [ + "assets/box_trajectory/cartoon_wizard.mp4", + "assets/images/condition/cartoon_wizard.jpg", + "Two cartoon wizards walking towards each other", + 42, + ], + "floatie": [ + "assets/box_trajectory/floatie.mp4", + "assets/images/condition/floatie.jpg", + "A unicorn floatie floating in a pool", + 18, + ], + "child_horse": [ + "assets/box_trajectory/child_horse.mp4", + "assets/images/condition/child_horse.jpg", + "horse moving in the sky with a child on its back", + 8, + ], + "priestess": [ + "assets/box_trajectory/priestess.mp4", + "assets/images/condition/priestess.jpg", + "A priestess lifting a ball to her head", + 42, + ], +} +article = r""" +--- + +📝 **Citation** +
+```bibtex +@misc{li2025magicmotioncontrollablevideogeneration, + title={MagicMotion: Controllable Video Generation with Dense-to-Sparse Trajectory Guidance}, + author={Quanhao Li and Zhen Xing and Rui Wang and Hui Zhang and Qi Dai and Zuxuan Wu}, + year={2025}, + eprint={2503.16421}, + archivePrefix={arXiv}, + primaryClass={cs.CV}, + url={https://arxiv.org/abs/2503.16421}, +} +``` +""" +# init sam image predictor +sam2_checkpoint = ( + "trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt" +) +model_cfg = "sam2_hiera_l.yaml" +sam2_image_model = build_sam2(model_cfg, sam2_checkpoint) +predictor = SAM2ImagePredictor(sam2_image_model) +SAM_labels = [] +color_list = [] +masks_selected = [] +masks_selected_tmp = None +first_frame_path = "tmp/first_frame.png" +mask_image_path = "tmp/mask_image.png" +traj_video_path = "tmp/traj_video.mp4" +output_path = "tmp/output.mp4" +for i in range(20): + color = np.concatenate([np.random.random(4) * 255], axis=0).astype(int) + if color[-1] < 150: + color[-1] = 150 + color_list.append(color) +mask_colors = [] + + +def preprocess_first_frame(image, width=720, height=480): + if not os.path.exists(first_frame_path): + os.makedirs(os.path.dirname(first_frame_path), exist_ok=True) + image_pil = Image.open(image.name) + image_pil = image_pil.resize((width, height), Image.BILINEAR) + image_pil.save(first_frame_path) + print(f"Saved first frame to {first_frame_path}") + global SAM_labels + SAM_labels = [] + global mask_colors + mask_colors = [] + global masks_selected + masks_selected = [] + global masks_selected_tmp + masks_selected_tmp = None + return first_frame_path, gr.State([]) + + +def image_click(click_points, segment_flag, foreground_flag, evt: gr.SelectData): + click_points.value[-1].append(evt.index) + # Segment Main Objects + if segment_flag == 1: + print("Segment Main Objects...") + transparent_background = Image.open(first_frame_path).convert("RGBA") + w, h = transparent_background.size + image = cv2.imread(first_frame_path) + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + predictor.set_image(image) + + input_point = [] + for point in click_points.value[-1]: + input_point.append([point[0], point[1]]) + input_point = np.array(input_point) + print(input_point) + + global SAM_labels + if foreground_flag == "foreground_point": + foreground_flag = 1 + else: + foreground_flag = 0 + SAM_labels.append(foreground_flag) + input_label = np.array(SAM_labels) + + masks, scores, logits = predictor.predict( + point_coords=input_point, + point_labels=input_label, + multimask_output=True, + ) + + global masks_selected_tmp + masks_selected_tmp = masks + transparent_layer = 0 + for idx, mask in enumerate(masks_selected): + color = color_list[idx] + transparent_layer = ( + mask[1].reshape(h, w, 1) * color.reshape(1, 1, -1) + transparent_layer + ) + + color = color_list[len(masks_selected)] + transparent_layer = ( + masks_selected_tmp[1].reshape(h, w, 1) * color.reshape(1, 1, -1) + + transparent_layer + ) + + transparent_layer = Image.fromarray(transparent_layer.astype(np.uint8)) + black_background = Image.new("RGB", transparent_layer.size, (0, 0, 0)) + + rgb_layer = transparent_layer.convert("RGB") + black_background.paste(rgb_layer, mask=transparent_layer.split()[-1]) + black_background.save(mask_image_path) + + mask_image = cv2.imread(mask_image_path) + df = pd.DataFrame(mask_image.reshape(-1, 3), columns=["R", "G", "B"]) + unique_colors_df = df.drop_duplicates() + unique_colors = unique_colors_df.to_numpy() + unique_colors = unique_colors[~np.all(unique_colors == [0, 0, 0], axis=1)] + for color in unique_colors: + color_tuple = tuple(color) + if color_tuple not in mask_colors: + mask_colors.append(color_tuple) + print("Unique colors in the mask image:", mask_colors) + + alpha_coef = 0.99 + im2_data = transparent_layer.getdata() + new_im2_data = [(r, g, b, int(a * alpha_coef)) for r, g, b, a in im2_data] + transparent_layer.putdata(new_im2_data) + trajectory_map = Image.alpha_composite( + transparent_background, transparent_layer + ) + + # Draw Trajectory + else: + print("Draw Trajectory...") + transparent_background = Image.open(first_frame_path).convert("RGBA") + w, h = transparent_background.size + transparent_layer = 0 + for idx, mask in enumerate(masks_selected): + color = color_list[idx] + transparent_layer = ( + mask[1].reshape(h, w, 1) * color.reshape(1, 1, -1) + transparent_layer + ) + + for idx, track in enumerate(click_points.value): + mask = np.zeros((h, w, 3)) + color = color_list[idx + 1] + transparent_layer = ( + mask[:, :, 0].reshape(h, w, 1) * color.reshape(1, 1, -1) + + transparent_layer + ) + + if len(track) > 1: + for i in range(len(track) - 1): + start_point = track[i] + end_point = track[i + 1] + vx = end_point[0] - start_point[0] + vy = end_point[1] - start_point[1] + arrow_length = np.sqrt(vx**2 + vy**2) + if i == len(track) - 2: + cv2.arrowedLine( + transparent_layer, + tuple(start_point), + tuple(end_point), + (255, 0, 0, 255), + 2, + tipLength=8 / arrow_length, + ) + else: + cv2.line( + transparent_layer, + tuple(start_point), + tuple(end_point), + (255, 0, 0, 255), + 2, + ) + else: + cv2.circle(transparent_layer, tuple(track[0]), 5, (255, 0, 0, 255), -1) + + transparent_layer = Image.fromarray(transparent_layer.astype(np.uint8)) + alpha_coef = 0.99 + im2_data = transparent_layer.getdata() + new_im2_data = [(r, g, b, int(a * alpha_coef)) for r, g, b, a in im2_data] + transparent_layer.putdata(new_im2_data) + + trajectory_map = Image.alpha_composite( + transparent_background, transparent_layer + ) + return click_points, trajectory_map + + +def start_segment(click_points): + global SAM_labels + SAM_labels = [] + click_points.value.append([]) + return click_points, 1 + + +def start_traj(click_points): + click_points.value[-1] = [] + masks_selected.append(masks_selected_tmp) + return click_points, 0 + + +def process_points(points, frames=49): + defualt_points = [[128, 128]] * frames + + if len(points) < 2: + return defualt_points + + elif len(points) >= frames: + skip = len(points) // frames + return points[::skip][: frames - 1] + points[-1:] + else: + insert_num = frames - len(points) + insert_num_dict = {} + interval = len(points) - 1 + n = insert_num // interval + m = insert_num % interval + for i in range(interval): + insert_num_dict[i] = n + for i in range(m): + insert_num_dict[i] += 1 + + res = [] + for i in range(interval): + insert_points = [] + x0, y0 = points[i] + x1, y1 = points[i + 1] + + delta_x = x1 - x0 + delta_y = y1 - y0 + for j in range(insert_num_dict[i]): + x = x0 + (j + 1) / (insert_num_dict[i] + 1) * delta_x + y = y0 + (j + 1) / (insert_num_dict[i] + 1) * delta_y + insert_points.append([int(x), int(y)]) + + res += points[i : i + 1] + insert_points + res += points[-1:] + return res + + +def process_points(points, frames=49): + defualt_points = [[128, 128]] * frames + + if len(points) < 2: + return defualt_points + + elif len(points) >= frames: + skip = len(points) // frames + return points[::skip][: frames - 1] + points[-1:] + else: + insert_num = frames - len(points) + insert_num_dict = {} + interval = len(points) - 1 + n = insert_num // interval + m = insert_num % interval + for i in range(interval): + insert_num_dict[i] = n + for i in range(m): + insert_num_dict[i] += 1 + + res = [] + for i in range(interval): + insert_points = [] + x0, y0 = points[i] + x1, y1 = points[i + 1] + + delta_x = x1 - x0 + delta_y = y1 - y0 + for j in range(insert_num_dict[i]): + x = x0 + (j + 1) / (insert_num_dict[i] + 1) * delta_x + y = y0 + (j + 1) / (insert_num_dict[i] + 1) * delta_y + insert_points.append([int(x), int(y)]) + + res += points[i : i + 1] + insert_points + res += points[-1:] + return res + + +def fn_vis_traj(traj_list, num_frames=49): + mask_image = cv2.imread(mask_image_path) + + imgs = [] + imgs.append(mask_image) + boxes = {} + transformations = {} + + for idx, traj in enumerate(traj_list.value): + color = np.array(mask_colors[idx], dtype=np.uint8) + mask = cv2.inRange(mask_image, color, color) + x, y, w, h = cv2.boundingRect(mask) + print(f"Initial box for color {color}: x={x}, y={y}, w={w}, h={h}") + boxes[tuple(map(int, color))] = (x, y, w, h) + processed_points = process_points(traj, frames=num_frames) + print(f"Processed points for color {color}: {processed_points}") + + frame_transforms = [] + for i in range(len(processed_points) - 1): + start_point = processed_points[i] + end_point = processed_points[i + 1] + dx = end_point[0] - start_point[0] + dy = end_point[1] - start_point[1] + frame_transforms.append((dx, dy, 0, 0)) # dw 和 dh 默认为 0 + transformations[tuple(map(int, color))] = frame_transforms + + prev_boxes = boxes.copy() + for frame_idx in range(0, num_frames - 1): + translated_image = np.zeros_like(mask_image) + for color, (x, y, w, h) in prev_boxes.items(): + translation = transformations.get(color, [(0, 0, 0, 0)] * num_frames) + dx, dy, dw, dh = translation[frame_idx] + new_x, new_y = x + dx, y + dy + new_w, new_h = w + dw, h + dh + cv2.rectangle( + translated_image, + (new_x, new_y), + (new_x + new_w, new_y + new_h), + color, + thickness=min(mask_image.shape[0], mask_image.shape[1]) // 100, + ) + prev_boxes[color] = (new_x, new_y, new_w, new_h) + + imgs.append(translated_image) + + fps = 8 + writer = imageio.get_writer(traj_video_path, format="mp4", mode="I", fps=fps) + + for img in imgs: + if len(img.shape) == 3 and img.shape[2] == 3: + img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) + writer.append_data(img) + + writer.close() + + return traj_video_path + + +def model_run(prompt, seed, fps=8, num_frames=49, weight=1.0): + global model_args + global pipe + global model_config + + if not os.path.exists(os.path.dirname(output_path)): + os.makedirs(os.path.dirname(output_path), exist_ok=True) + pipeline_args = { + "image": load_image(first_frame_path), + "prompt": prompt, + "guidance_scale": model_args.guidance_scale, + "use_dynamic_cfg": model_args.use_dynamic_cfg, + "height": 480, + "width": 720, + "max_sequence_length": model_config.max_text_seq_length, + "trajectory_maps": load_video(traj_video_path), + "controlnet_weights": float(weight), + } + print("Generating:", prompt) + video_generate = pipe( + **pipeline_args, + num_frames=num_frames, + generator=torch.Generator().manual_seed(seed), + output_type="np", + ).frames[0] + + export_to_video(video_generate, output_path, fps=fps) + + return output_path + + +def load_pipe(args): + global pipe + global model_config + tokenizer = T5Tokenizer.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="tokenizer" + ) + text_encoder = T5EncoderModel.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="text_encoder" + ).cuda() + vae = AutoencoderKLCogVideoX.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="vae" + ).cuda() + load_dtype = ( + torch.bfloat16 + if "5b" in args.pretrained_model_name_or_path.lower() + else torch.float16 + ) + transformer = MagicMotionTransformer3DModel.from_pretrained( + args.pretrained_model_name_or_path, + subfolder="transformer", + torch_dtype=load_dtype, + revision=args.revision, + variant=args.variant, + use_perception_head=args.use_perception_head, + ) + if os.path.exists(args.pretrained_perception_head_path): + ckpt = torch.load( + args.pretrained_perception_head_path, map_location="cpu", weights_only=False + ) + perception_head_state_dict = {} + for name, params in ckpt["state_dict"].items(): + perception_head_state_dict[name] = params + m, u = transformer.perception_head.load_state_dict( + perception_head_state_dict, strict=False + ) + print( + f"[ Weights from pretrained perception_head was loaded into transformer ] [M: {len(m)} | U: {len(u)}]" + ) + model_config = ( + transformer.module.config + if hasattr(transformer, "module") + else transformer.config + ) + controlnet_config = {} + for k, v in model_config.items(): + if "use_perception_head" not in k: + controlnet_config[k] = v + controlnet = TrajectoryControlnet( + **controlnet_config, + ) + + assert args.pretrained_controlnet_path is not None + ckpt = torch.load( + args.pretrained_controlnet_path, map_location="cpu", weights_only=False + ) + controlnet_state_dict = {} + for name, params in ckpt["state_dict"].items(): + controlnet_state_dict[name] = params + m, u = controlnet.load_state_dict(controlnet_state_dict, strict=False) + print( + f"[ Weights from pretrained controlnet was loaded into controlnet ] [M: {len(m)} | U: {len(u)}]" + ) + + scheduler = CogVideoXDPMScheduler.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="scheduler" + ) + pipe = MagicMotionPipeline( + vae=vae, + text_encoder=text_encoder, + tokenizer=tokenizer, + transformer=transformer, + controlnet=controlnet, + scheduler=scheduler, + ).to(torch.bfloat16) + + # 3. Enable CPU offload for the model. + # turn off if you have multiple GPUs or enough GPU memory(such as H100) and it will cost less time in inference + # and enable to("cuda") + + pipe.to("cuda") + # pipe.enable_sequential_cpu_offload() + pipe.vae.enable_slicing() + pipe.vae.enable_tiling() + + +def add_provided_example(example_name): + provided_traj_path = PROVIDED_EXAMPLES[example_name][0] + provided_first_frame_path = PROVIDED_EXAMPLES[example_name][1] + provided_prompt = PROVIDED_EXAMPLES[example_name][2] + provided_seed = PROVIDED_EXAMPLES[example_name][3] + os.makedirs(os.path.dirname(traj_video_path), exist_ok=True) + os.makedirs(os.path.dirname(first_frame_path), exist_ok=True) + shutil.copy(provided_traj_path, traj_video_path) + shutil.copy(provided_first_frame_path, first_frame_path) + return traj_video_path, first_frame_path, provided_prompt, provided_seed + + +def main(args): + global canvas_width, canvas_height + canvas_width, canvas_height = 720, 480 + + demo = gr.Blocks() + with demo: + gr.Markdown( + """ +
+ MagicMotion: Controllable Video Generation with Dense-to-Sparse Trajectory Guidance +
+
+ Github | + Project Page | + arXiv +
+ """ + ) + segment_flag = gr.State() + click_points = gr.State([]) + + with gr.Column(): + with gr.Row(): + with gr.Column(): + # step1 - Segment out Moving Object + gr.Markdown( + "---\n## Step 1/3: Segment the Moving Object", + show_label=False, + visible=True, + ) + gr.Markdown( + "(Currently, this demo supports only MagicMotion Stage 2 and is limited to box translation without box shape changes. \ + To explore the full version of MagicMotion, please use the command line provided on GitHub.) \ + \n 1. Upload the start image via the `Upload Start Image` button. \ + \n 2. **Click the `Select Area with SAM` button.** \ + \n 3. **Click on `Point Labels` to determine whether the current input point is in foreground or background.** \ + \n 4. Click on `Start Frame` to segment out main objects.", + show_label=False, + visible=True, + ) + foreground_flag = gr.Radio( + choices=["foreground_point", "background_point"], + value="foreground_point", + label="Point Labels", + interactive=True, + visible=True, + ) + with gr.Row(): + image_upload_button = gr.UploadButton( + label="Upload Start Image", file_types=["image"] + ) + select_area_button = gr.Button(value="Select Area with SAM") + # step2 - object motion control - draw yourself + gr.Markdown( + "---\n## Step 2/3: Draw A Trajectory", + show_label=False, + visible=True, + ) + gr.Markdown( + "\n 1. **Click the `Add New Trajectory` button.** \ + \n 2. Click on the `Start Frame` to create a trajectory. Each click adds a new point to the trajectory. \ + \n 3. Click on `Visualize Trajectory` to generate trajectory video. \ + \n 4. Return to Step1 if you want to add another moving object and trajectory.", + show_label=False, + visible=True, + ) + + with gr.Row(): + add_drag_button = gr.Button(value="Add New Trajectory") + traj_vis = gr.Button(value="Visualize Trajectory", visible=True) + + with gr.Column(): + input_image = gr.Image( + label="Start Frame", + interactive=True, + height=canvas_height, + width=canvas_width, + ) + + vis_traj = gr.Video( + value=None, + label="Trajectory", + visible=True, + width=canvas_width, + height=canvas_height, + ) + + # step2 - Add prompt and seed to generate videos + with gr.Row(): + with gr.Column(): + gr.Markdown( + "---\n## Step 3/3: Add prompt and seed", + show_label=False, + visible=True, + ) + prompt = gr.Textbox( + value="", label="Prompt", interactive=True, visible=True + ) + seed = gr.Number( + value=42, + precision=0, + interactive=True, + label="Seed", + visible=True, + ) + start = gr.Button(value="Generate", visible=True) + with gr.Column(): + gen_video = gr.Video( + value=None, label="Generate Video", visible=True + ) + + # traj examples + with gr.Column(): + gr.Markdown("---\n## Examples", show_label=False, visible=True) + with gr.Row(): + example_1 = gr.Button(value="cartoon_wizard", visible=True) + example_2 = gr.Button(value="floatie", visible=True) + example_3 = gr.Button(value="child_horse", visible=True) + example_4 = gr.Button(value="priestess", visible=True) + + example_1.click( + fn=add_provided_example, + inputs=[example_1], + outputs=[vis_traj, input_image, prompt, seed], + ) + example_2.click( + fn=add_provided_example, + inputs=[example_2], + outputs=[vis_traj, input_image, prompt, seed], + ) + example_3.click( + fn=add_provided_example, + inputs=[example_3], + outputs=[vis_traj, input_image, prompt, seed], + ) + example_4.click( + fn=add_provided_example, + inputs=[example_4], + outputs=[vis_traj, input_image, prompt, seed], + ) + + image_upload_button.upload( + preprocess_first_frame, + image_upload_button, + [input_image, click_points], + ) + select_area_button.click( + start_segment, click_points, [click_points, segment_flag] + ) + + add_drag_button.click(start_traj, click_points, [click_points, segment_flag]) + + input_image.select( + fn=image_click, + inputs=[click_points, segment_flag, foreground_flag], + outputs=[click_points, input_image], + ) + traj_vis.click( + fn=fn_vis_traj, + inputs=click_points, + outputs=[vis_traj], + ) + start.click( + fn=model_run, + inputs=[prompt, seed], + outputs=gen_video, + ) + gr.Markdown(article) + + demo.queue(max_size=32).launch(**args) + + +if __name__ == "__main__": + global model_args + model_args = get_args() + load_pipe(model_args) + print("******************** model loaded ********************") + + launch_kwargs = { + "server_name": "0.0.0.0" if "SPACE_ID" in os.environ else "127.0.0.1", + "server_port": 7860, + "inbrowser": False, + "share": False, + } + + main(launch_kwargs) diff --git a/magicmotion/args.py b/magicmotion/args.py new file mode 100644 index 0000000000000000000000000000000000000000..0f5c8bfd358347bff1ada54a5f92d283a374c82e --- /dev/null +++ b/magicmotion/args.py @@ -0,0 +1,582 @@ +import argparse + + +def _get_model_args(parser: argparse.ArgumentParser) -> None: + parser.add_argument( + "--pretrained_model_name_or_path", + type=str, + default=None, + required=True, + help="Path to pretrained model or model identifier from huggingface.co/models.", + ) + parser.add_argument( + "--revision", + type=str, + default=None, + required=False, + help="Revision of pretrained model identifier from huggingface.co/models.", + ) + parser.add_argument( + "--variant", + type=str, + default=None, + help="Variant of the model files of the pretrained model identifier from huggingface.co/models, 'e.g.' fp16", + ) + parser.add_argument( + "--cache_dir", + type=str, + default=None, + help="The directory where the downloaded models and datasets will be stored.", + ) + parser.add_argument( + "--use_perception_head", + action="store_true", + help="Whether or not to use the perception head.", + ) + + +def _get_dataset_args(parser: argparse.ArgumentParser) -> None: + parser.add_argument( + "--data_root", + type=str, + default=None, + help=("A folder containing the training data."), + ) + parser.add_argument( + "--dataset_file", + type=str, + default=None, + help=("Path to a CSV file if loading prompts/video paths using this format."), + ) + parser.add_argument( + "--video_column", + type=str, + default="video", + help="The column of the dataset containing videos. Or, the name of the file in `--data_root` folder containing the line-separated path to video data.", + ) + parser.add_argument( + "--caption_column", + type=str, + default="text", + help="The column of the dataset containing the instance prompt for each video. Or, the name of the file in `--data_root` folder containing the line-separated instance prompts.", + ) + parser.add_argument( + "--id_token", + type=str, + default=None, + help="Identifier token appended to the start of each prompt if provided.", + ) + parser.add_argument( + "--height_buckets", + nargs="+", + type=int, + default=[256, 320, 384, 480, 512, 576, 720, 768, 960, 1024, 1280, 1536], + ) + parser.add_argument( + "--width_buckets", + nargs="+", + type=int, + default=[256, 320, 384, 480, 512, 576, 720, 768, 960, 1024, 1280, 1536], + ) + parser.add_argument( + "--frame_buckets", + nargs="+", + type=int, + default=[49], + help="CogVideoX1.5 need to guarantee that ((num_frames - 1) // self.vae_scale_factor_temporal + 1) % patch_size_t == 0, such as 53" + ) + parser.add_argument( + "--load_tensors", + action="store_true", + help="Whether to use a pre-encoded tensor dataset of latents and prompt embeddings instead of videos and text prompts. The expected format is that saved by running the `prepare_dataset.py` script.", + ) + parser.add_argument( + "--random_flip", + type=float, + default=None, + help="If random horizontal flip augmentation is to be used, this should be the flip probability.", + ) + parser.add_argument( + "--dataloader_num_workers", + type=int, + default=0, + help="Number of subprocesses to use for data loading. 0 means that the data will be loaded in the main process.", + ) + parser.add_argument( + "--pin_memory", + action="store_true", + help="Whether or not to use the pinned memory setting in pytorch dataloader.", + ) + parser.add_argument( + "--trajectory_maps_type", + type=str, + default="mask", + help="Type of trajectory maps to use. Choose between ['mask', 'box']", + ) + parser.add_argument( + "--frame_interval", + type=int, + default=1, + help="Interval between frames to sample from the dataset.", + ) + + +def _get_validation_args(parser: argparse.ArgumentParser) -> None: + parser.add_argument( + "--validation_prompt", + type=str, + default=None, + help="One or more prompts used during validation to verify that the model is learning. Provide multiple prompts separated by spaces.", + ) + parser.add_argument( + "--validation_images", + type=str, + default=None, + help="One or more image path(s)/URLs that is used during validation to verify that the model is learning. Multiple validation paths should be separated by the '--validation_prompt_seperator' string. These should correspond to the order of the validation prompts.", + ) + parser.add_argument( + "--validation_prompt_separator", + type=str, + default=":::", + help="String that separates multiple validation prompts", + ) + parser.add_argument( + "--num_validation_videos", + type=int, + default=1, + help="Number of videos that should be generated during validation per `validation_prompt`.", + ) + parser.add_argument( + "--validation_epochs", + type=int, + default=None, + help="Run validation every X training epochs. Validation consists of running the validation prompt `args.num_validation_videos` times.", + ) + parser.add_argument( + "--validation_steps", + type=int, + default=None, + help="Run validation every X training steps. Validation consists of running the validation prompt `args.num_validation_videos` times.", + ) + parser.add_argument( + "--guidance_scale", + type=float, + default=6, + help="The guidance scale to use while sampling validation videos.", + ) + parser.add_argument( + "--use_dynamic_cfg", + action="store_true", + default=False, + help="Whether or not to use the default cosine dynamic guidance schedule when sampling validation videos.", + ) + parser.add_argument( + "--enable_model_cpu_offload", + action="store_true", + default=False, + help="Whether or not to enable model-wise CPU offloading when performing validation/testing to save memory.", + ) + parser.add_argument( + "--validation_trajectory_maps", + type=str, + default=None, + help="Path to the trajectory maps for the validation videos.", + ) + parser.add_argument( + "--output_path", + type=str, + default="output.mp4", + help="Path to save the generated video.", + ) + parser.add_argument( + "--trajectory_guidance_scale", + type=float, + default=2, + help="The tajectory guidance scale to use while sampling validation videos.", + ) + parser.add_argument( + "--validation_args_csv", + type=str, + default=None, + help="Path to a csv file containing validation arguments.", + ) + + +def _get_training_args(parser: argparse.ArgumentParser) -> None: + parser.add_argument("--seed", type=int, default=None, help="A seed for reproducible training.") + parser.add_argument("--rank", type=int, default=64, help="The rank for LoRA matrices.") + parser.add_argument( + "--lora_alpha", + type=int, + default=64, + help="The lora_alpha to compute scaling factor (lora_alpha / rank) for LoRA matrices.", + ) + parser.add_argument( + "--mixed_precision", + type=str, + default=None, + choices=["no", "fp16", "bf16"], + help=( + "Whether to use mixed precision. Choose between fp16 and bf16 (bfloat16). Bf16 requires PyTorch >= 1.10.and an Nvidia Ampere GPU. " + "Default to the value of accelerate config of the current system or the flag passed with the `accelerate.launch` command. Use this " + "argument to override the accelerate config." + ), + ) + parser.add_argument( + "--output_dir", + type=str, + default="cogvideox-sft", + help="The output directory where the model predictions and checkpoints will be written.", + ) + parser.add_argument( + "--height", + type=int, + default=480, + help="All input videos are resized to this height.", + ) + parser.add_argument( + "--width", + type=int, + default=720, + help="All input videos are resized to this width.", + ) + parser.add_argument( + "--video_reshape_mode", + type=str, + default=None, + help="All input videos are reshaped to this mode. Choose between ['center', 'random', 'none']", + ) + parser.add_argument("--fps", type=int, default=8, help="All input videos will be used at this FPS.") + parser.add_argument( + "--max_num_frames", + type=int, + default=49, + help="All input videos will be truncated to these many frames.", + ) + parser.add_argument( + "--skip_frames_start", + type=int, + default=0, + help="Number of frames to skip from the beginning of each input video. Useful if training data contains intro sequences.", + ) + parser.add_argument( + "--skip_frames_end", + type=int, + default=0, + help="Number of frames to skip from the end of each input video. Useful if training data contains outro sequences.", + ) + parser.add_argument( + "--train_batch_size", + type=int, + default=4, + help="Batch size (per device) for the training dataloader.", + ) + parser.add_argument("--num_train_epochs", type=int, default=1) + parser.add_argument( + "--max_train_steps", + type=int, + default=None, + help="Total number of training steps to perform. If provided, overrides `--num_train_epochs`.", + ) + parser.add_argument( + "--checkpointing_steps", + type=int, + default=500, + help=( + "Save a checkpoint of the training state every X updates. These checkpoints can be used both as final" + " checkpoints in case they are better than the last checkpoint, and are also suitable for resuming" + " training using `--resume_from_checkpoint`." + ), + ) + parser.add_argument( + "--checkpoints_total_limit", + type=int, + default=None, + help=("Max number of checkpoints to store."), + ) + parser.add_argument( + "--resume_from_checkpoint", + type=str, + default=None, + help=( + "Whether training should be resumed from a previous checkpoint. Use a path saved by" + ' `--checkpointing_steps`, or `"latest"` to automatically select the last available checkpoint.' + ), + ) + parser.add_argument( + "--gradient_accumulation_steps", + type=int, + default=1, + help="Number of updates steps to accumulate before performing a backward/update pass.", + ) + parser.add_argument( + "--gradient_checkpointing", + action="store_true", + help="Whether or not to use gradient checkpointing to save memory at the expense of slower backward pass.", + ) + parser.add_argument( + "--learning_rate", + type=float, + default=1e-4, + help="Initial learning rate (after the potential warmup period) to use.", + ) + parser.add_argument( + "--scale_lr", + action="store_true", + default=False, + help="Scale the learning rate by the number of GPUs, gradient accumulation steps, and batch size.", + ) + parser.add_argument( + "--lr_scheduler", + type=str, + default="constant", + help=( + 'The scheduler type to use. Choose between ["linear", "cosine", "cosine_with_restarts", "polynomial",' + ' "constant", "constant_with_warmup"]' + ), + ) + parser.add_argument( + "--lr_warmup_steps", + type=int, + default=500, + help="Number of steps for the warmup in the lr scheduler.", + ) + parser.add_argument( + "--lr_num_cycles", + type=int, + default=1, + help="Number of hard resets of the lr in cosine_with_restarts scheduler.", + ) + parser.add_argument( + "--lr_power", + type=float, + default=1.0, + help="Power factor of the polynomial scheduler.", + ) + parser.add_argument( + "--enable_slicing", + action="store_true", + default=False, + help="Whether or not to use VAE slicing for saving memory.", + ) + parser.add_argument( + "--enable_tiling", + action="store_true", + default=False, + help="Whether or not to use VAE tiling for saving memory.", + ) + parser.add_argument( + "--noised_image_dropout", + type=float, + default=0.05, + help="Image condition dropout probability when finetuning image-to-video.", + ) + parser.add_argument( + "--ignore_learned_positional_embeddings", + action="store_true", + default=False, + help=( + "Whether to ignore the learned positional embeddings when training CogVideoX Image-to-Video. This setting " + "should be used when performing multi-resolution training, because CogVideoX-I2V does not support it " + "otherwise. Please read the comments in https://github.com/a-r-r-o-w/cogvideox-factory/issues/26 to understand why." + ), + ) + parser.add_argument( + "--lambda_region", + type=float, + default=1.0, + help="The weight of the region loss in the total loss.", + ) + parser.add_argument( + "--lambda_latent_segmentation", + type=float, + default=1.0, + help="The weight of the latent segmentation loss in the total loss.", + ) + parser.add_argument( + "--controlnet_weights", + type=float, + default=1.0, + help="The weight of the controlnet.", + ) + parser.add_argument( + "--init_from_transformer", + action="store_true", + help="Whether or not to initialize the Controlnet from the transformer.", + ) + parser.add_argument( + "--pretrained_controlnet_path", + type=str, + default=None, + help="Path to the pretrained controlnet.", + ) + parser.add_argument( + "--random_masked_condition", + action="store_true", + help="Whether or not to use random mask condition for the controlnet.", + ) + parser.add_argument( + "--global_step", + type=int, + default=0, + help="The global step to start training from.", + ) + parser.add_argument( + "--initial_global_step", + type=int, + default=0, + help="The initial global step to start training from.", + ) + parser.add_argument( + "--pretrained_perception_head_path", + type=str, + default="", + help="Path to the pretrained perption head.", + ) + parser.add_argument( + "--max_sparse_boxs_num", + type=int, + default=10, + help="The maximum number of sparse boxes.", + ) + +def _get_optimizer_args(parser: argparse.ArgumentParser) -> None: + parser.add_argument( + "--optimizer", + type=lambda s: s.lower(), + default="adam", + choices=["adam", "adamw", "prodigy", "came"], + help=("The optimizer type to use."), + ) + parser.add_argument( + "--use_8bit", + action="store_true", + help="Whether or not to use 8-bit optimizers from `bitsandbytes` or `bitsandbytes`.", + ) + parser.add_argument( + "--use_4bit", + action="store_true", + help="Whether or not to use 4-bit optimizers from `torchao`.", + ) + parser.add_argument( + "--use_torchao", action="store_true", help="Whether or not to use the `torchao` backend for optimizers." + ) + parser.add_argument( + "--beta1", + type=float, + default=0.9, + help="The beta1 parameter for the Adam and Prodigy optimizers.", + ) + parser.add_argument( + "--beta2", + type=float, + default=0.95, + help="The beta2 parameter for the Adam and Prodigy optimizers.", + ) + parser.add_argument( + "--beta3", + type=float, + default=None, + help="Coefficients for computing the Prodigy optimizer's stepsize using running averages. If set to None, uses the value of square root of beta2.", + ) + parser.add_argument( + "--prodigy_decouple", + action="store_true", + help="Use AdamW style decoupled weight decay.", + ) + parser.add_argument( + "--weight_decay", + type=float, + default=1e-04, + help="Weight decay to use for optimizer.", + ) + parser.add_argument( + "--epsilon", + type=float, + default=1e-8, + help="Epsilon value for the Adam optimizer and Prodigy optimizers.", + ) + parser.add_argument("--max_grad_norm", default=1.0, type=float, help="Max gradient norm.") + parser.add_argument( + "--prodigy_use_bias_correction", + action="store_true", + help="Turn on Adam's bias correction.", + ) + parser.add_argument( + "--prodigy_safeguard_warmup", + action="store_true", + help="Remove lr from the denominator of D estimate to avoid issues during warm-up stage.", + ) + parser.add_argument( + "--use_cpu_offload_optimizer", + action="store_true", + help="Whether or not to use the CPUOffloadOptimizer from TorchAO to perform optimization step and maintain parameters on the CPU.", + ) + parser.add_argument( + "--offload_gradients", + action="store_true", + help="Whether or not to offload the gradients to CPU when using the CPUOffloadOptimizer from TorchAO.", + ) + + +def _get_configuration_args(parser: argparse.ArgumentParser) -> None: + parser.add_argument("--tracker_name", type=str, default=None, help="Project tracker name") + parser.add_argument( + "--push_to_hub", + action="store_true", + help="Whether or not to push the model to the Hub.", + ) + parser.add_argument( + "--hub_token", + type=str, + default=None, + help="The token to use to push to the Model Hub.", + ) + parser.add_argument( + "--hub_model_id", + type=str, + default=None, + help="The name of the repository to keep in sync with the local `output_dir`.", + ) + parser.add_argument( + "--logging_dir", + type=str, + default="logs", + help="Directory where logs are stored.", + ) + parser.add_argument( + "--allow_tf32", + action="store_true", + help=( + "Whether or not to allow TF32 on Ampere GPUs. Can be used to speed up training. For more information, see" + " https://pytorch.org/docs/stable/notes/cuda.html#tensorfloat-32-tf32-on-ampere-devices" + ), + ) + parser.add_argument( + "--nccl_timeout", + type=int, + default=600, + help="Maximum timeout duration before which allgather, or related, operations fail in multi-GPU/multi-node training settings.", + ) + parser.add_argument( + "--report_to", + type=str, + default=None, + help=( + 'The integration to report the results and logs to. Supported platforms are `"tensorboard"`' + ' (default), `"wandb"` and `"comet_ml"`. Use `"all"` to report to all integrations.' + ), + ) + + +def get_args(): + parser = argparse.ArgumentParser(description="Simple example of a training script for CogVideoX.") + + _get_model_args(parser) + _get_dataset_args(parser) + _get_training_args(parser) + _get_validation_args(parser) + _get_optimizer_args(parser) + _get_configuration_args(parser) + + return parser.parse_args() diff --git a/magicmotion/inference.py b/magicmotion/inference.py new file mode 100644 index 0000000000000000000000000000000000000000..8bf35dac675c35fe78a8734b21006e3da317e857 --- /dev/null +++ b/magicmotion/inference.py @@ -0,0 +1,170 @@ +# Copyright 2024 The HuggingFace Team. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import pandas as pd +import torch +from args import get_args +from diffusers.models import AutoencoderKLCogVideoX +from diffusers.schedulers import CogVideoXDPMScheduler +from diffusers.utils import export_to_video, load_image, load_video +from models.trajectory_controlnet import TrajectoryControlnet +from models.magicmotion_transformer_3d import MagicMotionTransformer3DModel +from pipelines.pipeline_magicmotion import MagicMotionPipeline +from transformers import T5EncoderModel, T5Tokenizer + + +def main(args): + + tokenizer = T5Tokenizer.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="tokenizer" + ) + text_encoder = T5EncoderModel.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="text_encoder" + ).cuda() + vae = AutoencoderKLCogVideoX.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="vae" + ).cuda() + load_dtype = ( + torch.bfloat16 + if "5b" in args.pretrained_model_name_or_path.lower() + else torch.float16 + ) + transformer = MagicMotionTransformer3DModel.from_pretrained( + args.pretrained_model_name_or_path, + subfolder="transformer", + torch_dtype=load_dtype, + revision=args.revision, + variant=args.variant, + use_perception_head=args.use_perception_head, + ) + if os.path.exists(args.pretrained_perception_head_path): + ckpt = torch.load( + args.pretrained_perception_head_path, map_location="cpu", weights_only=False + ) + perception_head_state_dict = {} + for name, params in ckpt["state_dict"].items(): + perception_head_state_dict[name] = params + m, u = transformer.perception_head.load_state_dict( + perception_head_state_dict, strict=False + ) + print( + f"[ Weights from pretrained perception_head was loaded into transformer ] [M: {len(m)} | U: {len(u)}]" + ) + model_config = ( + transformer.module.config + if hasattr(transformer, "module") + else transformer.config + ) + controlnet_config = {} + for k, v in model_config.items(): + if "use_perception_head" not in k: + controlnet_config[k] = v + controlnet = TrajectoryControlnet( + **controlnet_config, + ) + + assert args.pretrained_controlnet_path is not None + ckpt = torch.load( + args.pretrained_controlnet_path, map_location="cpu", weights_only=False + ) + controlnet_state_dict = {} + for name, params in ckpt["state_dict"].items(): + controlnet_state_dict[name] = params + m, u = controlnet.load_state_dict(controlnet_state_dict, strict=False) + print( + f"[ Weights from pretrained controlnet was loaded into controlnet ] [M: {len(m)} | U: {len(u)}]" + ) + + scheduler = CogVideoXDPMScheduler.from_pretrained( + "THUDM/CogVideoX-5b-I2V", subfolder="scheduler" + ) + pipe = MagicMotionPipeline( + vae=vae, + text_encoder=text_encoder, + tokenizer=tokenizer, + transformer=transformer, + controlnet=controlnet, + scheduler=scheduler, + ).to(torch.bfloat16) + + num_frames = 49 + fps = 8 + + # 3. Enable CPU offload for the model. + # turn off if you have multiple GPUs or enough GPU memory(such as H100) and it will cost less time in inference + # and enable to("cuda") + + # pipe.to("cuda") + pipe.enable_sequential_cpu_offload() + pipe.vae.enable_slicing() + pipe.vae.enable_tiling() + + # Run inference + if args.validation_args_csv and args.num_validation_videos > 0: + validation_args = pd.read_csv(args.validation_args_csv) + validation_prompts = validation_args["validation_prompt"].tolist() + validation_images = validation_args["validation_images"].tolist() + validation_trajectory_maps = validation_args[ + "validation_trajectory_maps" + ].tolist() + output_paths = validation_args["output_path"].tolist() + controlnet_weights = validation_args["controlnet_weights"].tolist() + seeds = validation_args["seed"].tolist() + for ( + validation_image, + validation_prompt, + validation_trajectory_map, + output_path, + weight, + seed, + ) in zip( + validation_images, + validation_prompts, + validation_trajectory_maps, + output_paths, + controlnet_weights, + seeds, + ): + if os.path.exists(output_path): + print(f"Output path {output_path} already exists. Skipping.") + continue + if not os.path.exists(os.path.dirname(output_path)): + os.makedirs(os.path.dirname(output_path), exist_ok=True) + pipeline_args = { + "image": load_image(validation_image), + "prompt": validation_prompt, + "guidance_scale": args.guidance_scale, + "use_dynamic_cfg": args.use_dynamic_cfg, + "height": args.height, + "width": args.width, + "max_sequence_length": model_config.max_text_seq_length, + "trajectory_maps": load_video(validation_trajectory_map), + "controlnet_weights": float(weight), + } + print("Generating:", validation_prompt) + video_generate = pipe( + **pipeline_args, + num_frames=num_frames, + generator=torch.Generator().manual_seed(seed), + output_type="np", + ).frames[0] + + export_to_video(video_generate, output_path, fps=fps) + + +if __name__ == "__main__": + args = get_args() + main(args) diff --git a/magicmotion/models/latent_segmentation.py b/magicmotion/models/latent_segmentation.py new file mode 100644 index 0000000000000000000000000000000000000000..6bc82e8b7f73471df7dad42ccd12b0a19e4b97f9 --- /dev/null +++ b/magicmotion/models/latent_segmentation.py @@ -0,0 +1,46 @@ +import torch +import torch.nn as nn + +class SemanticFPNHead(nn.Module): + def __init__(self, in_channels, out_channels=2, num_groups=16, num_tensors=18, patch_size=2): + """ + Args: + in_channels (int): Number of input channels for each tensor in the list. + hidden_dim (int): Hidden dimension of the MLP. + out_channels (int): Number of output channels for the final tensor. Default is 2. + """ + super(SemanticFPNHead, self).__init__() + hidden_dim = 64 + self.convs = nn.ModuleList( + [ + nn.Sequential( + nn.Conv2d(in_channels, hidden_dim, kernel_size=3, stride=1, padding=1), + nn.GroupNorm(num_groups=min(num_groups, hidden_dim), num_channels=hidden_dim), + nn.ReLU(inplace=True), + ) + for i in range(num_tensors) + ] + ) + self.conv_out = nn.Conv2d(hidden_dim, out_channels, kernel_size=1) + self.upsample = nn.Upsample(scale_factor=patch_size, mode='bilinear', align_corners=False) + + def forward(self, tensor_list): + """ + Args: + tensor_list (list of torch.Tensor): List of tensors with shape [B, C, H, W]. + + Returns: + torch.Tensor: A tensor with shape [B, C_out, H, W]. + """ + if len(tensor_list) != len(self.convs): + raise ValueError(f"Number of input tensors ({len(tensor_list)}) must match the number of conv layers ({len(self.convs)}).") + + convolved_tensors = [] + for conv, tensor in zip(self.convs, tensor_list): + tensor = conv(tensor) + convolved_tensors.append(tensor) + + summed_tensor = torch.sum(torch.stack(convolved_tensors), dim=0) + summed_tensor = self.upsample(summed_tensor) + output = self.conv_out(summed_tensor) + return output \ No newline at end of file diff --git a/magicmotion/models/magicmotion.py b/magicmotion/models/magicmotion.py new file mode 100644 index 0000000000000000000000000000000000000000..14835be63a9e17bbd74dce636d1a31de46006169 --- /dev/null +++ b/magicmotion/models/magicmotion.py @@ -0,0 +1,8 @@ +from torch.nn import Module + + +class MagicMotion(Module): + def __init__(self, transformer, controlnet): + super().__init__() + self.transformer = transformer + self.controlnet = controlnet diff --git a/magicmotion/models/magicmotion_transformer_3d.py b/magicmotion/models/magicmotion_transformer_3d.py new file mode 100644 index 0000000000000000000000000000000000000000..312de4d1ce0f221ae7cb5e3bbff059bfc8b3699a --- /dev/null +++ b/magicmotion/models/magicmotion_transformer_3d.py @@ -0,0 +1,437 @@ +import copy +import os +from dataclasses import dataclass +from typing import Any, Dict, Optional, Tuple, Union + +import numpy as np +import torch +from diffusers.configuration_utils import register_to_config +from diffusers.models.transformers import CogVideoXTransformer3DModel +from diffusers.utils import ( + USE_PEFT_BACKEND, + BaseOutput, + is_accelerate_available, + is_torch_version, + logging, + scale_lora_layers, + unscale_lora_layers, +) +from einops import rearrange +from models.latent_segmentation import SemanticFPNHead + +if is_accelerate_available(): + import accelerate + +logger = logging.get_logger(__name__) # pylint: disable=invalid-name + + +@dataclass +class MagicMotionTransformer3DModelOutput(BaseOutput): + """ + The output of [`MagicMotionTransformer3DModel`]. + + Args: + sample (`torch.Tensor` of shape `(batch_size, num_channels, height, width)` or `(batch size, num_vector_embeds - 1, num_latent_pixels)` if [`Transformer2DModel`] is discrete): + The hidden states output conditioned on the `encoder_hidden_states` input. If discrete, returns probability + distributions for the unnoised latent pixels. + """ + + sample: "torch.Tensor" # noqa: F821 + mask_pred: Optional[torch.Tensor] = None + + +class MagicMotionTransformer3DModel(CogVideoXTransformer3DModel): + + @register_to_config + def __init__( + self, + num_attention_heads: int = 30, + attention_head_dim: int = 64, + in_channels: int = 16, + out_channels: Optional[int] = 16, + flip_sin_to_cos: bool = True, + freq_shift: int = 0, + time_embed_dim: int = 512, + ofs_embed_dim: Optional[int] = None, + text_embed_dim: int = 4096, + num_layers: int = 30, + dropout: float = 0.0, + attention_bias: bool = True, + sample_width: int = 90, + sample_height: int = 60, + sample_frames: int = 49, + patch_size: int = 2, + patch_size_t: Optional[int] = None, + temporal_compression_ratio: int = 4, + max_text_seq_length: int = 226, + activation_fn: str = "gelu-approximate", + timestep_activation_fn: str = "silu", + norm_elementwise_affine: bool = True, + norm_eps: float = 1e-5, + spatial_interpolation_scale: float = 1.875, + temporal_interpolation_scale: float = 1.0, + use_rotary_positional_embeddings: bool = False, + use_learned_positional_embeddings: bool = False, + patch_bias: bool = True, + use_perception_head=False, + ): + config = {} # 避免修改原始的 config 对象 + for k, v in self.config.items(): + if "use_perception_head" not in k: + config[k] = v + super().__init__(**config) + inner_dim = self.config.num_attention_heads * self.config.attention_head_dim + if use_perception_head: + self.start_layer = 0 + self.end_layer = self.config.num_layers - 1 + self.perception_head = SemanticFPNHead( + in_channels=inner_dim, + out_channels=self.config.in_channels // 2, + num_tensors=self.end_layer - self.start_layer + 1, + patch_size=self.config.patch_size, + ) + else: + self.perception_head = None + + def forward( + self, + hidden_states: torch.Tensor, + encoder_hidden_states: torch.Tensor, + timestep: Union[int, float, torch.LongTensor], + timestep_cond: Optional[torch.Tensor] = None, + ofs: Optional[Union[int, float, torch.LongTensor]] = None, + image_rotary_emb: Optional[Tuple[torch.Tensor, torch.Tensor]] = None, + attention_kwargs: Optional[Dict[str, Any]] = None, + return_dict: bool = True, + # Support Controlnet + controlnet_states: torch.Tensor = None, + controlnet_weights: Optional[ + Union[float, int, list, np.ndarray, torch.FloatTensor] + ] = 1.0, + ): + if attention_kwargs is not None: + attention_kwargs = attention_kwargs.copy() + lora_scale = attention_kwargs.pop("scale", 1.0) + else: + lora_scale = 1.0 + + if USE_PEFT_BACKEND: + # weight the lora layers by setting `lora_scale` for each PEFT layer + scale_lora_layers(self, lora_scale) + else: + if ( + attention_kwargs is not None + and attention_kwargs.get("scale", None) is not None + ): + logger.warning( + "Passing `scale` via `attention_kwargs` when not using the PEFT backend is ineffective." + ) + + batch_size, num_frames, channels, height, width = hidden_states.shape + + # 1. Time embedding + timesteps = timestep + t_emb = self.time_proj(timesteps) + + # timesteps does not contain any weights and will always return f32 tensors + # but time_embedding might actually be running in fp16. so we need to cast here. + # there might be better ways to encapsulate this. + t_emb = t_emb.to(dtype=hidden_states.dtype) + emb = self.time_embedding(t_emb, timestep_cond) + + if self.ofs_embedding is not None: + ofs_emb = self.ofs_proj(ofs) + ofs_emb = ofs_emb.to(dtype=hidden_states.dtype) + ofs_emb = self.ofs_embedding(ofs_emb) + emb = emb + ofs_emb + + # 2. Patch embedding + hidden_states = self.patch_embed(encoder_hidden_states, hidden_states) + hidden_states = self.embedding_dropout(hidden_states) + + text_seq_length = encoder_hidden_states.shape[1] + encoder_hidden_states = hidden_states[:, :text_seq_length] + hidden_states = hidden_states[:, text_seq_length:] + + # 3. Transformer blocks + diffusion_features = [] + for i, block in enumerate(self.transformer_blocks): + if torch.is_grad_enabled() and self.gradient_checkpointing: + + def create_custom_forward(module): + def custom_forward(*inputs): + return module(*inputs) + + return custom_forward + + ckpt_kwargs: Dict[str, Any] = ( + {"use_reentrant": False} if is_torch_version(">=", "1.11.0") else {} + ) + hidden_states, encoder_hidden_states = ( + torch.utils.checkpoint.checkpoint( + create_custom_forward(block), + hidden_states, + encoder_hidden_states, + emb, + image_rotary_emb, + **ckpt_kwargs, + ) + ) + else: + hidden_states, encoder_hidden_states = block( + hidden_states=hidden_states, + encoder_hidden_states=encoder_hidden_states, + temb=emb, + image_rotary_emb=image_rotary_emb, + ) + + if (controlnet_states is not None) and (i < len(controlnet_states)): + controlnet_states_block = controlnet_states[i] + controlnet_block_weight = 1.0 + if isinstance( + controlnet_weights, (list, np.ndarray) + ) or torch.is_tensor(controlnet_weights): + controlnet_block_weight = controlnet_weights[i] + elif isinstance(controlnet_weights, (float, int)): + controlnet_block_weight = controlnet_weights + + hidden_states = ( + hidden_states + controlnet_states_block * controlnet_block_weight + ) + diffusion_features.append(hidden_states) + + # Visualize hidden_states + p = self.config.patch_size + p_t = self.config.patch_size_t + if p_t is None: + p_t = 1 + + # Do Latent Segmentation + mask_pred = None + if self.perception_head is not None: + features = [] + for i in range(self.start_layer, self.end_layer + 1): + spatial_feature = rearrange( + diffusion_features[i], + "B (T H W) C -> (B T) C H W", + T=num_frames // p_t, + H=height // p, + W=width // p, + ) + # print(spatial_feature.shape) # torch.Size([26, 3072, 30, 45]) + features.append(spatial_feature) + + mask_pred = self.perception_head(features) + mask_pred = rearrange( + mask_pred, + "(B T) C H W -> B T C H W", + T=num_frames // p_t, + H=height, + W=width, + ) + + if not self.config.use_rotary_positional_embeddings: + # CogVideoX-2B + hidden_states = self.norm_final(hidden_states) + else: + # CogVideoX-5B + hidden_states = torch.cat([encoder_hidden_states, hidden_states], dim=1) + hidden_states = self.norm_final(hidden_states) + hidden_states = hidden_states[:, text_seq_length:] + + # 4. Final block + hidden_states = self.norm_out(hidden_states, temb=emb) + hidden_states = self.proj_out(hidden_states) + + # 5. Unpatchify + p = self.config.patch_size + p_t = self.config.patch_size_t + + if p_t is None: + output = hidden_states.reshape( + batch_size, num_frames, height // p, width // p, -1, p, p + ) + output = output.permute(0, 1, 4, 2, 5, 3, 6).flatten(5, 6).flatten(3, 4) + else: + output = hidden_states.reshape( + batch_size, + (num_frames + p_t - 1) // p_t, + height // p, + width // p, + -1, + p_t, + p, + p, + ) + output = ( + output.permute(0, 1, 5, 4, 2, 6, 3, 7) + .flatten(6, 7) + .flatten(4, 5) + .flatten(1, 2) + ) + + if USE_PEFT_BACKEND: + # remove `lora_scale` from each PEFT layer + unscale_lora_layers(self, lora_scale) + + if not return_dict: + return (output, mask_pred) + return MagicMotionTransformer3DModelOutput(sample=output, mask_pred=mask_pred) + + @classmethod + def from_pretrained(cls, pretrained_model_name_or_path, **kwargs): + from diffusers import __version__ + from diffusers.models.modeling_utils import ( + _determine_device_map, + _fetch_index_file, + _fetch_index_file_legacy, + ) + from diffusers.utils import _get_checkpoint_shard_files + from huggingface_hub.constants import HF_HUB_CACHE + + print( + f"loading transformer's pretrained weights from {pretrained_model_name_or_path} ..." + ) + + cache_dir = kwargs.pop("cache_dir", None) + ignore_mismatched_sizes = kwargs.pop("ignore_mismatched_sizes", False) + force_download = kwargs.pop("force_download", False) + from_flax = kwargs.pop("from_flax", False) + proxies = kwargs.pop("proxies", None) + output_loading_info = kwargs.pop("output_loading_info", False) + local_files_only = kwargs.pop("local_files_only", None) + token = kwargs.pop("token", None) + revision = kwargs.pop("revision", None) + torch_dtype = kwargs.pop("torch_dtype", None) + subfolder = kwargs.pop("subfolder", None) + device_map = kwargs.pop("device_map", None) + max_memory = kwargs.pop("max_memory", None) + offload_folder = kwargs.pop("offload_folder", None) + offload_state_dict = kwargs.pop("offload_state_dict", False) + low_cpu_mem_usage = kwargs.pop("low_cpu_mem_usage", True) + variant = kwargs.pop("variant", None) + quantization_config = kwargs.pop("quantization_config", None) + use_safetensors = kwargs.pop("use_safetensors", True) + + # Load config if we don't provide a configuration + config_path = pretrained_model_name_or_path + + user_agent = { + "diffusers": __version__, + "file_type": "model", + "framework": "pytorch", + } + + # load config + config, unused_kwargs, commit_hash = cls.load_config( + config_path, + cache_dir=cache_dir, + return_unused_kwargs=True, + return_commit_hash=True, + force_download=force_download, + proxies=proxies, + local_files_only=local_files_only, + token=token, + revision=revision, + subfolder=subfolder, + user_agent=user_agent, + **kwargs, + ) + + config["_class_name"] = cls.__name__ + # no in-place modification of the original config. + config = copy.deepcopy(config) + + if low_cpu_mem_usage: + # Instantiate model with empty weights + with accelerate.init_empty_weights(): + model = cls.from_config(config, **unused_kwargs) + + # Initialize perception_head + if unused_kwargs.get("use_perception_head", False): + inner_dim = ( + model.config.num_attention_heads * model.config.attention_head_dim + ) + model.perception_head = SemanticFPNHead( + in_channels=inner_dim, + out_channels=model.config.in_channels // 2, + num_tensors=model.config.num_layers, + patch_size=model.config.patch_size, + ) + + # Determine if we're loading from a directory of sharded checkpoints. + index_file = None + is_local = os.path.isdir(pretrained_model_name_or_path) + index_file_kwargs = { + "is_local": is_local, + "pretrained_model_name_or_path": pretrained_model_name_or_path, + "subfolder": subfolder or "", + "use_safetensors": use_safetensors, + "cache_dir": cache_dir, + "variant": variant, + "force_download": force_download, + "proxies": proxies, + "local_files_only": local_files_only, + "token": token, + "revision": revision, + "user_agent": user_agent, + "commit_hash": commit_hash, + } + index_file = _fetch_index_file(**index_file_kwargs) + # In case the index file was not found we still have to consider the legacy format. + # this becomes applicable when the variant is not None. + if variant is not None and ( + index_file is None or not os.path.exists(index_file) + ): + index_file = _fetch_index_file_legacy(**index_file_kwargs) + + is_sharded = True + force_hook = True + hf_quantizer = None + # Check if `_keep_in_fp32_modules` is not None + use_keep_in_fp32_modules = (cls._keep_in_fp32_modules is not None) and ( + (torch_dtype == torch.float16) + or hasattr(hf_quantizer, "use_keep_in_fp32_modules") + ) + if use_keep_in_fp32_modules: + keep_in_fp32_modules = cls._keep_in_fp32_modules + if not isinstance(keep_in_fp32_modules, list): + keep_in_fp32_modules = [keep_in_fp32_modules] + + if low_cpu_mem_usage is None: + low_cpu_mem_usage = True + logger.info( + "Set `low_cpu_mem_usage` to True as `_keep_in_fp32_modules` is not None." + ) + elif not low_cpu_mem_usage: + raise ValueError( + "`low_cpu_mem_usage` cannot be False when `keep_in_fp32_modules` is True." + ) + else: + keep_in_fp32_modules = [] + + device_map = _determine_device_map( + model, + device_map, + max_memory, + torch_dtype, + keep_in_fp32_modules, + hf_quantizer, + ) + if device_map is None and is_sharded: + # we load the parameters on the cpu + device_map = {"": "cpu"} + force_hook = False + + accelerate.load_checkpoint_and_dispatch( + model, + index_file, + device_map, + max_memory=max_memory, + offload_folder=offload_folder, + offload_state_dict=offload_state_dict, + dtype=torch_dtype, + force_hooks=force_hook, + strict=True, + ) + return model diff --git a/magicmotion/models/trajectory_controlnet.py b/magicmotion/models/trajectory_controlnet.py new file mode 100644 index 0000000000000000000000000000000000000000..4183ab6f095d51c7d4fd2a12cf6b1bcaa42dba72 --- /dev/null +++ b/magicmotion/models/trajectory_controlnet.py @@ -0,0 +1,310 @@ +from typing import Any, Dict, Optional, Tuple, Union +import torch +from torch import nn +from diffusers.configuration_utils import ConfigMixin, register_to_config +from diffusers.loaders import PeftAdapterMixin +from diffusers.utils import ( + USE_PEFT_BACKEND, + is_torch_version, + logging, + scale_lora_layers, +) +from diffusers.models.embeddings import ( + CogVideoXPatchEmbed, + TimestepEmbedding, + Timesteps, +) +from diffusers.models.modeling_outputs import Transformer2DModelOutput +from diffusers.models.modeling_utils import ModelMixin +from diffusers.models.transformers.cogvideox_transformer_3d import CogVideoXBlock +from einops import rearrange + +logger = logging.get_logger(__name__) # pylint: disable=invalid-name + + +def zero_module(module): + for p in module.parameters(): + nn.init.zeros_(p) + return module + + +class InflatedConv3d(nn.Conv2d): + def forward(self, x, T, H, W): + + x = rearrange(x, "b (f h w) c -> (b f) c h w", f=T, h=H, w=W) + x = super().forward(x) + x = rearrange(x, "(b f) c h w -> b (f h w) c", f=T, h=H, w=W) + + return x + + +class TrajectoryControlnet(ModelMixin, ConfigMixin, PeftAdapterMixin): + """ + A Transformer model for video-like data in [CogVideoX](https://github.com/THUDM/CogVideo). + + Parameters: + num_attention_heads (`int`, defaults to `30`): + The number of heads to use for multi-head attention. + attention_head_dim (`int`, defaults to `64`): + The number of channels in each head. + in_channels (`int`, defaults to `16`): + The number of channels in the input. + out_channels (`int`, *optional*, defaults to `16`): + The number of channels in the output. + flip_sin_to_cos (`bool`, defaults to `True`): + Whether to flip the sin to cos in the time embedding. + time_embed_dim (`int`, defaults to `512`): + Output dimension of timestep embeddings. + ofs_embed_dim (`int`, defaults to `512`): + Output dimension of "ofs" embeddings used in CogVideoX-5b-I2B in version 1.5 + text_embed_dim (`int`, defaults to `4096`): + Input dimension of text embeddings from the text encoder. + num_layers (`int`, defaults to `30`): + The number of layers of Transformer blocks to use. + dropout (`float`, defaults to `0.0`): + The dropout probability to use. + attention_bias (`bool`, defaults to `True`): + Whether to use bias in the attention projection layers. + sample_width (`int`, defaults to `90`): + The width of the input latents. + sample_height (`int`, defaults to `60`): + The height of the input latents. + sample_frames (`int`, defaults to `49`): + The number of frames in the input latents. Note that this parameter was incorrectly initialized to 49 + instead of 13 because CogVideoX processed 13 latent frames at once in its default and recommended settings, + but cannot be changed to the correct value to ensure backwards compatibility. To create a transformer with + K latent frames, the correct value to pass here would be: ((K - 1) * temporal_compression_ratio + 1). + patch_size (`int`, defaults to `2`): + The size of the patches to use in the patch embedding layer. + temporal_compression_ratio (`int`, defaults to `4`): + The compression ratio across the temporal dimension. See documentation for `sample_frames`. + max_text_seq_length (`int`, defaults to `226`): + The maximum sequence length of the input text embeddings. + activation_fn (`str`, defaults to `"gelu-approximate"`): + Activation function to use in feed-forward. + timestep_activation_fn (`str`, defaults to `"silu"`): + Activation function to use when generating the timestep embeddings. + norm_elementwise_affine (`bool`, defaults to `True`): + Whether to use elementwise affine in normalization layers. + norm_eps (`float`, defaults to `1e-5`): + The epsilon value to use in normalization layers. + spatial_interpolation_scale (`float`, defaults to `1.875`): + Scaling factor to apply in 3D positional embeddings across spatial dimensions. + temporal_interpolation_scale (`float`, defaults to `1.0`): + Scaling factor to apply in 3D positional embeddings across temporal dimensions. + """ + + _supports_gradient_checkpointing = True + + @register_to_config + def __init__( + self, + num_attention_heads: int = 30, + attention_head_dim: int = 64, + in_channels: int = 16, + out_channels: Optional[int] = 16, + flip_sin_to_cos: bool = True, + freq_shift: int = 0, + time_embed_dim: int = 512, + ofs_embed_dim: Optional[int] = None, + text_embed_dim: int = 4096, + num_layers: int = 30, + dropout: float = 0.0, + attention_bias: bool = True, + sample_width: int = 90, + sample_height: int = 60, + sample_frames: int = 49, + patch_size: int = 2, + patch_size_t: Optional[int] = None, + temporal_compression_ratio: int = 4, + max_text_seq_length: int = 226, + activation_fn: str = "gelu-approximate", + timestep_activation_fn: str = "silu", + norm_elementwise_affine: bool = True, + norm_eps: float = 1e-5, + spatial_interpolation_scale: float = 1.875, + temporal_interpolation_scale: float = 1.0, + use_rotary_positional_embeddings: bool = False, + use_learned_positional_embeddings: bool = False, + patch_bias: bool = True, + ): + super().__init__() + inner_dim = num_attention_heads * attention_head_dim + + if not use_rotary_positional_embeddings and use_learned_positional_embeddings: + raise ValueError( + "There are no CogVideoX checkpoints available with disable rotary embeddings and learned positional " + "embeddings. If you're using a custom model and/or believe this should be supported, please open an " + "issue at https://github.com/huggingface/diffusers/issues." + ) + + # 1. Patch embedding + self.patch_embed = CogVideoXPatchEmbed( + patch_size=patch_size, + patch_size_t=patch_size_t, + in_channels=in_channels, + embed_dim=inner_dim, + text_embed_dim=text_embed_dim, + bias=patch_bias, + sample_width=sample_width, + sample_height=sample_height, + sample_frames=sample_frames, + temporal_compression_ratio=temporal_compression_ratio, + max_text_seq_length=max_text_seq_length, + spatial_interpolation_scale=spatial_interpolation_scale, + temporal_interpolation_scale=temporal_interpolation_scale, + use_positional_embeddings=not use_rotary_positional_embeddings, + use_learned_positional_embeddings=use_learned_positional_embeddings, + ) + self.embedding_dropout = nn.Dropout(dropout) + + # 2. Time embeddings and ofs embedding(Only CogVideoX1.5-5B I2V have) + + self.time_proj = Timesteps(inner_dim, flip_sin_to_cos, freq_shift) + self.time_embedding = TimestepEmbedding( + inner_dim, time_embed_dim, timestep_activation_fn + ) + + self.ofs_proj = None + self.ofs_embedding = None + if ofs_embed_dim: + self.ofs_proj = Timesteps(ofs_embed_dim, flip_sin_to_cos, freq_shift) + self.ofs_embedding = TimestepEmbedding( + ofs_embed_dim, ofs_embed_dim, timestep_activation_fn + ) # same as time embeddings, for ofs + + # 3. Define spatio-temporal transformers blocks + self.transformer_blocks = nn.ModuleList( + [ + CogVideoXBlock( + dim=inner_dim, + num_attention_heads=num_attention_heads, + attention_head_dim=attention_head_dim, + time_embed_dim=time_embed_dim, + dropout=dropout, + activation_fn=activation_fn, + attention_bias=attention_bias, + norm_elementwise_affine=norm_elementwise_affine, + norm_eps=norm_eps, + ) + for _ in range(num_layers) + ] + ) + self.out_projectors = nn.ModuleList( + [ + zero_module(InflatedConv3d(inner_dim, inner_dim, kernel_size=1)) + for _ in range(num_layers) + ] + ) + self.gradient_checkpointing = False + + def _set_gradient_checkpointing(self, module, value=False): + self.gradient_checkpointing = value + + def forward( + self, + hidden_states: torch.Tensor, + encoder_hidden_states: torch.Tensor, + timestep: Union[int, float, torch.LongTensor], + timestep_cond: Optional[torch.Tensor] = None, + ofs: Optional[Union[int, float, torch.LongTensor]] = None, + image_rotary_emb: Optional[Tuple[torch.Tensor, torch.Tensor]] = None, + attention_kwargs: Optional[Dict[str, Any]] = None, + return_dict: bool = True, + # support trajectory + trajectory_hidden_states: Optional[torch.Tensor] = None, + ): + if attention_kwargs is not None: + attention_kwargs = attention_kwargs.copy() + lora_scale = attention_kwargs.pop("scale", 1.0) + else: + lora_scale = 1.0 + + if USE_PEFT_BACKEND: + # weight the lora layers by setting `lora_scale` for each PEFT layer + scale_lora_layers(self, lora_scale) + else: + if ( + attention_kwargs is not None + and attention_kwargs.get("scale", None) is not None + ): + logger.warning( + "Passing `scale` via `attention_kwargs` when not using the PEFT backend is ineffective." + ) + + batch_size, num_frames, channels, height, width = hidden_states.shape + hidden_states = torch.cat([hidden_states, trajectory_hidden_states], dim=2) + + # 1. Time embedding + timesteps = timestep + t_emb = self.time_proj(timesteps) + + # timesteps does not contain any weights and will always return f32 tensors + # but time_embedding might actually be running in fp16. so we need to cast here. + # there might be better ways to encapsulate this. + t_emb = t_emb.to(dtype=hidden_states.dtype) + emb = self.time_embedding(t_emb, timestep_cond) + + if self.ofs_embedding is not None: + ofs_emb = self.ofs_proj(ofs) + ofs_emb = ofs_emb.to(dtype=hidden_states.dtype) + ofs_emb = self.ofs_embedding(ofs_emb) + emb = emb + ofs_emb + + # 2. Patch embedding + hidden_states = self.patch_embed(encoder_hidden_states, hidden_states) + hidden_states = self.embedding_dropout(hidden_states) + + text_seq_length = encoder_hidden_states.shape[1] + encoder_hidden_states = hidden_states[:, :text_seq_length] + hidden_states = hidden_states[:, text_seq_length:] + + # 3. Transformer blocks + controlnet_hidden_states = () + for i, block in enumerate(self.transformer_blocks): + if torch.is_grad_enabled() and self.gradient_checkpointing: + + def create_custom_forward(module): + def custom_forward(*inputs): + return module(*inputs) + + return custom_forward + + ckpt_kwargs: Dict[str, Any] = ( + {"use_reentrant": False} if is_torch_version(">=", "1.11.0") else {} + ) + hidden_states, encoder_hidden_states = ( + torch.utils.checkpoint.checkpoint( + create_custom_forward(block), + hidden_states, + encoder_hidden_states, + emb, + image_rotary_emb, + **ckpt_kwargs, + ) + ) + else: + hidden_states, encoder_hidden_states = block( + hidden_states=hidden_states, + encoder_hidden_states=encoder_hidden_states, + temb=emb, + image_rotary_emb=image_rotary_emb, + ) + p = self.config.patch_size + p_t = self.config.patch_size_t + if p_t is None: + p_t = 1 + if self.out_projectors is not None: + controlnet_hidden_states += ( + self.out_projectors[i]( + hidden_states, T=num_frames // p_t, H=height // p, W=width // p + ), + ) + else: + controlnet_hidden_states += (hidden_states,) + + if not return_dict: + return (controlnet_hidden_states,) + return Transformer2DModelOutput( + sample=controlnet_hidden_states, + ) diff --git a/magicmotion/pipelines/pipeline_magicmotion.py b/magicmotion/pipelines/pipeline_magicmotion.py new file mode 100644 index 0000000000000000000000000000000000000000..413de0e8d39df7e2d8bc090a0f7d33de352319ab --- /dev/null +++ b/magicmotion/pipelines/pipeline_magicmotion.py @@ -0,0 +1,1083 @@ +# Copyright 2024 The CogVideoX team, Tsinghua University & ZhipuAI and The HuggingFace Team. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import inspect +import math +from typing import Any, Callable, Dict, List, Optional, Tuple, Union + +import PIL +import numpy as np +import torch +from transformers import T5EncoderModel, T5Tokenizer +from diffusers.callbacks import MultiPipelineCallbacks, PipelineCallback +from diffusers.image_processor import PipelineImageInput +from diffusers.loaders import CogVideoXLoraLoaderMixin +from diffusers.models import AutoencoderKLCogVideoX +from diffusers.models.embeddings import get_3d_rotary_pos_embed +from diffusers.pipelines.pipeline_utils import DiffusionPipeline +from diffusers.schedulers import CogVideoXDDIMScheduler, CogVideoXDPMScheduler +from diffusers.utils import logging, replace_example_docstring +from diffusers.utils.torch_utils import randn_tensor +from diffusers.video_processor import VideoProcessor +from diffusers.pipelines.cogvideo.pipeline_output import CogVideoXPipelineOutput +from models.magicmotion_transformer_3d import MagicMotionTransformer3DModel +from models.trajectory_controlnet import TrajectoryControlnet + +logger = logging.get_logger(__name__) # pylint: disable=invalid-name + + +EXAMPLE_DOC_STRING = """ + Examples: + ```py + >>> import torch + >>> from diffusers import CogVideoXImageToVideoPipeline + >>> from diffusers.utils import export_to_video, load_image + + >>> pipe = CogVideoXImageToVideoPipeline.from_pretrained("THUDM/CogVideoX-5b-I2V", torch_dtype=torch.bfloat16) + >>> pipe.to("cuda") + + >>> prompt = "An astronaut hatching from an egg, on the surface of the moon, the darkness and depth of space realised in the background. High quality, ultrarealistic detail and breath-taking movie-like camera shot." + >>> image = load_image( + ... "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/diffusers/astronaut.jpg" + ... ) + >>> video = pipe(image, prompt, use_dynamic_cfg=True) + >>> export_to_video(video.frames[0], "output.mp4", fps=8) + ``` +""" + + +# Similar to diffusers.pipelines.hunyuandit.pipeline_hunyuandit.get_resize_crop_region_for_grid +def get_resize_crop_region_for_grid(src, tgt_width, tgt_height): + tw = tgt_width + th = tgt_height + h, w = src + r = h / w + if r > (th / tw): + resize_height = th + resize_width = int(round(th / h * w)) + else: + resize_width = tw + resize_height = int(round(tw / w * h)) + + crop_top = int(round((th - resize_height) / 2.0)) + crop_left = int(round((tw - resize_width) / 2.0)) + + return (crop_top, crop_left), (crop_top + resize_height, crop_left + resize_width) + + +# Copied from diffusers.pipelines.stable_diffusion.pipeline_stable_diffusion.retrieve_timesteps +def retrieve_timesteps( + scheduler, + num_inference_steps: Optional[int] = None, + device: Optional[Union[str, torch.device]] = None, + timesteps: Optional[List[int]] = None, + sigmas: Optional[List[float]] = None, + **kwargs, +): + r""" + Calls the scheduler's `set_timesteps` method and retrieves timesteps from the scheduler after the call. Handles + custom timesteps. Any kwargs will be supplied to `scheduler.set_timesteps`. + + Args: + scheduler (`SchedulerMixin`): + The scheduler to get timesteps from. + num_inference_steps (`int`): + The number of diffusion steps used when generating samples with a pre-trained model. If used, `timesteps` + must be `None`. + device (`str` or `torch.device`, *optional*): + The device to which the timesteps should be moved to. If `None`, the timesteps are not moved. + timesteps (`List[int]`, *optional*): + Custom timesteps used to override the timestep spacing strategy of the scheduler. If `timesteps` is passed, + `num_inference_steps` and `sigmas` must be `None`. + sigmas (`List[float]`, *optional*): + Custom sigmas used to override the timestep spacing strategy of the scheduler. If `sigmas` is passed, + `num_inference_steps` and `timesteps` must be `None`. + + Returns: + `Tuple[torch.Tensor, int]`: A tuple where the first element is the timestep schedule from the scheduler and the + second element is the number of inference steps. + """ + if timesteps is not None and sigmas is not None: + raise ValueError( + "Only one of `timesteps` or `sigmas` can be passed. Please choose one to set custom values" + ) + if timesteps is not None: + accepts_timesteps = "timesteps" in set( + inspect.signature(scheduler.set_timesteps).parameters.keys() + ) + if not accepts_timesteps: + raise ValueError( + f"The current scheduler class {scheduler.__class__}'s `set_timesteps` does not support custom" + f" timestep schedules. Please check whether you are using the correct scheduler." + ) + scheduler.set_timesteps(timesteps=timesteps, device=device, **kwargs) + timesteps = scheduler.timesteps + num_inference_steps = len(timesteps) + elif sigmas is not None: + accept_sigmas = "sigmas" in set( + inspect.signature(scheduler.set_timesteps).parameters.keys() + ) + if not accept_sigmas: + raise ValueError( + f"The current scheduler class {scheduler.__class__}'s `set_timesteps` does not support custom" + f" sigmas schedules. Please check whether you are using the correct scheduler." + ) + scheduler.set_timesteps(sigmas=sigmas, device=device, **kwargs) + timesteps = scheduler.timesteps + num_inference_steps = len(timesteps) + else: + scheduler.set_timesteps(num_inference_steps, device=device, **kwargs) + timesteps = scheduler.timesteps + return timesteps, num_inference_steps + + +# Copied from diffusers.pipelines.stable_diffusion.pipeline_stable_diffusion_img2img.retrieve_latents +def retrieve_latents( + encoder_output: torch.Tensor, + generator: Optional[torch.Generator] = None, + sample_mode: str = "sample", +): + if hasattr(encoder_output, "latent_dist") and sample_mode == "sample": + return encoder_output.latent_dist.sample(generator) + elif hasattr(encoder_output, "latent_dist") and sample_mode == "argmax": + return encoder_output.latent_dist.mode() + elif hasattr(encoder_output, "latents"): + return encoder_output.latents + else: + raise AttributeError("Could not access latents of provided encoder_output") + + +class MagicMotionPipeline(DiffusionPipeline, CogVideoXLoraLoaderMixin): + r""" + Pipeline for image-to-video generation using CogVideoX. + + This model inherits from [`DiffusionPipeline`]. Check the superclass documentation for the generic methods the + library implements for all the pipelines (such as downloading or saving, running on a particular device, etc.) + + Args: + vae ([`AutoencoderKL`]): + Variational Auto-Encoder (VAE) Model to encode and decode videos to and from latent representations. + text_encoder ([`T5EncoderModel`]): + Frozen text-encoder. CogVideoX uses + [T5](https://huggingface.co/docs/transformers/model_doc/t5#transformers.T5EncoderModel); specifically the + [t5-v1_1-xxl](https://huggingface.co/PixArt-alpha/PixArt-alpha/tree/main/t5-v1_1-xxl) variant. + tokenizer (`T5Tokenizer`): + Tokenizer of class + [T5Tokenizer](https://huggingface.co/docs/transformers/model_doc/t5#transformers.T5Tokenizer). + transformer ([`CogVideoXTransformer3DModel`]): + A text conditioned `CogVideoXTransformer3DModel` to denoise the encoded video latents. + scheduler ([`SchedulerMixin`]): + A scheduler to be used in combination with `transformer` to denoise the encoded video latents. + """ + + _optional_components = [] + model_cpu_offload_seq = "text_encoder->transformer->vae" + + _callback_tensor_inputs = [ + "latents", + "prompt_embeds", + "negative_prompt_embeds", + ] + + def __init__( + self, + tokenizer: T5Tokenizer, + text_encoder: T5EncoderModel, + vae: AutoencoderKLCogVideoX, + transformer: MagicMotionTransformer3DModel, + controlnet: TrajectoryControlnet, + scheduler: Union[CogVideoXDDIMScheduler, CogVideoXDPMScheduler], + ): + super().__init__() + + self.register_modules( + tokenizer=tokenizer, + text_encoder=text_encoder, + vae=vae, + transformer=transformer, + controlnet=controlnet, + scheduler=scheduler, + ) + self.vae_scale_factor_spatial = ( + 2 ** (len(self.vae.config.block_out_channels) - 1) + if hasattr(self, "vae") and self.vae is not None + else 8 + ) + self.vae_scale_factor_temporal = ( + self.vae.config.temporal_compression_ratio + if hasattr(self, "vae") and self.vae is not None + else 4 + ) + self.vae_scaling_factor_image = ( + self.vae.config.scaling_factor + if hasattr(self, "vae") and self.vae is not None + else 0.7 + ) + + self.video_processor = VideoProcessor( + vae_scale_factor=self.vae_scale_factor_spatial + ) + + # Copied from diffusers.pipelines.cogvideo.pipeline_cogvideox.CogVideoXPipeline._get_t5_prompt_embeds + def _get_t5_prompt_embeds( + self, + prompt: Union[str, List[str]] = None, + num_videos_per_prompt: int = 1, + max_sequence_length: int = 226, + device: Optional[torch.device] = None, + dtype: Optional[torch.dtype] = None, + ): + device = device or self._execution_device + dtype = dtype or self.text_encoder.dtype + + prompt = [prompt] if isinstance(prompt, str) else prompt + batch_size = len(prompt) + + text_inputs = self.tokenizer( + prompt, + padding="max_length", + max_length=max_sequence_length, + truncation=True, + add_special_tokens=True, + return_tensors="pt", + ) + text_input_ids = text_inputs.input_ids + untruncated_ids = self.tokenizer( + prompt, padding="longest", return_tensors="pt" + ).input_ids + + if untruncated_ids.shape[-1] >= text_input_ids.shape[-1] and not torch.equal( + text_input_ids, untruncated_ids + ): + removed_text = self.tokenizer.batch_decode( + untruncated_ids[:, max_sequence_length - 1 : -1] + ) + logger.warning( + "The following part of your input was truncated because `max_sequence_length` is set to " + f" {max_sequence_length} tokens: {removed_text}" + ) + + prompt_embeds = self.text_encoder(text_input_ids.to(device))[0] + prompt_embeds = prompt_embeds.to(dtype=dtype, device=device) + + # duplicate text embeddings for each generation per prompt, using mps friendly method + _, seq_len, _ = prompt_embeds.shape + prompt_embeds = prompt_embeds.repeat(1, num_videos_per_prompt, 1) + prompt_embeds = prompt_embeds.view( + batch_size * num_videos_per_prompt, seq_len, -1 + ) + + return prompt_embeds + + # Copied from diffusers.pipelines.cogvideo.pipeline_cogvideox.CogVideoXPipeline.encode_prompt + def encode_prompt( + self, + prompt: Union[str, List[str]], + negative_prompt: Optional[Union[str, List[str]]] = None, + do_classifier_free_guidance: bool = True, + num_videos_per_prompt: int = 1, + prompt_embeds: Optional[torch.Tensor] = None, + negative_prompt_embeds: Optional[torch.Tensor] = None, + max_sequence_length: int = 226, + device: Optional[torch.device] = None, + dtype: Optional[torch.dtype] = None, + ): + r""" + Encodes the prompt into text encoder hidden states. + + Args: + prompt (`str` or `List[str]`, *optional*): + prompt to be encoded + negative_prompt (`str` or `List[str]`, *optional*): + The prompt or prompts not to guide the image generation. If not defined, one has to pass + `negative_prompt_embeds` instead. Ignored when not using guidance (i.e., ignored if `guidance_scale` is + less than `1`). + do_classifier_free_guidance (`bool`, *optional*, defaults to `True`): + Whether to use classifier free guidance or not. + num_videos_per_prompt (`int`, *optional*, defaults to 1): + Number of videos that should be generated per prompt. torch device to place the resulting embeddings on + prompt_embeds (`torch.Tensor`, *optional*): + Pre-generated text embeddings. Can be used to easily tweak text inputs, *e.g.* prompt weighting. If not + provided, text embeddings will be generated from `prompt` input argument. + negative_prompt_embeds (`torch.Tensor`, *optional*): + Pre-generated negative text embeddings. Can be used to easily tweak text inputs, *e.g.* prompt + weighting. If not provided, negative_prompt_embeds will be generated from `negative_prompt` input + argument. + device: (`torch.device`, *optional*): + torch device + dtype: (`torch.dtype`, *optional*): + torch dtype + """ + device = device or self._execution_device + + prompt = [prompt] if isinstance(prompt, str) else prompt + if prompt is not None: + batch_size = len(prompt) + else: + batch_size = prompt_embeds.shape[0] + + if prompt_embeds is None: + prompt_embeds = self._get_t5_prompt_embeds( + prompt=prompt, + num_videos_per_prompt=num_videos_per_prompt, + max_sequence_length=max_sequence_length, + device=device, + dtype=dtype, + ) + + if do_classifier_free_guidance and negative_prompt_embeds is None: + negative_prompt = negative_prompt or "" + negative_prompt = ( + batch_size * [negative_prompt] + if isinstance(negative_prompt, str) + else negative_prompt + ) + + if prompt is not None and type(prompt) is not type(negative_prompt): + raise TypeError( + f"`negative_prompt` should be the same type to `prompt`, but got {type(negative_prompt)} !=" + f" {type(prompt)}." + ) + elif batch_size != len(negative_prompt): + raise ValueError( + f"`negative_prompt`: {negative_prompt} has batch size {len(negative_prompt)}, but `prompt`:" + f" {prompt} has batch size {batch_size}. Please make sure that passed `negative_prompt` matches" + " the batch size of `prompt`." + ) + + negative_prompt_embeds = self._get_t5_prompt_embeds( + prompt=negative_prompt, + num_videos_per_prompt=num_videos_per_prompt, + max_sequence_length=max_sequence_length, + device=device, + dtype=dtype, + ) + + return prompt_embeds, negative_prompt_embeds + + def prepare_latents( + self, + image: torch.Tensor, + batch_size: int = 1, + num_channels_latents: int = 16, + num_frames: int = 13, + height: int = 60, + width: int = 90, + dtype: Optional[torch.dtype] = None, + device: Optional[torch.device] = None, + generator: Optional[torch.Generator] = None, + latents: Optional[torch.Tensor] = None, + ): + if isinstance(generator, list) and len(generator) != batch_size: + raise ValueError( + f"You have passed a list of generators of length {len(generator)}, but requested an effective batch" + f" size of {batch_size}. Make sure the batch size matches the length of the generators." + ) + + num_frames = (num_frames - 1) // self.vae_scale_factor_temporal + 1 + shape = ( + batch_size, + num_frames, + num_channels_latents, + height // self.vae_scale_factor_spatial, + width // self.vae_scale_factor_spatial, + ) + + # For CogVideoX1.5, the latent should add 1 for padding (Not use) + if self.transformer.config.patch_size_t is not None: + shape = ( + shape[:1] + + (shape[1] + shape[1] % self.transformer.config.patch_size_t,) + + shape[2:] + ) + + image = image.unsqueeze(2) # [B, C, F, H, W] + + if isinstance(generator, list): + image_latents = [ + retrieve_latents(self.vae.encode(image[i].unsqueeze(0)), generator[i]) + for i in range(batch_size) + ] + else: + image_latents = [ + retrieve_latents(self.vae.encode(img.unsqueeze(0)), generator) + for img in image + ] + + image_latents = ( + torch.cat(image_latents, dim=0).to(dtype).permute(0, 2, 1, 3, 4) + ) # [B, F, C, H, W] + + if not self.vae.config.invert_scale_latents: + image_latents = self.vae_scaling_factor_image * image_latents + else: + # This is awkward but required because the CogVideoX team forgot to multiply the + # scaling factor during training :) + image_latents = 1 / self.vae_scaling_factor_image * image_latents + + padding_shape = ( + batch_size, + num_frames - 1, + num_channels_latents, + height // self.vae_scale_factor_spatial, + width // self.vae_scale_factor_spatial, + ) + + latent_padding = torch.zeros(padding_shape, device=device, dtype=dtype) + image_latents = torch.cat([image_latents, latent_padding], dim=1) + + # Select the first frame along the second dimension + if self.transformer.config.patch_size_t is not None: + first_frame = image_latents[ + :, : image_latents.size(1) % self.transformer.config.patch_size_t, ... + ] + image_latents = torch.cat([first_frame, image_latents], dim=1) + + if latents is None: + latents = randn_tensor( + shape, generator=generator, device=device, dtype=dtype + ) + else: + latents = latents.to(device) + # scale the initial noise by the standard deviation required by the scheduler + latents = latents * self.scheduler.init_noise_sigma + return latents, image_latents + + def prepare_trajectory_latents( + self, + trajectory_maps: torch.Tensor, + batch_size: int = 1, + dtype: Optional[torch.dtype] = None, + generator: Optional[torch.Generator] = None, + ): + if isinstance(generator, list): + trajectory_latents = [ + retrieve_latents( + self.vae.encode(trajectory_maps[i].unsqueeze(0)), generator[i] + ) + for i in range(batch_size) + ] + else: + trajectory_latents = [ + retrieve_latents(self.vae.encode(img.unsqueeze(0)), generator) + for img in trajectory_maps + ] + + trajectory_latents = ( + torch.cat(trajectory_latents, dim=0).to(dtype).permute(0, 2, 1, 3, 4) + ) # [B, F, C, H, W] + + if not self.vae.config.invert_scale_latents: + trajectory_latents = self.vae_scaling_factor_image * trajectory_latents + else: + # This is awkward but required because the CogVideoX team forgot to multiply the + # scaling factor during training :) + trajectory_latents = 1 / self.vae_scaling_factor_image * trajectory_latents + + # Select the first frame along the second dimension + if self.transformer.config.patch_size_t is not None: + first_frame = trajectory_latents[ + :, + : trajectory_latents.size(1) % self.transformer.config.patch_size_t, + ..., + ] + trajectory_latents = torch.cat([first_frame, trajectory_latents], dim=1) + + return trajectory_latents + + # Copied from diffusers.pipelines.cogvideo.pipeline_cogvideox.CogVideoXPipeline.decode_latents + def decode_latents(self, latents: torch.Tensor) -> torch.Tensor: + latents = latents.permute( + 0, 2, 1, 3, 4 + ) # [batch_size, num_channels, num_frames, height, width] + latents = 1 / self.vae_scaling_factor_image * latents + + frames = self.vae.decode(latents).sample + return frames + + # Copied from diffusers.pipelines.animatediff.pipeline_animatediff_video2video.AnimateDiffVideoToVideoPipeline.get_timesteps + def get_timesteps(self, num_inference_steps, timesteps, strength, device): + # get the original timestep using init_timestep + init_timestep = min(int(num_inference_steps * strength), num_inference_steps) + + t_start = max(num_inference_steps - init_timestep, 0) + timesteps = timesteps[t_start * self.scheduler.order :] + + return timesteps, num_inference_steps - t_start + + # Copied from diffusers.pipelines.stable_diffusion.pipeline_stable_diffusion.StableDiffusionPipeline.prepare_extra_step_kwargs + def prepare_extra_step_kwargs(self, generator, eta): + # prepare extra kwargs for the scheduler step, since not all schedulers have the same signature + # eta (η) is only used with the DDIMScheduler, it will be ignored for other schedulers. + # eta corresponds to η in DDIM paper: https://arxiv.org/abs/2010.02502 + # and should be between [0, 1] + + accepts_eta = "eta" in set( + inspect.signature(self.scheduler.step).parameters.keys() + ) + extra_step_kwargs = {} + if accepts_eta: + extra_step_kwargs["eta"] = eta + + # check if the scheduler accepts generator + accepts_generator = "generator" in set( + inspect.signature(self.scheduler.step).parameters.keys() + ) + if accepts_generator: + extra_step_kwargs["generator"] = generator + return extra_step_kwargs + + def check_inputs( + self, + image, + prompt, + height, + width, + negative_prompt, + callback_on_step_end_tensor_inputs, + latents=None, + prompt_embeds=None, + negative_prompt_embeds=None, + ): + if ( + not isinstance(image, torch.Tensor) + and not isinstance(image, PIL.Image.Image) + and not isinstance(image, list) + ): + raise ValueError( + "`image` has to be of type `torch.Tensor` or `PIL.Image.Image` or `List[PIL.Image.Image]` but is" + f" {type(image)}" + ) + + if height % 8 != 0 or width % 8 != 0: + raise ValueError( + f"`height` and `width` have to be divisible by 8 but are {height} and {width}." + ) + + if callback_on_step_end_tensor_inputs is not None and not all( + k in self._callback_tensor_inputs + for k in callback_on_step_end_tensor_inputs + ): + raise ValueError( + f"`callback_on_step_end_tensor_inputs` has to be in {self._callback_tensor_inputs}, but found {[k for k in callback_on_step_end_tensor_inputs if k not in self._callback_tensor_inputs]}" + ) + if prompt is not None and prompt_embeds is not None: + raise ValueError( + f"Cannot forward both `prompt`: {prompt} and `prompt_embeds`: {prompt_embeds}. Please make sure to" + " only forward one of the two." + ) + elif prompt is None and prompt_embeds is None: + raise ValueError( + "Provide either `prompt` or `prompt_embeds`. Cannot leave both `prompt` and `prompt_embeds` undefined." + ) + elif prompt is not None and ( + not isinstance(prompt, str) and not isinstance(prompt, list) + ): + raise ValueError( + f"`prompt` has to be of type `str` or `list` but is {type(prompt)}" + ) + + if prompt is not None and negative_prompt_embeds is not None: + raise ValueError( + f"Cannot forward both `prompt`: {prompt} and `negative_prompt_embeds`:" + f" {negative_prompt_embeds}. Please make sure to only forward one of the two." + ) + + if negative_prompt is not None and negative_prompt_embeds is not None: + raise ValueError( + f"Cannot forward both `negative_prompt`: {negative_prompt} and `negative_prompt_embeds`:" + f" {negative_prompt_embeds}. Please make sure to only forward one of the two." + ) + + if prompt_embeds is not None and negative_prompt_embeds is not None: + if prompt_embeds.shape != negative_prompt_embeds.shape: + raise ValueError( + "`prompt_embeds` and `negative_prompt_embeds` must have the same shape when passed directly, but" + f" got: `prompt_embeds` {prompt_embeds.shape} != `negative_prompt_embeds`" + f" {negative_prompt_embeds.shape}." + ) + + # Copied from diffusers.pipelines.cogvideo.pipeline_cogvideox.CogVideoXPipeline.fuse_qkv_projections + def fuse_qkv_projections(self) -> None: + r"""Enables fused QKV projections.""" + self.fusing_transformer = True + self.transformer.fuse_qkv_projections() + + # Copied from diffusers.pipelines.cogvideo.pipeline_cogvideox.CogVideoXPipeline.unfuse_qkv_projections + def unfuse_qkv_projections(self) -> None: + r"""Disable QKV projection fusion if enabled.""" + if not self.fusing_transformer: + logger.warning( + "The Transformer was not initially fused for QKV projections. Doing nothing." + ) + else: + self.transformer.unfuse_qkv_projections() + self.fusing_transformer = False + + # Copied from diffusers.pipelines.cogvideo.pipeline_cogvideox.CogVideoXPipeline._prepare_rotary_positional_embeddings + def _prepare_rotary_positional_embeddings( + self, + height: int, + width: int, + num_frames: int, + device: torch.device, + ) -> Tuple[torch.Tensor, torch.Tensor]: + grid_height = height // ( + self.vae_scale_factor_spatial * self.transformer.config.patch_size + ) + grid_width = width // ( + self.vae_scale_factor_spatial * self.transformer.config.patch_size + ) + + p = self.transformer.config.patch_size + p_t = self.transformer.config.patch_size_t + + base_size_width = self.transformer.config.sample_width // p + base_size_height = self.transformer.config.sample_height // p + + if p_t is None: + # CogVideoX 1.0 + grid_crops_coords = get_resize_crop_region_for_grid( + (grid_height, grid_width), base_size_width, base_size_height + ) + freqs_cos, freqs_sin = get_3d_rotary_pos_embed( + embed_dim=self.transformer.config.attention_head_dim, + crops_coords=grid_crops_coords, + grid_size=(grid_height, grid_width), + temporal_size=num_frames, + device=device, + ) + else: + # CogVideoX 1.5 + base_num_frames = (num_frames + p_t - 1) // p_t + + freqs_cos, freqs_sin = get_3d_rotary_pos_embed( + embed_dim=self.transformer.config.attention_head_dim, + crops_coords=None, + grid_size=(grid_height, grid_width), + temporal_size=base_num_frames, + grid_type="slice", + max_size=(base_size_height, base_size_width), + device=device, + ) + + return freqs_cos, freqs_sin + + @property + def guidance_scale(self): + return self._guidance_scale + + @property + def num_timesteps(self): + return self._num_timesteps + + @property + def attention_kwargs(self): + return self._attention_kwargs + + @property + def interrupt(self): + return self._interrupt + + @torch.no_grad() + @replace_example_docstring(EXAMPLE_DOC_STRING) + def __call__( + self, + image: PipelineImageInput, + prompt: Optional[Union[str, List[str]]] = None, + negative_prompt: Optional[Union[str, List[str]]] = None, + height: Optional[int] = None, + width: Optional[int] = None, + num_frames: int = 49, + num_inference_steps: int = 50, + timesteps: Optional[List[int]] = None, + guidance_scale: float = 6, + use_dynamic_cfg: bool = False, + num_videos_per_prompt: int = 1, + eta: float = 0.0, + generator: Optional[Union[torch.Generator, List[torch.Generator]]] = None, + latents: Optional[torch.FloatTensor] = None, + prompt_embeds: Optional[torch.FloatTensor] = None, + negative_prompt_embeds: Optional[torch.FloatTensor] = None, + output_type: str = "pil", + return_dict: bool = True, + attention_kwargs: Optional[Dict[str, Any]] = None, + callback_on_step_end: Optional[ + Union[ + Callable[[int, int, Dict], None], + PipelineCallback, + MultiPipelineCallbacks, + ] + ] = None, + callback_on_step_end_tensor_inputs: List[str] = ["latents"], + max_sequence_length: int = 226, + trajectory_maps: Optional[PipelineImageInput] = None, + controlnet_weights: Optional[ + Union[float, list, np.ndarray, torch.FloatTensor] + ] = 1.0, + ) -> Union[CogVideoXPipelineOutput, Tuple]: + """ + Function invoked when calling the pipeline for generation. + + Args: + image (`PipelineImageInput`): + The input image to condition the generation on. Must be an image, a list of images or a `torch.Tensor`. + prompt (`str` or `List[str]`, *optional*): + The prompt or prompts to guide the image generation. If not defined, one has to pass `prompt_embeds`. + instead. + negative_prompt (`str` or `List[str]`, *optional*): + The prompt or prompts not to guide the image generation. If not defined, one has to pass + `negative_prompt_embeds` instead. Ignored when not using guidance (i.e., ignored if `guidance_scale` is + less than `1`). + height (`int`, *optional*, defaults to self.transformer.config.sample_height * self.vae_scale_factor_spatial): + The height in pixels of the generated image. This is set to 480 by default for the best results. + width (`int`, *optional*, defaults to self.transformer.config.sample_height * self.vae_scale_factor_spatial): + The width in pixels of the generated image. This is set to 720 by default for the best results. + num_frames (`int`, defaults to `48`): + Number of frames to generate. Must be divisible by self.vae_scale_factor_temporal. Generated video will + contain 1 extra frame because CogVideoX is conditioned with (num_seconds * fps + 1) frames where + num_seconds is 6 and fps is 8. However, since videos can be saved at any fps, the only condition that + needs to be satisfied is that of divisibility mentioned above. + num_inference_steps (`int`, *optional*, defaults to 50): + The number of denoising steps. More denoising steps usually lead to a higher quality image at the + expense of slower inference. + timesteps (`List[int]`, *optional*): + Custom timesteps to use for the denoising process with schedulers which support a `timesteps` argument + in their `set_timesteps` method. If not defined, the default behavior when `num_inference_steps` is + passed will be used. Must be in descending order. + guidance_scale (`float`, *optional*, defaults to 7.0): + Guidance scale as defined in [Classifier-Free Diffusion Guidance](https://arxiv.org/abs/2207.12598). + `guidance_scale` is defined as `w` of equation 2. of [Imagen + Paper](https://arxiv.org/pdf/2205.11487.pdf). Guidance scale is enabled by setting `guidance_scale > + 1`. Higher guidance scale encourages to generate images that are closely linked to the text `prompt`, + usually at the expense of lower image quality. + num_videos_per_prompt (`int`, *optional*, defaults to 1): + The number of videos to generate per prompt. + generator (`torch.Generator` or `List[torch.Generator]`, *optional*): + One or a list of [torch generator(s)](https://pytorch.org/docs/stable/generated/torch.Generator.html) + to make generation deterministic. + latents (`torch.FloatTensor`, *optional*): + Pre-generated noisy latents, sampled from a Gaussian distribution, to be used as inputs for image + generation. Can be used to tweak the same generation with different prompts. If not provided, a latents + tensor will ge generated by sampling using the supplied random `generator`. + prompt_embeds (`torch.FloatTensor`, *optional*): + Pre-generated text embeddings. Can be used to easily tweak text inputs, *e.g.* prompt weighting. If not + provided, text embeddings will be generated from `prompt` input argument. + negative_prompt_embeds (`torch.FloatTensor`, *optional*): + Pre-generated negative text embeddings. Can be used to easily tweak text inputs, *e.g.* prompt + weighting. If not provided, negative_prompt_embeds will be generated from `negative_prompt` input + argument. + output_type (`str`, *optional*, defaults to `"pil"`): + The output format of the generate image. Choose between + [PIL](https://pillow.readthedocs.io/en/stable/): `PIL.Image.Image` or `np.array`. + return_dict (`bool`, *optional*, defaults to `True`): + Whether or not to return a [`~pipelines.stable_diffusion_xl.StableDiffusionXLPipelineOutput`] instead + of a plain tuple. + attention_kwargs (`dict`, *optional*): + A kwargs dictionary that if specified is passed along to the `AttentionProcessor` as defined under + `self.processor` in + [diffusers.models.attention_processor](https://github.com/huggingface/diffusers/blob/main/src/diffusers/models/attention_processor.py). + callback_on_step_end (`Callable`, *optional*): + A function that calls at the end of each denoising steps during the inference. The function is called + with the following arguments: `callback_on_step_end(self: DiffusionPipeline, step: int, timestep: int, + callback_kwargs: Dict)`. `callback_kwargs` will include a list of all tensors as specified by + `callback_on_step_end_tensor_inputs`. + callback_on_step_end_tensor_inputs (`List`, *optional*): + The list of tensor inputs for the `callback_on_step_end` function. The tensors specified in the list + will be passed as `callback_kwargs` argument. You will only be able to include variables listed in the + `._callback_tensor_inputs` attribute of your pipeline class. + max_sequence_length (`int`, defaults to `226`): + Maximum sequence length in encoded prompt. Must be consistent with + `self.transformer.config.max_text_seq_length` otherwise may lead to poor results. + + Examples: + + Returns: + [`~pipelines.cogvideo.pipeline_output.CogVideoXPipelineOutput`] or `tuple`: + [`~pipelines.cogvideo.pipeline_output.CogVideoXPipelineOutput`] if `return_dict` is True, otherwise a + `tuple`. When returning a tuple, the first element is a list with the generated images. + """ + + if isinstance(callback_on_step_end, (PipelineCallback, MultiPipelineCallbacks)): + callback_on_step_end_tensor_inputs = callback_on_step_end.tensor_inputs + + height = ( + height + or self.transformer.config.sample_height * self.vae_scale_factor_spatial + ) + width = ( + width + or self.transformer.config.sample_width * self.vae_scale_factor_spatial + ) + num_frames = num_frames or self.transformer.config.sample_frames + + num_videos_per_prompt = 1 + + # 1. Check inputs. Raise error if not correct + self.check_inputs( + image=image, + prompt=prompt, + height=height, + width=width, + negative_prompt=negative_prompt, + callback_on_step_end_tensor_inputs=callback_on_step_end_tensor_inputs, + latents=latents, + prompt_embeds=prompt_embeds, + negative_prompt_embeds=negative_prompt_embeds, + ) + self._guidance_scale = guidance_scale + self._attention_kwargs = attention_kwargs + self._interrupt = False + + # 2. Default call parameters + if prompt is not None and isinstance(prompt, str): + batch_size = 1 + elif prompt is not None and isinstance(prompt, list): + batch_size = len(prompt) + else: + batch_size = prompt_embeds.shape[0] + + device = self._execution_device + + # here `guidance_scale` is defined analog to the guidance weight `w` of equation (2) + # of the Imagen paper: https://arxiv.org/pdf/2205.11487.pdf . `guidance_scale = 1` + # corresponds to doing no classifier free guidance. + do_classifier_free_guidance = guidance_scale > 1.0 + + # 3. Encode input prompt + prompt_embeds, negative_prompt_embeds = self.encode_prompt( + prompt=prompt, + negative_prompt=negative_prompt, + do_classifier_free_guidance=do_classifier_free_guidance, + num_videos_per_prompt=num_videos_per_prompt, + prompt_embeds=prompt_embeds, + negative_prompt_embeds=negative_prompt_embeds, + max_sequence_length=max_sequence_length, + device=device, + ) + if do_classifier_free_guidance: + prompt_embeds = torch.cat([negative_prompt_embeds, prompt_embeds], dim=0) + + # 4. Prepare timesteps + timesteps, num_inference_steps = retrieve_timesteps( + self.scheduler, num_inference_steps, device, timesteps + ) + self._num_timesteps = len(timesteps) + + # 5. Prepare latents + latent_frames = (num_frames - 1) // self.vae_scale_factor_temporal + 1 + + # For CogVideoX 1.5, the latent frames should be padded to make it divisible by patch_size_t + patch_size_t = self.transformer.config.patch_size_t + additional_frames = 0 + if patch_size_t is not None and latent_frames % patch_size_t != 0: + additional_frames = patch_size_t - latent_frames % patch_size_t + num_frames += additional_frames * self.vae_scale_factor_temporal + + image = self.video_processor.preprocess(image, height=height, width=width).to( + device, dtype=prompt_embeds.dtype + ) + if trajectory_maps is not None: + trajectory_maps = self.video_processor.preprocess_video( + trajectory_maps, height=height, width=width + ).to(device, dtype=prompt_embeds.dtype) + + latent_channels = self.transformer.config.in_channels // 2 + latents, image_latents = self.prepare_latents( + image, + batch_size * num_videos_per_prompt, + latent_channels, + num_frames, + height, + width, + prompt_embeds.dtype, + device, + generator, + latents, + ) + # save_tensor_as_images_with_pca(latents, "visualization/duck/latents") + # save_tensor_as_images_with_pca(image_latents, "visualization/duck/image_latents") + + # Encode controlnet frames + controlnet_latents = self.prepare_trajectory_latents( + trajectory_maps, + batch_size * num_videos_per_prompt, + prompt_embeds.dtype, + generator, + ) + # save_tensor_as_images_with_pca(controlnet_latents, "visualization/duck/video_latents") + if do_classifier_free_guidance: + controlnet_latents = torch.cat( + [controlnet_latents, controlnet_latents], dim=0 + ) + + # 6. Prepare extra step kwargs. TODO: Logic should ideally just be moved out of the pipeline + extra_step_kwargs = self.prepare_extra_step_kwargs(generator, eta) + + # 7. Create rotary embeds if required + image_rotary_emb = ( + self._prepare_rotary_positional_embeddings( + height, width, latents.size(1), device + ) + if self.transformer.config.use_rotary_positional_embeddings + else None + ) + + # 8. Create ofs embeds if required + ofs_emb = ( + None + if self.transformer.config.ofs_embed_dim is None + else latents.new_full((1,), fill_value=2.0) + ) + + # 8. Denoising loop + num_warmup_steps = max( + len(timesteps) - num_inference_steps * self.scheduler.order, 0 + ) + + with self.progress_bar(total=num_inference_steps) as progress_bar: + # for DPM-solver++ + old_pred_original_sample = None + for i, t in enumerate(timesteps): + if self.interrupt: + continue + + latent_model_input = ( + torch.cat([latents] * 2) if do_classifier_free_guidance else latents + ) + latent_model_input = self.scheduler.scale_model_input( + latent_model_input, t + ) + + latent_image_input = ( + torch.cat([image_latents] * 2) + if do_classifier_free_guidance + else image_latents + ) + latent_model_input = torch.cat( + [latent_model_input, latent_image_input], dim=2 + ) + + # broadcast to batch dimension in a way that's compatible with ONNX/Core ML + timestep = t.expand(latent_model_input.shape[0]) + + controlnet_states = self.controlnet( + hidden_states=latent_model_input[ + :, :, : latent_model_input.shape[2] // 2, :, : + ], + encoder_hidden_states=prompt_embeds, + image_rotary_emb=image_rotary_emb, + trajectory_hidden_states=controlnet_latents, + timestep=timestep, + return_dict=False, + )[0] + if isinstance(controlnet_states, (tuple, list)): + controlnet_states = [ + x.to(dtype=self.transformer.dtype) for x in controlnet_states + ] + else: + controlnet_states = controlnet_states.to( + dtype=self.transformer.dtype + ) + + # predict noise model_output + noise_pred, _ = self.transformer( + hidden_states=latent_model_input, + encoder_hidden_states=prompt_embeds, + timestep=timestep, + ofs=ofs_emb, + image_rotary_emb=image_rotary_emb, + attention_kwargs=attention_kwargs, + controlnet_states=controlnet_states, + controlnet_weights=controlnet_weights, + return_dict=False, + ) + noise_pred = noise_pred.float() + + # perform guidance + if use_dynamic_cfg: + self._guidance_scale = 1 + guidance_scale * ( + ( + 1 + - math.cos( + math.pi + * ( + (num_inference_steps - t.item()) + / num_inference_steps + ) + ** 5.0 + ) + ) + / 2 + ) + if do_classifier_free_guidance: + noise_pred_uncond, noise_pred_text = noise_pred.chunk(2) + noise_pred = noise_pred_uncond + self.guidance_scale * ( + noise_pred_text - noise_pred_uncond + ) + + # compute the previous noisy sample x_t -> x_t-1 + if not isinstance(self.scheduler, CogVideoXDPMScheduler): + latents = self.scheduler.step( + noise_pred, t, latents, **extra_step_kwargs, return_dict=False + )[0] + else: + latents, old_pred_original_sample = self.scheduler.step( + noise_pred, + old_pred_original_sample, + t, + timesteps[i - 1] if i > 0 else None, + latents, + **extra_step_kwargs, + return_dict=False, + ) + latents = latents.to(prompt_embeds.dtype) + + # call the callback, if provided + if callback_on_step_end is not None: + callback_kwargs = {} + for k in callback_on_step_end_tensor_inputs: + callback_kwargs[k] = locals()[k] + callback_outputs = callback_on_step_end(self, i, t, callback_kwargs) + + latents = callback_outputs.pop("latents", latents) + prompt_embeds = callback_outputs.pop("prompt_embeds", prompt_embeds) + negative_prompt_embeds = callback_outputs.pop( + "negative_prompt_embeds", negative_prompt_embeds + ) + + if i == len(timesteps) - 1 or ( + (i + 1) > num_warmup_steps and (i + 1) % self.scheduler.order == 0 + ): + progress_bar.update() + + if not output_type == "latent": + # Discard any padding frames that were added for CogVideoX 1.5 + latents = latents[:, additional_frames:] + # save_tensor_as_images_with_pca(latents, "visualization/duck/output_latents") + video = self.decode_latents(latents) + video = self.video_processor.postprocess_video( + video=video, output_type=output_type + ) + else: + video = latents + + # Offload all models + self.maybe_free_model_hooks() + + if not return_dict: + return (video,) + + return CogVideoXPipelineOutput(frames=video) diff --git a/magicmotion/scripts/app/app.sh b/magicmotion/scripts/app/app.sh new file mode 100644 index 0000000000000000000000000000000000000000..b105507772c331bc3beae643dbbd36e6fda911b3 --- /dev/null +++ b/magicmotion/scripts/app/app.sh @@ -0,0 +1,10 @@ +export CUDA_VISIBLE_DEVICES=0 +MODEL_PATH="THUDM/CogVideoX-5b-I2V" +perception_head_path="ckpts/stage2/box_perception_head.pt" +controlnet_path="ckpts/stage2/box.pt" + +python magicmotion/app.py \ + --pretrained_model_name_or_path $MODEL_PATH \ + --pretrained_controlnet_path $controlnet_path \ + --pretrained_perception_head_path $perception_head_path \ + --use_perception_head diff --git a/magicmotion/scripts/inference/inference_box.sh b/magicmotion/scripts/inference/inference_box.sh new file mode 100644 index 0000000000000000000000000000000000000000..095c01c6ada40da30d9f59d9e33aa86ce898abf8 --- /dev/null +++ b/magicmotion/scripts/inference/inference_box.sh @@ -0,0 +1,14 @@ +export CUDA_VISIBLE_DEVICES=1 +MODEL_PATH="THUDM/CogVideoX-5b-I2V" +perception_head_path="ckpts/stage2/box_perception_head.pt" +controlnet_path="ckpts/stage2/box.pt" + +python magicmotion/inference.py \ + --pretrained_model_name_or_path $MODEL_PATH \ + --pretrained_controlnet_path $controlnet_path \ + --pretrained_perception_head_path $perception_head_path \ + --validation_args_csv "magicmotion/validation_args/demo/demo_box.csv" \ + --num_validation_videos 1 \ + --height 480 \ + --width 720 \ + --use_perception_head diff --git a/magicmotion/scripts/inference/inference_mask.sh b/magicmotion/scripts/inference/inference_mask.sh new file mode 100644 index 0000000000000000000000000000000000000000..a9073792179e7ac9b1606317cca1fd5c5d50db0b --- /dev/null +++ b/magicmotion/scripts/inference/inference_mask.sh @@ -0,0 +1,11 @@ +# export CUDA_VISIBLE_DEVICES=0 +MODEL_PATH="THUDM/CogVideoX-5b-I2V" +controlnet_path="ckpts/stage1/mask.pt" + +python magicmotion/inference.py \ + --pretrained_model_name_or_path $MODEL_PATH \ + --pretrained_controlnet_path $controlnet_path \ + --validation_args_csv "magicmotion/validation_args/demo/demo_mask.csv" \ + --num_validation_videos 1 \ + --height 480 \ + --width 720 \ diff --git a/magicmotion/scripts/inference/inference_sparse_box.sh b/magicmotion/scripts/inference/inference_sparse_box.sh new file mode 100644 index 0000000000000000000000000000000000000000..05a377096cf569f8a5b8e60e74ce7e0a3157fd6d --- /dev/null +++ b/magicmotion/scripts/inference/inference_sparse_box.sh @@ -0,0 +1,14 @@ +# export CUDA_VISIBLE_DEVICES=2 +MODEL_PATH="THUDM/CogVideoX-5b-I2V" +perception_head_path="ckpts/stage3/sparse_box_perception_head.pt" +controlnet_path="ckpts/stage3/sparse_box.pt" + +python magicmotion/inference.py \ + --pretrained_model_name_or_path $MODEL_PATH \ + --pretrained_controlnet_path $controlnet_path \ + --pretrained_perception_head_path $perception_head_path \ + --validation_args_csv "magicmotion/validation_args/demo/demo_sparse_box.csv" \ + --num_validation_videos 1 \ + --height 480 \ + --width 720 \ + --use_perception_head diff --git a/magicmotion/text_encoder/__init__.py b/magicmotion/text_encoder/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..09f9e8cd8466c60a9c266879223f8fe4f304a524 --- /dev/null +++ b/magicmotion/text_encoder/__init__.py @@ -0,0 +1 @@ +from .text_encoder import compute_prompt_embeddings diff --git a/magicmotion/text_encoder/text_encoder.py b/magicmotion/text_encoder/text_encoder.py new file mode 100644 index 0000000000000000000000000000000000000000..9237875dd621baca5979a5f685288486ef1532d5 --- /dev/null +++ b/magicmotion/text_encoder/text_encoder.py @@ -0,0 +1,99 @@ +from typing import List, Optional, Union + +import torch +from transformers import T5EncoderModel, T5Tokenizer + + +def _get_t5_prompt_embeds( + tokenizer: T5Tokenizer, + text_encoder: T5EncoderModel, + prompt: Union[str, List[str]], + num_videos_per_prompt: int = 1, + max_sequence_length: int = 226, + device: Optional[torch.device] = None, + dtype: Optional[torch.dtype] = None, + text_input_ids=None, +): + prompt = [prompt] if isinstance(prompt, str) else prompt + batch_size = len(prompt) + + if tokenizer is not None: + text_inputs = tokenizer( + prompt, + padding="max_length", + max_length=max_sequence_length, + truncation=True, + add_special_tokens=True, + return_tensors="pt", + ) + text_input_ids = text_inputs.input_ids + else: + if text_input_ids is None: + raise ValueError("`text_input_ids` must be provided when the tokenizer is not specified.") + + prompt_embeds = text_encoder(text_input_ids.to(device))[0] + prompt_embeds = prompt_embeds.to(dtype=dtype, device=device) + + # duplicate text embeddings for each generation per prompt, using mps friendly method + _, seq_len, _ = prompt_embeds.shape + prompt_embeds = prompt_embeds.repeat(1, num_videos_per_prompt, 1) + prompt_embeds = prompt_embeds.view(batch_size * num_videos_per_prompt, seq_len, -1) + + return prompt_embeds + + +def encode_prompt( + tokenizer: T5Tokenizer, + text_encoder: T5EncoderModel, + prompt: Union[str, List[str]], + num_videos_per_prompt: int = 1, + max_sequence_length: int = 226, + device: Optional[torch.device] = None, + dtype: Optional[torch.dtype] = None, + text_input_ids=None, +): + prompt = [prompt] if isinstance(prompt, str) else prompt + prompt_embeds = _get_t5_prompt_embeds( + tokenizer, + text_encoder, + prompt=prompt, + num_videos_per_prompt=num_videos_per_prompt, + max_sequence_length=max_sequence_length, + device=device, + dtype=dtype, + text_input_ids=text_input_ids, + ) + return prompt_embeds + + +def compute_prompt_embeddings( + tokenizer: T5Tokenizer, + text_encoder: T5EncoderModel, + prompt: str, + max_sequence_length: int, + device: torch.device, + dtype: torch.dtype, + requires_grad: bool = False, +): + if requires_grad: + prompt_embeds = encode_prompt( + tokenizer, + text_encoder, + prompt, + num_videos_per_prompt=1, + max_sequence_length=max_sequence_length, + device=device, + dtype=dtype, + ) + else: + with torch.no_grad(): + prompt_embeds = encode_prompt( + tokenizer, + text_encoder, + prompt, + num_videos_per_prompt=1, + max_sequence_length=max_sequence_length, + device=device, + dtype=dtype, + ) + return prompt_embeds diff --git a/magicmotion/utils.py b/magicmotion/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..f2576e7fbbbe1a172f4482d9fa7b521ab4823543 --- /dev/null +++ b/magicmotion/utils.py @@ -0,0 +1,578 @@ +import gc +import inspect +from typing import Optional, Tuple, Union + +import torch +from accelerate import Accelerator +from accelerate.logging import get_logger +from diffusers.models.embeddings import get_3d_rotary_pos_embed +from diffusers.utils.torch_utils import is_compiled_module +import cv2 +import numpy as np +import pandas as pd +import os +from torchvision.transforms.functional import resize +from diffusers.utils import export_to_video +import os +import tempfile +from typing import Any, Callable, List, Optional, Tuple, Union +from urllib.parse import unquote, urlparse + +import PIL.Image +import PIL.ImageOps +import requests +from diffusers.utils.import_utils import BACKENDS_MAPPING, is_imageio_available + +logger = get_logger(__name__) + + +def get_optimizer( + params_to_optimize, + optimizer_name: str = "adam", + learning_rate: float = 1e-3, + beta1: float = 0.9, + beta2: float = 0.95, + beta3: float = 0.98, + epsilon: float = 1e-8, + weight_decay: float = 1e-4, + prodigy_decouple: bool = False, + prodigy_use_bias_correction: bool = False, + prodigy_safeguard_warmup: bool = False, + use_8bit: bool = False, + use_4bit: bool = False, + use_torchao: bool = False, + use_deepspeed: bool = False, + use_cpu_offload_optimizer: bool = False, + offload_gradients: bool = False, +) -> torch.optim.Optimizer: + optimizer_name = optimizer_name.lower() + + # Use DeepSpeed optimzer + if use_deepspeed: + from accelerate.utils import DummyOptim + + return DummyOptim( + params_to_optimize, + lr=learning_rate, + betas=(beta1, beta2), + eps=epsilon, + weight_decay=weight_decay, + ) + + if use_8bit and use_4bit: + raise ValueError("Cannot set both `use_8bit` and `use_4bit` to True.") + + if (use_torchao and (use_8bit or use_4bit)) or use_cpu_offload_optimizer: + try: + import torchao + + torchao.__version__ + except ImportError: + raise ImportError( + "To use optimizers from torchao, please install the torchao library: `USE_CPP=0 pip install torchao`." + ) + + if not use_torchao and use_4bit: + raise ValueError("4-bit Optimizers are only supported with torchao.") + + # Optimizer creation + supported_optimizers = ["adam", "adamw", "prodigy", "came"] + if optimizer_name not in supported_optimizers: + logger.warning( + f"Unsupported choice of optimizer: {optimizer_name}. Supported optimizers include {supported_optimizers}. Defaulting to `AdamW`." + ) + optimizer_name = "adamw" + + if (use_8bit or use_4bit) and optimizer_name not in ["adam", "adamw"]: + raise ValueError("`use_8bit` and `use_4bit` can only be used with the Adam and AdamW optimizers.") + + if use_8bit: + try: + import bitsandbytes as bnb + except ImportError: + raise ImportError( + "To use 8-bit Adam, please install the bitsandbytes library: `pip install bitsandbytes`." + ) + + if optimizer_name == "adamw": + if use_torchao: + from torchao.prototype.low_bit_optim import AdamW4bit, AdamW8bit + + optimizer_class = AdamW8bit if use_8bit else AdamW4bit if use_4bit else torch.optim.AdamW + else: + optimizer_class = bnb.optim.AdamW8bit if use_8bit else torch.optim.AdamW + + init_kwargs = { + "betas": (beta1, beta2), + "eps": epsilon, + "weight_decay": weight_decay, + } + + elif optimizer_name == "adam": + if use_torchao: + from torchao.prototype.low_bit_optim import Adam4bit, Adam8bit + + optimizer_class = Adam8bit if use_8bit else Adam4bit if use_4bit else torch.optim.Adam + else: + optimizer_class = bnb.optim.Adam8bit if use_8bit else torch.optim.Adam + + init_kwargs = { + "betas": (beta1, beta2), + "eps": epsilon, + "weight_decay": weight_decay, + } + + elif optimizer_name == "prodigy": + try: + import prodigyopt + except ImportError: + raise ImportError("To use Prodigy, please install the prodigyopt library: `pip install prodigyopt`") + + optimizer_class = prodigyopt.Prodigy + + if learning_rate <= 0.1: + logger.warning( + "Learning rate is too low. When using prodigy, it's generally better to set learning rate around 1.0" + ) + + init_kwargs = { + "lr": learning_rate, + "betas": (beta1, beta2), + "beta3": beta3, + "eps": epsilon, + "weight_decay": weight_decay, + "decouple": prodigy_decouple, + "use_bias_correction": prodigy_use_bias_correction, + "safeguard_warmup": prodigy_safeguard_warmup, + } + + elif optimizer_name == "came": + try: + import came_pytorch + except ImportError: + raise ImportError("To use CAME, please install the came-pytorch library: `pip install came-pytorch`") + + optimizer_class = came_pytorch.CAME + + init_kwargs = { + "lr": learning_rate, + "eps": (1e-30, 1e-16), + "betas": (beta1, beta2, beta3), + "weight_decay": weight_decay, + } + + if use_cpu_offload_optimizer: + from torchao.prototype.low_bit_optim import CPUOffloadOptimizer + + if "fused" in inspect.signature(optimizer_class.__init__).parameters: + init_kwargs.update({"fused": True}) + + optimizer = CPUOffloadOptimizer( + params_to_optimize, optimizer_class=optimizer_class, offload_gradients=offload_gradients, **init_kwargs + ) + else: + optimizer = optimizer_class(params_to_optimize, **init_kwargs) + + return optimizer + + +def get_gradient_norm(parameters): + norm = 0 + for param in parameters: + if param.grad is None: + continue + local_norm = param.grad.detach().data.norm(2) + norm += local_norm.item() ** 2 + norm = norm**0.5 + return norm + + +# Similar to diffusers.pipelines.hunyuandit.pipeline_hunyuandit.get_resize_crop_region_for_grid +def get_resize_crop_region_for_grid(src, tgt_width, tgt_height): + tw = tgt_width + th = tgt_height + h, w = src + r = h / w + if r > (th / tw): + resize_height = th + resize_width = int(round(th / h * w)) + else: + resize_width = tw + resize_height = int(round(tw / w * h)) + + crop_top = int(round((th - resize_height) / 2.0)) + crop_left = int(round((tw - resize_width) / 2.0)) + + return (crop_top, crop_left), (crop_top + resize_height, crop_left + resize_width) + + +def prepare_rotary_positional_embeddings( + height: int, + width: int, + num_frames: int, + vae_scale_factor_spatial: int = 8, + patch_size: int = 2, + patch_size_t: int = None, + attention_head_dim: int = 64, + device: Optional[torch.device] = None, + base_height: int = 480, + base_width: int = 720, +) -> Tuple[torch.Tensor, torch.Tensor]: + grid_height = height // (vae_scale_factor_spatial * patch_size) + grid_width = width // (vae_scale_factor_spatial * patch_size) + base_size_width = base_width // (vae_scale_factor_spatial * patch_size) + base_size_height = base_height // (vae_scale_factor_spatial * patch_size) + + if patch_size_t is None: + # CogVideoX 1.0 + grid_crops_coords = get_resize_crop_region_for_grid( + (grid_height, grid_width), base_size_width, base_size_height + ) + freqs_cos, freqs_sin = get_3d_rotary_pos_embed( + embed_dim=attention_head_dim, + crops_coords=grid_crops_coords, + grid_size=(grid_height, grid_width), + temporal_size=num_frames, + ) + else: + # CogVideoX 1.5 + base_num_frames = (num_frames + patch_size_t - 1) // patch_size_t + + freqs_cos, freqs_sin = get_3d_rotary_pos_embed( + embed_dim=attention_head_dim, + crops_coords=None, + grid_size=(grid_height, grid_width), + temporal_size=base_num_frames, + grid_type="slice", + max_size=(base_size_height, base_size_width), + ) + + freqs_cos = freqs_cos.to(device=device) + freqs_sin = freqs_sin.to(device=device) + return freqs_cos, freqs_sin + + +def reset_memory(device: Union[str, torch.device]) -> None: + gc.collect() + torch.cuda.empty_cache() + torch.cuda.reset_peak_memory_stats(device) + torch.cuda.reset_accumulated_memory_stats(device) + + +def print_memory(device: Union[str, torch.device]) -> None: + memory_allocated = torch.cuda.memory_allocated(device) / 1024**3 + max_memory_allocated = torch.cuda.max_memory_allocated(device) / 1024**3 + max_memory_reserved = torch.cuda.max_memory_reserved(device) / 1024**3 + print(f"{memory_allocated=:.3f} GB") + print(f"{max_memory_allocated=:.3f} GB") + print(f"{max_memory_reserved=:.3f} GB") + + +def unwrap_model(accelerator: Accelerator, model): + model = accelerator.unwrap_model(model) + model = model._orig_mod if is_compiled_module(model) else model + return model + +def load_frames_as_tensor(trajectory_maps_path, num_frames, height, width): + # 获取所有的帧文件并排序（假设是png或jpg格式） + frame_names = sorted([f for f in os.listdir(trajectory_maps_path) if f.endswith(('.png', '.jpg'))])[:num_frames] + # indices = np.linspace(0, len(frame_names) - 1, num_frames, dtype=int) + # frame_names = [frame_names[i] for i in indices] + assert len(frame_names) == num_frames + + # 读取图像并转换为Tensor，同时提取bounding box坐标 + frames = [] + for frame_file in frame_names: + frame_path = os.path.join(trajectory_maps_path, frame_file) + image = cv2.imread(frame_path, cv2.IMREAD_COLOR) + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + image_tensor = torch.from_numpy(image).permute(2, 0, 1) # [C, H, W] + frames.append(image_tensor) + + # 将帧列表堆叠成 (T, C, H, W) 的Tensor + frames_resized = torch.stack([resize(frame, (height, width)) for frame in frames], dim=0) + + return frames_resized + +def save_hidden_states_as_images(hidden_states_text, save_dir, T, H, W): + from sklearn.decomposition import PCA + # 确保保存路径存在 + os.makedirs(save_dir, exist_ok=True) + + # 1. 确保输入是 [B, L, C]，其中 L = T * H * W + B, L, C = hidden_states_text.shape + assert L == T * H * W, "L 必须等于 T * H * W" + + # 2. 使用 PCA 将 C 降维到 3 + for b in range(B): + # 将当前 batch 转换为 numpy 数组 + data = hidden_states_text[b].detach().float().cpu().numpy() # [L, C] + + # 应用 PCA 降维到 3 + pca = PCA(n_components=3) + reduced_data = pca.fit_transform(data) # [L, 3] + + # 3. 重塑为 [T, H, W, 3] + frames = reduced_data.reshape(T, H, W, 3) + + # 4. 归一化到 [0, 255] + frames = (frames - frames.min()) / (frames.max() - frames.min() + 1e-8) * 255 + frames = frames.astype(np.uint8) + + # 5. 保存每一帧图片 + for t in range(T): + frame = frames[t] + save_path = os.path.join(save_dir, f"batch_{b}_frame_{t}.png") + cv2.imwrite(save_path, cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)) + print(f"Saved: {save_path}") + +def save_tensor_as_images_with_pca(tensor, save_dir): + from sklearn.decomposition import PCA + from PIL import Image + + # 确保输出目录存在 + os.makedirs(save_dir, exist_ok=True) + + # 检查输入形状 + assert len(tensor.shape) == 5, "输入张量的形状必须为 [B, T, C, H, W]" + B, T, C, H, W = tensor.shape + + + # 展平成 [B * T * H * W, C] 用于 PCA + tensor_reshaped = tensor.permute(0, 1, 3, 4, 2).reshape(-1, C) # [B * T * H * W, C] + tensor_reshaped = tensor_reshaped.detach().float().cpu().numpy() + + # 应用 PCA 将 C 降维到 3 + pca = PCA(n_components=3) + reduced = pca.fit_transform(tensor_reshaped) # [B * T * H * W, 3] + + # 重塑回原始尺寸 [B, T, H, W, 3] + reduced = reduced.reshape(B, T, H, W, 3) + + # 遍历批次和时间帧保存图片 + for b in range(B): + for t in range(T): + # 提取第 b 批次，第 t 帧 + img = reduced[b, t] # [H, W, 3] + + # 将 PCA 值缩放到 0-255 范围并转换为 uint8 + img = (img - img.min()) / (img.max() - img.min()) * 255.0 + img = img.astype('uint8') + + # 保存图片 + img = Image.fromarray(img) + img.save(os.path.join(save_dir, f"batch{b}_frame{t}.png")) + +def save_tensor_as_video(tensor, output_path, fps=24): + """ + Save a tensor as a video file. + + Args: + tensor (torch.Tensor): Input tensor of shape [T, C, H, W] with values normalized between [-1, 1]. + output_path (str): Path to save the output video. + fps (int): Frames per second for the output video. + """ + # Step 1: 反归一化，将 [-1, 1] 转换为 [0, 1] + tensor = (tensor * 0.5 + 0.5) # 反归一化 + + # Step 2: 将 [T, C, H, W] 转换为 [T, H, W, C]，并转换为 uint8 格式 + tensor = (tensor.permute(0, 2, 3, 1) * 255).clamp(0, 255).to(torch.uint8).cpu().numpy() + + # Step 3: 获取视频的高度、宽度和通道 + T, H, W, C = tensor.shape + + # Step 4: 初始化 VideoWriter + fourcc = cv2.VideoWriter_fourcc(*'mp4v') # 使用 mp4 编码 + video_writer = cv2.VideoWriter(output_path, fourcc, fps, (W, H)) + + # Step 5: 将每一帧写入视频 + for frame in tensor: + frame_bgr = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) # 将 RGB 转换为 BGR 格式 + video_writer.write(frame_bgr) + + # Step 6: 释放 VideoWriter + video_writer.release() + print(f"Video saved at {output_path}") + +def save_images(pil_images, save_dir, prefix='image'): + # 创建保存目录 + os.makedirs(save_dir, exist_ok=True) + + # 遍历每张图片并保存 + for idx, img in enumerate(pil_images): + # 构建文件名 + file_path = os.path.join(save_dir, f"{prefix}_{idx:04d}.png") + # 保存图片 + img.save(file_path) + + print(f"Images saved to {save_dir}") + +def load_video( + video: str, + convert_method: Optional[Callable[[List[PIL.Image.Image]], List[PIL.Image.Image]]] = None, +) -> List[PIL.Image.Image]: + """ + Loads `video` to a list of PIL Image. + + Args: + video (`str`): + A URL or Path to a video to convert to a list of PIL Image format. + convert_method (Callable[[List[PIL.Image.Image]], List[PIL.Image.Image]], *optional*): + A conversion method to apply to the video after loading it. When set to `None` the images will be converted + to "RGB". + + Returns: + `List[PIL.Image.Image]`: + The video as a list of PIL images. + """ + is_url = video.startswith("http://") or video.startswith("https://") + is_file = os.path.isfile(video) + was_tempfile_created = False + + if not (is_url or is_file): + raise ValueError( + f"Incorrect path or URL. URLs must start with `http://` or `https://`, and {video} is not a valid path." + ) + + if is_url: + response = requests.get(video, stream=True) + if response.status_code != 200: + raise ValueError(f"Failed to download video. Status code: {response.status_code}") + + parsed_url = urlparse(video) + file_name = os.path.basename(unquote(parsed_url.path)) + + suffix = os.path.splitext(file_name)[1] or ".mp4" + video_path = tempfile.NamedTemporaryFile(suffix=suffix, delete=False).name + + was_tempfile_created = True + + video_data = response.iter_content(chunk_size=8192) + with open(video_path, "wb") as f: + for chunk in video_data: + f.write(chunk) + + video = video_path + + pil_images = [] + if video.endswith(".gif"): + gif = PIL.Image.open(video) + try: + while True: + pil_images.append(gif.copy()) + gif.seek(gif.tell() + 1) + except EOFError: + pass + + else: + if is_imageio_available(): + import imageio + else: + raise ImportError(BACKENDS_MAPPING["imageio"][1].format("load_video")) + + try: + imageio.plugins.ffmpeg.get_exe() + except AttributeError: + raise AttributeError( + "`Unable to find an ffmpeg installation on your machine. Please install via `pip install imageio-ffmpeg" + ) + + with imageio.get_reader(video) as reader: + # Read all frames + for frame in reader: + pil_images.append(PIL.Image.fromarray(frame)) + + if was_tempfile_created: + os.remove(video_path) + + if convert_method is not None: + pil_images = convert_method(pil_images) + + return pil_images + +def generate_gaussian_noise(height, width, mean=0, std_dev=1): + """ + 生成一个 H x W 的从高斯分布采样得到的噪声矩阵，并输出其均值和方差。 + + Args: + height (int): 矩阵的高度 H。 + width (int): 矩阵的宽度 W。 + mean (float): 高斯分布的均值，默认为 0。 + std_dev (float): 高斯分布的标准差，默认为 1。 + + Returns: + np.ndarray: 生成的 H x W 噪声矩阵。 + float: 噪声矩阵的均值。 + float: 噪声矩阵的方差。 + """ + # 从高斯分布采样生成噪声矩阵 + noise = np.random.normal(loc=mean, scale=std_dev, size=(height, width)) + + # 计算均值和方差 + noise_mean = np.mean(noise) + noise_variance = np.var(noise) + + return noise, noise_mean, noise_variance + +def load_frames_as_tensor(trajectory_maps_path, num_frames): + # 获取所有的帧文件并排序（假设是png或jpg格式） + frame_names = sorted([f for f in os.listdir(trajectory_maps_path) if f.endswith(('.png', '.jpg'))])#[:num_frames] + indices = np.linspace(0, len(frame_names) - 1, num_frames, dtype=int) + frame_names = [frame_names[i] for i in indices] + assert len(frame_names) == num_frames + + # 读取第一帧以提取唯一颜色 + first_frame_path = os.path.join(trajectory_maps_path, frame_names[0]) + first_image = cv2.imread(first_frame_path, cv2.IMREAD_COLOR) + first_image = cv2.cvtColor(first_image, cv2.COLOR_BGR2RGB) + df = pd.DataFrame(first_image.reshape(-1, 3), columns=['R', 'G', 'B']) + unique_colors_df = df.drop_duplicates() + unique_colors = unique_colors_df.to_numpy() + unique_colors = unique_colors[~np.all(unique_colors == [0, 0, 0], axis=1)] # 排除黑色 + + + bounding_boxes = [] + for frame_file in frame_names: + frame_path = os.path.join(trajectory_maps_path, frame_file) + image = cv2.imread(frame_path, cv2.IMREAD_COLOR) + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + + # 提取bounding box坐标 + height, width, _ = image.shape + frame_bounding_boxes = [] + for color in unique_colors: + mask = cv2.inRange(image, np.array(color), np.array(color)) + coords = np.column_stack(np.where(mask)) + if coords.size > 0: + min_y, min_x = coords.min(axis=0) + max_y, max_x = coords.max(axis=0) + # 归一化坐标 + min_y, min_x = min_y / height, min_x / width + max_y, max_x = max_y / height, max_x / width + frame_bounding_boxes.append((min_x, min_y, max_x, max_y)) + else: + frame_bounding_boxes.append(None) # 如果没有找到该颜色的bounding box，添加None + # assert 0 + bounding_boxes.append(frame_bounding_boxes) + + processed_bounding_boxes = [] + + # 前 9 帧选 3 帧 + step_front = len(bounding_boxes[:9]) // 3 # 均匀间隔选帧 + for i in range(0, len(bounding_boxes[:9]), step_front): + processed_bounding_boxes.append(bounding_boxes[i]) + + # 后面的帧每 8 帧选 2 帧 + for start in range(9, len(bounding_boxes), 8): # 从第10帧开始每8帧处理一次 + for i in range(2): # 选 2 帧 + if start + i < len(bounding_boxes): # 防止越界 + processed_bounding_boxes.append(bounding_boxes[start + i]) + + return processed_bounding_boxes, bounding_boxes[0] + +if __name__ == "__main__": + H, W = 100, 100 + noise, mean, variance = generate_gaussian_noise(H, W, mean=0, std_dev=1) + + print(f"Generated noise shape: {noise.shape}") + print(f"Mean: {mean}, Variance: {variance}") \ No newline at end of file diff --git a/magicmotion/validation_args/demo/demo_box.csv b/magicmotion/validation_args/demo/demo_box.csv new file mode 100644 index 0000000000000000000000000000000000000000..424d64257f125b9694b36e5754b5a4d4a7901d7e --- /dev/null +++ b/magicmotion/validation_args/demo/demo_box.csv @@ -0,0 +1,5 @@ +validation_prompt,validation_images,validation_trajectory_maps,output_path,controlnet_weights,seed +Two cartoon wizards walking towards each other,assets/images/condition/cartoon_wizard.jpg,assets/box_trajectory/cartoon_wizard.mp4,samples/demo/stage2/cartoon_wizard.mp4,1.0,42 +A unicorn floatie floating in a pool,assets/images/condition/floatie.jpg,assets/box_trajectory/floatie.mp4,samples/demo/stage2/floatie.mp4,1.0,18 +horse moving in the sky with a child on its back,assets/images/condition/child_horse.jpg,assets/box_trajectory/child_horse.mp4,samples/demo/stage2/child_horse.mp4,1.0,8 +A priestess lifting a ball to her head,assets/images/condition/priestess.jpg,assets/box_trajectory/priestess.mp4,samples/demo/stage2/priestess.mp4,1.0,42 \ No newline at end of file diff --git a/magicmotion/validation_args/demo/demo_mask.csv b/magicmotion/validation_args/demo/demo_mask.csv new file mode 100644 index 0000000000000000000000000000000000000000..d56ae9c6c3250e16408977a2dac3eaf975318847 --- /dev/null +++ b/magicmotion/validation_args/demo/demo_mask.csv @@ -0,0 +1,3 @@ +validation_prompt,validation_images,validation_trajectory_maps,output_path,controlnet_weights,seed +A red crystal elephant and blue crystal rhino walking on ice,assets/images/condition/mammoth_rhino3.png,assets/mask_trajectory/mammoth_rhino.mp4,samples/demo/stage1/mammoth_rhino.mp4,1.0,42 +A royal camel walking inside a palace,assets/images/condition/camel_royal.png,assets/mask_trajectory/camel.mp4,samples/demo/stage1/camel_royal.mp4,1.0,42 \ No newline at end of file diff --git a/magicmotion/validation_args/demo/demo_sparse_box.csv b/magicmotion/validation_args/demo/demo_sparse_box.csv new file mode 100644 index 0000000000000000000000000000000000000000..a926e803dc14a13285011bdb72b1c019d990660a --- /dev/null +++ b/magicmotion/validation_args/demo/demo_sparse_box.csv @@ -0,0 +1,3 @@ +validation_prompt,validation_images,validation_trajectory_maps,output_path,controlnet_weights,seed +A full moon moves across the night sky with a castle and a bridge below.,assets/images/condition/moon_castle.jpg,assets/sparse_box_trajectory/moon_castle.mp4,samples/demo/stage3/moon_castle.mp4,1.0,42 +A man slowly sinks his head into the water,assets/images/condition/man_head.jpg,assets/sparse_box_trajectory/man_head.mp4,samples/demo/stage3/man_head.mp4,1.0,42 \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/.clang-format b/trajectory_construction/Grounded_SAM2/.clang-format new file mode 100644 index 0000000000000000000000000000000000000000..39b1b3d603ed0cf6b7f94c9c08067f148f35613f --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/.clang-format @@ -0,0 +1,85 @@ +AccessModifierOffset: -1 +AlignAfterOpenBracket: AlwaysBreak +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlinesLeft: true +AlignOperands: false +AlignTrailingComments: false +AllowAllParametersOfDeclarationOnNextLine: false +AllowShortBlocksOnASingleLine: false +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: Empty +AllowShortIfStatementsOnASingleLine: false +AllowShortLoopsOnASingleLine: false +AlwaysBreakAfterReturnType: None +AlwaysBreakBeforeMultilineStrings: true +AlwaysBreakTemplateDeclarations: true +BinPackArguments: false +BinPackParameters: false +BraceWrapping: + AfterClass: false + AfterControlStatement: false + AfterEnum: false + AfterFunction: false + AfterNamespace: false + AfterObjCDeclaration: false + AfterStruct: false + AfterUnion: false + BeforeCatch: false + BeforeElse: false + IndentBraces: false +BreakBeforeBinaryOperators: None +BreakBeforeBraces: Attach +BreakBeforeTernaryOperators: true +BreakConstructorInitializersBeforeComma: false +BreakAfterJavaFieldAnnotations: false +BreakStringLiterals: false +ColumnLimit: 80 +CommentPragmas: '^ IWYU pragma:' +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: true +DerivePointerAlignment: false +DisableFormat: false +ForEachMacros: [ FOR_EACH, FOR_EACH_R, FOR_EACH_RANGE, ] +IncludeCategories: + - Regex: '^<.*\.h(pp)?>' + Priority: 1 + - Regex: '^<.*' + Priority: 2 + - Regex: '.*' + Priority: 3 +IndentCaseLabels: true +IndentWidth: 2 +IndentWrappedFunctionNames: false +KeepEmptyLinesAtTheStartOfBlocks: false +MacroBlockBegin: '' +MacroBlockEnd: '' +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +ObjCBlockIndentWidth: 2 +ObjCSpaceAfterProperty: false +ObjCSpaceBeforeProtocolList: false +PenaltyBreakBeforeFirstCallParameter: 1 +PenaltyBreakComment: 300 +PenaltyBreakFirstLessLess: 120 +PenaltyBreakString: 1000 +PenaltyExcessCharacter: 1000000 +PenaltyReturnTypeOnItsOwnLine: 200 +PointerAlignment: Left +ReflowComments: true +SortIncludes: true +SpaceAfterCStyleCast: false +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: ControlStatements +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 1 +SpacesInAngles: false +SpacesInContainerLiterals: true +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +Standard: Cpp11 +TabWidth: 8 +UseTab: Never diff --git a/trajectory_construction/Grounded_SAM2/.gitignore b/trajectory_construction/Grounded_SAM2/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..b9eba7c975c6b99af71f19c122a1b6430b2a84ee --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/.gitignore @@ -0,0 +1,147 @@ +# SAM 2 +.vscode/ +.DS_Store +__pycache__/ +*-checkpoint.ipynb +.venv +*.egg* +build/* +_C.* +outputs/* +checkpoints/*.pt +*test* +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +pip-wheel-metadata/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +.python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# checkpoint +*.pth +outputs/ + +.idea/ \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/CODE_OF_CONDUCT.md b/trajectory_construction/Grounded_SAM2/CODE_OF_CONDUCT.md new file mode 100644 index 0000000000000000000000000000000000000000..08b500a221857ec3f451338e80b4a9ab1173a1af --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/CODE_OF_CONDUCT.md @@ -0,0 +1,80 @@ +# Code of Conduct + +## Our Pledge + +In the interest of fostering an open and welcoming environment, we as +contributors and maintainers pledge to make participation in our project and +our community a harassment-free experience for everyone, regardless of age, body +size, disability, ethnicity, sex characteristics, gender identity and expression, +level of experience, education, socio-economic status, nationality, personal +appearance, race, religion, or sexual identity and orientation. + +## Our Standards + +Examples of behavior that contributes to creating a positive environment +include: + +* Using welcoming and inclusive language +* Being respectful of differing viewpoints and experiences +* Gracefully accepting constructive criticism +* Focusing on what is best for the community +* Showing empathy towards other community members + +Examples of unacceptable behavior by participants include: + +* The use of sexualized language or imagery and unwelcome sexual attention or + advances +* Trolling, insulting/derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or electronic + address, without explicit permission +* Other conduct which could reasonably be considered inappropriate in a + professional setting + +## Our Responsibilities + +Project maintainers are responsible for clarifying the standards of acceptable +behavior and are expected to take appropriate and fair corrective action in +response to any instances of unacceptable behavior. + +Project maintainers have the right and responsibility to remove, edit, or +reject comments, commits, code, wiki edits, issues, and other contributions +that are not aligned to this Code of Conduct, or to ban temporarily or +permanently any contributor for other behaviors that they deem inappropriate, +threatening, offensive, or harmful. + +## Scope + +This Code of Conduct applies within all project spaces, and it also applies when +an individual is representing the project or its community in public spaces. +Examples of representing a project or community include using an official +project e-mail address, posting via an official social media account, or acting +as an appointed representative at an online or offline event. Representation of +a project may be further defined and clarified by project maintainers. + +This Code of Conduct also applies outside the project spaces when there is a +reasonable belief that an individual's behavior may have a negative impact on +the project or its community. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported by contacting the project team at . All +complaints will be reviewed and investigated and will result in a response that +is deemed necessary and appropriate to the circumstances. The project team is +obligated to maintain confidentiality with regard to the reporter of an incident. +Further details of specific enforcement policies may be posted separately. + +Project maintainers who do not follow or enforce the Code of Conduct in good +faith may face temporary or permanent repercussions as determined by other +members of the project's leadership. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, +available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html + +[homepage]: https://www.contributor-covenant.org + +For answers to common questions about this code of conduct, see +https://www.contributor-covenant.org/faq diff --git a/trajectory_construction/Grounded_SAM2/CONTRIBUTING.md b/trajectory_construction/Grounded_SAM2/CONTRIBUTING.md new file mode 100644 index 0000000000000000000000000000000000000000..ad15049f583e1bc9a418686493405875b98c7f0f --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/CONTRIBUTING.md @@ -0,0 +1,31 @@ +# Contributing to segment-anything +We want to make contributing to this project as easy and transparent as +possible. + +## Pull Requests +We actively welcome your pull requests. + +1. Fork the repo and create your branch from `main`. +2. If you've added code that should be tested, add tests. +3. If you've changed APIs, update the documentation. +4. Ensure the test suite passes. +5. Make sure your code lints, using the `ufmt format` command. Linting requires `black==24.2.0`, `usort==1.0.2`, and `ufmt==2.0.0b2`, which can be installed via `pip install -e ".[dev]"`. +6. If you haven't already, complete the Contributor License Agreement ("CLA"). + +## Contributor License Agreement ("CLA") +In order to accept your pull request, we need you to submit a CLA. You only need +to do this once to work on any of Facebook's open source projects. + +Complete your CLA here: + +## Issues +We use GitHub issues to track public bugs. Please ensure your description is +clear and has sufficient instructions to be able to reproduce the issue. + +Facebook has a [bounty program](https://www.facebook.com/whitehat/) for the safe +disclosure of security bugs. In those cases, please go through the process +outlined on that page and do not file a public issue. + +## License +By contributing to segment-anything, you agree that your contributions will be licensed +under the LICENSE file in the root directory of this source tree. diff --git a/trajectory_construction/Grounded_SAM2/Dockerfile b/trajectory_construction/Grounded_SAM2/Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..90881c78be84fcbdcc696cb0c54e12feb07aae43 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/Dockerfile @@ -0,0 +1,36 @@ +FROM pytorch/pytorch:2.3.1-cuda12.1-cudnn8-devel + +# Arguments to build Docker Image using CUDA +ARG USE_CUDA=0 +ARG TORCH_ARCH="7.0;7.5;8.0;8.6" + +ENV AM_I_DOCKER True +ENV BUILD_WITH_CUDA "${USE_CUDA}" +ENV TORCH_CUDA_ARCH_LIST="${TORCH_ARCH}" +ENV CUDA_HOME /usr/local/cuda-12.1/ +# Ensure CUDA is correctly set up +ENV PATH /usr/local/cuda-12.1/bin:${PATH} +ENV LD_LIBRARY_PATH /usr/local/cuda-12.1/lib64:${LD_LIBRARY_PATH} + +# Install required packages and specific gcc/g++ +RUN apt-get update && apt-get install --no-install-recommends wget ffmpeg=7:* \ + libsm6=2:* libxext6=2:* git=1:* nano vim=2:* ninja-build gcc-10 g++-10 -y \ + && apt-get clean && apt-get autoremove && rm -rf /var/lib/apt/lists/* + +ENV CC=gcc-10 +ENV CXX=g++-10 + +RUN mkdir -p /home/appuser/Grounded_SAM2 +COPY . /home/appuser/Grounded-SAM-2/ + +WORKDIR /home/appuser/Grounded-SAM-2 + + +# Install essential Python packages +RUN python -m pip install --upgrade pip setuptools wheel numpy + +# Install segment_anything package in editable mode +RUN python -m pip install -e . + +# Install grounding dino +RUN python -m pip install --no-build-isolation -e grounding_dino diff --git a/trajectory_construction/Grounded_SAM2/LICENSE b/trajectory_construction/Grounded_SAM2/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..4a6ef548000ae103968f46736f8a55ac6173578e --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2023 - present, IDEA Research. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/LICENSE_cctorch b/trajectory_construction/Grounded_SAM2/LICENSE_cctorch new file mode 100644 index 0000000000000000000000000000000000000000..23da14a65aad4c5bac18061b80ae6040bb7d2c8c --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/LICENSE_cctorch @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2020, the respective contributors, as shown by the AUTHORS file. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/trajectory_construction/Grounded_SAM2/LICENSE_groundingdino b/trajectory_construction/Grounded_SAM2/LICENSE_groundingdino new file mode 100644 index 0000000000000000000000000000000000000000..4a6ef548000ae103968f46736f8a55ac6173578e --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/LICENSE_groundingdino @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2023 - present, IDEA Research. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/LICENSE_sam2 b/trajectory_construction/Grounded_SAM2/LICENSE_sam2 new file mode 100644 index 0000000000000000000000000000000000000000..261eeb9e9f8b2b4b0d119366dda99c6fd7d35c64 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/LICENSE_sam2 @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. 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Both approaches leverage the capabilities of open-world models to address complex visual tasks. Consequently, we try to **simplify the code implementation** in this repository, aiming to enhance user convenience. + +[![Video Name](./assets/grounded_sam_2_intro.jpg)](https://github.com/user-attachments/assets/f0fb0022-779a-49fb-8f46-3a18a8b4e893) + +## News + +- `2024/08/31`: Support `dump json results` in Grounded SAM 2 Image Demos (with Grounding DINO). +- `2024/08/20`: Support **Florence-2 SAM 2 Image Demo** which includes `dense region caption`, `object detection`, `phrase grounding`, and cascaded auto-label pipeline `caption + phrase grounding`. +- `2024/08/09`: Support **Ground and Track New Object** throughout the whole videos. This feature is still under development now. Credits to [Shuo Shen](https://github.com/ShuoShenDe). +- `2024/08/07`: Support **Custom Video Inputs**, users need only submit their video file (e.g. `.mp4` file) with specific text prompts to get an impressive demo videos. + +## Contents +- [Installation](#installation) +- [Grounded SAM 2 Demos](#grounded-sam-2-demos) + - [Grounded SAM 2 Image Demo](#grounded-sam-2-image-demo-with-grounding-dino) + - [Grounded SAM 2 Image Demo (with Grounding DINO 1.5 & 1.6)](#grounded-sam-2-image-demo-with-grounding-dino-15--16) + - [Automatically Saving Grounding and Segmentation Results](#automatically-saving-grounding-results-image-demo) + - [Grounded SAM 2 Video Object Tracking Demo](#grounded-sam-2-video-object-tracking-demo) + - [Grounded SAM 2 Video Object Tracking Demo (with Grounding DINO 1.5 & 1.6)](#grounded-sam-2-video-object-tracking-demo-with-grounding-dino-15--16) + - [Grounded SAM 2 Video Object Tracking with Custom Video Input (using Grounding DINO)](#grounded-sam-2-video-object-tracking-demo-with-custom-video-input-with-grounding-dino) + - [Grounded SAM 2 Video Object Tracking with Custom Video Input (using Grounding DINO 1.5 & 1.6)](#grounded-sam-2-video-object-tracking-demo-with-custom-video-input-with-grounding-dino-15--16) + - [Grounded SAM 2 Video Object Tracking with Continues ID (using Grounding DINO)](#grounded-sam-2-video-object-tracking-with-continuous-id-with-grounding-dino) +- [Grounded SAM 2 Florence-2 Demos](#grounded-sam-2-florence-2-demos) + - [Grounded SAM 2 Florence-2 Image Demo](#grounded-sam-2-florence-2-image-demo-updating) + - [Grounded SAM 2 Florence-2 Image Auto-Labeling Demo](#grounded-sam-2-florence-2-image-auto-labeling-demo) +- [Citation](#citation) + + + +## Installation + +Download the pretrained `SAM 2` checkpoints: + +```bash +cd checkpoints +bash download_ckpts.sh +``` + +Download the pretrained `Grounding DINO` checkpoints: + +```bash +cd gdino_checkpoints +bash download_ckpts.sh +``` + +### Installation without docker + +Install PyTorch environment first. We use `python=3.10`, as well as `torch >= 2.3.1`, `torchvision>=0.18.1` and `cuda-12.1` in our environment to run this demo. Please follow the instructions [here](https://pytorch.org/get-started/locally/) to install both PyTorch and TorchVision dependencies. Installing both PyTorch and TorchVision with CUDA support is strongly recommended. You can easily install the latest version of PyTorch as follows: + +```bash +pip3 install torch torchvision torchaudio +``` + +Since we need the CUDA compilation environment to compile the `Deformable Attention` operator used in Grounding DINO, we need to check whether the CUDA environment variables have been set correctly (which you can refer to [Grounding DINO Installation](https://github.com/IDEA-Research/GroundingDINO?tab=readme-ov-file#hammer_and_wrench-install) for more details). You can set the environment variable manually as follows if you want to build a local GPU environment for Grounding DINO to run Grounded SAM 2: + +```bash +export CUDA_HOME=/path/to/cuda-12.1/ +``` + +Install `Segment Anything 2`: + +```bash +pip install -e . +``` + +Install `Grounding DINO`: + +```bash +pip install --no-build-isolation -e grounding_dino +``` + +### Installation with docker +Build the Docker image and Run the Docker container: + +``` +cd Grounded-SAM-2 +make build-image +make run +``` +After executing these commands, you will be inside the Docker environment. The working directory within the container is set to: `/home/appuser/Grounded-SAM-2` + +Once inside the Docker environment, you can start the demo by running: +``` +python grounded_sam2_tracking_demo.py +``` + +## Grounded SAM 2 Demos +### Grounded SAM 2 Image Demo (with Grounding DINO) +Note that `Grounding DINO` has already been supported in [Huggingface](https://huggingface.co/IDEA-Research/grounding-dino-tiny), so we provide two choices for running `Grounded SAM 2` model: +- Use huggingface API to inference Grounding DINO (which is simple and clear) + +```bash +python grounded_sam2_hf_model_demo.py +``` + +> [!NOTE] +> 🚨 If you encounter network issues while using the `HuggingFace` model, you can resolve them by setting the appropriate mirror source as `export HF_ENDPOINT=https://hf-mirror.com` + +- Load local pretrained Grounding DINO checkpoint and inference with Grounding DINO original API (make sure you've already downloaded the pretrained checkpoint) + +```bash +python grounded_sam2_local_demo.py +``` + + +### Grounded SAM 2 Image Demo (with Grounding DINO 1.5 & 1.6) + +We've already released our most capable open-set detection model [Grounding DINO 1.5 & 1.6](https://github.com/IDEA-Research/Grounding-DINO-1.5-API), which can be combined with SAM 2 for stronger open-set detection and segmentation capability. You can apply the API token first and run Grounded SAM 2 with Grounding DINO 1.5 as follows: + +Install the latest DDS cloudapi: + +```bash +pip install dds-cloudapi-sdk +``` + +Apply your API token from our official website here: [request API token](https://deepdataspace.com/request_api). + +```bash +python grounded_sam2_gd1.5_demo.py +``` + +### Automatically Saving Grounding Results (Image Demo) + +After setting `DUMP_JSON_RESULTS=True` in the following Grounded SAM 2 Image Demos: +- [grounded_sam2_local_demo.py](./grounded_sam2_local_demo.py) +- [grounded_sam2_hf_model_demo.py](./grounded_sam2_hf_model_demo.py) +- [grounded_sam2_gd1.5_demo.py](./grounded_sam2_gd1.5_demo.py) + +The `grounding` and `segmentation` results will be automatically saved in the `outputs` dir with the following format: + +```python +{ + "image_path": "path/to/image.jpg", + "annotations": [ + { + "class_name": "class_name", + "bbox": [x1, y1, x2, y2], + "segmentation": { + "size": [h, w], + "counts": "rle_encoded_mask" + }, + "score": confidence score + } + ], + "box_format": "xyxy", + "img_width": w, + "img_height": h +} +``` + + + +### Grounded SAM 2 Video Object Tracking Demo + +Based on the strong tracking capability of SAM 2, we can combined it with Grounding DINO for open-set object segmentation and tracking. You can run the following scripts to get the tracking results with Grounded SAM 2: + +```bash +python grounded_sam2_tracking_demo.py +``` + +- The tracking results of each frame will be saved in `./tracking_results` +- The video will be save as `children_tracking_demo_video.mp4` +- You can refine this file with different text prompt and video clips yourself to get more tracking results. +- We only prompt the first video frame with Grounding DINO here for simple usage. + +#### Support Various Prompt Type for Tracking + +We've supported different types of prompt for Grounded SAM 2 tracking demo: + +- **Point Prompt**: In order to **get a stable segmentation results**, we re-use the SAM 2 image predictor to get the prediction mask from each object based on Grounding DINO box outputs, then we **uniformly sample points from the prediction mask** as point prompts for SAM 2 video predictor +- **Box Prompt**: We directly use the box outputs from Grounding DINO as box prompts for SAM 2 video predictor +- **Mask Prompt**: We use the SAM 2 mask prediction results based on Grounding DINO box outputs as mask prompt for SAM 2 video predictor. + +![Grounded SAM 2 Tracking Pipeline](./assets/g_sam2_tracking_pipeline_vis_new.png) + + +### Grounded SAM 2 Video Object Tracking Demo (with Grounding DINO 1.5 & 1.6) + +We've also support video object tracking demo based on our stronger `Grounding DINO 1.5` model and `SAM 2`, you can try the following demo after applying the API keys for running `Grounding DINO 1.5`: + +```bash +python grounded_sam2_tracking_demo_with_gd1.5.py +``` + +### Grounded SAM 2 Video Object Tracking Demo with Custom Video Input (with Grounding DINO) + +Users can upload their own video file (e.g. `assets/hippopotamus.mp4`) and specify their custom text prompts for grounding and tracking with Grounding DINO and SAM 2 by using the following scripts: + +```bash +python grounded_sam2_tracking_demo_custom_video_input_gd1.0_hf_model.py +``` + +### Grounded SAM 2 Video Object Tracking Demo with Custom Video Input (with Grounding DINO 1.5 & 1.6) + +Users can upload their own video file (e.g. `assets/hippopotamus.mp4`) and specify their custom text prompts for grounding and tracking with Grounding DINO 1.5 and SAM 2 by using the following scripts: + +```bash +python grounded_sam2_tracking_demo_custom_video_input_gd1.5.py +``` + +You can specify the params in this file: + +```python +VIDEO_PATH = "./assets/hippopotamus.mp4" +TEXT_PROMPT = "hippopotamus." +OUTPUT_VIDEO_PATH = "./hippopotamus_tracking_demo.mp4" +API_TOKEN_FOR_GD1_5 = "Your API token" # api token for G-DINO 1.5 +PROMPT_TYPE_FOR_VIDEO = "mask" # using SAM 2 mask prediction as prompt for video predictor +``` + +After running our demo code, you can get the tracking results as follows: + +[![Video Name](./assets/hippopotamus_seg.jpg)](https://github.com/user-attachments/assets/1fbdc6f4-3e50-4221-9600-98c397beecdf) + +And we will automatically save the tracking visualization results in `OUTPUT_VIDEO_PATH`. + +> [!WARNING] +> We initialize the box prompts on the first frame of the input video. If you want to start from different frame, you can refine `ann_frame_idx` by yourself in our code. + +### Grounded-SAM-2 Video Object Tracking with Continuous ID (with Grounding DINO) + +In above demos, we only prompt Grounded SAM 2 in specific frame, which may not be friendly to find new object during the whole video. In this demo, we try to **find new objects** and assign them with new ID across the whole video, this function is **still under develop**. it's not that stable now. + +Users can upload their own video files and specify custom text prompts for grounding and tracking using the Grounding DINO and SAM 2 frameworks. To do this, execute the script: + + +```bash +python grounded_sam2_tracking_demo_with_continuous_id.py +``` + +You can customize various parameters including: + +- `text`: The grounding text prompt. +- `video_dir`: Directory containing the video files. +- `output_dir`: Directory to save the processed output. +- `output_video_path`: Path for the output video. +- `step`: Frame stepping for processing. +- `box_threshold`: box threshold for groundingdino model +- `text_threshold`: text threshold for groundingdino model +Note: This method supports only the mask type of text prompt. + +After running our demo code, you can get the tracking results as follows: + +[![Video Name](./assets/tracking_car_mask_1.jpg)](https://github.com/user-attachments/assets/d3f91ad0-3d32-43c4-a0dc-0bed661415f4) + +If you want to try `Grounding DINO 1.5` model, you can run the following scripts after setting your API token: + +```bash +python grounded_sam2_tracking_demo_with_continuous_id_gd1.5.py +``` + +### Grounded-SAM-2 Video Object Tracking with Continuous ID plus Reverse Tracking(with Grounding DINO) +This method could simply cover the whole lifetime of the object +```bash +python grounded_sam2_tracking_demo_with_continuous_id_plus.py + +``` + +## Grounded SAM 2 Florence-2 Demos +### Grounded SAM 2 Florence-2 Image Demo + +In this section, we will explore how to integrate the feature-rich and robust open-source models [Florence-2](https://arxiv.org/abs/2311.06242) and SAM 2 to develop practical applications. + +[Florence-2](https://arxiv.org/abs/2311.06242) is a powerful vision foundation model by Microsoft which supports a series of vision tasks by prompting with special `task_prompt` includes but not limited to: + +| Task | Task Prompt | Text Input | Task Introduction | +|:---:|:---:|:---:|:---:| +| Object Detection | `` | ✘ | Detect main objects with single category name | +| Dense Region Caption | `` | ✘ | Detect main objects with short description | +| Region Proposal | `` | ✘ | Generate proposals without category name | +| Phrase Grounding | `` | ✔ | Ground main objects in image mentioned in caption | +| Referring Expression Segmentation | `` | ✔ | Ground the object which is most related to the text input | +| Open Vocabulary Detection and Segmentation | `` | ✔ | Ground any object with text input | + + +Integrate `Florence-2` with `SAM-2`, we can build a strong vision pipeline to solve complex vision tasks, you can try the following scripts to run the demo: + +> [!NOTE] +> 🚨 If you encounter network issues while using the `HuggingFace` model, you can resolve them by setting the appropriate mirror source as `export HF_ENDPOINT=https://hf-mirror.com` + +**Object Detection and Segmentation** +```bash +python grounded_sam2_florence2_image_demo.py \ + --pipeline object_detection_segmentation \ + --image_path ./notebooks/images/cars.jpg +``` + +**Dense Region Caption and Segmentation** +```bash +python grounded_sam2_florence2_image_demo.py \ + --pipeline dense_region_caption_segmentation \ + --image_path ./notebooks/images/cars.jpg +``` + +**Region Proposal and Segmentation** +```bash +python grounded_sam2_florence2_image_demo.py \ + --pipeline region_proposal_segmentation \ + --image_path ./notebooks/images/cars.jpg +``` + +**Phrase Grounding and Segmentation** +```bash +python grounded_sam2_florence2_image_demo.py \ + --pipeline phrase_grounding_segmentation \ + --image_path ./notebooks/images/cars.jpg \ + --text_input "The image shows two vintage Chevrolet cars parked side by side, with one being a red convertible and the other a pink sedan, \ + set against the backdrop of an urban area with a multi-story building and trees. \ + The cars have Cuban license plates, indicating a location likely in Cuba." +``` + +**Referring Expression Segmentation** +```bash +python grounded_sam2_florence2_image_demo.py \ + --pipeline referring_expression_segmentation \ + --image_path ./notebooks/images/cars.jpg \ + --text_input "The left red car." +``` + +**Open-Vocabulary Detection and Segmentation** +```bash +python grounded_sam2_florence2_image_demo.py \ + --pipeline open_vocabulary_detection_segmentation \ + --image_path ./notebooks/images/cars.jpg \ + --text_input "car building" +``` +- Note that if you want to detect multi-objects you should split them with `` in your input text. + + +### Grounded SAM 2 Florence-2 Image Auto-Labeling Demo +`Florence-2` can be used as a auto image annotator by cascading its caption capability with its grounding capability. + +| Task | Task Prompt | Text Input | +|:---:|:---:|:---:| +| Caption + Phrase Grounding | `` + `` | ✘ | +| Detailed Caption + Phrase Grounding | `` + `` | ✘ | +| More Detailed Caption + Phrase Grounding | `` + `` | ✘ | + +You can try the following scripts to run these demo: + +**Caption to Phrase Grounding** +```bash +python grounded_sam2_florence2_autolabel_pipeline.py \ + --image_path ./notebooks/images/groceries.jpg \ + --pipeline caption_to_phrase_grounding \ + --caption_type caption +``` + +- You can specify `caption_type` to control the granularity of the caption, if you want a more detailed caption, you can try `--caption_type detailed_caption` or `--caption_type more_detailed_caption`. + +### Citation + +If you find this project helpful for your research, please consider citing the following BibTeX entry. + +```BibTex +@misc{ravi2024sam2segmentimages, + title={SAM 2: Segment Anything in Images and Videos}, + author={Nikhila Ravi and Valentin Gabeur and Yuan-Ting Hu and Ronghang Hu and Chaitanya Ryali and Tengyu Ma and Haitham Khedr and Roman Rädle and Chloe Rolland and Laura Gustafson and Eric Mintun and Junting Pan and Kalyan Vasudev Alwala and Nicolas Carion and Chao-Yuan Wu and Ross Girshick and Piotr Dollár and Christoph Feichtenhofer}, + year={2024}, + eprint={2408.00714}, + archivePrefix={arXiv}, + primaryClass={cs.CV}, + url={https://arxiv.org/abs/2408.00714}, +} + +@article{liu2023grounding, + title={Grounding dino: Marrying dino with grounded pre-training for open-set object detection}, + author={Liu, Shilong and Zeng, Zhaoyang and Ren, Tianhe and Li, Feng and Zhang, Hao and Yang, Jie and Li, Chunyuan and Yang, Jianwei and Su, Hang and Zhu, Jun and others}, + journal={arXiv preprint arXiv:2303.05499}, + year={2023} +} + +@misc{ren2024grounding, + title={Grounding DINO 1.5: Advance the "Edge" of Open-Set Object Detection}, + author={Tianhe Ren and Qing Jiang and Shilong Liu and Zhaoyang Zeng and Wenlong Liu and Han Gao and Hongjie Huang and Zhengyu Ma and Xiaoke Jiang and Yihao Chen and Yuda Xiong and Hao Zhang and Feng Li and Peijun Tang and Kent Yu and Lei Zhang}, + year={2024}, + eprint={2405.10300}, + archivePrefix={arXiv}, + primaryClass={cs.CV} +} + +@misc{ren2024grounded, + title={Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks}, + author={Tianhe Ren and Shilong Liu and Ailing Zeng and Jing Lin and Kunchang Li and He Cao and Jiayu Chen and Xinyu Huang and Yukang Chen and Feng Yan and Zhaoyang Zeng and Hao Zhang and Feng Li and Jie Yang and Hongyang Li and Qing Jiang and Lei Zhang}, + year={2024}, + eprint={2401.14159}, + archivePrefix={arXiv}, + primaryClass={cs.CV} +} + +@article{kirillov2023segany, + title={Segment Anything}, + author={Kirillov, Alexander and Mintun, Eric and Ravi, Nikhila and Mao, Hanzi and Rolland, Chloe and Gustafson, Laura and Xiao, Tete and Whitehead, Spencer and Berg, Alexander C. and Lo, Wan-Yen and Doll{\'a}r, Piotr and Girshick, Ross}, + journal={arXiv:2304.02643}, + year={2023} +} + +@misc{jiang2024trex2, + title={T-Rex2: Towards Generic Object Detection via Text-Visual Prompt Synergy}, + author={Qing Jiang and Feng Li and Zhaoyang Zeng and Tianhe Ren and Shilong Liu and Lei Zhang}, + year={2024}, + eprint={2403.14610}, + archivePrefix={arXiv}, + primaryClass={cs.CV} +} +``` diff --git a/trajectory_construction/Grounded_SAM2/SAM2_README.md b/trajectory_construction/Grounded_SAM2/SAM2_README.md new file mode 100644 index 0000000000000000000000000000000000000000..26c9027384c7867e1f033fd43f6aa74a52202691 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/SAM2_README.md @@ -0,0 +1,140 @@ +# SAM 2: Segment Anything in Images and Videos + +**[AI at Meta, FAIR](https://ai.meta.com/research/)** + +[Nikhila Ravi](https://nikhilaravi.com/), [Valentin Gabeur](https://gabeur.github.io/), [Yuan-Ting Hu](https://scholar.google.com/citations?user=E8DVVYQAAAAJ&hl=en), [Ronghang Hu](https://ronghanghu.com/), [Chaitanya Ryali](https://scholar.google.com/citations?user=4LWx24UAAAAJ&hl=en), [Tengyu Ma](https://scholar.google.com/citations?user=VeTSl0wAAAAJ&hl=en), [Haitham Khedr](https://hkhedr.com/), [Roman Rädle](https://scholar.google.de/citations?user=Tpt57v0AAAAJ&hl=en), [Chloe Rolland](https://scholar.google.com/citations?hl=fr&user=n-SnMhoAAAAJ), [Laura Gustafson](https://scholar.google.com/citations?user=c8IpF9gAAAAJ&hl=en), [Eric Mintun](https://ericmintun.github.io/), [Junting Pan](https://junting.github.io/), [Kalyan Vasudev Alwala](https://scholar.google.co.in/citations?user=m34oaWEAAAAJ&hl=en), [Nicolas Carion](https://www.nicolascarion.com/), [Chao-Yuan Wu](https://chaoyuan.org/), [Ross Girshick](https://www.rossgirshick.info/), [Piotr Dollár](https://pdollar.github.io/), [Christoph Feichtenhofer](https://feichtenhofer.github.io/) + +[[`Paper`](https://ai.meta.com/research/publications/sam-2-segment-anything-in-images-and-videos/)] [[`Project`](https://ai.meta.com/sam2)] [[`Demo`](https://sam2.metademolab.com/)] [[`Dataset`](https://ai.meta.com/datasets/segment-anything-video)] [[`Blog`](https://ai.meta.com/blog/segment-anything-2)] [[`BibTeX`](#citing-sam-2)] + +![SAM 2 architecture](assets/model_diagram.png?raw=true) + +**Segment Anything Model 2 (SAM 2)** is a foundation model towards solving promptable visual segmentation in images and videos. We extend SAM to video by considering images as a video with a single frame. The model design is a simple transformer architecture with streaming memory for real-time video processing. We build a model-in-the-loop data engine, which improves model and data via user interaction, to collect [**our SA-V dataset**](https://ai.meta.com/datasets/segment-anything-video), the largest video segmentation dataset to date. SAM 2 trained on our data provides strong performance across a wide range of tasks and visual domains. + +![SA-V dataset](assets/sa_v_dataset.jpg?raw=true) + +## Installation + +Please install SAM 2 on a GPU machine using: + +```bash +git clone https://github.com/facebookresearch/segment-anything-2.git + +cd segment-anything-2; pip install -e . +``` + +To use the SAM 2 predictor and run the example notebooks, `jupyter` and `matplotlib` are required and can be installed by: + +```bash +pip install -e ".[demo]" +``` + +## Getting Started + +### Download Checkpoints + +First, we need to download a model checkpoint. All the model checkpoints can be downloaded by running: + +```bash +cd checkpoints +./download_ckpts.sh +``` + +or individually from: + +- [sam2_hiera_tiny.pt](https://dl.fbaipublicfiles.com/segment_anything_2/072824/sam2_hiera_tiny.pt) +- [sam2_hiera_small.pt](https://dl.fbaipublicfiles.com/segment_anything_2/072824/sam2_hiera_small.pt) +- [sam2_hiera_base_plus.pt](https://dl.fbaipublicfiles.com/segment_anything_2/072824/sam2_hiera_base_plus.pt) +- [sam2_hiera_large.pt](https://dl.fbaipublicfiles.com/segment_anything_2/072824/sam2_hiera_large.pt) + +Then SAM 2 can be used in a few lines as follows for image and video prediction. + +### Image prediction + +SAM 2 has all the capabilities of [SAM](https://github.com/facebookresearch/segment-anything) on static images, and we provide image prediction APIs that closely resemble SAM for image use cases. The `SAM2ImagePredictor` class has an easy interface for image prompting. + +```python +import torch +from sam2.build_sam import build_sam2 +from sam2.sam2_image_predictor import SAM2ImagePredictor + +checkpoint = "./checkpoints/sam2_hiera_large.pt" +model_cfg = "sam2_hiera_l.yaml" +predictor = SAM2ImagePredictor(build_sam2(model_cfg, checkpoint)) + +with torch.inference_mode(), torch.autocast("cuda", dtype=torch.bfloat16): + predictor.set_image() + masks, _, _ = predictor.predict() +``` + +Please refer to the examples in [image_predictor_example.ipynb](./notebooks/image_predictor_example.ipynb) for static image use cases. + +SAM 2 also supports automatic mask generation on images just like SAM. Please see [automatic_mask_generator_example.ipynb](./notebooks/automatic_mask_generator_example.ipynb) for automatic mask generation in images. + +### Video prediction + +For promptable segmentation and tracking in videos, we provide a video predictor with APIs for example to add prompts and propagate masklets throughout a video. SAM 2 supports video inference on multiple objects and uses an inference state to keep track of the interactions in each video. + +```python +import torch +from sam2.build_sam import build_sam2_video_predictor + +checkpoint = "./checkpoints/sam2_hiera_large.pt" +model_cfg = "sam2_hiera_l.yaml" +predictor = build_sam2_video_predictor(model_cfg, checkpoint) + +with torch.inference_mode(), torch.autocast("cuda", dtype=torch.bfloat16): + state = predictor.init_state() + + # add new prompts and instantly get the output on the same frame + frame_idx, object_ids, masks = predictor.add_new_points(state, ): + + # propagate the prompts to get masklets throughout the video + for frame_idx, object_ids, masks in predictor.propagate_in_video(state): + ... +``` + +Please refer to the examples in [video_predictor_example.ipynb](./notebooks/video_predictor_example.ipynb) for details on how to add prompts, make refinements, and track multiple objects in videos. + +## Model Description + +| **Model** | **Size (M)** | **Speed (FPS)** | **SA-V test (J&F)** | **MOSE val (J&F)** | **LVOS v2 (J&F)** | +| :------------------: | :----------: | :--------------------: | :-----------------: | :----------------: | :---------------: | +| sam2_hiera_tiny | 38.9 | 47.2 | 75.0 | 70.9 | 75.3 | +| sam2_hiera_small | 46 | 43.3 (53.0 compiled\*) | 74.9 | 71.5 | 76.4 | +| sam2_hiera_base_plus | 80.8 | 34.8 (43.8 compiled\*) | 74.7 | 72.8 | 75.8 | +| sam2_hiera_large | 224.4 | 24.2 (30.2 compiled\*) | 76.0 | 74.6 | 79.8 | + +\* Compile the model by setting `compile_image_encoder: True` in the config. + +## Segment Anything Video Dataset + +See [sav_dataset/README.md](sav_dataset/README.md) for details. + +## License + +The models are licensed under the [Apache 2.0 license](./LICENSE). Please refer to our research paper for more details on the models. + +## Contributing + +See [contributing](CONTRIBUTING.md) and the [code of conduct](CODE_OF_CONDUCT.md). + +## Contributors + +The SAM 2 project was made possible with the help of many contributors (alphabetical): + +Karen Bergan, Daniel Bolya, Alex Bosenberg, Kai Brown, Vispi Cassod, Christopher Chedeau, Ida Cheng, Luc Dahlin, Shoubhik Debnath, Rene Martinez Doehner, Grant Gardner, Sahir Gomez, Rishi Godugu, Baishan Guo, Caleb Ho, Andrew Huang, Somya Jain, Bob Kamma, Amanda Kallet, Jake Kinney, Alexander Kirillov, Shiva Koduvayur, Devansh Kukreja, Robert Kuo, Aohan Lin, Parth Malani, Jitendra Malik, Mallika Malhotra, Miguel Martin, Alexander Miller, Sasha Mitts, William Ngan, George Orlin, Joelle Pineau, Kate Saenko, Rodrick Shepard, Azita Shokrpour, David Soofian, Jonathan Torres, Jenny Truong, Sagar Vaze, Meng Wang, Claudette Ward, Pengchuan Zhang. + +Third-party code: we use a GPU-based connected component algorithm adapted from [`cc_torch`](https://github.com/zsef123/Connected_components_PyTorch) (with its license in [`LICENSE_cctorch`](./LICENSE_cctorch)) as an optional post-processing step for the mask predictions. + +## Citing SAM 2 + +If you use SAM 2 or the SA-V dataset in your research, please use the following BibTeX entry. + +```bibtex +@article{ravi2024sam2, + title={SAM 2: Segment Anything in Images and Videos}, + author={Ravi, Nikhila and Gabeur, Valentin and Hu, Yuan-Ting and Hu, Ronghang and Ryali, Chaitanya and Ma, Tengyu and Khedr, Haitham and R{\"a}dle, Roman and Rolland, Chloe and Gustafson, Laura and Mintun, Eric and Pan, Junting and Alwala, Kalyan Vasudev and Carion, Nicolas and Wu, Chao-Yuan and Girshick, Ross and Doll{\'a}r, Piotr and Feichtenhofer, Christoph}, + journal={arXiv preprint}, + year={2024} +} +``` diff --git a/trajectory_construction/Grounded_SAM2/checkpoints/download_ckpts.sh b/trajectory_construction/Grounded_SAM2/checkpoints/download_ckpts.sh new file mode 100644 index 0000000000000000000000000000000000000000..5066e62eb0d060d1822a3dfb9f6e1bde1316555e --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/checkpoints/download_ckpts.sh @@ -0,0 +1,31 @@ +#!/bin/bash + +# 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. + + +# Define the URLs for the checkpoints +BASE_URL="https://dl.fbaipublicfiles.com/segment_anything_2/072824/" +sam2_hiera_t_url="${BASE_URL}sam2_hiera_tiny.pt" +sam2_hiera_s_url="${BASE_URL}sam2_hiera_small.pt" +sam2_hiera_b_plus_url="${BASE_URL}sam2_hiera_base_plus.pt" +sam2_hiera_l_url="${BASE_URL}sam2_hiera_large.pt" + + +# # Download each of the four checkpoints using wget +# echo "Downloading sam2_hiera_tiny.pt checkpoint..." +# wget $sam2_hiera_t_url || { echo "Failed to download checkpoint from $sam2_hiera_t_url"; exit 1; } + +# echo "Downloading sam2_hiera_small.pt checkpoint..." +# wget $sam2_hiera_s_url || { echo "Failed to download checkpoint from $sam2_hiera_s_url"; exit 1; } + +# echo "Downloading sam2_hiera_base_plus.pt checkpoint..." +# wget $sam2_hiera_b_plus_url || { echo "Failed to download checkpoint from $sam2_hiera_b_plus_url"; exit 1; } + +echo "Downloading sam2_hiera_large.pt checkpoint..." +wget $sam2_hiera_l_url || { echo "Failed to download checkpoint from $sam2_hiera_l_url"; exit 1; } + +echo "All checkpoints are downloaded successfully." diff --git a/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny/.gitattributes b/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..a6344aac8c09253b3b630fb776ae94478aa0275b --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny/.gitattributes @@ -0,0 +1,35 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs 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Grounding DINO extends a closed-set object detection model with a text encoder, enabling open-set object detection. The model achieves remarkable results, such as 52.5 AP on COCO zero-shot. + + + + Grounding DINO overview. Taken from the original paper. + +## Intended uses & limitations + +You can use the raw model for zero-shot object detection (the task of detecting things in an image out-of-the-box without labeled data). + +### How to use + +Here's how to use the model for zero-shot object detection: + +```python +import requests + +import torch +from PIL import Image +from transformers import AutoProcessor, AutoModelForZeroShotObjectDetection + +model_id = "IDEA-Research/grounding-dino-tiny" +device = "cuda" if torch.cuda.is_available() else "cpu" + +processor = AutoProcessor.from_pretrained(model_id) +model = AutoModelForZeroShotObjectDetection.from_pretrained(model_id).to(device) + +image_url = "http://images.cocodataset.org/val2017/000000039769.jpg" +image = Image.open(requests.get(image_url, stream=True).raw) +# Check for cats and remote controls +# VERY important: text queries need to be lowercased + end with a dot +text = "a cat. a remote control." + +inputs = processor(images=image, text=text, return_tensors="pt").to(device) +with torch.no_grad(): + outputs = model(**inputs) + +results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=0.4, + text_threshold=0.3, + target_sizes=[image.size[::-1]] +) +``` + +### BibTeX entry and citation info + +```bibtex +@misc{liu2023grounding, + title={Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection}, + author={Shilong Liu and Zhaoyang Zeng and Tianhe Ren and Feng Li and Hao Zhang and Jie Yang and Chunyuan Li and Jianwei Yang and Hang Su and Jun Zhu and Lei Zhang}, + year={2023}, + eprint={2303.05499}, + archivePrefix={arXiv}, + primaryClass={cs.CV} +} +``` \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny/added_tokens.json b/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny/added_tokens.json new file mode 100644 index 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+*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +.python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# vscode +.vscode/ +output/ +outputs/ +subs/ +logs/ + +grounding/config/configs +grounding/version.py + +vis/ +tmp/ \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/Dockerfile b/trajectory_construction/Grounded_SAM2/grounding_dino/Dockerfile new file mode 100644 index 0000000000000000000000000000000000000000..cbdd5e8d4207580c975f8232ccc7e2c765801794 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/Dockerfile @@ -0,0 +1,35 @@ +FROM pytorch/pytorch:2.1.2-cuda12.1-cudnn8-runtime +ARG DEBIAN_FRONTEND=noninteractive + +ENV CUDA_HOME=/usr/local/cuda \ + TORCH_CUDA_ARCH_LIST="6.0 6.1 7.0 7.5 8.0 8.6+PTX" \ + SETUPTOOLS_USE_DISTUTILS=stdlib + +RUN conda update conda -y + +# Install libraries in the brand new image. +RUN apt-get -y update && apt-get install -y --no-install-recommends \ + wget \ + build-essential \ + git \ + python3-opencv \ + ca-certificates && \ + rm -rf /var/lib/apt/lists/* + +# Set the working directory for all the subsequent Dockerfile instructions. +WORKDIR /opt/program + +RUN git clone https://github.com/IDEA-Research/GroundingDINO.git + +RUN mkdir weights ; cd weights ; wget -q https://github.com/IDEA-Research/GroundingDINO/releases/download/v0.1.0-alpha/groundingdino_swint_ogc.pth ; cd .. + +RUN conda install -c "nvidia/label/cuda-12.1.1" cuda -y +ENV CUDA_HOME=$CONDA_PREFIX + +ENV PATH=/usr/local/cuda/bin:$PATH + +RUN cd GroundingDINO/ && python -m pip install . + +COPY docker_test.py docker_test.py + +CMD [ "python", "docker_test.py" ] \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/LICENSE b/trajectory_construction/Grounded_SAM2/grounding_dino/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..f1460f5e6ad1e90abb720a1536a46e3d057686a9 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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+ +
+ +# :sauropod: Grounding DINO + +[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/grounding-dino-marrying-dino-with-grounded/zero-shot-object-detection-on-mscoco)](https://paperswithcode.com/sota/zero-shot-object-detection-on-mscoco?p=grounding-dino-marrying-dino-with-grounded) [![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/grounding-dino-marrying-dino-with-grounded/zero-shot-object-detection-on-odinw)](https://paperswithcode.com/sota/zero-shot-object-detection-on-odinw?p=grounding-dino-marrying-dino-with-grounded) \ +[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/grounding-dino-marrying-dino-with-grounded/object-detection-on-coco-minival)](https://paperswithcode.com/sota/object-detection-on-coco-minival?p=grounding-dino-marrying-dino-with-grounded) [![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/grounding-dino-marrying-dino-with-grounded/object-detection-on-coco)](https://paperswithcode.com/sota/object-detection-on-coco?p=grounding-dino-marrying-dino-with-grounded) + + +**[IDEA-CVR, IDEA-Research](https://github.com/IDEA-Research)** + +[Shilong Liu](http://www.lsl.zone/), [Zhaoyang Zeng](https://scholar.google.com/citations?user=U_cvvUwAAAAJ&hl=zh-CN&oi=ao), [Tianhe Ren](https://rentainhe.github.io/), [Feng Li](https://scholar.google.com/citations?user=ybRe9GcAAAAJ&hl=zh-CN), [Hao Zhang](https://scholar.google.com/citations?user=B8hPxMQAAAAJ&hl=zh-CN), [Jie Yang](https://github.com/yangjie-cv), [Chunyuan Li](https://scholar.google.com/citations?user=Zd7WmXUAAAAJ&hl=zh-CN&oi=ao), [Jianwei Yang](https://jwyang.github.io/), [Hang Su](https://scholar.google.com/citations?hl=en&user=dxN1_X0AAAAJ&view_op=list_works&sortby=pubdate), [Jun Zhu](https://scholar.google.com/citations?hl=en&user=axsP38wAAAAJ), [Lei Zhang](https://www.leizhang.org/):email:. + + +[[`Paper`](https://arxiv.org/abs/2303.05499)] [[`Demo`](https://huggingface.co/spaces/ShilongLiu/Grounding_DINO_demo)] [[`BibTex`](#black_nib-citation)] + + +PyTorch implementation and pretrained models for Grounding DINO. For details, see the paper **[Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://arxiv.org/abs/2303.05499)**. + +- 🔥 **[Grounding DINO 1.5](https://github.com/IDEA-Research/Grounding-DINO-1.5-API)** is released now, which is IDEA Research's **Most Capable** Open-World Object Detection Model! +- 🔥 **[Grounding DINO](https://arxiv.org/abs/2303.05499)** and **[Grounded SAM](https://arxiv.org/abs/2401.14159)** are now supported in Huggingface. For more convenient use, you can refer to [this documentation](https://huggingface.co/docs/transformers/model_doc/grounding-dino) + +## :sun_with_face: Helpful Tutorial + +- :grapes: [[Read our arXiv Paper](https://arxiv.org/abs/2303.05499)] +- :apple: [[Watch our simple introduction video on YouTube](https://youtu.be/wxWDt5UiwY8)] +- :blossom:  [[Try the Colab Demo](https://colab.research.google.com/github/roboflow-ai/notebooks/blob/main/notebooks/zero-shot-object-detection-with-grounding-dino.ipynb)] +- :sunflower: [[Try our Official Huggingface Demo](https://huggingface.co/spaces/ShilongLiu/Grounding_DINO_demo)] +- :maple_leaf: [[Watch the Step by Step Tutorial about GroundingDINO by Roboflow AI](https://youtu.be/cMa77r3YrDk)] +- :mushroom: [[GroundingDINO: Automated Dataset Annotation and Evaluation by Roboflow AI](https://youtu.be/C4NqaRBz_Kw)] +- :hibiscus: [[Accelerate Image Annotation with SAM and GroundingDINO by Roboflow AI](https://youtu.be/oEQYStnF2l8)] +- :white_flower: [[Autodistill: Train YOLOv8 with ZERO Annotations based on Grounding-DINO and Grounded-SAM by Roboflow AI](https://github.com/autodistill/autodistill)] + + + + + + +## :sparkles: Highlight Projects + +- [Semantic-SAM: a universal image segmentation model to enable segment and recognize anything at any desired granularity.](https://github.com/UX-Decoder/Semantic-SAM), +- [DetGPT: Detect What You Need via Reasoning](https://github.com/OptimalScale/DetGPT) +- [Grounded-SAM: Marrying Grounding DINO with Segment Anything](https://github.com/IDEA-Research/Grounded-Segment-Anything) +- [Grounding DINO with Stable Diffusion](demo/image_editing_with_groundingdino_stablediffusion.ipynb) +- [Grounding DINO with GLIGEN for Controllable Image Editing](demo/image_editing_with_groundingdino_gligen.ipynb) +- [OpenSeeD: A Simple and Strong Openset Segmentation Model](https://github.com/IDEA-Research/OpenSeeD) +- [SEEM: Segment Everything Everywhere All at Once](https://github.com/UX-Decoder/Segment-Everything-Everywhere-All-At-Once) +- [X-GPT: Conversational Visual Agent supported by X-Decoder](https://github.com/microsoft/X-Decoder/tree/xgpt) +- [GLIGEN: Open-Set Grounded Text-to-Image Generation](https://github.com/gligen/GLIGEN) +- [LLaVA: Large Language and Vision Assistant](https://github.com/haotian-liu/LLaVA) + + + + + + + + +## :bulb: Highlight + +- **Open-Set Detection.** Detect **everything** with language! +- **High Performance.** COCO zero-shot **52.5 AP** (training without COCO data!). COCO fine-tune **63.0 AP**. +- **Flexible.** Collaboration with Stable Diffusion for Image Editting. + + + + +## :fire: News +- **`2023/07/18`**: We release [Semantic-SAM](https://github.com/UX-Decoder/Semantic-SAM), a universal image segmentation model to enable segment and recognize anything at any desired granularity. **Code** and **checkpoint** are available! +- **`2023/06/17`**: We provide an example to evaluate Grounding DINO on COCO zero-shot performance. +- **`2023/04/15`**: Refer to [CV in the Wild Readings](https://github.com/Computer-Vision-in-the-Wild/CVinW_Readings) for those who are interested in open-set recognition! +- **`2023/04/08`**: We release [demos](demo/image_editing_with_groundingdino_gligen.ipynb) to combine [Grounding DINO](https://arxiv.org/abs/2303.05499) with [GLIGEN](https://github.com/gligen/GLIGEN) for more controllable image editings. +- **`2023/04/08`**: We release [demos](demo/image_editing_with_groundingdino_stablediffusion.ipynb) to combine [Grounding DINO](https://arxiv.org/abs/2303.05499) with [Stable Diffusion](https://github.com/Stability-AI/StableDiffusion) for image editings. +- **`2023/04/06`**: We build a new demo by marrying GroundingDINO with [Segment-Anything](https://github.com/facebookresearch/segment-anything) named **[Grounded-Segment-Anything](https://github.com/IDEA-Research/Grounded-Segment-Anything)** aims to support segmentation in GroundingDINO. +- **`2023/03/28`**: A YouTube [video](https://youtu.be/cMa77r3YrDk) about Grounding DINO and basic object detection prompt engineering. [[SkalskiP](https://github.com/SkalskiP)] +- **`2023/03/28`**: Add a [demo](https://huggingface.co/spaces/ShilongLiu/Grounding_DINO_demo) on Hugging Face Space! +- **`2023/03/27`**: Support CPU-only mode. Now the model can run on machines without GPUs. +- **`2023/03/25`**: A [demo](https://colab.research.google.com/github/roboflow-ai/notebooks/blob/main/notebooks/zero-shot-object-detection-with-grounding-dino.ipynb) for Grounding DINO is available at Colab. [[SkalskiP](https://github.com/SkalskiP)] +- **`2023/03/22`**: Code is available Now! + +
+ +Description + + Paper introduction. +ODinW +Marrying Grounding DINO and GLIGEN +gd_gligen +
+ +## :star: Explanations/Tips for Grounding DINO Inputs and Outputs +- Grounding DINO accepts an `(image, text)` pair as inputs. +- It outputs `900` (by default) object boxes. Each box has similarity scores across all input words. (as shown in Figures below.) +- We defaultly choose the boxes whose highest similarities are higher than a `box_threshold`. +- We extract the words whose similarities are higher than the `text_threshold` as predicted labels. +- If you want to obtain objects of specific phrases, like the `dogs` in the sentence `two dogs with a stick.`, you can select the boxes with highest text similarities with `dogs` as final outputs. +- Note that each word can be split to **more than one** tokens with different tokenlizers. The number of words in a sentence may not equal to the number of text tokens. +- We suggest separating different category names with `.` for Grounding DINO. +![model_explain1](.asset/model_explan1.PNG) +![model_explain2](.asset/model_explan2.PNG) + +## :label: TODO + +- [x] Release inference code and demo. +- [x] Release checkpoints. +- [x] Grounding DINO with Stable Diffusion and GLIGEN demos. +- [ ] Release training codes. + +## :hammer_and_wrench: Install + +**Note:** + +0. If you have a CUDA environment, please make sure the environment variable `CUDA_HOME` is set. It will be compiled under CPU-only mode if no CUDA available. + +Please make sure following the installation steps strictly, otherwise the program may produce: +```bash +NameError: name '_C' is not defined +``` + +If this happened, please reinstalled the groundingDINO by reclone the git and do all the installation steps again. + +#### how to check cuda: +```bash +echo $CUDA_HOME +``` +If it print nothing, then it means you haven't set up the path/ + +Run this so the environment variable will be set under current shell. +```bash +export CUDA_HOME=/path/to/cuda-11.3 +``` + +Notice the version of cuda should be aligned with your CUDA runtime, for there might exists multiple cuda at the same time. + +If you want to set the CUDA_HOME permanently, store it using: + +```bash +echo 'export CUDA_HOME=/path/to/cuda' >> ~/.bashrc +``` +after that, source the bashrc file and check CUDA_HOME: +```bash +source ~/.bashrc +echo $CUDA_HOME +``` + +In this example, /path/to/cuda-11.3 should be replaced with the path where your CUDA toolkit is installed. You can find this by typing **which nvcc** in your terminal: + +For instance, +if the output is /usr/local/cuda/bin/nvcc, then: +```bash +export CUDA_HOME=/usr/local/cuda +``` +**Installation:** + +1.Clone the GroundingDINO repository from GitHub. + +```bash +git clone https://github.com/IDEA-Research/GroundingDINO.git +``` + +2. Change the current directory to the GroundingDINO folder. + +```bash +cd GroundingDINO/ +``` + +3. Install the required dependencies in the current directory. + +```bash +pip install -e . +``` + +4. Download pre-trained model weights. + +```bash +mkdir weights +cd weights +wget -q https://github.com/IDEA-Research/GroundingDINO/releases/download/v0.1.0-alpha/groundingdino_swint_ogc.pth +cd .. +``` + +## :arrow_forward: Demo +Check your GPU ID (only if you're using a GPU) + +```bash +nvidia-smi +``` +Replace `{GPU ID}`, `image_you_want_to_detect.jpg`, and `"dir you want to save the output"` with appropriate values in the following command +```bash +CUDA_VISIBLE_DEVICES={GPU ID} python demo/inference_on_a_image.py \ +-c groundingdino/config/GroundingDINO_SwinT_OGC.py \ +-p weights/groundingdino_swint_ogc.pth \ +-i image_you_want_to_detect.jpg \ +-o "dir you want to save the output" \ +-t "chair" + [--cpu-only] # open it for cpu mode +``` + +If you would like to specify the phrases to detect, here is a demo: +```bash +CUDA_VISIBLE_DEVICES={GPU ID} python demo/inference_on_a_image.py \ +-c groundingdino/config/GroundingDINO_SwinT_OGC.py \ +-p ./groundingdino_swint_ogc.pth \ +-i .asset/cat_dog.jpeg \ +-o logs/1111 \ +-t "There is a cat and a dog in the image ." \ +--token_spans "[[[9, 10], [11, 14]], [[19, 20], [21, 24]]]" + [--cpu-only] # open it for cpu mode +``` +The token_spans specify the start and end positions of a phrases. For example, the first phrase is `[[9, 10], [11, 14]]`. `"There is a cat and a dog in the image ."[9:10] = 'a'`, `"There is a cat and a dog in the image ."[11:14] = 'cat'`. Hence it refers to the phrase `a cat` . Similarly, the `[[19, 20], [21, 24]]` refers to the phrase `a dog`. + +See the `demo/inference_on_a_image.py` for more details. + +**Running with Python:** + +```python +from groundingdino.util.inference import load_model, load_image, predict, annotate +import cv2 + +model = load_model("groundingdino/config/GroundingDINO_SwinT_OGC.py", "weights/groundingdino_swint_ogc.pth") +IMAGE_PATH = "weights/dog-3.jpeg" +TEXT_PROMPT = "chair . person . dog ." +BOX_TRESHOLD = 0.35 +TEXT_TRESHOLD = 0.25 + +image_source, image = load_image(IMAGE_PATH) + +boxes, logits, phrases = predict( + model=model, + image=image, + caption=TEXT_PROMPT, + box_threshold=BOX_TRESHOLD, + text_threshold=TEXT_TRESHOLD +) + +annotated_frame = annotate(image_source=image_source, boxes=boxes, logits=logits, phrases=phrases) +cv2.imwrite("annotated_image.jpg", annotated_frame) +``` +**Web UI** + +We also provide a demo code to integrate Grounding DINO with Gradio Web UI. See the file `demo/gradio_app.py` for more details. + +**Notebooks** + +- We release [demos](demo/image_editing_with_groundingdino_gligen.ipynb) to combine [Grounding DINO](https://arxiv.org/abs/2303.05499) with [GLIGEN](https://github.com/gligen/GLIGEN) for more controllable image editings. +- We release [demos](demo/image_editing_with_groundingdino_stablediffusion.ipynb) to combine [Grounding DINO](https://arxiv.org/abs/2303.05499) with [Stable Diffusion](https://github.com/Stability-AI/StableDiffusion) for image editings. + +## COCO Zero-shot Evaluations + +We provide an example to evaluate Grounding DINO zero-shot performance on COCO. The results should be **48.5**. + +```bash +CUDA_VISIBLE_DEVICES=0 \ +python demo/test_ap_on_coco.py \ + -c groundingdino/config/GroundingDINO_SwinT_OGC.py \ + -p weights/groundingdino_swint_ogc.pth \ + --anno_path /path/to/annoataions/ie/instances_val2017.json \ + --image_dir /path/to/imagedir/ie/val2017 +``` + + +## :luggage: Checkpoints + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
namebackboneDatabox AP on COCOCheckpointConfig
1GroundingDINO-TSwin-TO365,GoldG,Cap4M48.4 (zero-shot) / 57.2 (fine-tune)GitHub link | HF linklink
2GroundingDINO-BSwin-BCOCO,O365,GoldG,Cap4M,OpenImage,ODinW-35,RefCOCO56.7 GitHub link | HF link + link
+ +## :medal_military: Results + +
+ +COCO Object Detection Results + +COCO +
+ +
+ +ODinW Object Detection Results + +ODinW +
+ +
+ +Marrying Grounding DINO with Stable Diffusion for Image Editing + +See our example notebook for more details. +GD_SD +
+ + +
+ +Marrying Grounding DINO with GLIGEN for more Detailed Image Editing. + +See our example notebook for more details. +GD_GLIGEN +
+ +## :sauropod: Model: Grounding DINO + +Includes: a text backbone, an image backbone, a feature enhancer, a language-guided query selection, and a cross-modality decoder. + +![arch](.asset/arch.png) + + +## :hearts: Acknowledgement + +Our model is related to [DINO](https://github.com/IDEA-Research/DINO) and [GLIP](https://github.com/microsoft/GLIP). Thanks for their great work! + +We also thank great previous work including DETR, Deformable DETR, SMCA, Conditional DETR, Anchor DETR, Dynamic DETR, DAB-DETR, DN-DETR, etc. More related work are available at [Awesome Detection Transformer](https://github.com/IDEACVR/awesome-detection-transformer). A new toolbox [detrex](https://github.com/IDEA-Research/detrex) is available as well. + +Thanks [Stable Diffusion](https://github.com/Stability-AI/StableDiffusion) and [GLIGEN](https://github.com/gligen/GLIGEN) for their awesome models. + + +## :black_nib: Citation + +If you find our work helpful for your research, please consider citing the following BibTeX entry. + +```bibtex +@article{liu2023grounding, + title={Grounding dino: Marrying dino with grounded pre-training for open-set object detection}, + author={Liu, Shilong and Zeng, Zhaoyang and Ren, Tianhe and Li, Feng and Zhang, Hao and Yang, Jie and Li, Chunyuan and Yang, Jianwei and Su, Hang and Zhu, Jun and others}, + journal={arXiv preprint arXiv:2303.05499}, + year={2023} +} +``` + + + + diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/environment.yaml b/trajectory_construction/Grounded_SAM2/grounding_dino/environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ac1937dc2eda9b6ea7a3853a37633d8ae215ad5 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/environment.yaml @@ -0,0 +1,248 @@ +name: dino +channels: + - pytorch + - nvidia + - conda-forge + - defaults +dependencies: + - addict=2.4.0=pyhd8ed1ab_2 + - aiohttp=3.8.5=py39ha55989b_0 + - aiosignal=1.3.1=pyhd8ed1ab_0 + - asttokens=2.0.5=pyhd3eb1b0_0 + - async-timeout=4.0.3=pyhd8ed1ab_0 + - attrs=23.1.0=pyh71513ae_1 + - aws-c-auth=0.7.0=h6f3c987_2 + - aws-c-cal=0.6.0=h6ba3258_0 + - aws-c-common=0.8.23=hcfcfb64_0 + - aws-c-compression=0.2.17=h420beca_1 + - aws-c-event-stream=0.3.1=had47b81_1 + - aws-c-http=0.7.11=h72ba615_0 + - aws-c-io=0.13.28=ha35c040_0 + - aws-c-mqtt=0.8.14=h4941efa_2 + - aws-c-s3=0.3.13=he04eaa7_2 + - aws-c-sdkutils=0.1.11=h420beca_1 + - aws-checksums=0.1.16=h420beca_1 + - aws-crt-cpp=0.20.3=h247a981_4 + - aws-sdk-cpp=1.10.57=h1a0519f_17 + - backcall=0.2.0=pyhd3eb1b0_0 + - blas=2.118=mkl + - blas-devel=3.9.0=18_win64_mkl + - brotli=1.0.9=hcfcfb64_9 + - brotli-bin=1.0.9=hcfcfb64_9 + - brotli-python=1.0.9=py39h99910a6_9 + - bzip2=1.0.8=h8ffe710_4 + - c-ares=1.19.1=hcfcfb64_0 + - ca-certificates=2023.08.22=haa95532_0 + - certifi=2023.7.22=py39haa95532_0 + - charset-normalizer=3.2.0=pyhd8ed1ab_0 + - click=8.1.7=win_pyh7428d3b_0 + - colorama=0.4.6=pyhd8ed1ab_0 + - comm=0.1.2=py39haa95532_0 + - contourpy=1.1.1=py39h1f6ef14_1 + - cuda-cccl=12.2.140=0 + - cuda-cudart=11.8.89=0 + - cuda-cudart-dev=11.8.89=0 + - cuda-cupti=11.8.87=0 + - cuda-libraries=11.8.0=0 + - cuda-libraries-dev=11.8.0=0 + - cuda-nvrtc=11.8.89=0 + - cuda-nvrtc-dev=11.8.89=0 + - cuda-nvtx=11.8.86=0 + - cuda-profiler-api=12.2.140=0 + - cuda-runtime=11.8.0=0 + - cycler=0.11.0=pyhd8ed1ab_0 + - cython=3.0.0=py39h2bbff1b_0 + - dataclasses=0.8=pyhc8e2a94_3 + - datasets=2.14.5=pyhd8ed1ab_0 + - debugpy=1.6.7=py39hd77b12b_0 + - decorator=5.1.1=pyhd3eb1b0_0 + - dill=0.3.7=pyhd8ed1ab_0 + - 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pure_eval=0.2.2=pyhd3eb1b0_0 + - py-opencv=4.5.3=py39h00e5391_8 + - pyarrow=12.0.1=py39hca4e8af_5_cpu + - pycocotools=2.0.6=py39hc266a54_1 + - pygments=2.15.1=py39haa95532_1 + - pyparsing=3.1.1=pyhd8ed1ab_0 + - pysocks=1.7.1=pyh0701188_6 + - python=3.9.18=h4de0772_0_cpython + - python-dateutil=2.8.2=pyhd8ed1ab_0 + - python-tzdata=2023.3=pyhd8ed1ab_0 + - python-xxhash=3.3.0=py39ha55989b_1 + - python_abi=3.9=4_cp39 + - pytorch=2.0.1=py3.9_cuda11.8_cudnn8_0 + - pytorch-cuda=11.8=h24eeafa_5 + - pytorch-mutex=1.0=cuda + - pytz=2023.3.post1=pyhd8ed1ab_0 + - pywin32=305=py39h2bbff1b_0 + - pyyaml=6.0.1=py39ha55989b_1 + - pyzmq=25.1.0=py39hd77b12b_0 + - qt-main=5.15.8=h720456b_6 + - re2=2023.03.02=hd4eee63_0 + - regex=2023.8.8=py39ha55989b_1 + - requests=2.31.0=pyhd8ed1ab_0 + - sacremoses=0.0.53=pyhd8ed1ab_0 + - safetensors=0.3.3=py39hf21820d_1 + - setuptools=68.2.2=pyhd8ed1ab_0 + - six=1.16.0=pyh6c4a22f_0 + - snappy=1.1.10=hfb803bf_0 + - stack_data=0.2.0=pyhd3eb1b0_0 + - sympy=1.12=pyh04b8f61_3 + - tbb=2021.10.0=h91493d7_1 + - timm=0.9.7=pyhd8ed1ab_0 + - tk=8.6.13=hcfcfb64_0 + - tokenizers=0.13.3=py39hca44cb7_0 + - tomli=2.0.1=pyhd8ed1ab_0 + - tornado=6.3.2=py39h2bbff1b_0 + - tqdm=4.66.1=pyhd8ed1ab_0 + - traitlets=5.7.1=py39haa95532_0 + - transformers=4.33.2=pyhd8ed1ab_0 + - typing-extensions=4.8.0=hd8ed1ab_0 + - typing_extensions=4.8.0=pyha770c72_0 + - tzdata=2023c=h71feb2d_0 + - ucrt=10.0.22621.0=h57928b3_0 + - unicodedata2=15.0.0=py39ha55989b_1 + - urllib3=2.0.5=pyhd8ed1ab_0 + - vc=14.3=h64f974e_17 + - vc14_runtime=14.36.32532=hdcecf7f_17 + - vs2015_runtime=14.36.32532=h05e6639_17 + - wcwidth=0.2.5=pyhd3eb1b0_0 + - wheel=0.41.2=pyhd8ed1ab_0 + - win_inet_pton=1.1.0=pyhd8ed1ab_6 + - xorg-libxau=1.0.11=hcd874cb_0 + - xorg-libxdmcp=1.1.3=hcd874cb_0 + - xxhash=0.8.2=hcfcfb64_0 + - xz=5.2.6=h8d14728_0 + - yaml=0.2.5=h8ffe710_2 + - yapf=0.40.1=pyhd8ed1ab_0 + - yarl=1.9.2=py39ha55989b_0 + - zeromq=4.3.4=hd77b12b_0 + - zipp=3.17.0=pyhd8ed1ab_0 + - zlib=1.2.13=hcfcfb64_5 + - zstd=1.5.5=h12be248_0 + - pip: + - opencv-python==4.8.0.76 + - supervision==0.6.0 + - torchaudio==2.0.2 + - torchvision==0.15.2 +prefix: C:\Users\Makoto\miniconda3\envs\dino diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/__init__.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/GroundingDINO_SwinB_cfg.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/GroundingDINO_SwinB_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..f490c4bbd598a35de43d36ceafcbd769e7ff21bf --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/GroundingDINO_SwinB_cfg.py @@ -0,0 +1,43 @@ +batch_size = 1 +modelname = "groundingdino" +backbone = "swin_B_384_22k" +position_embedding = "sine" +pe_temperatureH = 20 +pe_temperatureW = 20 +return_interm_indices = [1, 2, 3] +backbone_freeze_keywords = None +enc_layers = 6 +dec_layers = 6 +pre_norm = False +dim_feedforward = 2048 +hidden_dim = 256 +dropout = 0.0 +nheads = 8 +num_queries = 900 +query_dim = 4 +num_patterns = 0 +num_feature_levels = 4 +enc_n_points = 4 +dec_n_points = 4 +two_stage_type = "standard" +two_stage_bbox_embed_share = False +two_stage_class_embed_share = False +transformer_activation = "relu" +dec_pred_bbox_embed_share = True +dn_box_noise_scale = 1.0 +dn_label_noise_ratio = 0.5 +dn_label_coef = 1.0 +dn_bbox_coef = 1.0 +embed_init_tgt = True +dn_labelbook_size = 2000 +max_text_len = 256 +text_encoder_type = "bert-base-uncased" +use_text_enhancer = True +use_fusion_layer = True +use_checkpoint = True +use_transformer_ckpt = True +use_text_cross_attention = True +text_dropout = 0.0 +fusion_dropout = 0.0 +fusion_droppath = 0.1 +sub_sentence_present = True diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/GroundingDINO_SwinT_OGC.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/GroundingDINO_SwinT_OGC.py new file mode 100644 index 0000000000000000000000000000000000000000..9158d5f6260ec74bded95377d382387430d7cd70 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/GroundingDINO_SwinT_OGC.py @@ -0,0 +1,43 @@ +batch_size = 1 +modelname = "groundingdino" +backbone = "swin_T_224_1k" +position_embedding = "sine" +pe_temperatureH = 20 +pe_temperatureW = 20 +return_interm_indices = [1, 2, 3] +backbone_freeze_keywords = None +enc_layers = 6 +dec_layers = 6 +pre_norm = False +dim_feedforward = 2048 +hidden_dim = 256 +dropout = 0.0 +nheads = 8 +num_queries = 900 +query_dim = 4 +num_patterns = 0 +num_feature_levels = 4 +enc_n_points = 4 +dec_n_points = 4 +two_stage_type = "standard" +two_stage_bbox_embed_share = False +two_stage_class_embed_share = False +transformer_activation = "relu" +dec_pred_bbox_embed_share = True +dn_box_noise_scale = 1.0 +dn_label_noise_ratio = 0.5 +dn_label_coef = 1.0 +dn_bbox_coef = 1.0 +embed_init_tgt = True +dn_labelbook_size = 2000 +max_text_len = 256 +text_encoder_type = "bert-base-uncased" +use_text_enhancer = True +use_fusion_layer = True +use_checkpoint = True +use_transformer_ckpt = True +use_text_cross_attention = True +text_dropout = 0.0 +fusion_dropout = 0.0 +fusion_droppath = 0.1 +sub_sentence_present = True diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/__init__.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/config/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/__init__.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/cocogrounding_eval.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/cocogrounding_eval.py new file mode 100644 index 0000000000000000000000000000000000000000..7693a182d86fcb2b7f707d28371849f019b883c3 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/cocogrounding_eval.py @@ -0,0 +1,269 @@ +# ------------------------------------------------------------------------ +# Grounding DINO. Midified by Shilong Liu. +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Copyright (c) Aishwarya Kamath & Nicolas Carion. Licensed under the Apache License 2.0. All Rights Reserved +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved +""" +COCO evaluator that works in distributed mode. + +Mostly copy-paste from https://github.com/pytorch/vision/blob/edfd5a7/references/detection/coco_eval.py +The difference is that there is less copy-pasting from pycocotools +in the end of the file, as python3 can suppress prints with contextlib +""" +import contextlib +import copy +import os + +import numpy as np +import pycocotools.mask as mask_util +import torch +from pycocotools.coco import COCO +from pycocotools.cocoeval import COCOeval + +from groundingdino.util.misc import all_gather + + +class CocoGroundingEvaluator(object): + def __init__(self, coco_gt, iou_types, useCats=True): + assert isinstance(iou_types, (list, tuple)) + coco_gt = copy.deepcopy(coco_gt) + self.coco_gt = coco_gt + + self.iou_types = iou_types + self.coco_eval = {} + for iou_type in iou_types: + self.coco_eval[iou_type] = COCOeval(coco_gt, iouType=iou_type) + self.coco_eval[iou_type].useCats = useCats + + self.img_ids = [] + self.eval_imgs = {k: [] for k in iou_types} + self.useCats = useCats + + def update(self, predictions): + img_ids = list(np.unique(list(predictions.keys()))) + self.img_ids.extend(img_ids) + + for iou_type in self.iou_types: + results = self.prepare(predictions, iou_type) + + # suppress pycocotools prints + with open(os.devnull, "w") as devnull: + with contextlib.redirect_stdout(devnull): + coco_dt = COCO.loadRes(self.coco_gt, results) if results else COCO() + + coco_eval = self.coco_eval[iou_type] + + coco_eval.cocoDt = coco_dt + coco_eval.params.imgIds = list(img_ids) + coco_eval.params.useCats = self.useCats + img_ids, eval_imgs = evaluate(coco_eval) + + self.eval_imgs[iou_type].append(eval_imgs) + + def synchronize_between_processes(self): + for iou_type in self.iou_types: + self.eval_imgs[iou_type] = np.concatenate(self.eval_imgs[iou_type], 2) + create_common_coco_eval(self.coco_eval[iou_type], self.img_ids, self.eval_imgs[iou_type]) + + def accumulate(self): + for coco_eval in self.coco_eval.values(): + coco_eval.accumulate() + + def summarize(self): + for iou_type, coco_eval in self.coco_eval.items(): + print("IoU metric: {}".format(iou_type)) + coco_eval.summarize() + + def prepare(self, predictions, iou_type): + if iou_type == "bbox": + return self.prepare_for_coco_detection(predictions) + elif iou_type == "segm": + return self.prepare_for_coco_segmentation(predictions) + elif iou_type == "keypoints": + return self.prepare_for_coco_keypoint(predictions) + else: + raise ValueError("Unknown iou type {}".format(iou_type)) + + def prepare_for_coco_detection(self, predictions): + coco_results = [] + for original_id, prediction in predictions.items(): + if len(prediction) == 0: + continue + + boxes = prediction["boxes"] + boxes = convert_to_xywh(boxes).tolist() + scores = prediction["scores"].tolist() + labels = prediction["labels"].tolist() + + coco_results.extend( + [ + { + "image_id": original_id, + "category_id": labels[k], + "bbox": box, + "score": scores[k], + } + for k, box in enumerate(boxes) + ] + ) + return coco_results + + def prepare_for_coco_segmentation(self, predictions): + coco_results = [] + for original_id, prediction in predictions.items(): + if len(prediction) == 0: + continue + + scores = prediction["scores"] + labels = prediction["labels"] + masks = prediction["masks"] + + masks = masks > 0.5 + + scores = prediction["scores"].tolist() + labels = prediction["labels"].tolist() + + rles = [ + mask_util.encode(np.array(mask[0, :, :, np.newaxis], dtype=np.uint8, order="F"))[0] + for mask in masks + ] + for rle in rles: + rle["counts"] = rle["counts"].decode("utf-8") + + coco_results.extend( + [ + { + "image_id": original_id, + "category_id": labels[k], + "segmentation": rle, + "score": scores[k], + } + for k, rle in enumerate(rles) + ] + ) + return coco_results + + def prepare_for_coco_keypoint(self, predictions): + coco_results = [] + for original_id, prediction in predictions.items(): + if len(prediction) == 0: + continue + + boxes = prediction["boxes"] + boxes = convert_to_xywh(boxes).tolist() + scores = prediction["scores"].tolist() + labels = prediction["labels"].tolist() + keypoints = prediction["keypoints"] + keypoints = keypoints.flatten(start_dim=1).tolist() + + coco_results.extend( + [ + { + "image_id": original_id, + "category_id": labels[k], + "keypoints": keypoint, + "score": scores[k], + } + for k, keypoint in enumerate(keypoints) + ] + ) + return coco_results + + +def convert_to_xywh(boxes): + xmin, ymin, xmax, ymax = boxes.unbind(1) + return torch.stack((xmin, ymin, xmax - xmin, ymax - ymin), dim=1) + + +def merge(img_ids, eval_imgs): + all_img_ids = all_gather(img_ids) + all_eval_imgs = all_gather(eval_imgs) + + merged_img_ids = [] + for p in all_img_ids: + merged_img_ids.extend(p) + + merged_eval_imgs = [] + for p in all_eval_imgs: + merged_eval_imgs.append(p) + + merged_img_ids = np.array(merged_img_ids) + merged_eval_imgs = np.concatenate(merged_eval_imgs, 2) + + # keep only unique (and in sorted order) images + merged_img_ids, idx = np.unique(merged_img_ids, return_index=True) + merged_eval_imgs = merged_eval_imgs[..., idx] + + return merged_img_ids, merged_eval_imgs + + +def create_common_coco_eval(coco_eval, img_ids, eval_imgs): + img_ids, eval_imgs = merge(img_ids, eval_imgs) + img_ids = list(img_ids) + eval_imgs = list(eval_imgs.flatten()) + + coco_eval.evalImgs = eval_imgs + coco_eval.params.imgIds = img_ids + coco_eval._paramsEval = copy.deepcopy(coco_eval.params) + + +################################################################# +# From pycocotools, just removed the prints and fixed +# a Python3 bug about unicode not defined +################################################################# + + +def evaluate(self): + """ + Run per image evaluation on given images and store results (a list of dict) in self.evalImgs + :return: None + """ + # tic = time.time() + # print('Running per image evaluation...') + p = self.params + # add backward compatibility if useSegm is specified in params + if p.useSegm is not None: + p.iouType = "segm" if p.useSegm == 1 else "bbox" + print("useSegm (deprecated) is not None. Running {} evaluation".format(p.iouType)) + # print('Evaluate annotation type *{}*'.format(p.iouType)) + p.imgIds = list(np.unique(p.imgIds)) + if p.useCats: + p.catIds = list(np.unique(p.catIds)) + p.maxDets = sorted(p.maxDets) + self.params = p + + self._prepare() + # loop through images, area range, max detection number + catIds = p.catIds if p.useCats else [-1] + + if p.iouType == "segm" or p.iouType == "bbox": + computeIoU = self.computeIoU + elif p.iouType == "keypoints": + computeIoU = self.computeOks + self.ious = { + (imgId, catId): computeIoU(imgId, catId) + for imgId in p.imgIds + for catId in catIds} + + evaluateImg = self.evaluateImg + maxDet = p.maxDets[-1] + evalImgs = [ + evaluateImg(imgId, catId, areaRng, maxDet) + for catId in catIds + for areaRng in p.areaRng + for imgId in p.imgIds + ] + # this is NOT in the pycocotools code, but could be done outside + evalImgs = np.asarray(evalImgs).reshape(len(catIds), len(p.areaRng), len(p.imgIds)) + self._paramsEval = copy.deepcopy(self.params) + # toc = time.time() + # print('DONE (t={:0.2f}s).'.format(toc-tic)) + return p.imgIds, evalImgs + + +################################################################# +# end of straight copy from pycocotools, just removing the prints +################################################################# diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/transforms.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..3550291beedff8d0b330c9cae8df15cdc1402631 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/datasets/transforms.py @@ -0,0 +1,311 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved +""" +Transforms and data augmentation for both image + bbox. +""" +import os +import random + +import PIL +import torch +import torchvision.transforms as T +import torchvision.transforms.functional as F + +from grounding_dino.groundingdino.util.box_ops import box_xyxy_to_cxcywh +from grounding_dino.groundingdino.util.misc import interpolate + + +def crop(image, target, region): + cropped_image = F.crop(image, *region) + + target = target.copy() + i, j, h, w = region + + # should we do something wrt the original size? + target["size"] = torch.tensor([h, w]) + + fields = ["labels", "area", "iscrowd", "positive_map"] + + if "boxes" in target: + boxes = target["boxes"] + max_size = torch.as_tensor([w, h], dtype=torch.float32) + cropped_boxes = boxes - torch.as_tensor([j, i, j, i]) + cropped_boxes = torch.min(cropped_boxes.reshape(-1, 2, 2), max_size) + cropped_boxes = cropped_boxes.clamp(min=0) + area = (cropped_boxes[:, 1, :] - cropped_boxes[:, 0, :]).prod(dim=1) + target["boxes"] = cropped_boxes.reshape(-1, 4) + target["area"] = area + fields.append("boxes") + + if "masks" in target: + # FIXME should we update the area here if there are no boxes? + target["masks"] = target["masks"][:, i : i + h, j : j + w] + fields.append("masks") + + # remove elements for which the boxes or masks that have zero area + if "boxes" in target or "masks" in target: + # favor boxes selection when defining which elements to keep + # this is compatible with previous implementation + if "boxes" in target: + cropped_boxes = target["boxes"].reshape(-1, 2, 2) + keep = torch.all(cropped_boxes[:, 1, :] > cropped_boxes[:, 0, :], dim=1) + else: + keep = target["masks"].flatten(1).any(1) + + for field in fields: + if field in target: + target[field] = target[field][keep] + + if os.environ.get("IPDB_SHILONG_DEBUG", None) == "INFO": + # for debug and visualization only. + if "strings_positive" in target: + target["strings_positive"] = [ + _i for _i, _j in zip(target["strings_positive"], keep) if _j + ] + + return cropped_image, target + + +def hflip(image, target): + flipped_image = F.hflip(image) + + w, h = image.size + + target = target.copy() + if "boxes" in target: + boxes = target["boxes"] + boxes = boxes[:, [2, 1, 0, 3]] * torch.as_tensor([-1, 1, -1, 1]) + torch.as_tensor( + [w, 0, w, 0] + ) + target["boxes"] = boxes + + if "masks" in target: + target["masks"] = target["masks"].flip(-1) + + return flipped_image, target + + +def resize(image, target, size, max_size=None): + # size can be min_size (scalar) or (w, h) tuple + + def get_size_with_aspect_ratio(image_size, size, max_size=None): + w, h = image_size + if max_size is not None: + min_original_size = float(min((w, h))) + max_original_size = float(max((w, h))) + if max_original_size / min_original_size * size > max_size: + size = int(round(max_size * min_original_size / max_original_size)) + + if (w <= h and w == size) or (h <= w and h == size): + return (h, w) + + if w < h: + ow = size + oh = int(size * h / w) + else: + oh = size + ow = int(size * w / h) + + return (oh, ow) + + def get_size(image_size, size, max_size=None): + if isinstance(size, (list, tuple)): + return size[::-1] + else: + return get_size_with_aspect_ratio(image_size, size, max_size) + + size = get_size(image.size, size, max_size) + rescaled_image = F.resize(image, size) + + if target is None: + return rescaled_image, None + + ratios = tuple(float(s) / float(s_orig) for s, s_orig in zip(rescaled_image.size, image.size)) + ratio_width, ratio_height = ratios + + target = target.copy() + if "boxes" in target: + boxes = target["boxes"] + scaled_boxes = boxes * torch.as_tensor( + [ratio_width, ratio_height, ratio_width, ratio_height] + ) + target["boxes"] = scaled_boxes + + if "area" in target: + area = target["area"] + scaled_area = area * (ratio_width * ratio_height) + target["area"] = scaled_area + + h, w = size + target["size"] = torch.tensor([h, w]) + + if "masks" in target: + target["masks"] = ( + interpolate(target["masks"][:, None].float(), size, mode="nearest")[:, 0] > 0.5 + ) + + return rescaled_image, target + + +def pad(image, target, padding): + # assumes that we only pad on the bottom right corners + padded_image = F.pad(image, (0, 0, padding[0], padding[1])) + if target is None: + return padded_image, None + target = target.copy() + # should we do something wrt the original size? + target["size"] = torch.tensor(padded_image.size[::-1]) + if "masks" in target: + target["masks"] = torch.nn.functional.pad(target["masks"], (0, padding[0], 0, padding[1])) + return padded_image, target + + +class ResizeDebug(object): + def __init__(self, size): + self.size = size + + def __call__(self, img, target): + return resize(img, target, self.size) + + +class RandomCrop(object): + def __init__(self, size): + self.size = size + + def __call__(self, img, target): + region = T.RandomCrop.get_params(img, self.size) + return crop(img, target, region) + + +class RandomSizeCrop(object): + def __init__(self, min_size: int, max_size: int, respect_boxes: bool = False): + # respect_boxes: True to keep all boxes + # False to tolerence box filter + self.min_size = min_size + self.max_size = max_size + self.respect_boxes = respect_boxes + + def __call__(self, img: PIL.Image.Image, target: dict): + init_boxes = len(target["boxes"]) + max_patience = 10 + for i in range(max_patience): + w = random.randint(self.min_size, min(img.width, self.max_size)) + h = random.randint(self.min_size, min(img.height, self.max_size)) + region = T.RandomCrop.get_params(img, [h, w]) + result_img, result_target = crop(img, target, region) + if ( + not self.respect_boxes + or len(result_target["boxes"]) == init_boxes + or i == max_patience - 1 + ): + return result_img, result_target + return result_img, result_target + + +class CenterCrop(object): + def __init__(self, size): + self.size = size + + def __call__(self, img, target): + image_width, image_height = img.size + crop_height, crop_width = self.size + crop_top = int(round((image_height - crop_height) / 2.0)) + crop_left = int(round((image_width - crop_width) / 2.0)) + return crop(img, target, (crop_top, crop_left, crop_height, crop_width)) + + +class RandomHorizontalFlip(object): + def __init__(self, p=0.5): + self.p = p + + def __call__(self, img, target): + if random.random() < self.p: + return hflip(img, target) + return img, target + + +class RandomResize(object): + def __init__(self, sizes, max_size=None): + assert isinstance(sizes, (list, tuple)) + self.sizes = sizes + self.max_size = max_size + + def __call__(self, img, target=None): + size = random.choice(self.sizes) + return resize(img, target, size, self.max_size) + + +class RandomPad(object): + def __init__(self, max_pad): + self.max_pad = max_pad + + def __call__(self, img, target): + pad_x = random.randint(0, self.max_pad) + pad_y = random.randint(0, self.max_pad) + return pad(img, target, (pad_x, pad_y)) + + +class RandomSelect(object): + """ + Randomly selects between transforms1 and transforms2, + with probability p for transforms1 and (1 - p) for transforms2 + """ + + def __init__(self, transforms1, transforms2, p=0.5): + self.transforms1 = transforms1 + self.transforms2 = transforms2 + self.p = p + + def __call__(self, img, target): + if random.random() < self.p: + return self.transforms1(img, target) + return self.transforms2(img, target) + + +class ToTensor(object): + def __call__(self, img, target): + return F.to_tensor(img), target + + +class RandomErasing(object): + def __init__(self, *args, **kwargs): + self.eraser = T.RandomErasing(*args, **kwargs) + + def __call__(self, img, target): + return self.eraser(img), target + + +class Normalize(object): + def __init__(self, mean, std): + self.mean = mean + self.std = std + + def __call__(self, image, target=None): + image = F.normalize(image, mean=self.mean, std=self.std) + if target is None: + return image, None + target = target.copy() + h, w = image.shape[-2:] + if "boxes" in target: + boxes = target["boxes"] + boxes = box_xyxy_to_cxcywh(boxes) + boxes = boxes / torch.tensor([w, h, w, h], dtype=torch.float32) + target["boxes"] = boxes + return image, target + + +class Compose(object): + def __init__(self, transforms): + self.transforms = transforms + + def __call__(self, image, target): + for t in self.transforms: + image, target = t(image, target) + return image, target + + def __repr__(self): + format_string = self.__class__.__name__ + "(" + for t in self.transforms: + format_string += "\n" + format_string += " {0}".format(t) + format_string += "\n)" + return format_string diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/__init__.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..2af819d61d589cfec2e0ca46612a7456f42b831a --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/__init__.py @@ -0,0 +1,15 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Conditional DETR +# Copyright (c) 2021 Microsoft. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Copied from DETR (https://github.com/facebookresearch/detr) +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved. +# ------------------------------------------------------------------------ + +from .groundingdino import build_groundingdino diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/__init__.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..76e4b272b479a26c63d120c818c140870cd8c287 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/__init__.py @@ -0,0 +1 @@ +from .backbone import build_backbone diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/backbone.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/backbone.py new file mode 100644 index 0000000000000000000000000000000000000000..c798e2fd87d9a2068db436a2dac2988678c16f20 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/backbone.py @@ -0,0 +1,221 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Conditional DETR +# Copyright (c) 2021 Microsoft. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Copied from DETR (https://github.com/facebookresearch/detr) +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved. +# ------------------------------------------------------------------------ + +""" +Backbone modules. +""" + +from typing import Dict, List + +import torch +import torch.nn.functional as F +import torchvision +from torch import nn +from torchvision.models._utils import IntermediateLayerGetter + +from grounding_dino.groundingdino.util.misc import NestedTensor, clean_state_dict, is_main_process + +from .position_encoding import build_position_encoding +from .swin_transformer import build_swin_transformer + + +class FrozenBatchNorm2d(torch.nn.Module): + """ + BatchNorm2d where the batch statistics and the affine parameters are fixed. + + Copy-paste from torchvision.misc.ops with added eps before rqsrt, + without which any other models than torchvision.models.resnet[18,34,50,101] + produce nans. + """ + + def __init__(self, n): + super(FrozenBatchNorm2d, self).__init__() + self.register_buffer("weight", torch.ones(n)) + self.register_buffer("bias", torch.zeros(n)) + self.register_buffer("running_mean", torch.zeros(n)) + self.register_buffer("running_var", torch.ones(n)) + + def _load_from_state_dict( + self, state_dict, prefix, local_metadata, strict, missing_keys, unexpected_keys, error_msgs + ): + num_batches_tracked_key = prefix + "num_batches_tracked" + if num_batches_tracked_key in state_dict: + del state_dict[num_batches_tracked_key] + + super(FrozenBatchNorm2d, self)._load_from_state_dict( + state_dict, prefix, local_metadata, strict, missing_keys, unexpected_keys, error_msgs + ) + + def forward(self, x): + # move reshapes to the beginning + # to make it fuser-friendly + w = self.weight.reshape(1, -1, 1, 1) + b = self.bias.reshape(1, -1, 1, 1) + rv = self.running_var.reshape(1, -1, 1, 1) + rm = self.running_mean.reshape(1, -1, 1, 1) + eps = 1e-5 + scale = w * (rv + eps).rsqrt() + bias = b - rm * scale + return x * scale + bias + + +class BackboneBase(nn.Module): + def __init__( + self, + backbone: nn.Module, + train_backbone: bool, + num_channels: int, + return_interm_indices: list, + ): + super().__init__() + for name, parameter in backbone.named_parameters(): + if ( + not train_backbone + or "layer2" not in name + and "layer3" not in name + and "layer4" not in name + ): + parameter.requires_grad_(False) + + return_layers = {} + for idx, layer_index in enumerate(return_interm_indices): + return_layers.update( + {"layer{}".format(5 - len(return_interm_indices) + idx): "{}".format(layer_index)} + ) + + # if len: + # if use_stage1_feature: + # return_layers = {"layer1": "0", "layer2": "1", "layer3": "2", "layer4": "3"} + # else: + # return_layers = {"layer2": "0", "layer3": "1", "layer4": "2"} + # else: + # return_layers = {'layer4': "0"} + self.body = IntermediateLayerGetter(backbone, return_layers=return_layers) + self.num_channels = num_channels + + def forward(self, tensor_list: NestedTensor): + xs = self.body(tensor_list.tensors) + out: Dict[str, NestedTensor] = {} + for name, x in xs.items(): + m = tensor_list.mask + assert m is not None + mask = F.interpolate(m[None].float(), size=x.shape[-2:]).to(torch.bool)[0] + out[name] = NestedTensor(x, mask) + # import ipdb; ipdb.set_trace() + return out + + +class Backbone(BackboneBase): + """ResNet backbone with frozen BatchNorm.""" + + def __init__( + self, + name: str, + train_backbone: bool, + dilation: bool, + return_interm_indices: list, + batch_norm=FrozenBatchNorm2d, + ): + if name in ["resnet18", "resnet34", "resnet50", "resnet101"]: + backbone = getattr(torchvision.models, name)( + replace_stride_with_dilation=[False, False, dilation], + pretrained=is_main_process(), + norm_layer=batch_norm, + ) + else: + raise NotImplementedError("Why you can get here with name {}".format(name)) + # num_channels = 512 if name in ('resnet18', 'resnet34') else 2048 + assert name not in ("resnet18", "resnet34"), "Only resnet50 and resnet101 are available." + assert return_interm_indices in [[0, 1, 2, 3], [1, 2, 3], [3]] + num_channels_all = [256, 512, 1024, 2048] + num_channels = num_channels_all[4 - len(return_interm_indices) :] + super().__init__(backbone, train_backbone, num_channels, return_interm_indices) + + +class Joiner(nn.Sequential): + def __init__(self, backbone, position_embedding): + super().__init__(backbone, position_embedding) + + def forward(self, tensor_list: NestedTensor): + xs = self[0](tensor_list) + out: List[NestedTensor] = [] + pos = [] + for name, x in xs.items(): + out.append(x) + # position encoding + pos.append(self[1](x).to(x.tensors.dtype)) + + return out, pos + + +def build_backbone(args): + """ + Useful args: + - backbone: backbone name + - lr_backbone: + - dilation + - return_interm_indices: available: [0,1,2,3], [1,2,3], [3] + - backbone_freeze_keywords: + - use_checkpoint: for swin only for now + + """ + position_embedding = build_position_encoding(args) + train_backbone = True + if not train_backbone: + raise ValueError("Please set lr_backbone > 0") + return_interm_indices = args.return_interm_indices + assert return_interm_indices in [[0, 1, 2, 3], [1, 2, 3], [3]] + args.backbone_freeze_keywords + use_checkpoint = getattr(args, "use_checkpoint", False) + + if args.backbone in ["resnet50", "resnet101"]: + backbone = Backbone( + args.backbone, + train_backbone, + args.dilation, + return_interm_indices, + batch_norm=FrozenBatchNorm2d, + ) + bb_num_channels = backbone.num_channels + elif args.backbone in [ + "swin_T_224_1k", + "swin_B_224_22k", + "swin_B_384_22k", + "swin_L_224_22k", + "swin_L_384_22k", + ]: + pretrain_img_size = int(args.backbone.split("_")[-2]) + backbone = build_swin_transformer( + args.backbone, + pretrain_img_size=pretrain_img_size, + out_indices=tuple(return_interm_indices), + dilation=False, + use_checkpoint=use_checkpoint, + ) + + bb_num_channels = backbone.num_features[4 - len(return_interm_indices) :] + else: + raise NotImplementedError("Unknown backbone {}".format(args.backbone)) + + assert len(bb_num_channels) == len( + return_interm_indices + ), f"len(bb_num_channels) {len(bb_num_channels)} != len(return_interm_indices) {len(return_interm_indices)}" + + model = Joiner(backbone, position_embedding) + model.num_channels = bb_num_channels + assert isinstance( + bb_num_channels, List + ), "bb_num_channels is expected to be a List but {}".format(type(bb_num_channels)) + # import ipdb; ipdb.set_trace() + return model diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/position_encoding.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/position_encoding.py new file mode 100644 index 0000000000000000000000000000000000000000..0bf5bb57f97e14748140057f48a70271cc790f5f --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/position_encoding.py @@ -0,0 +1,186 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# DINO +# Copyright (c) 2022 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Conditional DETR +# Copyright (c) 2021 Microsoft. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Copied from DETR (https://github.com/facebookresearch/detr) +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved. +# ------------------------------------------------------------------------ + +""" +Various positional encodings for the transformer. +""" +import math + +import torch +from torch import nn + +from grounding_dino.groundingdino.util.misc import NestedTensor + + +class PositionEmbeddingSine(nn.Module): + """ + This is a more standard version of the position embedding, very similar to the one + used by the Attention is all you need paper, generalized to work on images. + """ + + def __init__(self, num_pos_feats=64, temperature=10000, normalize=False, scale=None): + super().__init__() + self.num_pos_feats = num_pos_feats + self.temperature = temperature + self.normalize = normalize + if scale is not None and normalize is False: + raise ValueError("normalize should be True if scale is passed") + if scale is None: + scale = 2 * math.pi + self.scale = scale + + def forward(self, tensor_list: NestedTensor): + x = tensor_list.tensors + mask = tensor_list.mask + assert mask is not None + not_mask = ~mask + y_embed = not_mask.cumsum(1, dtype=torch.float32) + x_embed = not_mask.cumsum(2, dtype=torch.float32) + if self.normalize: + eps = 1e-6 + # if os.environ.get("SHILONG_AMP", None) == '1': + # eps = 1e-4 + # else: + # eps = 1e-6 + y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale + x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale + + dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device) + dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats) + + pos_x = x_embed[:, :, :, None] / dim_t + pos_y = y_embed[:, :, :, None] / dim_t + pos_x = torch.stack( + (pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4 + ).flatten(3) + pos_y = torch.stack( + (pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4 + ).flatten(3) + pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2) + return pos + + +class PositionEmbeddingSineHW(nn.Module): + """ + This is a more standard version of the position embedding, very similar to the one + used by the Attention is all you need paper, generalized to work on images. + """ + + def __init__( + self, num_pos_feats=64, temperatureH=10000, temperatureW=10000, normalize=False, scale=None + ): + super().__init__() + self.num_pos_feats = num_pos_feats + self.temperatureH = temperatureH + self.temperatureW = temperatureW + self.normalize = normalize + if scale is not None and normalize is False: + raise ValueError("normalize should be True if scale is passed") + if scale is None: + scale = 2 * math.pi + self.scale = scale + + def forward(self, tensor_list: NestedTensor): + x = tensor_list.tensors + mask = tensor_list.mask + assert mask is not None + not_mask = ~mask + y_embed = not_mask.cumsum(1, dtype=torch.float32) + x_embed = not_mask.cumsum(2, dtype=torch.float32) + + # import ipdb; ipdb.set_trace() + + if self.normalize: + eps = 1e-6 + y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale + x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale + + dim_tx = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device) + dim_tx = self.temperatureW ** (2 * (torch.div(dim_tx, 2, rounding_mode='floor')) / self.num_pos_feats) + pos_x = x_embed[:, :, :, None] / dim_tx + + dim_ty = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device) + dim_ty = self.temperatureH ** (2 * (torch.div(dim_ty, 2, rounding_mode='floor')) / self.num_pos_feats) + pos_y = y_embed[:, :, :, None] / dim_ty + + pos_x = torch.stack( + (pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4 + ).flatten(3) + pos_y = torch.stack( + (pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4 + ).flatten(3) + pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2) + + # import ipdb; ipdb.set_trace() + + return pos + + +class PositionEmbeddingLearned(nn.Module): + """ + Absolute pos embedding, learned. + """ + + def __init__(self, num_pos_feats=256): + super().__init__() + self.row_embed = nn.Embedding(50, num_pos_feats) + self.col_embed = nn.Embedding(50, num_pos_feats) + self.reset_parameters() + + def reset_parameters(self): + nn.init.uniform_(self.row_embed.weight) + nn.init.uniform_(self.col_embed.weight) + + def forward(self, tensor_list: NestedTensor): + x = tensor_list.tensors + h, w = x.shape[-2:] + i = torch.arange(w, device=x.device) + j = torch.arange(h, device=x.device) + x_emb = self.col_embed(i) + y_emb = self.row_embed(j) + pos = ( + torch.cat( + [ + x_emb.unsqueeze(0).repeat(h, 1, 1), + y_emb.unsqueeze(1).repeat(1, w, 1), + ], + dim=-1, + ) + .permute(2, 0, 1) + .unsqueeze(0) + .repeat(x.shape[0], 1, 1, 1) + ) + return pos + + +def build_position_encoding(args): + N_steps = args.hidden_dim // 2 + if args.position_embedding in ("v2", "sine"): + # TODO find a better way of exposing other arguments + position_embedding = PositionEmbeddingSineHW( + N_steps, + temperatureH=args.pe_temperatureH, + temperatureW=args.pe_temperatureW, + normalize=True, + ) + elif args.position_embedding in ("v3", "learned"): + position_embedding = PositionEmbeddingLearned(N_steps) + else: + raise ValueError(f"not supported {args.position_embedding}") + + return position_embedding diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/swin_transformer.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/swin_transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..1c02ac2d00b73fd3b44a08357593c4444b2cd357 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/backbone/swin_transformer.py @@ -0,0 +1,802 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# DINO +# Copyright (c) 2022 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# -------------------------------------------------------- +# modified from https://github.com/SwinTransformer/Swin-Transformer-Object-Detection/blob/master/mmdet/models/backbones/swin_transformer.py +# -------------------------------------------------------- + +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F +import torch.utils.checkpoint as checkpoint +from timm.models.layers import DropPath, to_2tuple, trunc_normal_ + +from grounding_dino.groundingdino.util.misc import NestedTensor + + +class Mlp(nn.Module): + """Multilayer perceptron.""" + + def __init__( + self, in_features, hidden_features=None, out_features=None, act_layer=nn.GELU, drop=0.0 + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.fc1 = nn.Linear(in_features, hidden_features) + self.act = act_layer() + self.fc2 = nn.Linear(hidden_features, out_features) + self.drop = nn.Dropout(drop) + + def forward(self, x): + x = self.fc1(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + x = self.drop(x) + return x + + +def window_partition(x, window_size): + """ + Args: + x: (B, H, W, C) + window_size (int): window size + Returns: + windows: (num_windows*B, window_size, window_size, C) + """ + B, H, W, C = x.shape + x = x.view(B, H // window_size, window_size, W // window_size, window_size, C) + windows = x.permute(0, 1, 3, 2, 4, 5).contiguous().view(-1, window_size, window_size, C) + return windows + + +def window_reverse(windows, window_size, H, W): + """ + Args: + windows: (num_windows*B, window_size, window_size, C) + window_size (int): Window size + H (int): Height of image + W (int): Width of image + Returns: + x: (B, H, W, C) + """ + B = int(windows.shape[0] / (H * W / window_size / window_size)) + x = windows.view(B, H // window_size, W // window_size, window_size, window_size, -1) + x = x.permute(0, 1, 3, 2, 4, 5).contiguous().view(B, H, W, -1) + return x + + +class WindowAttention(nn.Module): + """Window based multi-head self attention (W-MSA) module with relative position bias. + It supports both of shifted and non-shifted window. + Args: + dim (int): Number of input channels. + window_size (tuple[int]): The height and width of the window. + num_heads (int): Number of attention heads. + qkv_bias (bool, optional): If True, add a learnable bias to query, key, value. Default: True + qk_scale (float | None, optional): Override default qk scale of head_dim ** -0.5 if set + attn_drop (float, optional): Dropout ratio of attention weight. Default: 0.0 + proj_drop (float, optional): Dropout ratio of output. Default: 0.0 + """ + + def __init__( + self, + dim, + window_size, + num_heads, + qkv_bias=True, + qk_scale=None, + attn_drop=0.0, + proj_drop=0.0, + ): + + super().__init__() + self.dim = dim + self.window_size = window_size # Wh, Ww + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = qk_scale or head_dim**-0.5 + + # 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 + + # get pair-wise relative position index for each token inside the window + coords_h = torch.arange(self.window_size[0]) + coords_w = torch.arange(self.window_size[1]) + coords = torch.stack(torch.meshgrid([coords_h, coords_w])) # 2, Wh, Ww + coords_flatten = torch.flatten(coords, 1) # 2, Wh*Ww + relative_coords = coords_flatten[:, :, None] - coords_flatten[:, None, :] # 2, Wh*Ww, Wh*Ww + relative_coords = relative_coords.permute(1, 2, 0).contiguous() # Wh*Ww, Wh*Ww, 2 + relative_coords[:, :, 0] += self.window_size[0] - 1 # shift to start from 0 + relative_coords[:, :, 1] += self.window_size[1] - 1 + relative_coords[:, :, 0] *= 2 * self.window_size[1] - 1 + relative_position_index = relative_coords.sum(-1) # Wh*Ww, Wh*Ww + self.register_buffer("relative_position_index", relative_position_index) + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim) + self.proj_drop = nn.Dropout(proj_drop) + + trunc_normal_(self.relative_position_bias_table, std=0.02) + self.softmax = nn.Softmax(dim=-1) + + def forward(self, x, mask=None): + """Forward function. + Args: + x: input features with shape of (num_windows*B, N, C) + mask: (0/-inf) mask with shape of (num_windows, Wh*Ww, Wh*Ww) or None + """ + 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] # make torchscript happy (cannot use tensor as tuple) + + q = q * self.scale + attn = q @ k.transpose(-2, -1) + + 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) + else: + 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 + + +class SwinTransformerBlock(nn.Module): + """Swin Transformer Block. + Args: + dim (int): Number of input channels. + num_heads (int): Number of attention heads. + window_size (int): Window size. + shift_size (int): Shift size for SW-MSA. + mlp_ratio (float): Ratio of mlp hidden dim to embedding dim. + qkv_bias (bool, optional): If True, add a learnable bias to query, key, value. Default: True + qk_scale (float | None, optional): Override default qk scale of head_dim ** -0.5 if set. + drop (float, optional): Dropout rate. Default: 0.0 + attn_drop (float, optional): Attention dropout rate. Default: 0.0 + drop_path (float, optional): Stochastic depth rate. Default: 0.0 + act_layer (nn.Module, optional): Activation layer. Default: nn.GELU + norm_layer (nn.Module, optional): Normalization layer. Default: nn.LayerNorm + """ + + def __init__( + self, + dim, + num_heads, + window_size=7, + shift_size=0, + mlp_ratio=4.0, + qkv_bias=True, + qk_scale=None, + drop=0.0, + attn_drop=0.0, + drop_path=0.0, + act_layer=nn.GELU, + norm_layer=nn.LayerNorm, + ): + super().__init__() + self.dim = dim + self.num_heads = num_heads + self.window_size = window_size + self.shift_size = shift_size + self.mlp_ratio = mlp_ratio + assert 0 <= self.shift_size < self.window_size, "shift_size must in 0-window_size" + + self.norm1 = norm_layer(dim) + self.attn = WindowAttention( + dim, + window_size=to_2tuple(self.window_size), + num_heads=num_heads, + qkv_bias=qkv_bias, + qk_scale=qk_scale, + attn_drop=attn_drop, + proj_drop=drop, + ) + + self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + self.norm2 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = Mlp( + in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop + ) + + self.H = None + self.W = None + + def forward(self, x, mask_matrix): + """Forward function. + Args: + x: Input feature, tensor size (B, H*W, C). + H, W: Spatial resolution of the input feature. + mask_matrix: Attention mask for cyclic shift. + """ + B, L, C = x.shape + H, W = self.H, self.W + assert L == H * W, "input feature has wrong size" + + shortcut = x + x = self.norm1(x) + x = x.view(B, H, W, C) + + # pad feature maps to multiples of window size + pad_l = pad_t = 0 + pad_r = (self.window_size - W % self.window_size) % self.window_size + pad_b = (self.window_size - H % self.window_size) % self.window_size + x = F.pad(x, (0, 0, pad_l, pad_r, pad_t, pad_b)) + _, Hp, Wp, _ = x.shape + + # cyclic shift + if self.shift_size > 0: + shifted_x = torch.roll(x, shifts=(-self.shift_size, -self.shift_size), dims=(1, 2)) + attn_mask = mask_matrix + else: + shifted_x = x + attn_mask = None + + # partition windows + x_windows = window_partition( + shifted_x, self.window_size + ) # nW*B, window_size, window_size, C + x_windows = x_windows.view( + -1, self.window_size * self.window_size, C + ) # nW*B, window_size*window_size, C + + # W-MSA/SW-MSA + attn_windows = self.attn(x_windows, mask=attn_mask) # nW*B, window_size*window_size, C + + # merge windows + attn_windows = attn_windows.view(-1, self.window_size, self.window_size, C) + shifted_x = window_reverse(attn_windows, self.window_size, Hp, Wp) # B H' W' C + + # reverse cyclic shift + if self.shift_size > 0: + x = torch.roll(shifted_x, shifts=(self.shift_size, self.shift_size), dims=(1, 2)) + else: + x = shifted_x + + if pad_r > 0 or pad_b > 0: + x = x[:, :H, :W, :].contiguous() + + x = x.view(B, H * W, C) + + # FFN + x = shortcut + self.drop_path(x) + x = x + self.drop_path(self.mlp(self.norm2(x))) + + return x + + +class PatchMerging(nn.Module): + """Patch Merging Layer + Args: + dim (int): Number of input channels. + norm_layer (nn.Module, optional): Normalization layer. Default: nn.LayerNorm + """ + + def __init__(self, dim, norm_layer=nn.LayerNorm): + super().__init__() + self.dim = dim + self.reduction = nn.Linear(4 * dim, 2 * dim, bias=False) + self.norm = norm_layer(4 * dim) + + def forward(self, x, H, W): + """Forward function. + Args: + x: Input feature, tensor size (B, H*W, C). + H, W: Spatial resolution of the input feature. + """ + B, L, C = x.shape + assert L == H * W, "input feature has wrong size" + + x = x.view(B, H, W, C) + + # padding + pad_input = (H % 2 == 1) or (W % 2 == 1) + if pad_input: + x = F.pad(x, (0, 0, 0, W % 2, 0, H % 2)) + + x0 = x[:, 0::2, 0::2, :] # B H/2 W/2 C + x1 = x[:, 1::2, 0::2, :] # B H/2 W/2 C + x2 = x[:, 0::2, 1::2, :] # B H/2 W/2 C + x3 = x[:, 1::2, 1::2, :] # B H/2 W/2 C + x = torch.cat([x0, x1, x2, x3], -1) # B H/2 W/2 4*C + x = x.view(B, -1, 4 * C) # B H/2*W/2 4*C + + x = self.norm(x) + x = self.reduction(x) + + return x + + +class BasicLayer(nn.Module): + """A basic Swin Transformer layer for one stage. + Args: + dim (int): Number of feature channels + depth (int): Depths of this stage. + num_heads (int): Number of attention head. + window_size (int): Local window size. Default: 7. + mlp_ratio (float): Ratio of mlp hidden dim to embedding dim. Default: 4. + qkv_bias (bool, optional): If True, add a learnable bias to query, key, value. Default: True + qk_scale (float | None, optional): Override default qk scale of head_dim ** -0.5 if set. + drop (float, optional): Dropout rate. Default: 0.0 + attn_drop (float, optional): Attention dropout rate. Default: 0.0 + drop_path (float | tuple[float], optional): Stochastic depth rate. Default: 0.0 + norm_layer (nn.Module, optional): Normalization layer. Default: nn.LayerNorm + downsample (nn.Module | None, optional): Downsample layer at the end of the layer. Default: None + use_checkpoint (bool): Whether to use checkpointing to save memory. Default: False. + """ + + def __init__( + self, + dim, + depth, + num_heads, + window_size=7, + mlp_ratio=4.0, + qkv_bias=True, + qk_scale=None, + drop=0.0, + attn_drop=0.0, + drop_path=0.0, + norm_layer=nn.LayerNorm, + downsample=None, + use_checkpoint=False, + ): + super().__init__() + self.window_size = window_size + self.shift_size = window_size // 2 + self.depth = depth + self.use_checkpoint = use_checkpoint + + # build blocks + self.blocks = nn.ModuleList( + [ + SwinTransformerBlock( + dim=dim, + num_heads=num_heads, + window_size=window_size, + shift_size=0 if (i % 2 == 0) else window_size // 2, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + qk_scale=qk_scale, + drop=drop, + attn_drop=attn_drop, + drop_path=drop_path[i] if isinstance(drop_path, list) else drop_path, + norm_layer=norm_layer, + ) + for i in range(depth) + ] + ) + + # patch merging layer + if downsample is not None: + self.downsample = downsample(dim=dim, norm_layer=norm_layer) + else: + self.downsample = None + + def forward(self, x, H, W): + """Forward function. + Args: + x: Input feature, tensor size (B, H*W, C). + H, W: Spatial resolution of the input feature. + """ + + # calculate attention mask for SW-MSA + Hp = int(np.ceil(H / self.window_size)) * self.window_size + Wp = int(np.ceil(W / self.window_size)) * self.window_size + img_mask = torch.zeros((1, Hp, Wp, 1), device=x.device) # 1 Hp Wp 1 + h_slices = ( + slice(0, -self.window_size), + slice(-self.window_size, -self.shift_size), + slice(-self.shift_size, None), + ) + w_slices = ( + slice(0, -self.window_size), + slice(-self.window_size, -self.shift_size), + slice(-self.shift_size, None), + ) + cnt = 0 + for h in h_slices: + for w in w_slices: + img_mask[:, h, w, :] = cnt + cnt += 1 + + mask_windows = window_partition( + img_mask, self.window_size + ) # nW, window_size, window_size, 1 + mask_windows = mask_windows.view(-1, self.window_size * self.window_size) + attn_mask = mask_windows.unsqueeze(1) - mask_windows.unsqueeze(2) + attn_mask = attn_mask.masked_fill(attn_mask != 0, float(-100.0)).masked_fill( + attn_mask == 0, float(0.0) + ) + + for blk in self.blocks: + blk.H, blk.W = H, W + if self.use_checkpoint: + x = checkpoint.checkpoint(blk, x, attn_mask) + else: + x = blk(x, attn_mask) + if self.downsample is not None: + x_down = self.downsample(x, H, W) + Wh, Ww = (H + 1) // 2, (W + 1) // 2 + return x, H, W, x_down, Wh, Ww + else: + return x, H, W, x, H, W + + +class PatchEmbed(nn.Module): + """Image to Patch Embedding + Args: + patch_size (int): Patch token size. Default: 4. + in_chans (int): Number of input image channels. Default: 3. + embed_dim (int): Number of linear projection output channels. Default: 96. + norm_layer (nn.Module, optional): Normalization layer. Default: None + """ + + def __init__(self, patch_size=4, in_chans=3, embed_dim=96, norm_layer=None): + super().__init__() + patch_size = to_2tuple(patch_size) + self.patch_size = patch_size + + self.in_chans = in_chans + self.embed_dim = embed_dim + + self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size) + if norm_layer is not None: + self.norm = norm_layer(embed_dim) + else: + self.norm = None + + def forward(self, x): + """Forward function.""" + # padding + _, _, H, W = x.size() + if W % self.patch_size[1] != 0: + x = F.pad(x, (0, self.patch_size[1] - W % self.patch_size[1])) + if H % self.patch_size[0] != 0: + x = F.pad(x, (0, 0, 0, self.patch_size[0] - H % self.patch_size[0])) + + x = self.proj(x) # B C Wh Ww + if self.norm is not None: + Wh, Ww = x.size(2), x.size(3) + x = x.flatten(2).transpose(1, 2) + x = self.norm(x) + x = x.transpose(1, 2).view(-1, self.embed_dim, Wh, Ww) + + return x + + +class SwinTransformer(nn.Module): + """Swin Transformer backbone. + A PyTorch impl of : `Swin Transformer: Hierarchical Vision Transformer using Shifted Windows` - + https://arxiv.org/pdf/2103.14030 + Args: + pretrain_img_size (int): Input image size for training the pretrained model, + used in absolute postion embedding. Default 224. + patch_size (int | tuple(int)): Patch size. Default: 4. + in_chans (int): Number of input image channels. Default: 3. + embed_dim (int): Number of linear projection output channels. Default: 96. + depths (tuple[int]): Depths of each Swin Transformer stage. + num_heads (tuple[int]): Number of attention head of each stage. + window_size (int): Window size. Default: 7. + mlp_ratio (float): Ratio of mlp hidden dim to embedding dim. Default: 4. + qkv_bias (bool): If True, add a learnable bias to query, key, value. Default: True + qk_scale (float): Override default qk scale of head_dim ** -0.5 if set. + drop_rate (float): Dropout rate. + attn_drop_rate (float): Attention dropout rate. Default: 0. + drop_path_rate (float): Stochastic depth rate. Default: 0.2. + norm_layer (nn.Module): Normalization layer. Default: nn.LayerNorm. + ape (bool): If True, add absolute position embedding to the patch embedding. Default: False. + patch_norm (bool): If True, add normalization after patch embedding. Default: True. + out_indices (Sequence[int]): Output from which stages. + frozen_stages (int): Stages to be frozen (stop grad and set eval mode). + -1 means not freezing any parameters. + use_checkpoint (bool): Whether to use checkpointing to save memory. Default: False. + dilation (bool): if True, the output size if 16x downsample, ow 32x downsample. + """ + + def __init__( + self, + pretrain_img_size=224, + patch_size=4, + in_chans=3, + embed_dim=96, + depths=[2, 2, 6, 2], + num_heads=[3, 6, 12, 24], + window_size=7, + mlp_ratio=4.0, + qkv_bias=True, + qk_scale=None, + drop_rate=0.0, + attn_drop_rate=0.0, + drop_path_rate=0.2, + norm_layer=nn.LayerNorm, + ape=False, + patch_norm=True, + out_indices=(0, 1, 2, 3), + frozen_stages=-1, + dilation=False, + use_checkpoint=False, + ): + super().__init__() + + self.pretrain_img_size = pretrain_img_size + self.num_layers = len(depths) + self.embed_dim = embed_dim + self.ape = ape + self.patch_norm = patch_norm + self.out_indices = out_indices + self.frozen_stages = frozen_stages + self.dilation = dilation + + # if use_checkpoint: + # print("use_checkpoint!!!!!!!!!!!!!!!!!!!!!!!!") + + # split image into non-overlapping patches + self.patch_embed = PatchEmbed( + patch_size=patch_size, + in_chans=in_chans, + embed_dim=embed_dim, + norm_layer=norm_layer if self.patch_norm else None, + ) + + # absolute position embedding + if self.ape: + pretrain_img_size = to_2tuple(pretrain_img_size) + patch_size = to_2tuple(patch_size) + patches_resolution = [ + pretrain_img_size[0] // patch_size[0], + pretrain_img_size[1] // patch_size[1], + ] + + self.absolute_pos_embed = nn.Parameter( + torch.zeros(1, embed_dim, patches_resolution[0], patches_resolution[1]) + ) + trunc_normal_(self.absolute_pos_embed, std=0.02) + + self.pos_drop = nn.Dropout(p=drop_rate) + + # stochastic depth + dpr = [ + x.item() for x in torch.linspace(0, drop_path_rate, sum(depths)) + ] # stochastic depth decay rule + + # build layers + self.layers = nn.ModuleList() + # prepare downsample list + downsamplelist = [PatchMerging for i in range(self.num_layers)] + downsamplelist[-1] = None + num_features = [int(embed_dim * 2**i) for i in range(self.num_layers)] + if self.dilation: + downsamplelist[-2] = None + num_features[-1] = int(embed_dim * 2 ** (self.num_layers - 1)) // 2 + for i_layer in range(self.num_layers): + layer = BasicLayer( + # dim=int(embed_dim * 2 ** i_layer), + dim=num_features[i_layer], + depth=depths[i_layer], + num_heads=num_heads[i_layer], + window_size=window_size, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + qk_scale=qk_scale, + drop=drop_rate, + attn_drop=attn_drop_rate, + drop_path=dpr[sum(depths[:i_layer]) : sum(depths[: i_layer + 1])], + norm_layer=norm_layer, + # downsample=PatchMerging if (i_layer < self.num_layers - 1) else None, + downsample=downsamplelist[i_layer], + use_checkpoint=use_checkpoint, + ) + self.layers.append(layer) + + # num_features = [int(embed_dim * 2 ** i) for i in range(self.num_layers)] + self.num_features = num_features + + # add a norm layer for each output + for i_layer in out_indices: + layer = norm_layer(num_features[i_layer]) + layer_name = f"norm{i_layer}" + self.add_module(layer_name, layer) + + self._freeze_stages() + + def _freeze_stages(self): + if self.frozen_stages >= 0: + self.patch_embed.eval() + for param in self.patch_embed.parameters(): + param.requires_grad = False + + if self.frozen_stages >= 1 and self.ape: + self.absolute_pos_embed.requires_grad = False + + if self.frozen_stages >= 2: + self.pos_drop.eval() + for i in range(0, self.frozen_stages - 1): + m = self.layers[i] + m.eval() + for param in m.parameters(): + param.requires_grad = False + + # def init_weights(self, pretrained=None): + # """Initialize the weights in backbone. + # Args: + # pretrained (str, optional): Path to pre-trained weights. + # Defaults to None. + # """ + + # def _init_weights(m): + # if isinstance(m, nn.Linear): + # trunc_normal_(m.weight, std=.02) + # if isinstance(m, nn.Linear) and m.bias is not None: + # nn.init.constant_(m.bias, 0) + # elif isinstance(m, nn.LayerNorm): + # nn.init.constant_(m.bias, 0) + # nn.init.constant_(m.weight, 1.0) + + # if isinstance(pretrained, str): + # self.apply(_init_weights) + # logger = get_root_logger() + # load_checkpoint(self, pretrained, strict=False, logger=logger) + # elif pretrained is None: + # self.apply(_init_weights) + # else: + # raise TypeError('pretrained must be a str or None') + + def forward_raw(self, x): + """Forward function.""" + x = self.patch_embed(x) + + Wh, Ww = x.size(2), x.size(3) + if self.ape: + # interpolate the position embedding to the corresponding size + absolute_pos_embed = F.interpolate( + self.absolute_pos_embed, size=(Wh, Ww), mode="bicubic" + ) + x = (x + absolute_pos_embed).flatten(2).transpose(1, 2) # B Wh*Ww C + else: + x = x.flatten(2).transpose(1, 2) + x = self.pos_drop(x) + + outs = [] + for i in range(self.num_layers): + layer = self.layers[i] + x_out, H, W, x, Wh, Ww = layer(x, Wh, Ww) + # import ipdb; ipdb.set_trace() + + if i in self.out_indices: + norm_layer = getattr(self, f"norm{i}") + x_out = norm_layer(x_out) + + out = x_out.view(-1, H, W, self.num_features[i]).permute(0, 3, 1, 2).contiguous() + outs.append(out) + # in: + # torch.Size([2, 3, 1024, 1024]) + # outs: + # [torch.Size([2, 192, 256, 256]), torch.Size([2, 384, 128, 128]), \ + # torch.Size([2, 768, 64, 64]), torch.Size([2, 1536, 32, 32])] + return tuple(outs) + + def forward(self, tensor_list: NestedTensor): + x = tensor_list.tensors + + """Forward function.""" + x = self.patch_embed(x) + + Wh, Ww = x.size(2), x.size(3) + if self.ape: + # interpolate the position embedding to the corresponding size + absolute_pos_embed = F.interpolate( + self.absolute_pos_embed, size=(Wh, Ww), mode="bicubic" + ) + x = (x + absolute_pos_embed).flatten(2).transpose(1, 2) # B Wh*Ww C + else: + x = x.flatten(2).transpose(1, 2) + x = self.pos_drop(x) + + outs = [] + for i in range(self.num_layers): + layer = self.layers[i] + x_out, H, W, x, Wh, Ww = layer(x, Wh, Ww) + + if i in self.out_indices: + norm_layer = getattr(self, f"norm{i}") + x_out = norm_layer(x_out) + + out = x_out.view(-1, H, W, self.num_features[i]).permute(0, 3, 1, 2).contiguous() + outs.append(out) + # in: + # torch.Size([2, 3, 1024, 1024]) + # out: + # [torch.Size([2, 192, 256, 256]), torch.Size([2, 384, 128, 128]), \ + # torch.Size([2, 768, 64, 64]), torch.Size([2, 1536, 32, 32])] + + # collect for nesttensors + outs_dict = {} + for idx, out_i in enumerate(outs): + m = tensor_list.mask + assert m is not None + mask = F.interpolate(m[None].float(), size=out_i.shape[-2:]).to(torch.bool)[0] + outs_dict[idx] = NestedTensor(out_i, mask) + + return outs_dict + + def train(self, mode=True): + """Convert the model into training mode while keep layers freezed.""" + super(SwinTransformer, self).train(mode) + self._freeze_stages() + + +def build_swin_transformer(modelname, pretrain_img_size, **kw): + assert modelname in [ + "swin_T_224_1k", + "swin_B_224_22k", + "swin_B_384_22k", + "swin_L_224_22k", + "swin_L_384_22k", + ] + + model_para_dict = { + "swin_T_224_1k": dict( + embed_dim=96, depths=[2, 2, 6, 2], num_heads=[3, 6, 12, 24], window_size=7 + ), + "swin_B_224_22k": dict( + embed_dim=128, depths=[2, 2, 18, 2], num_heads=[4, 8, 16, 32], window_size=7 + ), + "swin_B_384_22k": dict( + embed_dim=128, depths=[2, 2, 18, 2], num_heads=[4, 8, 16, 32], window_size=12 + ), + "swin_L_224_22k": dict( + embed_dim=192, depths=[2, 2, 18, 2], num_heads=[6, 12, 24, 48], window_size=7 + ), + "swin_L_384_22k": dict( + embed_dim=192, depths=[2, 2, 18, 2], num_heads=[6, 12, 24, 48], window_size=12 + ), + } + kw_cgf = model_para_dict[modelname] + kw_cgf.update(kw) + model = SwinTransformer(pretrain_img_size=pretrain_img_size, **kw_cgf) + return model + + +if __name__ == "__main__": + model = build_swin_transformer("swin_L_384_22k", 384, dilation=True) + x = torch.rand(2, 3, 1024, 1024) + y = model.forward_raw(x) + import ipdb + + ipdb.set_trace() + x = torch.rand(2, 3, 384, 384) + y = model.forward_raw(x) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/bertwarper.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/bertwarper.py new file mode 100644 index 0000000000000000000000000000000000000000..f0cf9779b270e1aead32845006f8b881fcba37ad --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/bertwarper.py @@ -0,0 +1,273 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ + +import torch +import torch.nn.functional as F +import torch.utils.checkpoint as checkpoint +from torch import Tensor, nn +from torchvision.ops.boxes import nms +from transformers import BertConfig, BertModel, BertPreTrainedModel +from transformers.modeling_outputs import BaseModelOutputWithPoolingAndCrossAttentions + + +class BertModelWarper(nn.Module): + def __init__(self, bert_model): + super().__init__() + # self.bert = bert_modelc + + self.config = bert_model.config + self.embeddings = bert_model.embeddings + self.encoder = bert_model.encoder + self.pooler = bert_model.pooler + + self.get_extended_attention_mask = bert_model.get_extended_attention_mask + self.invert_attention_mask = bert_model.invert_attention_mask + self.get_head_mask = bert_model.get_head_mask + + def forward( + self, + input_ids=None, + attention_mask=None, + token_type_ids=None, + position_ids=None, + head_mask=None, + inputs_embeds=None, + encoder_hidden_states=None, + encoder_attention_mask=None, + past_key_values=None, + use_cache=None, + output_attentions=None, + output_hidden_states=None, + return_dict=None, + ): + r""" + encoder_hidden_states (:obj:`torch.FloatTensor` of shape :obj:`(batch_size, sequence_length, hidden_size)`, `optional`): + Sequence of hidden-states at the output of the last layer of the encoder. Used in the cross-attention if + the model is configured as a decoder. + encoder_attention_mask (:obj:`torch.FloatTensor` of shape :obj:`(batch_size, sequence_length)`, `optional`): + Mask to avoid performing attention on the padding token indices of the encoder input. This mask is used in + the cross-attention if the model is configured as a decoder. Mask values selected in ``[0, 1]``: + + - 1 for tokens that are **not masked**, + - 0 for tokens that are **masked**. + past_key_values (:obj:`tuple(tuple(torch.FloatTensor))` of length :obj:`config.n_layers` with each tuple having 4 tensors of shape :obj:`(batch_size, num_heads, sequence_length - 1, embed_size_per_head)`): + Contains precomputed key and value hidden states of the attention blocks. Can be used to speed up decoding. + + If :obj:`past_key_values` are used, the user can optionally input only the last :obj:`decoder_input_ids` + (those that don't have their past key value states given to this model) of shape :obj:`(batch_size, 1)` + instead of all :obj:`decoder_input_ids` of shape :obj:`(batch_size, sequence_length)`. + use_cache (:obj:`bool`, `optional`): + If set to :obj:`True`, :obj:`past_key_values` key value states are returned and can be used to speed up + decoding (see :obj:`past_key_values`). + """ + output_attentions = ( + output_attentions if output_attentions is not None else self.config.output_attentions + ) + output_hidden_states = ( + output_hidden_states + if output_hidden_states is not None + else self.config.output_hidden_states + ) + return_dict = return_dict if return_dict is not None else self.config.use_return_dict + + if self.config.is_decoder: + use_cache = use_cache if use_cache is not None else self.config.use_cache + else: + use_cache = False + + if input_ids is not None and inputs_embeds is not None: + raise ValueError("You cannot specify both input_ids and inputs_embeds at the same time") + elif input_ids is not None: + input_shape = input_ids.size() + batch_size, seq_length = input_shape + elif inputs_embeds is not None: + input_shape = inputs_embeds.size()[:-1] + batch_size, seq_length = input_shape + else: + raise ValueError("You have to specify either input_ids or inputs_embeds") + + device = input_ids.device if input_ids is not None else inputs_embeds.device + + # past_key_values_length + past_key_values_length = ( + past_key_values[0][0].shape[2] if past_key_values is not None else 0 + ) + + if attention_mask is None: + attention_mask = torch.ones( + ((batch_size, seq_length + past_key_values_length)), device=device + ) + if token_type_ids is None: + token_type_ids = torch.zeros(input_shape, dtype=torch.long, device=device) + + # We can provide a self-attention mask of dimensions [batch_size, from_seq_length, to_seq_length] + # ourselves in which case we just need to make it broadcastable to all heads. + extended_attention_mask: torch.Tensor = self.get_extended_attention_mask( + attention_mask, input_shape, device + ) + + # If a 2D or 3D attention mask is provided for the cross-attention + # we need to make broadcastable to [batch_size, num_heads, seq_length, seq_length] + if self.config.is_decoder and encoder_hidden_states is not None: + encoder_batch_size, encoder_sequence_length, _ = encoder_hidden_states.size() + encoder_hidden_shape = (encoder_batch_size, encoder_sequence_length) + if encoder_attention_mask is None: + encoder_attention_mask = torch.ones(encoder_hidden_shape, device=device) + encoder_extended_attention_mask = self.invert_attention_mask(encoder_attention_mask) + else: + encoder_extended_attention_mask = None + # if os.environ.get('IPDB_SHILONG_DEBUG', None) == 'INFO': + # import ipdb; ipdb.set_trace() + + # Prepare head mask if needed + # 1.0 in head_mask indicate we keep the head + # attention_probs has shape bsz x n_heads x N x N + # input head_mask has shape [num_heads] or [num_hidden_layers x num_heads] + # and head_mask is converted to shape [num_hidden_layers x batch x num_heads x seq_length x seq_length] + head_mask = self.get_head_mask(head_mask, self.config.num_hidden_layers) + + embedding_output = self.embeddings( + input_ids=input_ids, + position_ids=position_ids, + token_type_ids=token_type_ids, + inputs_embeds=inputs_embeds, + past_key_values_length=past_key_values_length, + ) + + encoder_outputs = self.encoder( + embedding_output, + attention_mask=extended_attention_mask, + head_mask=head_mask, + encoder_hidden_states=encoder_hidden_states, + encoder_attention_mask=encoder_extended_attention_mask, + past_key_values=past_key_values, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + sequence_output = encoder_outputs[0] + pooled_output = self.pooler(sequence_output) if self.pooler is not None else None + + if not return_dict: + return (sequence_output, pooled_output) + encoder_outputs[1:] + + return BaseModelOutputWithPoolingAndCrossAttentions( + last_hidden_state=sequence_output, + pooler_output=pooled_output, + past_key_values=encoder_outputs.past_key_values, + hidden_states=encoder_outputs.hidden_states, + attentions=encoder_outputs.attentions, + cross_attentions=encoder_outputs.cross_attentions, + ) + + +class TextEncoderShell(nn.Module): + def __init__(self, text_encoder): + super().__init__() + self.text_encoder = text_encoder + self.config = self.text_encoder.config + + def forward(self, **kw): + # feed into text encoder + return self.text_encoder(**kw) + + +def generate_masks_with_special_tokens(tokenized, special_tokens_list, tokenizer): + """Generate attention mask between each pair of special tokens + Args: + input_ids (torch.Tensor): input ids. Shape: [bs, num_token] + special_tokens_mask (list): special tokens mask. + Returns: + torch.Tensor: attention mask between each special tokens. + """ + input_ids = tokenized["input_ids"] + bs, num_token = input_ids.shape + # special_tokens_mask: bs, num_token. 1 for special tokens. 0 for normal tokens + special_tokens_mask = torch.zeros((bs, num_token), device=input_ids.device).bool() + for special_token in special_tokens_list: + special_tokens_mask |= input_ids == special_token + + # idxs: each row is a list of indices of special tokens + idxs = torch.nonzero(special_tokens_mask) + + # generate attention mask and positional ids + attention_mask = ( + torch.eye(num_token, device=input_ids.device).bool().unsqueeze(0).repeat(bs, 1, 1) + ) + position_ids = torch.zeros((bs, num_token), device=input_ids.device) + previous_col = 0 + for i in range(idxs.shape[0]): + row, col = idxs[i] + if (col == 0) or (col == num_token - 1): + attention_mask[row, col, col] = True + position_ids[row, col] = 0 + else: + attention_mask[row, previous_col + 1 : col + 1, previous_col + 1 : col + 1] = True + position_ids[row, previous_col + 1 : col + 1] = torch.arange( + 0, col - previous_col, device=input_ids.device + ) + + previous_col = col + + # # padding mask + # padding_mask = tokenized['attention_mask'] + # attention_mask = attention_mask & padding_mask.unsqueeze(1).bool() & padding_mask.unsqueeze(2).bool() + + return attention_mask, position_ids.to(torch.long) + + +def generate_masks_with_special_tokens_and_transfer_map(tokenized, special_tokens_list, tokenizer): + """Generate attention mask between each pair of special tokens + Args: + input_ids (torch.Tensor): input ids. Shape: [bs, num_token] + special_tokens_mask (list): special tokens mask. + Returns: + torch.Tensor: attention mask between each special tokens. + """ + input_ids = tokenized["input_ids"] + bs, num_token = input_ids.shape + # special_tokens_mask: bs, num_token. 1 for special tokens. 0 for normal tokens + special_tokens_mask = torch.zeros((bs, num_token), device=input_ids.device).bool() + for special_token in special_tokens_list: + special_tokens_mask |= input_ids == special_token + + # idxs: each row is a list of indices of special tokens + idxs = torch.nonzero(special_tokens_mask) + + # generate attention mask and positional ids + attention_mask = ( + torch.eye(num_token, device=input_ids.device).bool().unsqueeze(0).repeat(bs, 1, 1) + ) + position_ids = torch.zeros((bs, num_token), device=input_ids.device) + cate_to_token_mask_list = [[] for _ in range(bs)] + previous_col = 0 + for i in range(idxs.shape[0]): + row, col = idxs[i] + if (col == 0) or (col == num_token - 1): + attention_mask[row, col, col] = True + position_ids[row, col] = 0 + else: + attention_mask[row, previous_col + 1 : col + 1, previous_col + 1 : col + 1] = True + position_ids[row, previous_col + 1 : col + 1] = torch.arange( + 0, col - previous_col, device=input_ids.device + ) + c2t_maski = torch.zeros((num_token), device=input_ids.device).bool() + c2t_maski[previous_col + 1 : col] = True + cate_to_token_mask_list[row].append(c2t_maski) + previous_col = col + + cate_to_token_mask_list = [ + torch.stack(cate_to_token_mask_listi, dim=0) + for cate_to_token_mask_listi in cate_to_token_mask_list + ] + + # # padding mask + # padding_mask = tokenized['attention_mask'] + # attention_mask = attention_mask & padding_mask.unsqueeze(1).bool() & padding_mask.unsqueeze(2).bool() + + return attention_mask, position_ids.to(torch.long), cate_to_token_mask_list diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn.h b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn.h new file mode 100644 index 0000000000000000000000000000000000000000..c7408eba007b424194618baa63726657e36875e3 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn.h @@ -0,0 +1,64 @@ +/*! +************************************************************************************************** +* Deformable DETR +* Copyright (c) 2020 SenseTime. All Rights Reserved. +* Licensed under the Apache License, Version 2.0 [see LICENSE for details] +************************************************************************************************** +* Modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/tree/pytorch_1.0.0 +************************************************************************************************** +*/ + +#pragma once + +#include "ms_deform_attn_cpu.h" + +#ifdef WITH_CUDA +#include "ms_deform_attn_cuda.h" +#endif + +namespace groundingdino { + +at::Tensor +ms_deform_attn_forward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const int im2col_step) +{ + if (value.type().is_cuda()) + { +#ifdef WITH_CUDA + return ms_deform_attn_cuda_forward( + value, spatial_shapes, level_start_index, sampling_loc, attn_weight, im2col_step); +#else + AT_ERROR("Not compiled with GPU support"); +#endif + } + AT_ERROR("Not implemented on the CPU"); +} + +std::vector +ms_deform_attn_backward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const at::Tensor &grad_output, + const int im2col_step) +{ + if (value.type().is_cuda()) + { +#ifdef WITH_CUDA + return ms_deform_attn_cuda_backward( + value, spatial_shapes, level_start_index, sampling_loc, attn_weight, grad_output, im2col_step); +#else + AT_ERROR("Not compiled with GPU support"); +#endif + } + AT_ERROR("Not implemented on the CPU"); +} + +} // namespace groundingdino \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cpu.cpp b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cpu.cpp new file mode 100644 index 0000000000000000000000000000000000000000..551243fdadfd1682b5dc6628623b67a79b3f6c74 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cpu.cpp @@ -0,0 +1,43 @@ +/*! +************************************************************************************************** +* Deformable DETR +* Copyright (c) 2020 SenseTime. All Rights Reserved. +* Licensed under the Apache License, Version 2.0 [see LICENSE for details] +************************************************************************************************** +* Modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/tree/pytorch_1.0.0 +************************************************************************************************** +*/ + +#include + +#include +#include + +namespace groundingdino { + +at::Tensor +ms_deform_attn_cpu_forward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const int im2col_step) +{ + AT_ERROR("Not implement on cpu"); +} + +std::vector +ms_deform_attn_cpu_backward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const at::Tensor &grad_output, + const int im2col_step) +{ + AT_ERROR("Not implement on cpu"); +} + +} // namespace groundingdino diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cpu.h b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cpu.h new file mode 100644 index 0000000000000000000000000000000000000000..b2b88e8c46f19b6db0933163e57ccdb51180f517 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cpu.h @@ -0,0 +1,35 @@ +/*! +************************************************************************************************** +* Deformable DETR +* Copyright (c) 2020 SenseTime. All Rights Reserved. +* Licensed under the Apache License, Version 2.0 [see LICENSE for details] +************************************************************************************************** +* Modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/tree/pytorch_1.0.0 +************************************************************************************************** +*/ + +#pragma once +#include + +namespace groundingdino { + +at::Tensor +ms_deform_attn_cpu_forward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const int im2col_step); + +std::vector +ms_deform_attn_cpu_backward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const at::Tensor &grad_output, + const int im2col_step); + +} // namespace groundingdino diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cuda.cu b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cuda.cu new file mode 100644 index 0000000000000000000000000000000000000000..d04fae8a9a45c11e4e74f3035e94762796da4096 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cuda.cu @@ -0,0 +1,156 @@ +/*! +************************************************************************************************** +* Deformable DETR +* Copyright (c) 2020 SenseTime. All Rights Reserved. +* Licensed under the Apache License, Version 2.0 [see LICENSE for details] +************************************************************************************************** +* Modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/tree/pytorch_1.0.0 +************************************************************************************************** +*/ + +#include +#include "ms_deform_im2col_cuda.cuh" + +#include +#include +#include +#include + +namespace groundingdino { + +at::Tensor ms_deform_attn_cuda_forward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const int im2col_step) +{ + AT_ASSERTM(value.is_contiguous(), "value tensor has to be contiguous"); + AT_ASSERTM(spatial_shapes.is_contiguous(), "spatial_shapes tensor has to be contiguous"); + AT_ASSERTM(level_start_index.is_contiguous(), "level_start_index tensor has to be contiguous"); + AT_ASSERTM(sampling_loc.is_contiguous(), "sampling_loc tensor has to be contiguous"); + AT_ASSERTM(attn_weight.is_contiguous(), "attn_weight tensor has to be contiguous"); + + AT_ASSERTM(value.type().is_cuda(), "value must be a CUDA tensor"); + AT_ASSERTM(spatial_shapes.type().is_cuda(), "spatial_shapes must be a CUDA tensor"); + AT_ASSERTM(level_start_index.type().is_cuda(), "level_start_index must be a CUDA tensor"); + AT_ASSERTM(sampling_loc.type().is_cuda(), "sampling_loc must be a CUDA tensor"); + AT_ASSERTM(attn_weight.type().is_cuda(), "attn_weight must be a CUDA tensor"); + + const int batch = value.size(0); + const int spatial_size = value.size(1); + const int num_heads = value.size(2); + const int channels = value.size(3); + + const int num_levels = spatial_shapes.size(0); + + const int num_query = sampling_loc.size(1); + const int num_point = sampling_loc.size(4); + + const int im2col_step_ = std::min(batch, im2col_step); + + AT_ASSERTM(batch % im2col_step_ == 0, "batch(%d) must divide im2col_step(%d)", batch, im2col_step_); + + auto output = at::zeros({batch, num_query, num_heads, channels}, value.options()); + + const int batch_n = im2col_step_; + auto output_n = output.view({batch/im2col_step_, batch_n, num_query, num_heads, channels}); + auto per_value_size = spatial_size * num_heads * channels; + auto per_sample_loc_size = num_query * num_heads * num_levels * num_point * 2; + auto per_attn_weight_size = num_query * num_heads * num_levels * num_point; + for (int n = 0; n < batch/im2col_step_; ++n) + { + auto columns = output_n.select(0, n); + AT_DISPATCH_FLOATING_TYPES(value.type(), "ms_deform_attn_forward_cuda", ([&] { + ms_deformable_im2col_cuda(at::cuda::getCurrentCUDAStream(), + value.data() + n * im2col_step_ * per_value_size, + spatial_shapes.data(), + level_start_index.data(), + sampling_loc.data() + n * im2col_step_ * per_sample_loc_size, + attn_weight.data() + n * im2col_step_ * per_attn_weight_size, + batch_n, spatial_size, num_heads, channels, num_levels, num_query, num_point, + columns.data()); + + })); + } + + output = output.view({batch, num_query, num_heads*channels}); + + return output; +} + + +std::vector ms_deform_attn_cuda_backward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const at::Tensor &grad_output, + const int im2col_step) +{ + + AT_ASSERTM(value.is_contiguous(), "value tensor has to be contiguous"); + AT_ASSERTM(spatial_shapes.is_contiguous(), "spatial_shapes tensor has to be contiguous"); + AT_ASSERTM(level_start_index.is_contiguous(), "level_start_index tensor has to be contiguous"); + AT_ASSERTM(sampling_loc.is_contiguous(), "sampling_loc tensor has to be contiguous"); + AT_ASSERTM(attn_weight.is_contiguous(), "attn_weight tensor has to be contiguous"); + AT_ASSERTM(grad_output.is_contiguous(), "grad_output tensor has to be contiguous"); + + AT_ASSERTM(value.type().is_cuda(), "value must be a CUDA tensor"); + AT_ASSERTM(spatial_shapes.type().is_cuda(), "spatial_shapes must be a CUDA tensor"); + AT_ASSERTM(level_start_index.type().is_cuda(), "level_start_index must be a CUDA tensor"); + AT_ASSERTM(sampling_loc.type().is_cuda(), "sampling_loc must be a CUDA tensor"); + AT_ASSERTM(attn_weight.type().is_cuda(), "attn_weight must be a CUDA tensor"); + AT_ASSERTM(grad_output.type().is_cuda(), "grad_output must be a CUDA tensor"); + + const int batch = value.size(0); + const int spatial_size = value.size(1); + const int num_heads = value.size(2); + const int channels = value.size(3); + + const int num_levels = spatial_shapes.size(0); + + const int num_query = sampling_loc.size(1); + const int num_point = sampling_loc.size(4); + + const int im2col_step_ = std::min(batch, im2col_step); + + AT_ASSERTM(batch % im2col_step_ == 0, "batch(%d) must divide im2col_step(%d)", batch, im2col_step_); + + auto grad_value = at::zeros_like(value); + auto grad_sampling_loc = at::zeros_like(sampling_loc); + auto grad_attn_weight = at::zeros_like(attn_weight); + + const int batch_n = im2col_step_; + auto per_value_size = spatial_size * num_heads * channels; + auto per_sample_loc_size = num_query * num_heads * num_levels * num_point * 2; + auto per_attn_weight_size = num_query * num_heads * num_levels * num_point; + auto grad_output_n = grad_output.view({batch/im2col_step_, batch_n, num_query, num_heads, channels}); + + for (int n = 0; n < batch/im2col_step_; ++n) + { + auto grad_output_g = grad_output_n.select(0, n); + AT_DISPATCH_FLOATING_TYPES(value.type(), "ms_deform_attn_backward_cuda", ([&] { + ms_deformable_col2im_cuda(at::cuda::getCurrentCUDAStream(), + grad_output_g.data(), + value.data() + n * im2col_step_ * per_value_size, + spatial_shapes.data(), + level_start_index.data(), + sampling_loc.data() + n * im2col_step_ * per_sample_loc_size, + attn_weight.data() + n * im2col_step_ * per_attn_weight_size, + batch_n, spatial_size, num_heads, channels, num_levels, num_query, num_point, + grad_value.data() + n * im2col_step_ * per_value_size, + grad_sampling_loc.data() + n * im2col_step_ * per_sample_loc_size, + grad_attn_weight.data() + n * im2col_step_ * per_attn_weight_size); + + })); + } + + return { + grad_value, grad_sampling_loc, grad_attn_weight + }; +} + +} // namespace groundingdino \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cuda.h b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cuda.h new file mode 100644 index 0000000000000000000000000000000000000000..ad1311a78f61303616504eb991aaa9c4a93d9948 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_attn_cuda.h @@ -0,0 +1,33 @@ +/*! +************************************************************************************************** +* Deformable DETR +* Copyright (c) 2020 SenseTime. All Rights Reserved. +* Licensed under the Apache License, Version 2.0 [see LICENSE for details] +************************************************************************************************** +* Modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/tree/pytorch_1.0.0 +************************************************************************************************** +*/ + +#pragma once +#include + +namespace groundingdino { + +at::Tensor ms_deform_attn_cuda_forward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const int im2col_step); + +std::vector ms_deform_attn_cuda_backward( + const at::Tensor &value, + const at::Tensor &spatial_shapes, + const at::Tensor &level_start_index, + const at::Tensor &sampling_loc, + const at::Tensor &attn_weight, + const at::Tensor &grad_output, + const int im2col_step); + +} // namespace groundingdino \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_im2col_cuda.cuh b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_im2col_cuda.cuh new file mode 100644 index 0000000000000000000000000000000000000000..6bc2acb7aea0eab2e9e91e769a16861e1652c284 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/MsDeformAttn/ms_deform_im2col_cuda.cuh @@ -0,0 +1,1327 @@ +/*! +************************************************************************** +* Deformable DETR +* Copyright (c) 2020 SenseTime. All Rights Reserved. +* Licensed under the Apache License, Version 2.0 [see LICENSE for details] +************************************************************************** +* Modified from DCN (https://github.com/msracver/Deformable-ConvNets) +* Copyright (c) 2018 Microsoft +************************************************************************** +*/ + +#include +#include +#include + +#include +#include + +#include + +#define CUDA_KERNEL_LOOP(i, n) \ + for (int i = blockIdx.x * blockDim.x + threadIdx.x; \ + i < (n); \ + i += blockDim.x * gridDim.x) + +const int CUDA_NUM_THREADS = 1024; +inline int GET_BLOCKS(const int N, const int num_threads) +{ + return (N + num_threads - 1) / num_threads; +} + + +template +__device__ scalar_t ms_deform_attn_im2col_bilinear(const scalar_t* &bottom_data, + const int &height, const int &width, const int &nheads, const int &channels, + const scalar_t &h, const scalar_t &w, const int &m, const int &c) +{ + const int h_low = floor(h); + const int w_low = floor(w); + const int h_high = h_low + 1; + const int w_high = w_low + 1; + + const scalar_t lh = h - h_low; + const scalar_t lw = w - w_low; + const scalar_t hh = 1 - lh, hw = 1 - lw; + + const int w_stride = nheads * channels; + const int h_stride = width * w_stride; + const int h_low_ptr_offset = h_low * h_stride; + const int h_high_ptr_offset = h_low_ptr_offset + h_stride; + const int w_low_ptr_offset = w_low * w_stride; + const int w_high_ptr_offset = w_low_ptr_offset + w_stride; + const int base_ptr = m * channels + c; + + scalar_t v1 = 0; + if (h_low >= 0 && w_low >= 0) + { + const int ptr1 = h_low_ptr_offset + w_low_ptr_offset + base_ptr; + v1 = bottom_data[ptr1]; + } + scalar_t v2 = 0; + if (h_low >= 0 && w_high <= width - 1) + { + const int ptr2 = h_low_ptr_offset + w_high_ptr_offset + base_ptr; + v2 = bottom_data[ptr2]; + } + scalar_t v3 = 0; + if (h_high <= height - 1 && w_low >= 0) + { + const int ptr3 = h_high_ptr_offset + w_low_ptr_offset + base_ptr; + v3 = bottom_data[ptr3]; + } + scalar_t v4 = 0; + if (h_high <= height - 1 && w_high <= width - 1) + { + const int ptr4 = h_high_ptr_offset + w_high_ptr_offset + base_ptr; + v4 = bottom_data[ptr4]; + } + + const scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw; + + const scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4); + return val; +} + + +template +__device__ void ms_deform_attn_col2im_bilinear(const scalar_t* &bottom_data, + const int &height, const int &width, const int &nheads, const int &channels, + const scalar_t &h, const scalar_t &w, const int &m, const int &c, + const scalar_t &top_grad, + const scalar_t &attn_weight, + scalar_t* &grad_value, + scalar_t* grad_sampling_loc, + scalar_t* grad_attn_weight) +{ + const int h_low = floor(h); + const int w_low = floor(w); + const int h_high = h_low + 1; + const int w_high = w_low + 1; + + const scalar_t lh = h - h_low; + const scalar_t lw = w - w_low; + const scalar_t hh = 1 - lh, hw = 1 - lw; + + const int w_stride = nheads * channels; + const int h_stride = width * w_stride; + const int h_low_ptr_offset = h_low * h_stride; + const int h_high_ptr_offset = h_low_ptr_offset + h_stride; + const int w_low_ptr_offset = w_low * w_stride; + const int w_high_ptr_offset = w_low_ptr_offset + w_stride; + const int base_ptr = m * channels + c; + + const scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw; + const scalar_t top_grad_value = top_grad * attn_weight; + scalar_t grad_h_weight = 0, grad_w_weight = 0; + + scalar_t v1 = 0; + if (h_low >= 0 && w_low >= 0) + { + const int ptr1 = h_low_ptr_offset + w_low_ptr_offset + base_ptr; + v1 = bottom_data[ptr1]; + grad_h_weight -= hw * v1; + grad_w_weight -= hh * v1; + atomicAdd(grad_value+ptr1, w1*top_grad_value); + } + scalar_t v2 = 0; + if (h_low >= 0 && w_high <= width - 1) + { + const int ptr2 = h_low_ptr_offset + w_high_ptr_offset + base_ptr; + v2 = bottom_data[ptr2]; + grad_h_weight -= lw * v2; + grad_w_weight += hh * v2; + atomicAdd(grad_value+ptr2, w2*top_grad_value); + } + scalar_t v3 = 0; + if (h_high <= height - 1 && w_low >= 0) + { + const int ptr3 = h_high_ptr_offset + w_low_ptr_offset + base_ptr; + v3 = bottom_data[ptr3]; + grad_h_weight += hw * v3; + grad_w_weight -= lh * v3; + atomicAdd(grad_value+ptr3, w3*top_grad_value); + } + scalar_t v4 = 0; + if (h_high <= height - 1 && w_high <= width - 1) + { + const int ptr4 = h_high_ptr_offset + w_high_ptr_offset + base_ptr; + v4 = bottom_data[ptr4]; + grad_h_weight += lw * v4; + grad_w_weight += lh * v4; + atomicAdd(grad_value+ptr4, w4*top_grad_value); + } + + const scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4); + *grad_attn_weight = top_grad * val; + *grad_sampling_loc = width * grad_w_weight * top_grad_value; + *(grad_sampling_loc + 1) = height * grad_h_weight * top_grad_value; +} + + +template +__device__ void ms_deform_attn_col2im_bilinear_gm(const scalar_t* &bottom_data, + const int &height, const int &width, const int &nheads, const int &channels, + const scalar_t &h, const scalar_t &w, const int &m, const int &c, + const scalar_t &top_grad, + const scalar_t &attn_weight, + scalar_t* &grad_value, + scalar_t* grad_sampling_loc, + scalar_t* grad_attn_weight) +{ + const int h_low = floor(h); + const int w_low = floor(w); + const int h_high = h_low + 1; + const int w_high = w_low + 1; + + const scalar_t lh = h - h_low; + const scalar_t lw = w - w_low; + const scalar_t hh = 1 - lh, hw = 1 - lw; + + const int w_stride = nheads * channels; + const int h_stride = width * w_stride; + const int h_low_ptr_offset = h_low * h_stride; + const int h_high_ptr_offset = h_low_ptr_offset + h_stride; + const int w_low_ptr_offset = w_low * w_stride; + const int w_high_ptr_offset = w_low_ptr_offset + w_stride; + const int base_ptr = m * channels + c; + + const scalar_t w1 = hh * hw, w2 = hh * lw, w3 = lh * hw, w4 = lh * lw; + const scalar_t top_grad_value = top_grad * attn_weight; + scalar_t grad_h_weight = 0, grad_w_weight = 0; + + scalar_t v1 = 0; + if (h_low >= 0 && w_low >= 0) + { + const int ptr1 = h_low_ptr_offset + w_low_ptr_offset + base_ptr; + v1 = bottom_data[ptr1]; + grad_h_weight -= hw * v1; + grad_w_weight -= hh * v1; + atomicAdd(grad_value+ptr1, w1*top_grad_value); + } + scalar_t v2 = 0; + if (h_low >= 0 && w_high <= width - 1) + { + const int ptr2 = h_low_ptr_offset + w_high_ptr_offset + base_ptr; + v2 = bottom_data[ptr2]; + grad_h_weight -= lw * v2; + grad_w_weight += hh * v2; + atomicAdd(grad_value+ptr2, w2*top_grad_value); + } + scalar_t v3 = 0; + if (h_high <= height - 1 && w_low >= 0) + { + const int ptr3 = h_high_ptr_offset + w_low_ptr_offset + base_ptr; + v3 = bottom_data[ptr3]; + grad_h_weight += hw * v3; + grad_w_weight -= lh * v3; + atomicAdd(grad_value+ptr3, w3*top_grad_value); + } + scalar_t v4 = 0; + if (h_high <= height - 1 && w_high <= width - 1) + { + const int ptr4 = h_high_ptr_offset + w_high_ptr_offset + base_ptr; + v4 = bottom_data[ptr4]; + grad_h_weight += lw * v4; + grad_w_weight += lh * v4; + atomicAdd(grad_value+ptr4, w4*top_grad_value); + } + + const scalar_t val = (w1 * v1 + w2 * v2 + w3 * v3 + w4 * v4); + atomicAdd(grad_attn_weight, top_grad * val); + atomicAdd(grad_sampling_loc, width * grad_w_weight * top_grad_value); + atomicAdd(grad_sampling_loc + 1, height * grad_h_weight * top_grad_value); +} + + +template +__global__ void ms_deformable_im2col_gpu_kernel(const int n, + const scalar_t *data_value, + const int64_t *data_spatial_shapes, + const int64_t *data_level_start_index, + const scalar_t *data_sampling_loc, + const scalar_t *data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t *data_col) +{ + CUDA_KERNEL_LOOP(index, n) + { + int _temp = index; + const int c_col = _temp % channels; + _temp /= channels; + const int sampling_index = _temp; + const int m_col = _temp % num_heads; + _temp /= num_heads; + const int q_col = _temp % num_query; + _temp /= num_query; + const int b_col = _temp; + + scalar_t *data_col_ptr = data_col + index; + int data_weight_ptr = sampling_index * num_levels * num_point; + int data_loc_w_ptr = data_weight_ptr << 1; + const int qid_stride = num_heads * channels; + const int data_value_ptr_init_offset = b_col * spatial_size * qid_stride; + scalar_t col = 0; + + for (int l_col=0; l_col < num_levels; ++l_col) + { + const int level_start_id = data_level_start_index[l_col]; + const int spatial_h_ptr = l_col << 1; + const int spatial_h = data_spatial_shapes[spatial_h_ptr]; + const int spatial_w = data_spatial_shapes[spatial_h_ptr + 1]; + const scalar_t *data_value_ptr = data_value + (data_value_ptr_init_offset + level_start_id * qid_stride); + for (int p_col=0; p_col < num_point; ++p_col) + { + const scalar_t loc_w = data_sampling_loc[data_loc_w_ptr]; + const scalar_t loc_h = data_sampling_loc[data_loc_w_ptr + 1]; + const scalar_t weight = data_attn_weight[data_weight_ptr]; + + const scalar_t h_im = loc_h * spatial_h - 0.5; + const scalar_t w_im = loc_w * spatial_w - 0.5; + + if (h_im > -1 && w_im > -1 && h_im < spatial_h && w_im < spatial_w) + { + col += ms_deform_attn_im2col_bilinear(data_value_ptr, spatial_h, spatial_w, num_heads, channels, h_im, w_im, m_col, c_col) * weight; + } + + data_weight_ptr += 1; + data_loc_w_ptr += 2; + } + } + *data_col_ptr = col; + } +} + +template +__global__ void ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v1(const int n, + const scalar_t *grad_col, + const scalar_t *data_value, + const int64_t *data_spatial_shapes, + const int64_t *data_level_start_index, + const scalar_t *data_sampling_loc, + const scalar_t *data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t *grad_value, + scalar_t *grad_sampling_loc, + scalar_t *grad_attn_weight) +{ + CUDA_KERNEL_LOOP(index, n) + { + __shared__ scalar_t cache_grad_sampling_loc[blockSize * 2]; + __shared__ scalar_t cache_grad_attn_weight[blockSize]; + unsigned int tid = threadIdx.x; + int _temp = index; + const int c_col = _temp % channels; + _temp /= channels; + const int sampling_index = _temp; + const int m_col = _temp % num_heads; + _temp /= num_heads; + const int q_col = _temp % num_query; + _temp /= num_query; + const int b_col = _temp; + + const scalar_t top_grad = grad_col[index]; + + int data_weight_ptr = sampling_index * num_levels * num_point; + int data_loc_w_ptr = data_weight_ptr << 1; + const int grad_sampling_ptr = data_weight_ptr; + grad_sampling_loc += grad_sampling_ptr << 1; + grad_attn_weight += grad_sampling_ptr; + const int grad_weight_stride = 1; + const int grad_loc_stride = 2; + const int qid_stride = num_heads * channels; + const int data_value_ptr_init_offset = b_col * spatial_size * qid_stride; + + for (int l_col=0; l_col < num_levels; ++l_col) + { + const int level_start_id = data_level_start_index[l_col]; + const int spatial_h_ptr = l_col << 1; + const int spatial_h = data_spatial_shapes[spatial_h_ptr]; + const int spatial_w = data_spatial_shapes[spatial_h_ptr + 1]; + const int value_ptr_offset = data_value_ptr_init_offset + level_start_id * qid_stride; + const scalar_t *data_value_ptr = data_value + value_ptr_offset; + scalar_t *grad_value_ptr = grad_value + value_ptr_offset; + + for (int p_col=0; p_col < num_point; ++p_col) + { + const scalar_t loc_w = data_sampling_loc[data_loc_w_ptr]; + const scalar_t loc_h = data_sampling_loc[data_loc_w_ptr + 1]; + const scalar_t weight = data_attn_weight[data_weight_ptr]; + + const scalar_t h_im = loc_h * spatial_h - 0.5; + const scalar_t w_im = loc_w * spatial_w - 0.5; + *(cache_grad_sampling_loc+(threadIdx.x << 1)) = 0; + *(cache_grad_sampling_loc+((threadIdx.x << 1) + 1)) = 0; + *(cache_grad_attn_weight+threadIdx.x)=0; + if (h_im > -1 && w_im > -1 && h_im < spatial_h && w_im < spatial_w) + { + ms_deform_attn_col2im_bilinear( + data_value_ptr, spatial_h, spatial_w, num_heads, channels, h_im, w_im, m_col, c_col, + top_grad, weight, grad_value_ptr, + cache_grad_sampling_loc+(threadIdx.x << 1), cache_grad_attn_weight+threadIdx.x); + } + + __syncthreads(); + if (tid == 0) + { + scalar_t _grad_w=cache_grad_sampling_loc[0], _grad_h=cache_grad_sampling_loc[1], _grad_a=cache_grad_attn_weight[0]; + int sid=2; + for (unsigned int tid = 1; tid < blockSize; ++tid) + { + _grad_w += cache_grad_sampling_loc[sid]; + _grad_h += cache_grad_sampling_loc[sid + 1]; + _grad_a += cache_grad_attn_weight[tid]; + sid += 2; + } + + + *grad_sampling_loc = _grad_w; + *(grad_sampling_loc + 1) = _grad_h; + *grad_attn_weight = _grad_a; + } + __syncthreads(); + + data_weight_ptr += 1; + data_loc_w_ptr += 2; + grad_attn_weight += grad_weight_stride; + grad_sampling_loc += grad_loc_stride; + } + } + } +} + + +template +__global__ void ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v2(const int n, + const scalar_t *grad_col, + const scalar_t *data_value, + const int64_t *data_spatial_shapes, + const int64_t *data_level_start_index, + const scalar_t *data_sampling_loc, + const scalar_t *data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t *grad_value, + scalar_t *grad_sampling_loc, + scalar_t *grad_attn_weight) +{ + CUDA_KERNEL_LOOP(index, n) + { + __shared__ scalar_t cache_grad_sampling_loc[blockSize * 2]; + __shared__ scalar_t cache_grad_attn_weight[blockSize]; + unsigned int tid = threadIdx.x; + int _temp = index; + const int c_col = _temp % channels; + _temp /= channels; + const int sampling_index = _temp; + const int m_col = _temp % num_heads; + _temp /= num_heads; + const int q_col = _temp % num_query; + _temp /= num_query; + const int b_col = _temp; + + const scalar_t top_grad = grad_col[index]; + + int data_weight_ptr = sampling_index * num_levels * num_point; + int data_loc_w_ptr = data_weight_ptr << 1; + const int grad_sampling_ptr = data_weight_ptr; + grad_sampling_loc += grad_sampling_ptr << 1; + grad_attn_weight += grad_sampling_ptr; + const int grad_weight_stride = 1; + const int grad_loc_stride = 2; + const int qid_stride = num_heads * channels; + const int data_value_ptr_init_offset = b_col * spatial_size * qid_stride; + + for (int l_col=0; l_col < num_levels; ++l_col) + { + const int level_start_id = data_level_start_index[l_col]; + const int spatial_h_ptr = l_col << 1; + const int spatial_h = data_spatial_shapes[spatial_h_ptr]; + const int spatial_w = data_spatial_shapes[spatial_h_ptr + 1]; + const int value_ptr_offset = data_value_ptr_init_offset + level_start_id * qid_stride; + const scalar_t *data_value_ptr = data_value + value_ptr_offset; + scalar_t *grad_value_ptr = grad_value + value_ptr_offset; + + for (int p_col=0; p_col < num_point; ++p_col) + { + const scalar_t loc_w = data_sampling_loc[data_loc_w_ptr]; + const scalar_t loc_h = data_sampling_loc[data_loc_w_ptr + 1]; + const scalar_t weight = data_attn_weight[data_weight_ptr]; + + const scalar_t h_im = loc_h * spatial_h - 0.5; + const scalar_t w_im = loc_w * spatial_w - 0.5; + *(cache_grad_sampling_loc+(threadIdx.x << 1)) = 0; + *(cache_grad_sampling_loc+((threadIdx.x << 1) + 1)) = 0; + *(cache_grad_attn_weight+threadIdx.x)=0; + if (h_im > -1 && w_im > -1 && h_im < spatial_h && w_im < spatial_w) + { + ms_deform_attn_col2im_bilinear( + data_value_ptr, spatial_h, spatial_w, num_heads, channels, h_im, w_im, m_col, c_col, + top_grad, weight, grad_value_ptr, + cache_grad_sampling_loc+(threadIdx.x << 1), cache_grad_attn_weight+threadIdx.x); + } + + __syncthreads(); + + for (unsigned int s=blockSize/2; s>0; s>>=1) + { + if (tid < s) { + const unsigned int xid1 = tid << 1; + const unsigned int xid2 = (tid + s) << 1; + cache_grad_attn_weight[tid] += cache_grad_attn_weight[tid + s]; + cache_grad_sampling_loc[xid1] += cache_grad_sampling_loc[xid2]; + cache_grad_sampling_loc[xid1 + 1] += cache_grad_sampling_loc[xid2 + 1]; + } + __syncthreads(); + } + + if (tid == 0) + { + *grad_sampling_loc = cache_grad_sampling_loc[0]; + *(grad_sampling_loc + 1) = cache_grad_sampling_loc[1]; + *grad_attn_weight = cache_grad_attn_weight[0]; + } + __syncthreads(); + + data_weight_ptr += 1; + data_loc_w_ptr += 2; + grad_attn_weight += grad_weight_stride; + grad_sampling_loc += grad_loc_stride; + } + } + } +} + + +template +__global__ void ms_deformable_col2im_gpu_kernel_shm_reduce_v1(const int n, + const scalar_t *grad_col, + const scalar_t *data_value, + const int64_t *data_spatial_shapes, + const int64_t *data_level_start_index, + const scalar_t *data_sampling_loc, + const scalar_t *data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t *grad_value, + scalar_t *grad_sampling_loc, + scalar_t *grad_attn_weight) +{ + CUDA_KERNEL_LOOP(index, n) + { + extern __shared__ int _s[]; + scalar_t* cache_grad_sampling_loc = (scalar_t*)_s; + scalar_t* cache_grad_attn_weight = cache_grad_sampling_loc + 2 * blockDim.x; + unsigned int tid = threadIdx.x; + int _temp = index; + const int c_col = _temp % channels; + _temp /= channels; + const int sampling_index = _temp; + const int m_col = _temp % num_heads; + _temp /= num_heads; + const int q_col = _temp % num_query; + _temp /= num_query; + const int b_col = _temp; + + const scalar_t top_grad = grad_col[index]; + + int data_weight_ptr = sampling_index * num_levels * num_point; + int data_loc_w_ptr = data_weight_ptr << 1; + const int grad_sampling_ptr = data_weight_ptr; + grad_sampling_loc += grad_sampling_ptr << 1; + grad_attn_weight += grad_sampling_ptr; + const int grad_weight_stride = 1; + const int grad_loc_stride = 2; + const int qid_stride = num_heads * channels; + const int data_value_ptr_init_offset = b_col * spatial_size * qid_stride; + + for (int l_col=0; l_col < num_levels; ++l_col) + { + const int level_start_id = data_level_start_index[l_col]; + const int spatial_h_ptr = l_col << 1; + const int spatial_h = data_spatial_shapes[spatial_h_ptr]; + const int spatial_w = data_spatial_shapes[spatial_h_ptr + 1]; + const int value_ptr_offset = data_value_ptr_init_offset + level_start_id * qid_stride; + const scalar_t *data_value_ptr = data_value + value_ptr_offset; + scalar_t *grad_value_ptr = grad_value + value_ptr_offset; + + for (int p_col=0; p_col < num_point; ++p_col) + { + const scalar_t loc_w = data_sampling_loc[data_loc_w_ptr]; + const scalar_t loc_h = data_sampling_loc[data_loc_w_ptr + 1]; + const scalar_t weight = data_attn_weight[data_weight_ptr]; + + const scalar_t h_im = loc_h * spatial_h - 0.5; + const scalar_t w_im = loc_w * spatial_w - 0.5; + *(cache_grad_sampling_loc+(threadIdx.x << 1)) = 0; + *(cache_grad_sampling_loc+((threadIdx.x << 1) + 1)) = 0; + *(cache_grad_attn_weight+threadIdx.x)=0; + if (h_im > -1 && w_im > -1 && h_im < spatial_h && w_im < spatial_w) + { + ms_deform_attn_col2im_bilinear( + data_value_ptr, spatial_h, spatial_w, num_heads, channels, h_im, w_im, m_col, c_col, + top_grad, weight, grad_value_ptr, + cache_grad_sampling_loc+(threadIdx.x << 1), cache_grad_attn_weight+threadIdx.x); + } + + __syncthreads(); + if (tid == 0) + { + scalar_t _grad_w=cache_grad_sampling_loc[0], _grad_h=cache_grad_sampling_loc[1], _grad_a=cache_grad_attn_weight[0]; + int sid=2; + for (unsigned int tid = 1; tid < blockDim.x; ++tid) + { + _grad_w += cache_grad_sampling_loc[sid]; + _grad_h += cache_grad_sampling_loc[sid + 1]; + _grad_a += cache_grad_attn_weight[tid]; + sid += 2; + } + + + *grad_sampling_loc = _grad_w; + *(grad_sampling_loc + 1) = _grad_h; + *grad_attn_weight = _grad_a; + } + __syncthreads(); + + data_weight_ptr += 1; + data_loc_w_ptr += 2; + grad_attn_weight += grad_weight_stride; + grad_sampling_loc += grad_loc_stride; + } + } + } +} + +template +__global__ void ms_deformable_col2im_gpu_kernel_shm_reduce_v2(const int n, + const scalar_t *grad_col, + const scalar_t *data_value, + const int64_t *data_spatial_shapes, + const int64_t *data_level_start_index, + const scalar_t *data_sampling_loc, + const scalar_t *data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t *grad_value, + scalar_t *grad_sampling_loc, + scalar_t *grad_attn_weight) +{ + CUDA_KERNEL_LOOP(index, n) + { + extern __shared__ int _s[]; + scalar_t* cache_grad_sampling_loc = (scalar_t*)_s; + scalar_t* cache_grad_attn_weight = cache_grad_sampling_loc + 2 * blockDim.x; + unsigned int tid = threadIdx.x; + int _temp = index; + const int c_col = _temp % channels; + _temp /= channels; + const int sampling_index = _temp; + const int m_col = _temp % num_heads; + _temp /= num_heads; + const int q_col = _temp % num_query; + _temp /= num_query; + const int b_col = _temp; + + const scalar_t top_grad = grad_col[index]; + + int data_weight_ptr = sampling_index * num_levels * num_point; + int data_loc_w_ptr = data_weight_ptr << 1; + const int grad_sampling_ptr = data_weight_ptr; + grad_sampling_loc += grad_sampling_ptr << 1; + grad_attn_weight += grad_sampling_ptr; + const int grad_weight_stride = 1; + const int grad_loc_stride = 2; + const int qid_stride = num_heads * channels; + const int data_value_ptr_init_offset = b_col * spatial_size * qid_stride; + + for (int l_col=0; l_col < num_levels; ++l_col) + { + const int level_start_id = data_level_start_index[l_col]; + const int spatial_h_ptr = l_col << 1; + const int spatial_h = data_spatial_shapes[spatial_h_ptr]; + const int spatial_w = data_spatial_shapes[spatial_h_ptr + 1]; + const int value_ptr_offset = data_value_ptr_init_offset + level_start_id * qid_stride; + const scalar_t *data_value_ptr = data_value + value_ptr_offset; + scalar_t *grad_value_ptr = grad_value + value_ptr_offset; + + for (int p_col=0; p_col < num_point; ++p_col) + { + const scalar_t loc_w = data_sampling_loc[data_loc_w_ptr]; + const scalar_t loc_h = data_sampling_loc[data_loc_w_ptr + 1]; + const scalar_t weight = data_attn_weight[data_weight_ptr]; + + const scalar_t h_im = loc_h * spatial_h - 0.5; + const scalar_t w_im = loc_w * spatial_w - 0.5; + *(cache_grad_sampling_loc+(threadIdx.x << 1)) = 0; + *(cache_grad_sampling_loc+((threadIdx.x << 1) + 1)) = 0; + *(cache_grad_attn_weight+threadIdx.x)=0; + if (h_im > -1 && w_im > -1 && h_im < spatial_h && w_im < spatial_w) + { + ms_deform_attn_col2im_bilinear( + data_value_ptr, spatial_h, spatial_w, num_heads, channels, h_im, w_im, m_col, c_col, + top_grad, weight, grad_value_ptr, + cache_grad_sampling_loc+(threadIdx.x << 1), cache_grad_attn_weight+threadIdx.x); + } + + __syncthreads(); + + for (unsigned int s=blockDim.x/2, spre=blockDim.x; s>0; s>>=1, spre>>=1) + { + if (tid < s) { + const unsigned int xid1 = tid << 1; + const unsigned int xid2 = (tid + s) << 1; + cache_grad_attn_weight[tid] += cache_grad_attn_weight[tid + s]; + cache_grad_sampling_loc[xid1] += cache_grad_sampling_loc[xid2]; + cache_grad_sampling_loc[xid1 + 1] += cache_grad_sampling_loc[xid2 + 1]; + if (tid + (s << 1) < spre) + { + cache_grad_attn_weight[tid] += cache_grad_attn_weight[tid + (s << 1)]; + cache_grad_sampling_loc[xid1] += cache_grad_sampling_loc[xid2 + (s << 1)]; + cache_grad_sampling_loc[xid1 + 1] += cache_grad_sampling_loc[xid2 + 1 + (s << 1)]; + } + } + __syncthreads(); + } + + if (tid == 0) + { + *grad_sampling_loc = cache_grad_sampling_loc[0]; + *(grad_sampling_loc + 1) = cache_grad_sampling_loc[1]; + *grad_attn_weight = cache_grad_attn_weight[0]; + } + __syncthreads(); + + data_weight_ptr += 1; + data_loc_w_ptr += 2; + grad_attn_weight += grad_weight_stride; + grad_sampling_loc += grad_loc_stride; + } + } + } +} + +template +__global__ void ms_deformable_col2im_gpu_kernel_shm_reduce_v2_multi_blocks(const int n, + const scalar_t *grad_col, + const scalar_t *data_value, + const int64_t *data_spatial_shapes, + const int64_t *data_level_start_index, + const scalar_t *data_sampling_loc, + const scalar_t *data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t *grad_value, + scalar_t *grad_sampling_loc, + scalar_t *grad_attn_weight) +{ + CUDA_KERNEL_LOOP(index, n) + { + extern __shared__ int _s[]; + scalar_t* cache_grad_sampling_loc = (scalar_t*)_s; + scalar_t* cache_grad_attn_weight = cache_grad_sampling_loc + 2 * blockDim.x; + unsigned int tid = threadIdx.x; + int _temp = index; + const int c_col = _temp % channels; + _temp /= channels; + const int sampling_index = _temp; + const int m_col = _temp % num_heads; + _temp /= num_heads; + const int q_col = _temp % num_query; + _temp /= num_query; + const int b_col = _temp; + + const scalar_t top_grad = grad_col[index]; + + int data_weight_ptr = sampling_index * num_levels * num_point; + int data_loc_w_ptr = data_weight_ptr << 1; + const int grad_sampling_ptr = data_weight_ptr; + grad_sampling_loc += grad_sampling_ptr << 1; + grad_attn_weight += grad_sampling_ptr; + const int grad_weight_stride = 1; + const int grad_loc_stride = 2; + const int qid_stride = num_heads * channels; + const int data_value_ptr_init_offset = b_col * spatial_size * qid_stride; + + for (int l_col=0; l_col < num_levels; ++l_col) + { + const int level_start_id = data_level_start_index[l_col]; + const int spatial_h_ptr = l_col << 1; + const int spatial_h = data_spatial_shapes[spatial_h_ptr]; + const int spatial_w = data_spatial_shapes[spatial_h_ptr + 1]; + const int value_ptr_offset = data_value_ptr_init_offset + level_start_id * qid_stride; + const scalar_t *data_value_ptr = data_value + value_ptr_offset; + scalar_t *grad_value_ptr = grad_value + value_ptr_offset; + + for (int p_col=0; p_col < num_point; ++p_col) + { + const scalar_t loc_w = data_sampling_loc[data_loc_w_ptr]; + const scalar_t loc_h = data_sampling_loc[data_loc_w_ptr + 1]; + const scalar_t weight = data_attn_weight[data_weight_ptr]; + + const scalar_t h_im = loc_h * spatial_h - 0.5; + const scalar_t w_im = loc_w * spatial_w - 0.5; + *(cache_grad_sampling_loc+(threadIdx.x << 1)) = 0; + *(cache_grad_sampling_loc+((threadIdx.x << 1) + 1)) = 0; + *(cache_grad_attn_weight+threadIdx.x)=0; + if (h_im > -1 && w_im > -1 && h_im < spatial_h && w_im < spatial_w) + { + ms_deform_attn_col2im_bilinear( + data_value_ptr, spatial_h, spatial_w, num_heads, channels, h_im, w_im, m_col, c_col, + top_grad, weight, grad_value_ptr, + cache_grad_sampling_loc+(threadIdx.x << 1), cache_grad_attn_weight+threadIdx.x); + } + + __syncthreads(); + + for (unsigned int s=blockDim.x/2, spre=blockDim.x; s>0; s>>=1, spre>>=1) + { + if (tid < s) { + const unsigned int xid1 = tid << 1; + const unsigned int xid2 = (tid + s) << 1; + cache_grad_attn_weight[tid] += cache_grad_attn_weight[tid + s]; + cache_grad_sampling_loc[xid1] += cache_grad_sampling_loc[xid2]; + cache_grad_sampling_loc[xid1 + 1] += cache_grad_sampling_loc[xid2 + 1]; + if (tid + (s << 1) < spre) + { + cache_grad_attn_weight[tid] += cache_grad_attn_weight[tid + (s << 1)]; + cache_grad_sampling_loc[xid1] += cache_grad_sampling_loc[xid2 + (s << 1)]; + cache_grad_sampling_loc[xid1 + 1] += cache_grad_sampling_loc[xid2 + 1 + (s << 1)]; + } + } + __syncthreads(); + } + + if (tid == 0) + { + atomicAdd(grad_sampling_loc, cache_grad_sampling_loc[0]); + atomicAdd(grad_sampling_loc + 1, cache_grad_sampling_loc[1]); + atomicAdd(grad_attn_weight, cache_grad_attn_weight[0]); + } + __syncthreads(); + + data_weight_ptr += 1; + data_loc_w_ptr += 2; + grad_attn_weight += grad_weight_stride; + grad_sampling_loc += grad_loc_stride; + } + } + } +} + + +template +__global__ void ms_deformable_col2im_gpu_kernel_gm(const int n, + const scalar_t *grad_col, + const scalar_t *data_value, + const int64_t *data_spatial_shapes, + const int64_t *data_level_start_index, + const scalar_t *data_sampling_loc, + const scalar_t *data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t *grad_value, + scalar_t *grad_sampling_loc, + scalar_t *grad_attn_weight) +{ + CUDA_KERNEL_LOOP(index, n) + { + int _temp = index; + const int c_col = _temp % channels; + _temp /= channels; + const int sampling_index = _temp; + const int m_col = _temp % num_heads; + _temp /= num_heads; + const int q_col = _temp % num_query; + _temp /= num_query; + const int b_col = _temp; + + const scalar_t top_grad = grad_col[index]; + + int data_weight_ptr = sampling_index * num_levels * num_point; + int data_loc_w_ptr = data_weight_ptr << 1; + const int grad_sampling_ptr = data_weight_ptr; + grad_sampling_loc += grad_sampling_ptr << 1; + grad_attn_weight += grad_sampling_ptr; + const int grad_weight_stride = 1; + const int grad_loc_stride = 2; + const int qid_stride = num_heads * channels; + const int data_value_ptr_init_offset = b_col * spatial_size * qid_stride; + + for (int l_col=0; l_col < num_levels; ++l_col) + { + const int level_start_id = data_level_start_index[l_col]; + const int spatial_h_ptr = l_col << 1; + const int spatial_h = data_spatial_shapes[spatial_h_ptr]; + const int spatial_w = data_spatial_shapes[spatial_h_ptr + 1]; + const int value_ptr_offset = data_value_ptr_init_offset + level_start_id * qid_stride; + const scalar_t *data_value_ptr = data_value + value_ptr_offset; + scalar_t *grad_value_ptr = grad_value + value_ptr_offset; + + for (int p_col=0; p_col < num_point; ++p_col) + { + const scalar_t loc_w = data_sampling_loc[data_loc_w_ptr]; + const scalar_t loc_h = data_sampling_loc[data_loc_w_ptr + 1]; + const scalar_t weight = data_attn_weight[data_weight_ptr]; + + const scalar_t h_im = loc_h * spatial_h - 0.5; + const scalar_t w_im = loc_w * spatial_w - 0.5; + if (h_im > -1 && w_im > -1 && h_im < spatial_h && w_im < spatial_w) + { + ms_deform_attn_col2im_bilinear_gm( + data_value_ptr, spatial_h, spatial_w, num_heads, channels, h_im, w_im, m_col, c_col, + top_grad, weight, grad_value_ptr, + grad_sampling_loc, grad_attn_weight); + } + data_weight_ptr += 1; + data_loc_w_ptr += 2; + grad_attn_weight += grad_weight_stride; + grad_sampling_loc += grad_loc_stride; + } + } + } +} + + +template +void ms_deformable_im2col_cuda(cudaStream_t stream, + const scalar_t* data_value, + const int64_t* data_spatial_shapes, + const int64_t* data_level_start_index, + const scalar_t* data_sampling_loc, + const scalar_t* data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t* data_col) +{ + const int num_kernels = batch_size * num_query * num_heads * channels; + const int num_actual_kernels = batch_size * num_query * num_heads * channels; + const int num_threads = CUDA_NUM_THREADS; + ms_deformable_im2col_gpu_kernel + <<>>( + num_kernels, data_value, data_spatial_shapes, data_level_start_index, data_sampling_loc, data_attn_weight, + batch_size, spatial_size, num_heads, channels, num_levels, num_query, num_point, data_col); + + cudaError_t err = cudaGetLastError(); + if (err != cudaSuccess) + { + printf("error in ms_deformable_im2col_cuda: %s\n", cudaGetErrorString(err)); + } + +} + +template +void ms_deformable_col2im_cuda(cudaStream_t stream, + const scalar_t* grad_col, + const scalar_t* data_value, + const int64_t * data_spatial_shapes, + const int64_t * data_level_start_index, + const scalar_t * data_sampling_loc, + const scalar_t * data_attn_weight, + const int batch_size, + const int spatial_size, + const int num_heads, + const int channels, + const int num_levels, + const int num_query, + const int num_point, + scalar_t* grad_value, + scalar_t* grad_sampling_loc, + scalar_t* grad_attn_weight) +{ + const int num_threads = (channels > CUDA_NUM_THREADS)?CUDA_NUM_THREADS:channels; + const int num_kernels = batch_size * num_query * num_heads * channels; + const int num_actual_kernels = batch_size * num_query * num_heads * channels; + if (channels > 1024) + { + if ((channels & 1023) == 0) + { + ms_deformable_col2im_gpu_kernel_shm_reduce_v2_multi_blocks + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + } + else + { + ms_deformable_col2im_gpu_kernel_gm + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + } + } + else{ + switch(channels) + { + case 1: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v1 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 2: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v1 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 4: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v1 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 8: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v1 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 16: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v1 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 32: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v1 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 64: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v2 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 128: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v2 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 256: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v2 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 512: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v2 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + case 1024: + ms_deformable_col2im_gpu_kernel_shm_blocksize_aware_reduce_v2 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + break; + default: + if (channels < 64) + { + ms_deformable_col2im_gpu_kernel_shm_reduce_v1 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + } + else + { + ms_deformable_col2im_gpu_kernel_shm_reduce_v2 + <<>>( + num_kernels, + grad_col, + data_value, + data_spatial_shapes, + data_level_start_index, + data_sampling_loc, + data_attn_weight, + batch_size, + spatial_size, + num_heads, + channels, + num_levels, + num_query, + num_point, + grad_value, + grad_sampling_loc, + grad_attn_weight); + } + } + } + cudaError_t err = cudaGetLastError(); + if (err != cudaSuccess) + { + printf("error in ms_deformable_col2im_cuda: %s\n", cudaGetErrorString(err)); + } + +} \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/cuda_version.cu b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/cuda_version.cu new file mode 100644 index 0000000000000000000000000000000000000000..64569e34ffb250964de27e33e7a53f3822270b9e --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/cuda_version.cu @@ -0,0 +1,7 @@ +#include + +namespace groundingdino { +int get_cudart_version() { + return CUDART_VERSION; +} +} // namespace groundingdino diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/vision.cpp b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/vision.cpp new file mode 100644 index 0000000000000000000000000000000000000000..c1f2c50c82909bbd5492c163d634af77a3ba1781 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/csrc/vision.cpp @@ -0,0 +1,58 @@ +// Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved + +#include "MsDeformAttn/ms_deform_attn.h" + +namespace groundingdino { + +#ifdef WITH_CUDA +extern int get_cudart_version(); +#endif + +std::string get_cuda_version() { +#ifdef WITH_CUDA + std::ostringstream oss; + + // copied from + // https://github.com/pytorch/pytorch/blob/master/aten/src/ATen/cuda/detail/CUDAHooks.cpp#L231 + auto printCudaStyleVersion = [&](int v) { + oss << (v / 1000) << "." << (v / 10 % 100); + if (v % 10 != 0) { + oss << "." << (v % 10); + } + }; + printCudaStyleVersion(get_cudart_version()); + return oss.str(); +#else + return std::string("not available"); +#endif +} + +// similar to +// https://github.com/pytorch/pytorch/blob/master/aten/src/ATen/Version.cpp +std::string get_compiler_version() { + std::ostringstream ss; +#if defined(__GNUC__) +#ifndef __clang__ + { ss << "GCC " << __GNUC__ << "." << __GNUC_MINOR__; } +#endif +#endif + +#if defined(__clang_major__) + { + ss << "clang " << __clang_major__ << "." << __clang_minor__ << "." + << __clang_patchlevel__; + } +#endif + +#if defined(_MSC_VER) + { ss << "MSVC " << _MSC_FULL_VER; } +#endif + return ss.str(); +} + +PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) { + m.def("ms_deform_attn_forward", &ms_deform_attn_forward, "ms_deform_attn_forward"); + m.def("ms_deform_attn_backward", &ms_deform_attn_backward, "ms_deform_attn_backward"); +} + +} // namespace groundingdino \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/fuse_modules.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/fuse_modules.py new file mode 100644 index 0000000000000000000000000000000000000000..2753b3ddee43c7a9fe28d1824db5d786e7e1ad59 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/fuse_modules.py @@ -0,0 +1,297 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ + +import torch +import torch.nn as nn +import torch.nn.functional as F +from timm.models.layers import DropPath + + +class FeatureResizer(nn.Module): + """ + This class takes as input a set of embeddings of dimension C1 and outputs a set of + embedding of dimension C2, after a linear transformation, dropout and normalization (LN). + """ + + def __init__(self, input_feat_size, output_feat_size, dropout, do_ln=True): + super().__init__() + self.do_ln = do_ln + # Object feature encoding + self.fc = nn.Linear(input_feat_size, output_feat_size, bias=True) + self.layer_norm = nn.LayerNorm(output_feat_size, eps=1e-12) + self.dropout = nn.Dropout(dropout) + + def forward(self, encoder_features): + x = self.fc(encoder_features) + if self.do_ln: + x = self.layer_norm(x) + output = self.dropout(x) + return output + + +def l1norm(X, dim, eps=1e-8): + """L1-normalize columns of X""" + norm = torch.abs(X).sum(dim=dim, keepdim=True) + eps + X = torch.div(X, norm) + return X + + +def l2norm(X, dim, eps=1e-8): + """L2-normalize columns of X""" + norm = torch.pow(X, 2).sum(dim=dim, keepdim=True).sqrt() + eps + X = torch.div(X, norm) + return X + + +def func_attention(query, context, smooth=1, raw_feature_norm="softmax", eps=1e-8): + """ + query: (n_context, queryL, d) + context: (n_context, sourceL, d) + """ + batch_size_q, queryL = query.size(0), query.size(1) + batch_size, sourceL = context.size(0), context.size(1) + + # Get attention + # --> (batch, d, queryL) + queryT = torch.transpose(query, 1, 2) + + # (batch, sourceL, d)(batch, d, queryL) + # --> (batch, sourceL, queryL) + attn = torch.bmm(context, queryT) + if raw_feature_norm == "softmax": + # --> (batch*sourceL, queryL) + attn = attn.view(batch_size * sourceL, queryL) + attn = nn.Softmax()(attn) + # --> (batch, sourceL, queryL) + attn = attn.view(batch_size, sourceL, queryL) + elif raw_feature_norm == "l2norm": + attn = l2norm(attn, 2) + elif raw_feature_norm == "clipped_l2norm": + attn = nn.LeakyReLU(0.1)(attn) + attn = l2norm(attn, 2) + else: + raise ValueError("unknown first norm type:", raw_feature_norm) + # --> (batch, queryL, sourceL) + attn = torch.transpose(attn, 1, 2).contiguous() + # --> (batch*queryL, sourceL) + attn = attn.view(batch_size * queryL, sourceL) + attn = nn.Softmax()(attn * smooth) + # --> (batch, queryL, sourceL) + attn = attn.view(batch_size, queryL, sourceL) + # --> (batch, sourceL, queryL) + attnT = torch.transpose(attn, 1, 2).contiguous() + + # --> (batch, d, sourceL) + contextT = torch.transpose(context, 1, 2) + # (batch x d x sourceL)(batch x sourceL x queryL) + # --> (batch, d, queryL) + weightedContext = torch.bmm(contextT, attnT) + # --> (batch, queryL, d) + weightedContext = torch.transpose(weightedContext, 1, 2) + + return weightedContext, attnT + + +class BiMultiHeadAttention(nn.Module): + def __init__(self, v_dim, l_dim, embed_dim, num_heads, dropout=0.1, cfg=None): + super(BiMultiHeadAttention, self).__init__() + + self.embed_dim = embed_dim + self.num_heads = num_heads + self.head_dim = embed_dim // num_heads + self.v_dim = v_dim + self.l_dim = l_dim + + assert ( + self.head_dim * self.num_heads == self.embed_dim + ), f"embed_dim must be divisible by num_heads (got `embed_dim`: {self.embed_dim} and `num_heads`: {self.num_heads})." + self.scale = self.head_dim ** (-0.5) + self.dropout = dropout + + self.v_proj = nn.Linear(self.v_dim, self.embed_dim) + self.l_proj = nn.Linear(self.l_dim, self.embed_dim) + self.values_v_proj = nn.Linear(self.v_dim, self.embed_dim) + self.values_l_proj = nn.Linear(self.l_dim, self.embed_dim) + + self.out_v_proj = nn.Linear(self.embed_dim, self.v_dim) + self.out_l_proj = nn.Linear(self.embed_dim, self.l_dim) + + self.stable_softmax_2d = True + self.clamp_min_for_underflow = True + self.clamp_max_for_overflow = True + + self._reset_parameters() + + def _shape(self, tensor: torch.Tensor, seq_len: int, bsz: int): + return tensor.view(bsz, seq_len, self.num_heads, self.head_dim).transpose(1, 2).contiguous() + + def _reset_parameters(self): + nn.init.xavier_uniform_(self.v_proj.weight) + self.v_proj.bias.data.fill_(0) + nn.init.xavier_uniform_(self.l_proj.weight) + self.l_proj.bias.data.fill_(0) + nn.init.xavier_uniform_(self.values_v_proj.weight) + self.values_v_proj.bias.data.fill_(0) + nn.init.xavier_uniform_(self.values_l_proj.weight) + self.values_l_proj.bias.data.fill_(0) + nn.init.xavier_uniform_(self.out_v_proj.weight) + self.out_v_proj.bias.data.fill_(0) + nn.init.xavier_uniform_(self.out_l_proj.weight) + self.out_l_proj.bias.data.fill_(0) + + def forward(self, v, l, attention_mask_v=None, attention_mask_l=None): + """_summary_ + + Args: + v (_type_): bs, n_img, dim + l (_type_): bs, n_text, dim + attention_mask_v (_type_, optional): _description_. bs, n_img + attention_mask_l (_type_, optional): _description_. bs, n_text + + Returns: + _type_: _description_ + """ + # if os.environ.get('IPDB_SHILONG_DEBUG', None) == 'INFO': + # import ipdb; ipdb.set_trace() + bsz, tgt_len, _ = v.size() + + query_states = self.v_proj(v) * self.scale + key_states = self._shape(self.l_proj(l), -1, bsz) + value_v_states = self._shape(self.values_v_proj(v), -1, bsz) + value_l_states = self._shape(self.values_l_proj(l), -1, bsz) + + proj_shape = (bsz * self.num_heads, -1, self.head_dim) + query_states = self._shape(query_states, tgt_len, bsz).view(*proj_shape) + key_states = key_states.view(*proj_shape) + value_v_states = value_v_states.view(*proj_shape) + value_l_states = value_l_states.view(*proj_shape) + + src_len = key_states.size(1) + attn_weights = torch.bmm(query_states, key_states.transpose(1, 2)) # bs*nhead, nimg, ntxt + + if attn_weights.size() != (bsz * self.num_heads, tgt_len, src_len): + raise ValueError( + f"Attention weights should be of size {(bsz * self.num_heads, tgt_len, src_len)}, but is {attn_weights.size()}" + ) + + if self.stable_softmax_2d: + attn_weights = attn_weights - attn_weights.max() + + if self.clamp_min_for_underflow: + attn_weights = torch.clamp( + attn_weights, min=-50000 + ) # Do not increase -50000, data type half has quite limited range + if self.clamp_max_for_overflow: + attn_weights = torch.clamp( + attn_weights, max=50000 + ) # Do not increase 50000, data type half has quite limited range + + attn_weights_T = attn_weights.transpose(1, 2) + attn_weights_l = attn_weights_T - torch.max(attn_weights_T, dim=-1, keepdim=True)[0] + if self.clamp_min_for_underflow: + attn_weights_l = torch.clamp( + attn_weights_l, min=-50000 + ) # Do not increase -50000, data type half has quite limited range + if self.clamp_max_for_overflow: + attn_weights_l = torch.clamp( + attn_weights_l, max=50000 + ) # Do not increase 50000, data type half has quite limited range + + # mask vison for language + if attention_mask_v is not None: + attention_mask_v = ( + attention_mask_v[:, None, None, :].repeat(1, self.num_heads, 1, 1).flatten(0, 1) + ) + attn_weights_l.masked_fill_(attention_mask_v, float("-inf")) + + attn_weights_l = attn_weights_l.softmax(dim=-1) + + # mask language for vision + if attention_mask_l is not None: + attention_mask_l = ( + attention_mask_l[:, None, None, :].repeat(1, self.num_heads, 1, 1).flatten(0, 1) + ) + attn_weights.masked_fill_(attention_mask_l, float("-inf")) + attn_weights_v = attn_weights.softmax(dim=-1) + + attn_probs_v = F.dropout(attn_weights_v, p=self.dropout, training=self.training) + attn_probs_l = F.dropout(attn_weights_l, p=self.dropout, training=self.training) + + attn_output_v = torch.bmm(attn_probs_v, value_l_states) + attn_output_l = torch.bmm(attn_probs_l, value_v_states) + + if attn_output_v.size() != (bsz * self.num_heads, tgt_len, self.head_dim): + raise ValueError( + f"`attn_output_v` should be of size {(bsz, self.num_heads, tgt_len, self.head_dim)}, but is {attn_output_v.size()}" + ) + + if attn_output_l.size() != (bsz * self.num_heads, src_len, self.head_dim): + raise ValueError( + f"`attn_output_l` should be of size {(bsz, self.num_heads, src_len, self.head_dim)}, but is {attn_output_l.size()}" + ) + + attn_output_v = attn_output_v.view(bsz, self.num_heads, tgt_len, self.head_dim) + attn_output_v = attn_output_v.transpose(1, 2) + attn_output_v = attn_output_v.reshape(bsz, tgt_len, self.embed_dim) + + attn_output_l = attn_output_l.view(bsz, self.num_heads, src_len, self.head_dim) + attn_output_l = attn_output_l.transpose(1, 2) + attn_output_l = attn_output_l.reshape(bsz, src_len, self.embed_dim) + + attn_output_v = self.out_v_proj(attn_output_v) + attn_output_l = self.out_l_proj(attn_output_l) + + return attn_output_v, attn_output_l + + +# Bi-Direction MHA (text->image, image->text) +class BiAttentionBlock(nn.Module): + def __init__( + self, + v_dim, + l_dim, + embed_dim, + num_heads, + dropout=0.1, + drop_path=0.0, + init_values=1e-4, + cfg=None, + ): + """ + Inputs: + embed_dim - Dimensionality of input and attention feature vectors + hidden_dim - Dimensionality of hidden layer in feed-forward network + (usually 2-4x larger than embed_dim) + num_heads - Number of heads to use in the Multi-Head Attention block + dropout - Amount of dropout to apply in the feed-forward network + """ + super(BiAttentionBlock, self).__init__() + + # pre layer norm + self.layer_norm_v = nn.LayerNorm(v_dim) + self.layer_norm_l = nn.LayerNorm(l_dim) + self.attn = BiMultiHeadAttention( + v_dim=v_dim, l_dim=l_dim, embed_dim=embed_dim, num_heads=num_heads, dropout=dropout + ) + + # add layer scale for training stability + self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + self.gamma_v = nn.Parameter(init_values * torch.ones((v_dim)), requires_grad=True) + self.gamma_l = nn.Parameter(init_values * torch.ones((l_dim)), requires_grad=True) + + def forward(self, v, l, attention_mask_v=None, attention_mask_l=None): + v = self.layer_norm_v(v) + l = self.layer_norm_l(l) + delta_v, delta_l = self.attn( + v, l, attention_mask_v=attention_mask_v, attention_mask_l=attention_mask_l + ) + # v, l = v + delta_v, l + delta_l + v = v + self.drop_path(self.gamma_v * delta_v) + l = l + self.drop_path(self.gamma_l * delta_l) + return v, l + + # def forward(self, v:List[torch.Tensor], l, attention_mask_v=None, attention_mask_l=None) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/groundingdino.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/groundingdino.py new file mode 100644 index 0000000000000000000000000000000000000000..9ac949846e6db0162930d9cfce8e813fd4c767a7 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/groundingdino.py @@ -0,0 +1,412 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Conditional DETR model and criterion classes. +# Copyright (c) 2021 Microsoft. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Modified from DETR (https://github.com/facebookresearch/detr) +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved. +# ------------------------------------------------------------------------ +# Modified from Deformable DETR (https://github.com/fundamentalvision/Deformable-DETR) +# Copyright (c) 2020 SenseTime. All Rights Reserved. +# ------------------------------------------------------------------------ +import copy +from typing import List + +import torch +import torch.nn.functional as F +from torch import nn +from torchvision.ops.boxes import nms +from transformers import AutoTokenizer, BertModel, BertTokenizer, RobertaModel, RobertaTokenizerFast + +from grounding_dino.groundingdino.util import box_ops, get_tokenlizer +from grounding_dino.groundingdino.util.misc import ( + NestedTensor, + accuracy, + get_world_size, + interpolate, + inverse_sigmoid, + is_dist_avail_and_initialized, + nested_tensor_from_tensor_list, +) +from grounding_dino.groundingdino.util.utils import get_phrases_from_posmap +from grounding_dino.groundingdino.util.visualizer import COCOVisualizer +from grounding_dino.groundingdino.util.vl_utils import create_positive_map_from_span + +from ..registry import MODULE_BUILD_FUNCS +from .backbone import build_backbone +from .bertwarper import ( + BertModelWarper, + generate_masks_with_special_tokens, + generate_masks_with_special_tokens_and_transfer_map, +) +from .transformer import build_transformer +from .utils import MLP, ContrastiveEmbed, sigmoid_focal_loss + + +class GroundingDINO(nn.Module): + """This is the Cross-Attention Detector module that performs object detection""" + + def __init__( + self, + backbone, + transformer, + num_queries, + aux_loss=False, + iter_update=False, + query_dim=2, + num_feature_levels=1, + nheads=8, + # two stage + two_stage_type="no", # ['no', 'standard'] + dec_pred_bbox_embed_share=True, + two_stage_class_embed_share=True, + two_stage_bbox_embed_share=True, + num_patterns=0, + dn_number=100, + dn_box_noise_scale=0.4, + dn_label_noise_ratio=0.5, + dn_labelbook_size=100, + text_encoder_type="bert-base-uncased", + sub_sentence_present=True, + max_text_len=256, + ): + """Initializes the model. + Parameters: + backbone: torch module of the backbone to be used. See backbone.py + transformer: torch module of the transformer architecture. See transformer.py + num_queries: number of object queries, ie detection slot. This is the maximal number of objects + Conditional DETR can detect in a single image. For COCO, we recommend 100 queries. + aux_loss: True if auxiliary decoding losses (loss at each decoder layer) are to be used. + """ + super().__init__() + self.num_queries = num_queries + self.transformer = transformer + self.hidden_dim = hidden_dim = transformer.d_model + self.num_feature_levels = num_feature_levels + self.nheads = nheads + self.max_text_len = 256 + self.sub_sentence_present = sub_sentence_present + + # setting query dim + self.query_dim = query_dim + assert query_dim == 4 + + # for dn training + self.num_patterns = num_patterns + self.dn_number = dn_number + self.dn_box_noise_scale = dn_box_noise_scale + self.dn_label_noise_ratio = dn_label_noise_ratio + self.dn_labelbook_size = dn_labelbook_size + + # bert + self.tokenizer = get_tokenlizer.get_tokenlizer(text_encoder_type) + self.bert = get_tokenlizer.get_pretrained_language_model(text_encoder_type) + self.bert.pooler.dense.weight.requires_grad_(False) + self.bert.pooler.dense.bias.requires_grad_(False) + self.bert = BertModelWarper(bert_model=self.bert) + + self.feat_map = nn.Linear(self.bert.config.hidden_size, self.hidden_dim, bias=True) + nn.init.constant_(self.feat_map.bias.data, 0) + nn.init.xavier_uniform_(self.feat_map.weight.data) + # freeze + + # special tokens + self.specical_tokens = self.tokenizer.convert_tokens_to_ids(["[CLS]", "[SEP]", ".", "?"]) + + # prepare input projection layers + if num_feature_levels > 1: + num_backbone_outs = len(backbone.num_channels) + input_proj_list = [] + for _ in range(num_backbone_outs): + in_channels = backbone.num_channels[_] + input_proj_list.append( + nn.Sequential( + nn.Conv2d(in_channels, hidden_dim, kernel_size=1), + nn.GroupNorm(32, hidden_dim), + ) + ) + for _ in range(num_feature_levels - num_backbone_outs): + input_proj_list.append( + nn.Sequential( + nn.Conv2d(in_channels, hidden_dim, kernel_size=3, stride=2, padding=1), + nn.GroupNorm(32, hidden_dim), + ) + ) + in_channels = hidden_dim + self.input_proj = nn.ModuleList(input_proj_list) + else: + assert two_stage_type == "no", "two_stage_type should be no if num_feature_levels=1 !!!" + self.input_proj = nn.ModuleList( + [ + nn.Sequential( + nn.Conv2d(backbone.num_channels[-1], hidden_dim, kernel_size=1), + nn.GroupNorm(32, hidden_dim), + ) + ] + ) + + self.backbone = backbone + self.aux_loss = aux_loss + self.box_pred_damping = box_pred_damping = None + + self.iter_update = iter_update + assert iter_update, "Why not iter_update?" + + # prepare pred layers + self.dec_pred_bbox_embed_share = dec_pred_bbox_embed_share + # prepare class & box embed + _class_embed = ContrastiveEmbed() + + _bbox_embed = MLP(hidden_dim, hidden_dim, 4, 3) + nn.init.constant_(_bbox_embed.layers[-1].weight.data, 0) + nn.init.constant_(_bbox_embed.layers[-1].bias.data, 0) + + if dec_pred_bbox_embed_share: + box_embed_layerlist = [_bbox_embed for i in range(transformer.num_decoder_layers)] + else: + box_embed_layerlist = [ + copy.deepcopy(_bbox_embed) for i in range(transformer.num_decoder_layers) + ] + class_embed_layerlist = [_class_embed for i in range(transformer.num_decoder_layers)] + self.bbox_embed = nn.ModuleList(box_embed_layerlist) + self.class_embed = nn.ModuleList(class_embed_layerlist) + self.transformer.decoder.bbox_embed = self.bbox_embed + self.transformer.decoder.class_embed = self.class_embed + + # two stage + self.two_stage_type = two_stage_type + assert two_stage_type in ["no", "standard"], "unknown param {} of two_stage_type".format( + two_stage_type + ) + if two_stage_type != "no": + if two_stage_bbox_embed_share: + assert dec_pred_bbox_embed_share + self.transformer.enc_out_bbox_embed = _bbox_embed + else: + self.transformer.enc_out_bbox_embed = copy.deepcopy(_bbox_embed) + + if two_stage_class_embed_share: + assert dec_pred_bbox_embed_share + self.transformer.enc_out_class_embed = _class_embed + else: + self.transformer.enc_out_class_embed = copy.deepcopy(_class_embed) + + self.refpoint_embed = None + + self._reset_parameters() + + def _reset_parameters(self): + # init input_proj + for proj in self.input_proj: + nn.init.xavier_uniform_(proj[0].weight, gain=1) + nn.init.constant_(proj[0].bias, 0) + + def set_image_tensor(self, samples: NestedTensor): + if isinstance(samples, (list, torch.Tensor)): + samples = nested_tensor_from_tensor_list(samples) + self.features, self.poss = self.backbone(samples) + + def unset_image_tensor(self): + if hasattr(self, 'features'): + del self.features + if hasattr(self,'poss'): + del self.poss + + def set_image_features(self, features , poss): + self.features = features + self.poss = poss + + def init_ref_points(self, use_num_queries): + self.refpoint_embed = nn.Embedding(use_num_queries, self.query_dim) + + def forward(self, samples: NestedTensor, targets: List = None, **kw): + """The forward expects a NestedTensor, which consists of: + - samples.tensor: batched images, of shape [batch_size x 3 x H x W] + - samples.mask: a binary mask of shape [batch_size x H x W], containing 1 on padded pixels + + It returns a dict with the following elements: + - "pred_logits": the classification logits (including no-object) for all queries. + Shape= [batch_size x num_queries x num_classes] + - "pred_boxes": The normalized boxes coordinates for all queries, represented as + (center_x, center_y, width, height). These values are normalized in [0, 1], + relative to the size of each individual image (disregarding possible padding). + See PostProcess for information on how to retrieve the unnormalized bounding box. + - "aux_outputs": Optional, only returned when auxilary losses are activated. It is a list of + dictionnaries containing the two above keys for each decoder layer. + """ + if targets is None: + captions = kw["captions"] + else: + captions = [t["caption"] for t in targets] + + # encoder texts + tokenized = self.tokenizer(captions, padding="longest", return_tensors="pt").to( + samples.device + ) + ( + text_self_attention_masks, + position_ids, + cate_to_token_mask_list, + ) = generate_masks_with_special_tokens_and_transfer_map( + tokenized, self.specical_tokens, self.tokenizer + ) + + if text_self_attention_masks.shape[1] > self.max_text_len: + text_self_attention_masks = text_self_attention_masks[ + :, : self.max_text_len, : self.max_text_len + ] + position_ids = position_ids[:, : self.max_text_len] + tokenized["input_ids"] = tokenized["input_ids"][:, : self.max_text_len] + tokenized["attention_mask"] = tokenized["attention_mask"][:, : self.max_text_len] + tokenized["token_type_ids"] = tokenized["token_type_ids"][:, : self.max_text_len] + + # extract text embeddings + if self.sub_sentence_present: + tokenized_for_encoder = {k: v for k, v in tokenized.items() if k != "attention_mask"} + tokenized_for_encoder["attention_mask"] = text_self_attention_masks + tokenized_for_encoder["position_ids"] = position_ids + else: + # import ipdb; ipdb.set_trace() + tokenized_for_encoder = tokenized + + bert_output = self.bert(**tokenized_for_encoder) # bs, 195, 768 + + encoded_text = self.feat_map(bert_output["last_hidden_state"]) # bs, 195, d_model + text_token_mask = tokenized.attention_mask.bool() # bs, 195 + # text_token_mask: True for nomask, False for mask + # text_self_attention_masks: True for nomask, False for mask + + if encoded_text.shape[1] > self.max_text_len: + encoded_text = encoded_text[:, : self.max_text_len, :] + text_token_mask = text_token_mask[:, : self.max_text_len] + position_ids = position_ids[:, : self.max_text_len] + text_self_attention_masks = text_self_attention_masks[ + :, : self.max_text_len, : self.max_text_len + ] + + text_dict = { + "encoded_text": encoded_text, # bs, 195, d_model + "text_token_mask": text_token_mask, # bs, 195 + "position_ids": position_ids, # bs, 195 + "text_self_attention_masks": text_self_attention_masks, # bs, 195,195 + } + + # import ipdb; ipdb.set_trace() + if isinstance(samples, (list, torch.Tensor)): + samples = nested_tensor_from_tensor_list(samples) + if not hasattr(self, 'features') or not hasattr(self, 'poss'): + self.set_image_tensor(samples) + + srcs = [] + masks = [] + for l, feat in enumerate(self.features): + src, mask = feat.decompose() + srcs.append(self.input_proj[l](src)) + masks.append(mask) + assert mask is not None + if self.num_feature_levels > len(srcs): + _len_srcs = len(srcs) + for l in range(_len_srcs, self.num_feature_levels): + if l == _len_srcs: + src = self.input_proj[l](self.features[-1].tensors) + else: + src = self.input_proj[l](srcs[-1]) + m = samples.mask + mask = F.interpolate(m[None].float(), size=src.shape[-2:]).to(torch.bool)[0] + pos_l = self.backbone[1](NestedTensor(src, mask)).to(src.dtype) + srcs.append(src) + masks.append(mask) + self.poss.append(pos_l) + + input_query_bbox = input_query_label = attn_mask = dn_meta = None + hs, reference, hs_enc, ref_enc, init_box_proposal = self.transformer( + srcs, masks, input_query_bbox, self.poss, input_query_label, attn_mask, text_dict + ) + + # deformable-detr-like anchor update + outputs_coord_list = [] + for dec_lid, (layer_ref_sig, layer_bbox_embed, layer_hs) in enumerate( + zip(reference[:-1], self.bbox_embed, hs) + ): + layer_delta_unsig = layer_bbox_embed(layer_hs) + layer_outputs_unsig = layer_delta_unsig + inverse_sigmoid(layer_ref_sig) + layer_outputs_unsig = layer_outputs_unsig.sigmoid() + outputs_coord_list.append(layer_outputs_unsig) + outputs_coord_list = torch.stack(outputs_coord_list) + + # output + outputs_class = torch.stack( + [ + layer_cls_embed(layer_hs, text_dict) + for layer_cls_embed, layer_hs in zip(self.class_embed, hs) + ] + ) + out = {"pred_logits": outputs_class[-1], "pred_boxes": outputs_coord_list[-1]} + + # # for intermediate outputs + # if self.aux_loss: + # out['aux_outputs'] = self._set_aux_loss(outputs_class, outputs_coord_list) + + # # for encoder output + # if hs_enc is not None: + # # prepare intermediate outputs + # interm_coord = ref_enc[-1] + # interm_class = self.transformer.enc_out_class_embed(hs_enc[-1], text_dict) + # out['interm_outputs'] = {'pred_logits': interm_class, 'pred_boxes': interm_coord} + # out['interm_outputs_for_matching_pre'] = {'pred_logits': interm_class, 'pred_boxes': init_box_proposal} + unset_image_tensor = kw.get('unset_image_tensor', True) + if unset_image_tensor: + self.unset_image_tensor() ## If necessary + return out + + @torch.jit.unused + def _set_aux_loss(self, outputs_class, outputs_coord): + # this is a workaround to make torchscript happy, as torchscript + # doesn't support dictionary with non-homogeneous values, such + # as a dict having both a Tensor and a list. + return [ + {"pred_logits": a, "pred_boxes": b} + for a, b in zip(outputs_class[:-1], outputs_coord[:-1]) + ] + + +@MODULE_BUILD_FUNCS.registe_with_name(module_name="groundingdino") +def build_groundingdino(args): + + backbone = build_backbone(args) + transformer = build_transformer(args) + + dn_labelbook_size = args.dn_labelbook_size + dec_pred_bbox_embed_share = args.dec_pred_bbox_embed_share + sub_sentence_present = args.sub_sentence_present + + model = GroundingDINO( + backbone, + transformer, + num_queries=args.num_queries, + aux_loss=True, + iter_update=True, + query_dim=4, + num_feature_levels=args.num_feature_levels, + nheads=args.nheads, + dec_pred_bbox_embed_share=dec_pred_bbox_embed_share, + two_stage_type=args.two_stage_type, + two_stage_bbox_embed_share=args.two_stage_bbox_embed_share, + two_stage_class_embed_share=args.two_stage_class_embed_share, + num_patterns=args.num_patterns, + dn_number=0, + dn_box_noise_scale=args.dn_box_noise_scale, + dn_label_noise_ratio=args.dn_label_noise_ratio, + dn_labelbook_size=dn_labelbook_size, + text_encoder_type=args.text_encoder_type, + sub_sentence_present=sub_sentence_present, + max_text_len=args.max_text_len, + ) + + return model + diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/ms_deform_attn.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/ms_deform_attn.py new file mode 100644 index 0000000000000000000000000000000000000000..2a40bbbfbce1450e30664453a3364bc799853b8a --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/ms_deform_attn.py @@ -0,0 +1,413 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Deformable DETR +# Copyright (c) 2020 SenseTime. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------------------------------ +# Modified from: +# https://github.com/fundamentalvision/Deformable-DETR/blob/main/models/ops/functions/ms_deform_attn_func.py +# https://github.com/fundamentalvision/Deformable-DETR/blob/main/models/ops/modules/ms_deform_attn.py +# https://github.com/open-mmlab/mmcv/blob/master/mmcv/ops/multi_scale_deform_attn.py +# ------------------------------------------------------------------------------------------------ + +import math +import warnings +from typing import Optional + +import torch +import torch.nn as nn +import torch.nn.functional as F +from torch.autograd import Function +from torch.autograd.function import once_differentiable +from torch.nn.init import constant_, xavier_uniform_ + +try: + from grounding_dino.groundingdino import _C +except: + warnings.warn("Failed to load custom C++ ops. Running on CPU mode Only!") + + +# helpers +def _is_power_of_2(n): + if (not isinstance(n, int)) or (n < 0): + raise ValueError("invalid input for _is_power_of_2: {} (type: {})".format(n, type(n))) + return (n & (n - 1) == 0) and n != 0 + + +class MultiScaleDeformableAttnFunction(Function): + @staticmethod + def forward( + ctx, + value, + value_spatial_shapes, + value_level_start_index, + sampling_locations, + attention_weights, + im2col_step, + ): + ctx.im2col_step = im2col_step + output = _C.ms_deform_attn_forward( + value, + value_spatial_shapes, + value_level_start_index, + sampling_locations, + attention_weights, + ctx.im2col_step, + ) + ctx.save_for_backward( + value, + value_spatial_shapes, + value_level_start_index, + sampling_locations, + attention_weights, + ) + return output + + @staticmethod + @once_differentiable + def backward(ctx, grad_output): + ( + value, + value_spatial_shapes, + value_level_start_index, + sampling_locations, + attention_weights, + ) = ctx.saved_tensors + grad_value, grad_sampling_loc, grad_attn_weight = _C.ms_deform_attn_backward( + value, + value_spatial_shapes, + value_level_start_index, + sampling_locations, + attention_weights, + grad_output, + ctx.im2col_step, + ) + + return grad_value, None, None, grad_sampling_loc, grad_attn_weight, None + + +def multi_scale_deformable_attn_pytorch( + value: torch.Tensor, + value_spatial_shapes: torch.Tensor, + sampling_locations: torch.Tensor, + attention_weights: torch.Tensor, +) -> torch.Tensor: + + bs, _, num_heads, embed_dims = value.shape + _, num_queries, num_heads, num_levels, num_points, _ = sampling_locations.shape + value_list = value.split([H_ * W_ for H_, W_ in value_spatial_shapes], dim=1) + sampling_grids = 2 * sampling_locations - 1 + sampling_value_list = [] + for level, (H_, W_) in enumerate(value_spatial_shapes): + # bs, H_*W_, num_heads, embed_dims -> + # bs, H_*W_, num_heads*embed_dims -> + # bs, num_heads*embed_dims, H_*W_ -> + # bs*num_heads, embed_dims, H_, W_ + value_l_ = ( + value_list[level].flatten(2).transpose(1, 2).reshape(bs * num_heads, embed_dims, H_, W_) + ) + # bs, num_queries, num_heads, num_points, 2 -> + # bs, num_heads, num_queries, num_points, 2 -> + # bs*num_heads, num_queries, num_points, 2 + sampling_grid_l_ = sampling_grids[:, :, :, level].transpose(1, 2).flatten(0, 1) + # bs*num_heads, embed_dims, num_queries, num_points + sampling_value_l_ = F.grid_sample( + value_l_, sampling_grid_l_, mode="bilinear", padding_mode="zeros", align_corners=False + ) + sampling_value_list.append(sampling_value_l_) + # (bs, num_queries, num_heads, num_levels, num_points) -> + # (bs, num_heads, num_queries, num_levels, num_points) -> + # (bs, num_heads, 1, num_queries, num_levels*num_points) + attention_weights = attention_weights.transpose(1, 2).reshape( + bs * num_heads, 1, num_queries, num_levels * num_points + ) + output = ( + (torch.stack(sampling_value_list, dim=-2).flatten(-2) * attention_weights) + .sum(-1) + .view(bs, num_heads * embed_dims, num_queries) + ) + return output.transpose(1, 2).contiguous() + + +class MultiScaleDeformableAttention(nn.Module): + """Multi-Scale Deformable Attention Module used in Deformable-DETR + + `Deformable DETR: Deformable Transformers for End-to-End Object Detection. + `_. + + Args: + embed_dim (int): The embedding dimension of Attention. Default: 256. + num_heads (int): The number of attention heads. Default: 8. + num_levels (int): The number of feature map used in Attention. Default: 4. + num_points (int): The number of sampling points for each query + in each head. Default: 4. + img2col_steps (int): The step used in image_to_column. Defualt: 64. + dropout (float): Dropout layer used in output. Default: 0.1. + batch_first (bool): if ``True``, then the input and output tensor will be + provided as `(bs, n, embed_dim)`. Default: False. `(n, bs, embed_dim)` + """ + + def __init__( + self, + embed_dim: int = 256, + num_heads: int = 8, + num_levels: int = 4, + num_points: int = 4, + img2col_step: int = 64, + batch_first: bool = False, + ): + super().__init__() + if embed_dim % num_heads != 0: + raise ValueError( + "embed_dim must be divisible by num_heads, but got {} and {}".format( + embed_dim, num_heads + ) + ) + head_dim = embed_dim // num_heads + + self.batch_first = batch_first + + if not _is_power_of_2(head_dim): + warnings.warn( + """ + You'd better set d_model in MSDeformAttn to make sure that + each dim of the attention head a power of 2, which is more efficient. + """ + ) + + self.im2col_step = img2col_step + self.embed_dim = embed_dim + self.num_heads = num_heads + self.num_levels = num_levels + self.num_points = num_points + self.sampling_offsets = nn.Linear(embed_dim, num_heads * num_levels * num_points * 2) + self.attention_weights = nn.Linear(embed_dim, num_heads * num_levels * num_points) + self.value_proj = nn.Linear(embed_dim, embed_dim) + self.output_proj = nn.Linear(embed_dim, embed_dim) + + self.init_weights() + + def _reset_parameters(self): + return self.init_weights() + + def init_weights(self): + """ + Default initialization for Parameters of Module. + """ + constant_(self.sampling_offsets.weight.data, 0.0) + thetas = torch.arange(self.num_heads, dtype=torch.float32) * ( + 2.0 * math.pi / self.num_heads + ) + grid_init = torch.stack([thetas.cos(), thetas.sin()], -1) + grid_init = ( + (grid_init / grid_init.abs().max(-1, keepdim=True)[0]) + .view(self.num_heads, 1, 1, 2) + .repeat(1, self.num_levels, self.num_points, 1) + ) + for i in range(self.num_points): + grid_init[:, :, i, :] *= i + 1 + with torch.no_grad(): + self.sampling_offsets.bias = nn.Parameter(grid_init.view(-1)) + constant_(self.attention_weights.weight.data, 0.0) + constant_(self.attention_weights.bias.data, 0.0) + xavier_uniform_(self.value_proj.weight.data) + constant_(self.value_proj.bias.data, 0.0) + xavier_uniform_(self.output_proj.weight.data) + constant_(self.output_proj.bias.data, 0.0) + + def freeze_sampling_offsets(self): + print("Freeze sampling offsets") + self.sampling_offsets.weight.requires_grad = False + self.sampling_offsets.bias.requires_grad = False + + def freeze_attention_weights(self): + print("Freeze attention weights") + self.attention_weights.weight.requires_grad = False + self.attention_weights.bias.requires_grad = False + + def forward( + self, + query: torch.Tensor, + key: Optional[torch.Tensor] = None, + value: Optional[torch.Tensor] = None, + query_pos: Optional[torch.Tensor] = None, + key_padding_mask: Optional[torch.Tensor] = None, + reference_points: Optional[torch.Tensor] = None, + spatial_shapes: Optional[torch.Tensor] = None, + level_start_index: Optional[torch.Tensor] = None, + **kwargs + ) -> torch.Tensor: + + """Forward Function of MultiScaleDeformableAttention + + Args: + query (torch.Tensor): Query embeddings with shape + `(num_query, bs, embed_dim)` + key (torch.Tensor): Key embeddings with shape + `(num_key, bs, embed_dim)` + value (torch.Tensor): Value embeddings with shape + `(num_key, bs, embed_dim)` + query_pos (torch.Tensor): The position embedding for `query`. Default: None. + key_padding_mask (torch.Tensor): ByteTensor for `query`, with shape `(bs, num_key)`, + indicating which elements within `key` to be ignored in attention. + reference_points (torch.Tensor): The normalized reference points + with shape `(bs, num_query, num_levels, 2)`, + all elements is range in [0, 1], top-left (0, 0), + bottom-right (1, 1), including padding are. + or `(N, Length_{query}, num_levels, 4)`, add additional + two dimensions `(h, w)` to form reference boxes. + spatial_shapes (torch.Tensor): Spatial shape of features in different levels. + With shape `(num_levels, 2)`, last dimension represents `(h, w)`. + level_start_index (torch.Tensor): The start index of each level. A tensor with + shape `(num_levels, )` which can be represented as + `[0, h_0 * w_0, h_0 * w_0 + h_1 * w_1, ...]`. + + Returns: + torch.Tensor: forward results with shape `(num_query, bs, embed_dim)` + """ + + if value is None: + value = query + + if query_pos is not None: + query = query + query_pos + + if not self.batch_first: + # change to (bs, num_query ,embed_dims) + query = query.permute(1, 0, 2) + value = value.permute(1, 0, 2) + + bs, num_query, _ = query.shape + bs, num_value, _ = value.shape + + assert (spatial_shapes[:, 0] * spatial_shapes[:, 1]).sum() == num_value + + value = self.value_proj(value) + if key_padding_mask is not None: + value = value.masked_fill(key_padding_mask[..., None], float(0)) + value = value.view(bs, num_value, self.num_heads, -1) + sampling_offsets = self.sampling_offsets(query).view( + bs, num_query, self.num_heads, self.num_levels, self.num_points, 2 + ) + attention_weights = self.attention_weights(query).view( + bs, num_query, self.num_heads, self.num_levels * self.num_points + ) + attention_weights = attention_weights.softmax(-1) + attention_weights = attention_weights.view( + bs, + num_query, + self.num_heads, + self.num_levels, + self.num_points, + ) + + # bs, num_query, num_heads, num_levels, num_points, 2 + if reference_points.shape[-1] == 2: + offset_normalizer = torch.stack([spatial_shapes[..., 1], spatial_shapes[..., 0]], -1) + sampling_locations = ( + reference_points[:, :, None, :, None, :] + + sampling_offsets / offset_normalizer[None, None, None, :, None, :] + ) + elif reference_points.shape[-1] == 4: + sampling_locations = ( + reference_points[:, :, None, :, None, :2] + + sampling_offsets + / self.num_points + * reference_points[:, :, None, :, None, 2:] + * 0.5 + ) + else: + raise ValueError( + "Last dim of reference_points must be 2 or 4, but get {} instead.".format( + reference_points.shape[-1] + ) + ) + + if torch.cuda.is_available() and value.is_cuda: + halffloat = False + if value.dtype == torch.float16: + halffloat = True + value = value.float() + sampling_locations = sampling_locations.float() + attention_weights = attention_weights.float() + + output = MultiScaleDeformableAttnFunction.apply( + value, + spatial_shapes, + level_start_index, + sampling_locations, + attention_weights, + self.im2col_step, + ) + + if halffloat: + output = output.half() + else: + output = multi_scale_deformable_attn_pytorch( + value, spatial_shapes, sampling_locations, attention_weights + ) + + output = self.output_proj(output) + + if not self.batch_first: + output = output.permute(1, 0, 2) + + return output + + +def create_dummy_class(klass, dependency, message=""): + """ + When a dependency of a class is not available, create a dummy class which throws ImportError + when used. + + Args: + klass (str): name of the class. + dependency (str): name of the dependency. + message: extra message to print + Returns: + class: a class object + """ + err = "Cannot import '{}', therefore '{}' is not available.".format(dependency, klass) + if message: + err = err + " " + message + + class _DummyMetaClass(type): + # throw error on class attribute access + def __getattr__(_, __): # noqa: B902 + raise ImportError(err) + + class _Dummy(object, metaclass=_DummyMetaClass): + # throw error on constructor + def __init__(self, *args, **kwargs): + raise ImportError(err) + + return _Dummy + + +def create_dummy_func(func, dependency, message=""): + """ + When a dependency of a function is not available, create a dummy function which throws + ImportError when used. + + Args: + func (str): name of the function. + dependency (str or list[str]): name(s) of the dependency. + message: extra message to print + Returns: + function: a function object + """ + err = "Cannot import '{}', therefore '{}' is not available.".format(dependency, func) + if message: + err = err + " " + message + + if isinstance(dependency, (list, tuple)): + dependency = ",".join(dependency) + + def _dummy(*args, **kwargs): + raise ImportError(err) + + return _dummy diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/transformer.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..265d3f4c66c7356bc7231280153c52d70581e6ed --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/transformer.py @@ -0,0 +1,959 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# DINO +# Copyright (c) 2022 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Conditional DETR Transformer class. +# Copyright (c) 2021 Microsoft. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Modified from DETR (https://github.com/facebookresearch/detr) +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved. +# ------------------------------------------------------------------------ + +from typing import Optional + +import torch +import torch.utils.checkpoint as checkpoint +from torch import Tensor, nn + +from grounding_dino.groundingdino.util.misc import inverse_sigmoid + +from .fuse_modules import BiAttentionBlock +from .ms_deform_attn import MultiScaleDeformableAttention as MSDeformAttn +from .transformer_vanilla import TransformerEncoderLayer +from .utils import ( + MLP, + _get_activation_fn, + _get_clones, + gen_encoder_output_proposals, + gen_sineembed_for_position, + get_sine_pos_embed, +) + + +class Transformer(nn.Module): + def __init__( + self, + d_model=256, + nhead=8, + num_queries=300, + num_encoder_layers=6, + num_unicoder_layers=0, + num_decoder_layers=6, + dim_feedforward=2048, + dropout=0.0, + activation="relu", + normalize_before=False, + return_intermediate_dec=False, + query_dim=4, + num_patterns=0, + # for deformable encoder + num_feature_levels=1, + enc_n_points=4, + dec_n_points=4, + # init query + learnable_tgt_init=False, + # two stage + two_stage_type="no", # ['no', 'standard', 'early', 'combine', 'enceachlayer', 'enclayer1'] + embed_init_tgt=False, + # for text + use_text_enhancer=False, + use_fusion_layer=False, + use_checkpoint=False, + use_transformer_ckpt=False, + use_text_cross_attention=False, + text_dropout=0.1, + fusion_dropout=0.1, + fusion_droppath=0.0, + ): + super().__init__() + self.num_feature_levels = num_feature_levels + self.num_encoder_layers = num_encoder_layers + self.num_unicoder_layers = num_unicoder_layers + self.num_decoder_layers = num_decoder_layers + self.num_queries = num_queries + assert query_dim == 4 + + # choose encoder layer type + encoder_layer = DeformableTransformerEncoderLayer( + d_model, dim_feedforward, dropout, activation, num_feature_levels, nhead, enc_n_points + ) + + if use_text_enhancer: + text_enhance_layer = TransformerEncoderLayer( + d_model=d_model, + nhead=nhead // 2, + dim_feedforward=dim_feedforward // 2, + dropout=text_dropout, + ) + else: + text_enhance_layer = None + + if use_fusion_layer: + feature_fusion_layer = BiAttentionBlock( + v_dim=d_model, + l_dim=d_model, + embed_dim=dim_feedforward // 2, + num_heads=nhead // 2, + dropout=fusion_dropout, + drop_path=fusion_droppath, + ) + else: + feature_fusion_layer = None + + encoder_norm = nn.LayerNorm(d_model) if normalize_before else None + assert encoder_norm is None + self.encoder = TransformerEncoder( + encoder_layer, + num_encoder_layers, + d_model=d_model, + num_queries=num_queries, + text_enhance_layer=text_enhance_layer, + feature_fusion_layer=feature_fusion_layer, + use_checkpoint=use_checkpoint, + use_transformer_ckpt=use_transformer_ckpt, + ) + + # choose decoder layer type + decoder_layer = DeformableTransformerDecoderLayer( + d_model, + dim_feedforward, + dropout, + activation, + num_feature_levels, + nhead, + dec_n_points, + use_text_cross_attention=use_text_cross_attention, + ) + + decoder_norm = nn.LayerNorm(d_model) + self.decoder = TransformerDecoder( + decoder_layer, + num_decoder_layers, + decoder_norm, + return_intermediate=return_intermediate_dec, + d_model=d_model, + query_dim=query_dim, + num_feature_levels=num_feature_levels, + ) + + self.d_model = d_model + self.nhead = nhead + self.dec_layers = num_decoder_layers + self.num_queries = num_queries # useful for single stage model only + self.num_patterns = num_patterns + if not isinstance(num_patterns, int): + Warning("num_patterns should be int but {}".format(type(num_patterns))) + self.num_patterns = 0 + + if num_feature_levels > 1: + if self.num_encoder_layers > 0: + self.level_embed = nn.Parameter(torch.Tensor(num_feature_levels, d_model)) + else: + self.level_embed = None + + self.learnable_tgt_init = learnable_tgt_init + assert learnable_tgt_init, "why not learnable_tgt_init" + self.embed_init_tgt = embed_init_tgt + if (two_stage_type != "no" and embed_init_tgt) or (two_stage_type == "no"): + self.tgt_embed = nn.Embedding(self.num_queries, d_model) + nn.init.normal_(self.tgt_embed.weight.data) + else: + self.tgt_embed = None + + # for two stage + self.two_stage_type = two_stage_type + assert two_stage_type in ["no", "standard"], "unknown param {} of two_stage_type".format( + two_stage_type + ) + if two_stage_type == "standard": + # anchor selection at the output of encoder + self.enc_output = nn.Linear(d_model, d_model) + self.enc_output_norm = nn.LayerNorm(d_model) + self.two_stage_wh_embedding = None + + if two_stage_type == "no": + self.init_ref_points(num_queries) # init self.refpoint_embed + + self.enc_out_class_embed = None + self.enc_out_bbox_embed = None + + 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(): + if isinstance(m, MSDeformAttn): + m._reset_parameters() + if self.num_feature_levels > 1 and self.level_embed is not None: + nn.init.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 init_ref_points(self, use_num_queries): + self.refpoint_embed = nn.Embedding(use_num_queries, 4) + + def forward(self, srcs, masks, refpoint_embed, pos_embeds, tgt, attn_mask=None, text_dict=None): + """ + Input: + - srcs: List of multi features [bs, ci, hi, wi] + - masks: List of multi masks [bs, hi, wi] + - refpoint_embed: [bs, num_dn, 4]. None in infer + - pos_embeds: List of multi pos embeds [bs, ci, hi, wi] + - tgt: [bs, num_dn, d_model]. None in infer + + """ + # 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) # bs, hw, c + mask = mask.flatten(1) # bs, hw + pos_embed = pos_embed.flatten(2).transpose(1, 2) # bs, hw, c + if self.num_feature_levels > 1 and self.level_embed is not None: + lvl_pos_embed = pos_embed + self.level_embed[lvl].view(1, 1, -1) + else: + lvl_pos_embed = pos_embed + lvl_pos_embed_flatten.append(lvl_pos_embed) + src_flatten.append(src) + mask_flatten.append(mask) + src_flatten = torch.cat(src_flatten, 1) # bs, \sum{hxw}, c + mask_flatten = torch.cat(mask_flatten, 1) # bs, \sum{hxw} + lvl_pos_embed_flatten = torch.cat(lvl_pos_embed_flatten, 1) # bs, \sum{hxw}, c + 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) + + # two stage + enc_topk_proposals = enc_refpoint_embed = None + + ######################################################### + # Begin Encoder + ######################################################### + memory, memory_text = self.encoder( + src_flatten, + pos=lvl_pos_embed_flatten, + level_start_index=level_start_index, + spatial_shapes=spatial_shapes, + valid_ratios=valid_ratios, + key_padding_mask=mask_flatten, + memory_text=text_dict["encoded_text"], + text_attention_mask=~text_dict["text_token_mask"], + # we ~ the mask . False means use the token; True means pad the token + position_ids=text_dict["position_ids"], + text_self_attention_masks=text_dict["text_self_attention_masks"], + ) + ######################################################### + # End Encoder + # - memory: bs, \sum{hw}, c + # - mask_flatten: bs, \sum{hw} + # - lvl_pos_embed_flatten: bs, \sum{hw}, c + # - enc_intermediate_output: None or (nenc+1, bs, nq, c) or (nenc, bs, nq, c) + # - enc_intermediate_refpoints: None or (nenc+1, bs, nq, c) or (nenc, bs, nq, c) + ######################################################### + text_dict["encoded_text"] = memory_text + # if os.environ.get("SHILONG_AMP_INFNAN_DEBUG") == '1': + # if memory.isnan().any() | memory.isinf().any(): + # import ipdb; ipdb.set_trace() + + if self.two_stage_type == "standard": + output_memory, output_proposals = gen_encoder_output_proposals( + memory, mask_flatten, spatial_shapes + ) + output_memory = self.enc_output_norm(self.enc_output(output_memory)) + + if text_dict is not None: + enc_outputs_class_unselected = self.enc_out_class_embed(output_memory, text_dict) + else: + enc_outputs_class_unselected = self.enc_out_class_embed(output_memory) + + topk_logits = enc_outputs_class_unselected.max(-1)[0] + enc_outputs_coord_unselected = ( + self.enc_out_bbox_embed(output_memory) + output_proposals + ) # (bs, \sum{hw}, 4) unsigmoid + topk = self.num_queries + + topk_proposals = torch.topk(topk_logits, topk, dim=1)[1] # bs, nq + + # gather boxes + refpoint_embed_undetach = torch.gather( + enc_outputs_coord_unselected, 1, topk_proposals.unsqueeze(-1).repeat(1, 1, 4) + ) # unsigmoid + refpoint_embed_ = refpoint_embed_undetach.detach() + init_box_proposal = torch.gather( + output_proposals, 1, topk_proposals.unsqueeze(-1).repeat(1, 1, 4) + ).sigmoid() # sigmoid + + # gather tgt + tgt_undetach = torch.gather( + output_memory, 1, topk_proposals.unsqueeze(-1).repeat(1, 1, self.d_model) + ) + if self.embed_init_tgt: + tgt_ = ( + self.tgt_embed.weight[:, None, :].repeat(1, bs, 1).transpose(0, 1) + ) # nq, bs, d_model + else: + tgt_ = tgt_undetach.detach() + + if refpoint_embed is not None: + refpoint_embed = torch.cat([refpoint_embed, refpoint_embed_], dim=1) + tgt = torch.cat([tgt, tgt_], dim=1) + else: + refpoint_embed, tgt = refpoint_embed_, tgt_ + + elif self.two_stage_type == "no": + tgt_ = ( + self.tgt_embed.weight[:, None, :].repeat(1, bs, 1).transpose(0, 1) + ) # nq, bs, d_model + refpoint_embed_ = ( + self.refpoint_embed.weight[:, None, :].repeat(1, bs, 1).transpose(0, 1) + ) # nq, bs, 4 + + if refpoint_embed is not None: + refpoint_embed = torch.cat([refpoint_embed, refpoint_embed_], dim=1) + tgt = torch.cat([tgt, tgt_], dim=1) + else: + refpoint_embed, tgt = refpoint_embed_, tgt_ + + if self.num_patterns > 0: + tgt_embed = tgt.repeat(1, self.num_patterns, 1) + refpoint_embed = refpoint_embed.repeat(1, self.num_patterns, 1) + tgt_pat = self.patterns.weight[None, :, :].repeat_interleave( + self.num_queries, 1 + ) # 1, n_q*n_pat, d_model + tgt = tgt_embed + tgt_pat + + init_box_proposal = refpoint_embed_.sigmoid() + + else: + raise NotImplementedError("unknown two_stage_type {}".format(self.two_stage_type)) + ######################################################### + # End preparing tgt + # - tgt: bs, NQ, d_model + # - refpoint_embed(unsigmoid): bs, NQ, d_model + ######################################################### + + ######################################################### + # Begin Decoder + ######################################################### + hs, references = self.decoder( + tgt=tgt.transpose(0, 1), + memory=memory.transpose(0, 1), + memory_key_padding_mask=mask_flatten, + pos=lvl_pos_embed_flatten.transpose(0, 1), + refpoints_unsigmoid=refpoint_embed.transpose(0, 1), + level_start_index=level_start_index, + spatial_shapes=spatial_shapes, + valid_ratios=valid_ratios, + tgt_mask=attn_mask, + memory_text=text_dict["encoded_text"], + text_attention_mask=~text_dict["text_token_mask"], + # we ~ the mask . False means use the token; True means pad the token + ) + ######################################################### + # End Decoder + # hs: n_dec, bs, nq, d_model + # references: n_dec+1, bs, nq, query_dim + ######################################################### + + ######################################################### + # Begin postprocess + ######################################################### + if self.two_stage_type == "standard": + hs_enc = tgt_undetach.unsqueeze(0) + ref_enc = refpoint_embed_undetach.sigmoid().unsqueeze(0) + else: + hs_enc = ref_enc = None + ######################################################### + # End postprocess + # hs_enc: (n_enc+1, bs, nq, d_model) or (1, bs, nq, d_model) or (n_enc, bs, nq, d_model) or None + # ref_enc: (n_enc+1, bs, nq, query_dim) or (1, bs, nq, query_dim) or (n_enc, bs, nq, d_model) or None + ######################################################### + + return hs, references, hs_enc, ref_enc, init_box_proposal + # hs: (n_dec, bs, nq, d_model) + # references: sigmoid coordinates. (n_dec+1, bs, bq, 4) + # hs_enc: (n_enc+1, bs, nq, d_model) or (1, bs, nq, d_model) or None + # ref_enc: sigmoid coordinates. \ + # (n_enc+1, bs, nq, query_dim) or (1, bs, nq, query_dim) or None + + +class TransformerEncoder(nn.Module): + def __init__( + self, + encoder_layer, + num_layers, + d_model=256, + num_queries=300, + enc_layer_share=False, + text_enhance_layer=None, + feature_fusion_layer=None, + use_checkpoint=False, + use_transformer_ckpt=False, + ): + """_summary_ + + Args: + encoder_layer (_type_): _description_ + num_layers (_type_): _description_ + norm (_type_, optional): _description_. Defaults to None. + d_model (int, optional): _description_. Defaults to 256. + num_queries (int, optional): _description_. Defaults to 300. + enc_layer_share (bool, optional): _description_. Defaults to False. + + """ + super().__init__() + # prepare layers + self.layers = [] + self.text_layers = [] + self.fusion_layers = [] + if num_layers > 0: + self.layers = _get_clones(encoder_layer, num_layers, layer_share=enc_layer_share) + + if text_enhance_layer is not None: + self.text_layers = _get_clones( + text_enhance_layer, num_layers, layer_share=enc_layer_share + ) + if feature_fusion_layer is not None: + self.fusion_layers = _get_clones( + feature_fusion_layer, num_layers, layer_share=enc_layer_share + ) + else: + self.layers = [] + del encoder_layer + + if text_enhance_layer is not None: + self.text_layers = [] + del text_enhance_layer + if feature_fusion_layer is not None: + self.fusion_layers = [] + del feature_fusion_layer + + self.query_scale = None + self.num_queries = num_queries + self.num_layers = num_layers + self.d_model = d_model + + self.use_checkpoint = use_checkpoint + self.use_transformer_ckpt = use_transformer_ckpt + + @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, + # for images + src: Tensor, + pos: Tensor, + spatial_shapes: Tensor, + level_start_index: Tensor, + valid_ratios: Tensor, + key_padding_mask: Tensor, + # for texts + memory_text: Tensor = None, + text_attention_mask: Tensor = None, + pos_text: Tensor = None, + text_self_attention_masks: Tensor = None, + position_ids: Tensor = None, + ): + """ + Input: + - src: [bs, sum(hi*wi), 256] + - pos: pos embed for src. [bs, sum(hi*wi), 256] + - spatial_shapes: h,w of each level [num_level, 2] + - level_start_index: [num_level] start point of level in sum(hi*wi). + - valid_ratios: [bs, num_level, 2] + - key_padding_mask: [bs, sum(hi*wi)] + + - memory_text: bs, n_text, 256 + - text_attention_mask: bs, n_text + False for no padding; True for padding + - pos_text: bs, n_text, 256 + + - position_ids: bs, n_text + Intermedia: + - reference_points: [bs, sum(hi*wi), num_level, 2] + Outpus: + - output: [bs, sum(hi*wi), 256] + """ + + output = src + + # preparation and reshape + if self.num_layers > 0: + reference_points = self.get_reference_points( + spatial_shapes, valid_ratios, device=src.device + ) + + if self.text_layers: + # generate pos_text + bs, n_text, text_dim = memory_text.shape + if pos_text is None and position_ids is None: + pos_text = ( + torch.arange(n_text, device=memory_text.device) + .float() + .unsqueeze(0) + .unsqueeze(-1) + .repeat(bs, 1, 1) + ) + pos_text = get_sine_pos_embed(pos_text, num_pos_feats=256, exchange_xy=False) + if position_ids is not None: + pos_text = get_sine_pos_embed( + position_ids[..., None], num_pos_feats=256, exchange_xy=False + ) + + # main process + for layer_id, layer in enumerate(self.layers): + # if output.isnan().any() or memory_text.isnan().any(): + # if os.environ.get('IPDB_SHILONG_DEBUG', None) == 'INFO': + # import ipdb; ipdb.set_trace() + if self.fusion_layers: + if self.use_checkpoint: + output, memory_text = checkpoint.checkpoint( + self.fusion_layers[layer_id], + output, + memory_text, + key_padding_mask, + text_attention_mask, + ) + else: + output, memory_text = self.fusion_layers[layer_id]( + v=output, + l=memory_text, + attention_mask_v=key_padding_mask, + attention_mask_l=text_attention_mask, + ) + + if self.text_layers: + memory_text = self.text_layers[layer_id]( + src=memory_text.transpose(0, 1), + src_mask=~text_self_attention_masks, # note we use ~ for mask here + src_key_padding_mask=text_attention_mask, + pos=(pos_text.transpose(0, 1) if pos_text is not None else None), + ).transpose(0, 1) + + # main process + if self.use_transformer_ckpt: + output = checkpoint.checkpoint( + layer, + output, + pos, + reference_points, + spatial_shapes, + level_start_index, + key_padding_mask, + ) + else: + output = layer( + src=output, + pos=pos, + reference_points=reference_points, + spatial_shapes=spatial_shapes, + level_start_index=level_start_index, + key_padding_mask=key_padding_mask, + ) + + return output, memory_text + + +class TransformerDecoder(nn.Module): + def __init__( + self, + decoder_layer, + num_layers, + norm=None, + return_intermediate=False, + d_model=256, + query_dim=4, + num_feature_levels=1, + ): + super().__init__() + if num_layers > 0: + self.layers = _get_clones(decoder_layer, num_layers) + else: + self.layers = [] + self.num_layers = num_layers + self.norm = norm + self.return_intermediate = return_intermediate + assert return_intermediate, "support return_intermediate only" + self.query_dim = query_dim + assert query_dim in [2, 4], "query_dim should be 2/4 but {}".format(query_dim) + self.num_feature_levels = num_feature_levels + + self.ref_point_head = MLP(query_dim // 2 * d_model, d_model, d_model, 2) + self.query_pos_sine_scale = None + + self.query_scale = None + self.bbox_embed = None + self.class_embed = None + + self.d_model = d_model + + self.ref_anchor_head = None + + def forward( + self, + tgt, + memory, + tgt_mask: Optional[Tensor] = None, + memory_mask: Optional[Tensor] = None, + tgt_key_padding_mask: Optional[Tensor] = None, + memory_key_padding_mask: Optional[Tensor] = None, + pos: Optional[Tensor] = None, + refpoints_unsigmoid: Optional[Tensor] = None, # num_queries, bs, 2 + # for memory + level_start_index: Optional[Tensor] = None, # num_levels + spatial_shapes: Optional[Tensor] = None, # bs, num_levels, 2 + valid_ratios: Optional[Tensor] = None, + # for text + memory_text: Optional[Tensor] = None, + text_attention_mask: Optional[Tensor] = None, + ): + """ + Input: + - tgt: nq, bs, d_model + - memory: hw, bs, d_model + - pos: hw, bs, d_model + - refpoints_unsigmoid: nq, bs, 2/4 + - valid_ratios/spatial_shapes: bs, nlevel, 2 + """ + output = tgt + + intermediate = [] + reference_points = refpoints_unsigmoid.sigmoid() + ref_points = [reference_points] + + for layer_id, layer in enumerate(self.layers): + + if reference_points.shape[-1] == 4: + reference_points_input = ( + reference_points[:, :, None] + * torch.cat([valid_ratios, valid_ratios], -1)[None, :] + ) # nq, bs, nlevel, 4 + else: + assert reference_points.shape[-1] == 2 + reference_points_input = reference_points[:, :, None] * valid_ratios[None, :] + query_sine_embed = gen_sineembed_for_position( + reference_points_input[:, :, 0, :] + ) # nq, bs, 256*2 + + # conditional query + raw_query_pos = self.ref_point_head(query_sine_embed) # nq, bs, 256 + pos_scale = self.query_scale(output) if self.query_scale is not None else 1 + query_pos = pos_scale * raw_query_pos + # if os.environ.get("SHILONG_AMP_INFNAN_DEBUG") == '1': + # if query_pos.isnan().any() | query_pos.isinf().any(): + # import ipdb; ipdb.set_trace() + + # main process + output = layer( + tgt=output, + tgt_query_pos=query_pos, + tgt_query_sine_embed=query_sine_embed, + tgt_key_padding_mask=tgt_key_padding_mask, + tgt_reference_points=reference_points_input, + memory_text=memory_text, + text_attention_mask=text_attention_mask, + memory=memory, + memory_key_padding_mask=memory_key_padding_mask, + memory_level_start_index=level_start_index, + memory_spatial_shapes=spatial_shapes, + memory_pos=pos, + self_attn_mask=tgt_mask, + cross_attn_mask=memory_mask, + ) + if output.isnan().any() | output.isinf().any(): + print(f"output layer_id {layer_id} is nan") + try: + num_nan = output.isnan().sum().item() + num_inf = output.isinf().sum().item() + print(f"num_nan {num_nan}, num_inf {num_inf}") + except Exception as e: + print(e) + # if os.environ.get("SHILONG_AMP_INFNAN_DEBUG") == '1': + # import ipdb; ipdb.set_trace() + + # iter update + if self.bbox_embed is not None: + # box_holder = self.bbox_embed(output) + # box_holder[..., :self.query_dim] += inverse_sigmoid(reference_points) + # new_reference_points = box_holder[..., :self.query_dim].sigmoid() + + reference_before_sigmoid = inverse_sigmoid(reference_points) + delta_unsig = self.bbox_embed[layer_id](output) + outputs_unsig = delta_unsig + reference_before_sigmoid + new_reference_points = outputs_unsig.sigmoid() + + reference_points = new_reference_points.detach() + # if layer_id != self.num_layers - 1: + ref_points.append(new_reference_points) + + intermediate.append(self.norm(output)) + + return [ + [itm_out.transpose(0, 1) for itm_out in intermediate], + [itm_refpoint.transpose(0, 1) for itm_refpoint in ref_points], + ] + + +class DeformableTransformerEncoderLayer(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 + self.self_attn = MSDeformAttn( + embed_dim=d_model, + num_levels=n_levels, + num_heads=n_heads, + num_points=n_points, + batch_first=True, + ) + 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, d_model=d_ffn) + 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, key_padding_mask=None + ): + # self attention + # import ipdb; ipdb.set_trace() + src2 = self.self_attn( + query=self.with_pos_embed(src, pos), + reference_points=reference_points, + value=src, + spatial_shapes=spatial_shapes, + level_start_index=level_start_index, + key_padding_mask=key_padding_mask, + ) + src = src + self.dropout1(src2) + src = self.norm1(src) + + # ffn + src = self.forward_ffn(src) + + return src + + +class DeformableTransformerDecoderLayer(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, + use_text_feat_guide=False, + use_text_cross_attention=False, + ): + super().__init__() + + # cross attention + self.cross_attn = MSDeformAttn( + embed_dim=d_model, + num_levels=n_levels, + num_heads=n_heads, + num_points=n_points, + batch_first=True, + ) + self.dropout1 = nn.Dropout(dropout) if dropout > 0 else nn.Identity() + self.norm1 = nn.LayerNorm(d_model) + + # cross attention text + if use_text_cross_attention: + self.ca_text = nn.MultiheadAttention(d_model, n_heads, dropout=dropout) + self.catext_dropout = nn.Dropout(dropout) if dropout > 0 else nn.Identity() + self.catext_norm = nn.LayerNorm(d_model) + + # self attention + self.self_attn = nn.MultiheadAttention(d_model, n_heads, dropout=dropout) + self.dropout2 = nn.Dropout(dropout) if dropout > 0 else nn.Identity() + self.norm2 = nn.LayerNorm(d_model) + + # ffn + self.linear1 = nn.Linear(d_model, d_ffn) + self.activation = _get_activation_fn(activation, d_model=d_ffn, batch_dim=1) + self.dropout3 = nn.Dropout(dropout) if dropout > 0 else nn.Identity() + self.linear2 = nn.Linear(d_ffn, d_model) + self.dropout4 = nn.Dropout(dropout) if dropout > 0 else nn.Identity() + self.norm3 = nn.LayerNorm(d_model) + + self.key_aware_proj = None + self.use_text_feat_guide = use_text_feat_guide + assert not use_text_feat_guide + self.use_text_cross_attention = use_text_cross_attention + + def rm_self_attn_modules(self): + self.self_attn = None + self.dropout2 = None + self.norm2 = None + + @staticmethod + def with_pos_embed(tensor, pos): + return tensor if pos is None else tensor + pos + + def forward_ffn(self, tgt): + with torch.cuda.amp.autocast(enabled=False): + tgt2 = self.linear2(self.dropout3(self.activation(self.linear1(tgt)))) + tgt = tgt + self.dropout4(tgt2) + tgt = self.norm3(tgt) + return tgt + + def forward( + self, + # for tgt + tgt: Optional[Tensor], # nq, bs, d_model + tgt_query_pos: Optional[Tensor] = None, # pos for query. MLP(Sine(pos)) + tgt_query_sine_embed: Optional[Tensor] = None, # pos for query. Sine(pos) + tgt_key_padding_mask: Optional[Tensor] = None, + tgt_reference_points: Optional[Tensor] = None, # nq, bs, 4 + memory_text: Optional[Tensor] = None, # bs, num_token, d_model + text_attention_mask: Optional[Tensor] = None, # bs, num_token + # for memory + memory: Optional[Tensor] = None, # hw, bs, d_model + memory_key_padding_mask: Optional[Tensor] = None, + memory_level_start_index: Optional[Tensor] = None, # num_levels + memory_spatial_shapes: Optional[Tensor] = None, # bs, num_levels, 2 + memory_pos: Optional[Tensor] = None, # pos for memory + # sa + self_attn_mask: Optional[Tensor] = None, # mask used for self-attention + cross_attn_mask: Optional[Tensor] = None, # mask used for cross-attention + ): + """ + Input: + - tgt/tgt_query_pos: nq, bs, d_model + - + """ + assert cross_attn_mask is None + + # self attention + if self.self_attn is not None: + # import ipdb; ipdb.set_trace() + q = k = self.with_pos_embed(tgt, tgt_query_pos) + tgt2 = self.self_attn(q, k, tgt, attn_mask=self_attn_mask)[0] + tgt = tgt + self.dropout2(tgt2) + tgt = self.norm2(tgt) + + if self.use_text_cross_attention: + tgt2 = self.ca_text( + self.with_pos_embed(tgt, tgt_query_pos), + memory_text.transpose(0, 1), + memory_text.transpose(0, 1), + key_padding_mask=text_attention_mask, + )[0] + tgt = tgt + self.catext_dropout(tgt2) + tgt = self.catext_norm(tgt) + + tgt2 = self.cross_attn( + query=self.with_pos_embed(tgt, tgt_query_pos).transpose(0, 1), + reference_points=tgt_reference_points.transpose(0, 1).contiguous(), + value=memory.transpose(0, 1), + spatial_shapes=memory_spatial_shapes, + level_start_index=memory_level_start_index, + key_padding_mask=memory_key_padding_mask, + ).transpose(0, 1) + tgt = tgt + self.dropout1(tgt2) + tgt = self.norm1(tgt) + + # ffn + tgt = self.forward_ffn(tgt) + + return tgt + + +def build_transformer(args): + return Transformer( + d_model=args.hidden_dim, + dropout=args.dropout, + nhead=args.nheads, + num_queries=args.num_queries, + dim_feedforward=args.dim_feedforward, + num_encoder_layers=args.enc_layers, + num_decoder_layers=args.dec_layers, + normalize_before=args.pre_norm, + return_intermediate_dec=True, + query_dim=args.query_dim, + activation=args.transformer_activation, + num_patterns=args.num_patterns, + num_feature_levels=args.num_feature_levels, + enc_n_points=args.enc_n_points, + dec_n_points=args.dec_n_points, + learnable_tgt_init=True, + # two stage + two_stage_type=args.two_stage_type, # ['no', 'standard', 'early'] + embed_init_tgt=args.embed_init_tgt, + use_text_enhancer=args.use_text_enhancer, + use_fusion_layer=args.use_fusion_layer, + use_checkpoint=args.use_checkpoint, + use_transformer_ckpt=args.use_transformer_ckpt, + use_text_cross_attention=args.use_text_cross_attention, + text_dropout=args.text_dropout, + fusion_dropout=args.fusion_dropout, + fusion_droppath=args.fusion_droppath, + ) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/transformer_vanilla.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/transformer_vanilla.py new file mode 100644 index 0000000000000000000000000000000000000000..10c0920c1a217af5bb3e1b13077568035ab3b7b5 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/transformer_vanilla.py @@ -0,0 +1,123 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Copyright (c) Aishwarya Kamath & Nicolas Carion. Licensed under the Apache License 2.0. All Rights Reserved +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved +""" +DETR Transformer class. + +Copy-paste from torch.nn.Transformer with modifications: + * positional encodings are passed in MHattention + * extra LN at the end of encoder is removed + * decoder returns a stack of activations from all decoding layers +""" +from typing import Optional + +import torch +import torch.nn.functional as F +from torch import Tensor, nn + +from .utils import ( + MLP, + _get_activation_fn, + _get_clones, + gen_encoder_output_proposals, + gen_sineembed_for_position, + sigmoid_focal_loss, +) + + +class TextTransformer(nn.Module): + def __init__(self, num_layers, d_model=256, nheads=8, dim_feedforward=2048, dropout=0.1): + super().__init__() + self.num_layers = num_layers + self.d_model = d_model + self.nheads = nheads + self.dim_feedforward = dim_feedforward + self.norm = None + + single_encoder_layer = TransformerEncoderLayer( + d_model=d_model, nhead=nheads, dim_feedforward=dim_feedforward, dropout=dropout + ) + self.layers = _get_clones(single_encoder_layer, num_layers) + + def forward(self, memory_text: torch.Tensor, text_attention_mask: torch.Tensor): + """ + + Args: + text_attention_mask: bs, num_token + memory_text: bs, num_token, d_model + + Raises: + RuntimeError: _description_ + + Returns: + output: bs, num_token, d_model + """ + + output = memory_text.transpose(0, 1) + + for layer in self.layers: + output = layer(output, src_key_padding_mask=text_attention_mask) + + if self.norm is not None: + output = self.norm(output) + + return output.transpose(0, 1) + + +class TransformerEncoderLayer(nn.Module): + def __init__( + self, + d_model, + nhead, + dim_feedforward=2048, + dropout=0.1, + activation="relu", + normalize_before=False, + ): + super().__init__() + self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout=dropout) + # Implementation of Feedforward model + self.linear1 = nn.Linear(d_model, dim_feedforward) + self.dropout = nn.Dropout(dropout) + self.linear2 = nn.Linear(dim_feedforward, d_model) + + self.norm1 = nn.LayerNorm(d_model) + self.norm2 = nn.LayerNorm(d_model) + self.dropout1 = nn.Dropout(dropout) + self.dropout2 = nn.Dropout(dropout) + + self.activation = _get_activation_fn(activation) + self.normalize_before = normalize_before + self.nhead = nhead + + def with_pos_embed(self, tensor, pos: Optional[Tensor]): + return tensor if pos is None else tensor + pos + + def forward( + self, + src, + src_mask: Optional[Tensor] = None, + src_key_padding_mask: Optional[Tensor] = None, + pos: Optional[Tensor] = None, + ): + # repeat attn mask + if src_mask.dim() == 3 and src_mask.shape[0] == src.shape[1]: + # bs, num_q, num_k + src_mask = src_mask.repeat(self.nhead, 1, 1) + + q = k = self.with_pos_embed(src, pos) + + src2 = self.self_attn(q, k, value=src, attn_mask=src_mask)[0] + + # src2 = self.self_attn(q, k, value=src, attn_mask=src_mask, key_padding_mask=src_key_padding_mask)[0] + src = src + self.dropout1(src2) + src = self.norm1(src) + src2 = self.linear2(self.dropout(self.activation(self.linear1(src)))) + src = src + self.dropout2(src2) + src = self.norm2(src) + return src diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/utils.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..5bd18f70225e12b2e27fdb4eabcde91d959f8e31 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/GroundingDINO/utils.py @@ -0,0 +1,268 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ + +import copy +import math + +import torch +import torch.nn.functional as F +from torch import Tensor, nn + + +def _get_clones(module, N, layer_share=False): + # import ipdb; ipdb.set_trace() + if layer_share: + return nn.ModuleList([module for i in range(N)]) + else: + return nn.ModuleList([copy.deepcopy(module) for i in range(N)]) + + +def get_sine_pos_embed( + pos_tensor: torch.Tensor, + num_pos_feats: int = 128, + temperature: int = 10000, + exchange_xy: bool = True, +): + """generate sine position embedding from a position tensor + Args: + pos_tensor (torch.Tensor): shape: [..., n]. + num_pos_feats (int): projected shape for each float in the tensor. + temperature (int): temperature in the sine/cosine function. + exchange_xy (bool, optional): exchange pos x and pos y. \ + For example, input tensor is [x,y], the results will be [pos(y), pos(x)]. Defaults to True. + Returns: + pos_embed (torch.Tensor): shape: [..., n*num_pos_feats]. + """ + scale = 2 * math.pi + dim_t = torch.arange(num_pos_feats, dtype=torch.float32, device=pos_tensor.device) + dim_t = temperature ** (2 * torch.div(dim_t, 2, rounding_mode="floor") / num_pos_feats) + + def sine_func(x: torch.Tensor): + sin_x = x * scale / dim_t + sin_x = torch.stack((sin_x[..., 0::2].sin(), sin_x[..., 1::2].cos()), dim=3).flatten(2) + return sin_x + + pos_res = [sine_func(x) for x in pos_tensor.split([1] * pos_tensor.shape[-1], dim=-1)] + if exchange_xy: + pos_res[0], pos_res[1] = pos_res[1], pos_res[0] + pos_res = torch.cat(pos_res, dim=-1) + return pos_res + + +def gen_encoder_output_proposals( + memory: Tensor, memory_padding_mask: Tensor, spatial_shapes: Tensor, learnedwh=None +): + """ + Input: + - memory: bs, \sum{hw}, d_model + - memory_padding_mask: bs, \sum{hw} + - spatial_shapes: nlevel, 2 + - learnedwh: 2 + Output: + - output_memory: bs, \sum{hw}, d_model + - output_proposals: bs, \sum{hw}, 4 + """ + N_, S_, C_ = memory.shape + proposals = [] + _cur = 0 + for lvl, (H_, W_) in enumerate(spatial_shapes): + mask_flatten_ = memory_padding_mask[:, _cur : (_cur + H_ * W_)].view(N_, H_, W_, 1) + valid_H = torch.sum(~mask_flatten_[:, :, 0, 0], 1) + valid_W = torch.sum(~mask_flatten_[:, 0, :, 0], 1) + + # import ipdb; ipdb.set_trace() + + grid_y, grid_x = torch.meshgrid( + torch.linspace(0, H_ - 1, H_, dtype=torch.float32, device=memory.device), + torch.linspace(0, W_ - 1, W_, dtype=torch.float32, device=memory.device), + ) + grid = torch.cat([grid_x.unsqueeze(-1), grid_y.unsqueeze(-1)], -1) # H_, W_, 2 + + scale = torch.cat([valid_W.unsqueeze(-1), valid_H.unsqueeze(-1)], 1).view(N_, 1, 1, 2) + grid = (grid.unsqueeze(0).expand(N_, -1, -1, -1) + 0.5) / scale + + if learnedwh is not None: + # import ipdb; ipdb.set_trace() + wh = torch.ones_like(grid) * learnedwh.sigmoid() * (2.0**lvl) + else: + wh = torch.ones_like(grid) * 0.05 * (2.0**lvl) + + # scale = torch.cat([W_[None].unsqueeze(-1), H_[None].unsqueeze(-1)], 1).view(1, 1, 1, 2).repeat(N_, 1, 1, 1) + # grid = (grid.unsqueeze(0).expand(N_, -1, -1, -1) + 0.5) / scale + # wh = torch.ones_like(grid) / scale + proposal = torch.cat((grid, wh), -1).view(N_, -1, 4) + proposals.append(proposal) + _cur += H_ * W_ + # import ipdb; ipdb.set_trace() + output_proposals = torch.cat(proposals, 1) + output_proposals_valid = ((output_proposals > 0.01) & (output_proposals < 0.99)).all( + -1, keepdim=True + ) + output_proposals = torch.log(output_proposals / (1 - output_proposals)) # unsigmoid + output_proposals = output_proposals.masked_fill(memory_padding_mask.unsqueeze(-1), float("inf")) + output_proposals = output_proposals.masked_fill(~output_proposals_valid, float("inf")) + + output_memory = memory + output_memory = output_memory.masked_fill(memory_padding_mask.unsqueeze(-1), float(0)) + output_memory = output_memory.masked_fill(~output_proposals_valid, float(0)) + + # output_memory = output_memory.masked_fill(memory_padding_mask.unsqueeze(-1), float('inf')) + # output_memory = output_memory.masked_fill(~output_proposals_valid, float('inf')) + + return output_memory, output_proposals + + +class RandomBoxPerturber: + def __init__( + self, x_noise_scale=0.2, y_noise_scale=0.2, w_noise_scale=0.2, h_noise_scale=0.2 + ) -> None: + self.noise_scale = torch.Tensor( + [x_noise_scale, y_noise_scale, w_noise_scale, h_noise_scale] + ) + + def __call__(self, refanchors: Tensor) -> Tensor: + nq, bs, query_dim = refanchors.shape + device = refanchors.device + + noise_raw = torch.rand_like(refanchors) + noise_scale = self.noise_scale.to(device)[:query_dim] + + new_refanchors = refanchors * (1 + (noise_raw - 0.5) * noise_scale) + return new_refanchors.clamp_(0, 1) + + +def sigmoid_focal_loss( + inputs, targets, num_boxes, alpha: float = 0.25, gamma: float = 2, no_reduction=False +): + """ + Loss used in RetinaNet for dense detection: https://arxiv.org/abs/1708.02002. + Args: + inputs: A float tensor of arbitrary shape. + The predictions for each example. + targets: A float tensor with the same shape as inputs. Stores the binary + classification label for each element in inputs + (0 for the negative class and 1 for the positive class). + alpha: (optional) Weighting factor in range (0,1) to balance + positive vs negative examples. Default = -1 (no weighting). + gamma: Exponent of the modulating factor (1 - p_t) to + balance easy vs hard examples. + Returns: + Loss tensor + """ + prob = inputs.sigmoid() + ce_loss = F.binary_cross_entropy_with_logits(inputs, targets, reduction="none") + p_t = prob * targets + (1 - prob) * (1 - targets) + loss = ce_loss * ((1 - p_t) ** gamma) + + if alpha >= 0: + alpha_t = alpha * targets + (1 - alpha) * (1 - targets) + loss = alpha_t * loss + + if no_reduction: + return loss + + return loss.mean(1).sum() / num_boxes + + +class MLP(nn.Module): + """Very simple multi-layer perceptron (also called FFN)""" + + def __init__(self, input_dim, hidden_dim, output_dim, num_layers): + super().__init__() + self.num_layers = num_layers + h = [hidden_dim] * (num_layers - 1) + self.layers = nn.ModuleList( + nn.Linear(n, k) for n, k in zip([input_dim] + h, h + [output_dim]) + ) + + def forward(self, x): + for i, layer in enumerate(self.layers): + x = F.relu(layer(x)) if i < self.num_layers - 1 else layer(x) + return x + + +def _get_activation_fn(activation, d_model=256, batch_dim=0): + """Return an activation function given a string""" + if activation == "relu": + return F.relu + if activation == "gelu": + return F.gelu + if activation == "glu": + return F.glu + if activation == "prelu": + return nn.PReLU() + if activation == "selu": + return F.selu + + raise RuntimeError(f"activation should be relu/gelu, not {activation}.") + + +def gen_sineembed_for_position(pos_tensor): + # n_query, bs, _ = pos_tensor.size() + # sineembed_tensor = torch.zeros(n_query, bs, 256) + scale = 2 * math.pi + dim_t = torch.arange(128, dtype=torch.float32, device=pos_tensor.device) + dim_t = 10000 ** (2 * (torch.div(dim_t, 2, rounding_mode='floor')) / 128) + x_embed = pos_tensor[:, :, 0] * scale + y_embed = pos_tensor[:, :, 1] * scale + pos_x = x_embed[:, :, None] / dim_t + pos_y = y_embed[:, :, None] / dim_t + pos_x = torch.stack((pos_x[:, :, 0::2].sin(), pos_x[:, :, 1::2].cos()), dim=3).flatten(2) + pos_y = torch.stack((pos_y[:, :, 0::2].sin(), pos_y[:, :, 1::2].cos()), dim=3).flatten(2) + if pos_tensor.size(-1) == 2: + pos = torch.cat((pos_y, pos_x), dim=2) + elif pos_tensor.size(-1) == 4: + w_embed = pos_tensor[:, :, 2] * scale + pos_w = w_embed[:, :, None] / dim_t + pos_w = torch.stack((pos_w[:, :, 0::2].sin(), pos_w[:, :, 1::2].cos()), dim=3).flatten(2) + + h_embed = pos_tensor[:, :, 3] * scale + pos_h = h_embed[:, :, None] / dim_t + pos_h = torch.stack((pos_h[:, :, 0::2].sin(), pos_h[:, :, 1::2].cos()), dim=3).flatten(2) + + pos = torch.cat((pos_y, pos_x, pos_w, pos_h), dim=2) + else: + raise ValueError("Unknown pos_tensor shape(-1):{}".format(pos_tensor.size(-1))) + return pos + + +class ContrastiveEmbed(nn.Module): + def __init__(self, max_text_len=256): + """ + Args: + max_text_len: max length of text. + """ + super().__init__() + self.max_text_len = max_text_len + + def forward(self, x, text_dict): + """_summary_ + + Args: + x (_type_): _description_ + text_dict (_type_): _description_ + { + 'encoded_text': encoded_text, # bs, 195, d_model + 'text_token_mask': text_token_mask, # bs, 195 + # True for used tokens. False for padding tokens + } + Returns: + _type_: _description_ + """ + assert isinstance(text_dict, dict) + + y = text_dict["encoded_text"] + text_token_mask = text_dict["text_token_mask"] + + res = x @ y.transpose(-1, -2) + res.masked_fill_(~text_token_mask[:, None, :], float("-inf")) + + # padding to max_text_len + new_res = torch.full((*res.shape[:-1], self.max_text_len), float("-inf"), device=res.device) + new_res[..., : res.shape[-1]] = res + + return new_res diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/__init__.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e3413961d1d184b99835eb1e919b052d70298bc6 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/__init__.py @@ -0,0 +1,18 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved +from .GroundingDINO import build_groundingdino + + +def build_model(args): + # we use register to maintain models from catdet6 on. + from .registry import MODULE_BUILD_FUNCS + + assert args.modelname in MODULE_BUILD_FUNCS._module_dict + build_func = MODULE_BUILD_FUNCS.get(args.modelname) + model = build_func(args) + return model diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/registry.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/registry.py new file mode 100644 index 0000000000000000000000000000000000000000..2d22a59eec79a2a19b83fa1779f2adaf5753aec6 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/models/registry.py @@ -0,0 +1,66 @@ +# ------------------------------------------------------------------------ +# Grounding DINO +# url: https://github.com/IDEA-Research/GroundingDINO +# Copyright (c) 2023 IDEA. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------ +# -*- coding: utf-8 -*- +# @Author: Yihao Chen +# @Date: 2021-08-16 16:03:17 +# @Last Modified by: Shilong Liu +# @Last Modified time: 2022-01-23 15:26 +# modified from mmcv + +import inspect +from functools import partial + + +class Registry(object): + def __init__(self, name): + self._name = name + self._module_dict = dict() + + def __repr__(self): + format_str = self.__class__.__name__ + "(name={}, items={})".format( + self._name, list(self._module_dict.keys()) + ) + return format_str + + def __len__(self): + return len(self._module_dict) + + @property + def name(self): + return self._name + + @property + def module_dict(self): + return self._module_dict + + def get(self, key): + return self._module_dict.get(key, None) + + def registe_with_name(self, module_name=None, force=False): + return partial(self.register, module_name=module_name, force=force) + + def register(self, module_build_function, module_name=None, force=False): + """Register a module build function. + Args: + module (:obj:`nn.Module`): Module to be registered. + """ + if not inspect.isfunction(module_build_function): + raise TypeError( + "module_build_function must be a function, but got {}".format( + type(module_build_function) + ) + ) + if module_name is None: + module_name = module_build_function.__name__ + if not force and module_name in self._module_dict: + raise KeyError("{} is already registered in {}".format(module_name, self.name)) + self._module_dict[module_name] = module_build_function + + return module_build_function + + +MODULE_BUILD_FUNCS = Registry("model build functions") diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/__init__.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..168f9979a4623806934b0ff1102ac166704e7dec --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/__init__.py @@ -0,0 +1 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/box_ops.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/box_ops.py new file mode 100644 index 0000000000000000000000000000000000000000..781068d294e576954edb4bd07b6e0f30e4e1bcd9 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/box_ops.py @@ -0,0 +1,140 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved +""" +Utilities for bounding box manipulation and GIoU. +""" +import torch +from torchvision.ops.boxes import box_area + + +def box_cxcywh_to_xyxy(x): + x_c, y_c, w, h = x.unbind(-1) + b = [(x_c - 0.5 * w), (y_c - 0.5 * h), (x_c + 0.5 * w), (y_c + 0.5 * h)] + return torch.stack(b, dim=-1) + + +def box_xyxy_to_cxcywh(x): + x0, y0, x1, y1 = x.unbind(-1) + b = [(x0 + x1) / 2, (y0 + y1) / 2, (x1 - x0), (y1 - y0)] + return torch.stack(b, dim=-1) + + +# modified from torchvision to also return the union +def box_iou(boxes1, boxes2): + area1 = box_area(boxes1) + area2 = box_area(boxes2) + + # import ipdb; ipdb.set_trace() + lt = torch.max(boxes1[:, None, :2], boxes2[:, :2]) # [N,M,2] + rb = torch.min(boxes1[:, None, 2:], boxes2[:, 2:]) # [N,M,2] + + wh = (rb - lt).clamp(min=0) # [N,M,2] + inter = wh[:, :, 0] * wh[:, :, 1] # [N,M] + + union = area1[:, None] + area2 - inter + + iou = inter / (union + 1e-6) + return iou, union + + +def generalized_box_iou(boxes1, boxes2): + """ + Generalized IoU from https://giou.stanford.edu/ + + The boxes should be in [x0, y0, x1, y1] format + + Returns a [N, M] pairwise matrix, where N = len(boxes1) + and M = len(boxes2) + """ + # degenerate boxes gives inf / nan results + # so do an early check + assert (boxes1[:, 2:] >= boxes1[:, :2]).all() + assert (boxes2[:, 2:] >= boxes2[:, :2]).all() + # except: + # import ipdb; ipdb.set_trace() + iou, union = box_iou(boxes1, boxes2) + + lt = torch.min(boxes1[:, None, :2], boxes2[:, :2]) + rb = torch.max(boxes1[:, None, 2:], boxes2[:, 2:]) + + wh = (rb - lt).clamp(min=0) # [N,M,2] + area = wh[:, :, 0] * wh[:, :, 1] + + return iou - (area - union) / (area + 1e-6) + + +# modified from torchvision to also return the union +def box_iou_pairwise(boxes1, boxes2): + area1 = box_area(boxes1) + area2 = box_area(boxes2) + + lt = torch.max(boxes1[:, :2], boxes2[:, :2]) # [N,2] + rb = torch.min(boxes1[:, 2:], boxes2[:, 2:]) # [N,2] + + wh = (rb - lt).clamp(min=0) # [N,2] + inter = wh[:, 0] * wh[:, 1] # [N] + + union = area1 + area2 - inter + + iou = inter / union + return iou, union + + +def generalized_box_iou_pairwise(boxes1, boxes2): + """ + Generalized IoU from https://giou.stanford.edu/ + + Input: + - boxes1, boxes2: N,4 + Output: + - giou: N, 4 + """ + # degenerate boxes gives inf / nan results + # so do an early check + assert (boxes1[:, 2:] >= boxes1[:, :2]).all() + assert (boxes2[:, 2:] >= boxes2[:, :2]).all() + assert boxes1.shape == boxes2.shape + iou, union = box_iou_pairwise(boxes1, boxes2) # N, 4 + + lt = torch.min(boxes1[:, :2], boxes2[:, :2]) + rb = torch.max(boxes1[:, 2:], boxes2[:, 2:]) + + wh = (rb - lt).clamp(min=0) # [N,2] + area = wh[:, 0] * wh[:, 1] + + return iou - (area - union) / area + + +def masks_to_boxes(masks): + """Compute the bounding boxes around the provided masks + + The masks should be in format [N, H, W] where N is the number of masks, (H, W) are the spatial dimensions. + + Returns a [N, 4] tensors, with the boxes in xyxy format + """ + if masks.numel() == 0: + return torch.zeros((0, 4), device=masks.device) + + h, w = masks.shape[-2:] + + y = torch.arange(0, h, dtype=torch.float) + x = torch.arange(0, w, dtype=torch.float) + y, x = torch.meshgrid(y, x) + + x_mask = masks * x.unsqueeze(0) + x_max = x_mask.flatten(1).max(-1)[0] + x_min = x_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0] + + y_mask = masks * y.unsqueeze(0) + y_max = y_mask.flatten(1).max(-1)[0] + y_min = y_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0] + + return torch.stack([x_min, y_min, x_max, y_max], 1) + + +if __name__ == "__main__": + x = torch.rand(5, 4) + y = torch.rand(3, 4) + iou, union = box_iou(x, y) + import ipdb + + ipdb.set_trace() diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/get_tokenlizer.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/get_tokenlizer.py new file mode 100644 index 0000000000000000000000000000000000000000..dd2d972b4278e04a1ebef7d5e77aecd4eaf4205b --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/get_tokenlizer.py @@ -0,0 +1,29 @@ +from transformers import AutoTokenizer, BertModel, BertTokenizer, RobertaModel, RobertaTokenizerFast +import os + +def get_tokenlizer(text_encoder_type): + if not isinstance(text_encoder_type, str): + # print("text_encoder_type is not a str") + if hasattr(text_encoder_type, "text_encoder_type"): + text_encoder_type = text_encoder_type.text_encoder_type + elif text_encoder_type.get("text_encoder_type", False): + text_encoder_type = text_encoder_type.get("text_encoder_type") + elif os.path.isdir(text_encoder_type) and os.path.exists(text_encoder_type): + pass + else: + raise ValueError( + "Unknown type of text_encoder_type: {}".format(type(text_encoder_type)) + ) + print("final text_encoder_type: {}".format(text_encoder_type)) + + tokenizer = AutoTokenizer.from_pretrained(text_encoder_type) + return tokenizer + + +def get_pretrained_language_model(text_encoder_type): + if text_encoder_type == "bert-base-uncased" or (os.path.isdir(text_encoder_type) and os.path.exists(text_encoder_type)): + return BertModel.from_pretrained(text_encoder_type) + if text_encoder_type == "roberta-base": + return RobertaModel.from_pretrained(text_encoder_type) + + raise ValueError("Unknown text_encoder_type {}".format(text_encoder_type)) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/inference.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/inference.py new file mode 100644 index 0000000000000000000000000000000000000000..d6f3b97b939f75683efe17689ab03e34d6cb6916 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/inference.py @@ -0,0 +1,273 @@ +from typing import Tuple, List + +import cv2 +import numpy as np +import supervision as sv +import torch +from PIL import Image +from torchvision.ops import box_convert +import bisect + +import grounding_dino.groundingdino.datasets.transforms as T +from grounding_dino.groundingdino.models import build_model +from grounding_dino.groundingdino.util.misc import clean_state_dict +from grounding_dino.groundingdino.util.slconfig import SLConfig +from grounding_dino.groundingdino.util.utils import get_phrases_from_posmap + +# ---------------------------------------------------------------------------------------------------------------------- +# OLD API +# ---------------------------------------------------------------------------------------------------------------------- + + +def preprocess_caption(caption: str) -> str: + result = caption.lower().strip() + if result.endswith("."): + return result + return result + "." + + +def load_model(model_config_path: str, model_checkpoint_path: str, device: str = "cuda"): + args = SLConfig.fromfile(model_config_path) + args.device = device + model = build_model(args) + checkpoint = torch.load(model_checkpoint_path, map_location="cpu") + model.load_state_dict(clean_state_dict(checkpoint["model"]), strict=False) + model.eval() + return model + + +def load_image(image_path: str) -> Tuple[np.array, torch.Tensor]: + transform = T.Compose( + [ + T.RandomResize([800], max_size=1333), + T.ToTensor(), + T.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225]), + ] + ) + image_source = Image.open(image_path).convert("RGB") + image = np.asarray(image_source) + image_transformed, _ = transform(image_source, None) + return image, image_transformed + + +def predict( + model, + image: torch.Tensor, + caption: str, + box_threshold: float, + text_threshold: float, + device: str = "cuda", + remove_combined: bool = False +) -> Tuple[torch.Tensor, torch.Tensor, List[str]]: + caption = preprocess_caption(caption=caption) + + model = model.to(device) + image = image.to(device) + + with torch.no_grad(): + outputs = model(image[None], captions=[caption]) + + prediction_logits = outputs["pred_logits"].cpu().sigmoid()[0] # prediction_logits.shape = (nq, 256) + prediction_boxes = outputs["pred_boxes"].cpu()[0] # prediction_boxes.shape = (nq, 4) + + mask = prediction_logits.max(dim=1)[0] > box_threshold + logits = prediction_logits[mask] # logits.shape = (n, 256) + boxes = prediction_boxes[mask] # boxes.shape = (n, 4) + + tokenizer = model.tokenizer + tokenized = tokenizer(caption) + + if remove_combined: + sep_idx = [i for i in range(len(tokenized['input_ids'])) if tokenized['input_ids'][i] in [101, 102, 1012]] + + phrases = [] + for logit in logits: + max_idx = logit.argmax() + insert_idx = bisect.bisect_left(sep_idx, max_idx) + right_idx = sep_idx[insert_idx] + left_idx = sep_idx[insert_idx - 1] + phrases.append(get_phrases_from_posmap(logit > text_threshold, tokenized, tokenizer, left_idx, right_idx).replace('.', '')) + else: + phrases = [ + get_phrases_from_posmap(logit > text_threshold, tokenized, tokenizer).replace('.', '') + for logit + in logits + ] + + return boxes, logits.max(dim=1)[0], phrases + + +def annotate(image_source: np.ndarray, boxes: torch.Tensor, logits: torch.Tensor, phrases: List[str]) -> np.ndarray: + """ + This function annotates an image with bounding boxes and labels. + + Parameters: + image_source (np.ndarray): The source image to be annotated. + boxes (torch.Tensor): A tensor containing bounding box coordinates. + logits (torch.Tensor): A tensor containing confidence scores for each bounding box. + phrases (List[str]): A list of labels for each bounding box. + + Returns: + np.ndarray: The annotated image. + """ + h, w, _ = image_source.shape + boxes = boxes * torch.Tensor([w, h, w, h]) + xyxy = box_convert(boxes=boxes, in_fmt="cxcywh", out_fmt="xyxy").numpy() + detections = sv.Detections(xyxy=xyxy) + + labels = [ + f"{phrase} {logit:.2f}" + for phrase, logit + in zip(phrases, logits) + ] + + bbox_annotator = sv.BoxAnnotator(color_lookup=sv.ColorLookup.INDEX) + label_annotator = sv.LabelAnnotator(color_lookup=sv.ColorLookup.INDEX) + annotated_frame = cv2.cvtColor(image_source, cv2.COLOR_RGB2BGR) + annotated_frame = bbox_annotator.annotate(scene=annotated_frame, detections=detections) + annotated_frame = label_annotator.annotate(scene=annotated_frame, detections=detections, labels=labels) + return annotated_frame + + +# ---------------------------------------------------------------------------------------------------------------------- +# NEW API +# ---------------------------------------------------------------------------------------------------------------------- + + +class Model: + + def __init__( + self, + model_config_path: str, + model_checkpoint_path: str, + device: str = "cuda" + ): + self.model = load_model( + model_config_path=model_config_path, + model_checkpoint_path=model_checkpoint_path, + device=device + ).to(device) + self.device = device + + def predict_with_caption( + self, + image: np.ndarray, + caption: str, + box_threshold: float = 0.35, + text_threshold: float = 0.25 + ) -> Tuple[sv.Detections, List[str]]: + """ + import cv2 + + image = cv2.imread(IMAGE_PATH) + + model = Model(model_config_path=CONFIG_PATH, model_checkpoint_path=WEIGHTS_PATH) + detections, labels = model.predict_with_caption( + image=image, + caption=caption, + box_threshold=BOX_THRESHOLD, + text_threshold=TEXT_THRESHOLD + ) + + import supervision as sv + + box_annotator = sv.BoxAnnotator() + annotated_image = box_annotator.annotate(scene=image, detections=detections, labels=labels) + """ + processed_image = Model.preprocess_image(image_bgr=image).to(self.device) + boxes, logits, phrases = predict( + model=self.model, + image=processed_image, + caption=caption, + box_threshold=box_threshold, + text_threshold=text_threshold, + device=self.device) + source_h, source_w, _ = image.shape + detections = Model.post_process_result( + source_h=source_h, + source_w=source_w, + boxes=boxes, + logits=logits) + return detections, phrases + + def predict_with_classes( + self, + image: np.ndarray, + classes: List[str], + box_threshold: float, + text_threshold: float + ) -> sv.Detections: + """ + import cv2 + + image = cv2.imread(IMAGE_PATH) + + model = Model(model_config_path=CONFIG_PATH, model_checkpoint_path=WEIGHTS_PATH) + detections = model.predict_with_classes( + image=image, + classes=CLASSES, + box_threshold=BOX_THRESHOLD, + text_threshold=TEXT_THRESHOLD + ) + + + import supervision as sv + + box_annotator = sv.BoxAnnotator() + annotated_image = box_annotator.annotate(scene=image, detections=detections) + """ + caption = ". ".join(classes) + processed_image = Model.preprocess_image(image_bgr=image).to(self.device) + boxes, logits, phrases = predict( + model=self.model, + image=processed_image, + caption=caption, + box_threshold=box_threshold, + text_threshold=text_threshold, + device=self.device) + source_h, source_w, _ = image.shape + detections = Model.post_process_result( + source_h=source_h, + source_w=source_w, + boxes=boxes, + logits=logits) + class_id = Model.phrases2classes(phrases=phrases, classes=classes) + detections.class_id = class_id + return detections + + @staticmethod + def preprocess_image(image_bgr: np.ndarray) -> torch.Tensor: + transform = T.Compose( + [ + T.RandomResize([800], max_size=1333), + T.ToTensor(), + T.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225]), + ] + ) + image_pillow = Image.fromarray(cv2.cvtColor(image_bgr, cv2.COLOR_BGR2RGB)) + image_transformed, _ = transform(image_pillow, None) + return image_transformed + + @staticmethod + def post_process_result( + source_h: int, + source_w: int, + boxes: torch.Tensor, + logits: torch.Tensor + ) -> sv.Detections: + boxes = boxes * torch.Tensor([source_w, source_h, source_w, source_h]) + xyxy = box_convert(boxes=boxes, in_fmt="cxcywh", out_fmt="xyxy").numpy() + confidence = logits.numpy() + return sv.Detections(xyxy=xyxy, confidence=confidence) + + @staticmethod + def phrases2classes(phrases: List[str], classes: List[str]) -> np.ndarray: + class_ids = [] + for phrase in phrases: + for class_ in classes: + if class_ in phrase: + class_ids.append(classes.index(class_)) + break + else: + class_ids.append(None) + return np.array(class_ids) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/logger.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/logger.py new file mode 100644 index 0000000000000000000000000000000000000000..18145f54c927abd59b95f3fa6e6da8002bc2ce97 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/logger.py @@ -0,0 +1,93 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved +import functools +import logging +import os +import sys + +from termcolor import colored + + +class _ColorfulFormatter(logging.Formatter): + def __init__(self, *args, **kwargs): + self._root_name = kwargs.pop("root_name") + "." + self._abbrev_name = kwargs.pop("abbrev_name", "") + if len(self._abbrev_name): + self._abbrev_name = self._abbrev_name + "." + super(_ColorfulFormatter, self).__init__(*args, **kwargs) + + def formatMessage(self, record): + record.name = record.name.replace(self._root_name, self._abbrev_name) + log = super(_ColorfulFormatter, self).formatMessage(record) + if record.levelno == logging.WARNING: + prefix = colored("WARNING", "red", attrs=["blink"]) + elif record.levelno == logging.ERROR or record.levelno == logging.CRITICAL: + prefix = colored("ERROR", "red", attrs=["blink", "underline"]) + else: + return log + return prefix + " " + log + + +# so that calling setup_logger multiple times won't add many handlers +@functools.lru_cache() +def setup_logger(output=None, distributed_rank=0, *, color=True, name="imagenet", abbrev_name=None): + """ + Initialize the detectron2 logger and set its verbosity level to "INFO". + + Args: + output (str): a file name or a directory to save log. If None, will not save log file. + If ends with ".txt" or ".log", assumed to be a file name. + Otherwise, logs will be saved to `output/log.txt`. + name (str): the root module name of this logger + + Returns: + logging.Logger: a logger + """ + logger = logging.getLogger(name) + logger.setLevel(logging.DEBUG) + logger.propagate = False + + if abbrev_name is None: + abbrev_name = name + + plain_formatter = logging.Formatter( + "[%(asctime)s.%(msecs)03d]: %(message)s", datefmt="%m/%d %H:%M:%S" + ) + # stdout logging: master only + if distributed_rank == 0: + ch = logging.StreamHandler(stream=sys.stdout) + ch.setLevel(logging.DEBUG) + if color: + formatter = _ColorfulFormatter( + colored("[%(asctime)s.%(msecs)03d]: ", "green") + "%(message)s", + datefmt="%m/%d %H:%M:%S", + root_name=name, + abbrev_name=str(abbrev_name), + ) + else: + formatter = plain_formatter + ch.setFormatter(formatter) + logger.addHandler(ch) + + # file logging: all workers + if output is not None: + if output.endswith(".txt") or output.endswith(".log"): + filename = output + else: + filename = os.path.join(output, "log.txt") + if distributed_rank > 0: + filename = filename + f".rank{distributed_rank}" + os.makedirs(os.path.dirname(filename), exist_ok=True) + + fh = logging.StreamHandler(_cached_log_stream(filename)) + fh.setLevel(logging.DEBUG) + fh.setFormatter(plain_formatter) + logger.addHandler(fh) + + return logger + + +# cache the opened file object, so that different calls to `setup_logger` +# with the same file name can safely write to the same file. +@functools.lru_cache(maxsize=None) +def _cached_log_stream(filename): + return open(filename, "a") diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/misc.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/misc.py new file mode 100644 index 0000000000000000000000000000000000000000..d64b84ef24bea0c98e76824feb1903f6bfebe7a5 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/misc.py @@ -0,0 +1,717 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved +""" +Misc functions, including distributed helpers. + +Mostly copy-paste from torchvision references. +""" +import colorsys +import datetime +import functools +import io +import json +import os +import pickle +import subprocess +import time +from collections import OrderedDict, defaultdict, deque +from typing import List, Optional + +import numpy as np +import torch +import torch.distributed as dist + +# needed due to empty tensor bug in pytorch and torchvision 0.5 +import torchvision +from torch import Tensor + +__torchvision_need_compat_flag = float(torchvision.__version__.split(".")[1]) < 7 +if __torchvision_need_compat_flag: + from torchvision.ops import _new_empty_tensor + from torchvision.ops.misc import _output_size + + +class SmoothedValue(object): + """Track a series of values and provide access to smoothed values over a + window or the global series average. + """ + + def __init__(self, window_size=20, fmt=None): + if fmt is None: + fmt = "{median:.4f} ({global_avg:.4f})" + self.deque = deque(maxlen=window_size) + self.total = 0.0 + self.count = 0 + self.fmt = fmt + + def update(self, value, n=1): + self.deque.append(value) + self.count += n + self.total += value * n + + def synchronize_between_processes(self): + """ + Warning: does not synchronize the deque! + """ + if not is_dist_avail_and_initialized(): + return + t = torch.tensor([self.count, self.total], dtype=torch.float64, device="cuda") + dist.barrier() + dist.all_reduce(t) + t = t.tolist() + self.count = int(t[0]) + self.total = t[1] + + @property + def median(self): + d = torch.tensor(list(self.deque)) + if d.shape[0] == 0: + return 0 + return d.median().item() + + @property + def avg(self): + d = torch.tensor(list(self.deque), dtype=torch.float32) + return d.mean().item() + + @property + def global_avg(self): + if os.environ.get("SHILONG_AMP", None) == "1": + eps = 1e-4 + else: + eps = 1e-6 + return self.total / (self.count + eps) + + @property + def max(self): + return max(self.deque) + + @property + def value(self): + return self.deque[-1] + + def __str__(self): + return self.fmt.format( + median=self.median, + avg=self.avg, + global_avg=self.global_avg, + max=self.max, + value=self.value, + ) + + +@functools.lru_cache() +def _get_global_gloo_group(): + """ + Return a process group based on gloo backend, containing all the ranks + The result is cached. + """ + + if dist.get_backend() == "nccl": + return dist.new_group(backend="gloo") + + return dist.group.WORLD + + +def all_gather_cpu(data): + """ + Run all_gather on arbitrary picklable data (not necessarily tensors) + Args: + data: any picklable object + Returns: + list[data]: list of data gathered from each rank + """ + + world_size = get_world_size() + if world_size == 1: + return [data] + + cpu_group = _get_global_gloo_group() + + buffer = io.BytesIO() + torch.save(data, buffer) + data_view = buffer.getbuffer() + device = "cuda" if cpu_group is None else "cpu" + tensor = torch.ByteTensor(data_view).to(device) + + # obtain Tensor size of each rank + local_size = torch.tensor([tensor.numel()], device=device, dtype=torch.long) + size_list = [torch.tensor([0], device=device, dtype=torch.long) for _ in range(world_size)] + if cpu_group is None: + dist.all_gather(size_list, local_size) + else: + print("gathering on cpu") + dist.all_gather(size_list, local_size, group=cpu_group) + size_list = [int(size.item()) for size in size_list] + max_size = max(size_list) + assert isinstance(local_size.item(), int) + local_size = int(local_size.item()) + + # receiving Tensor from all ranks + # we pad the tensor because torch all_gather does not support + # gathering tensors of different shapes + tensor_list = [] + for _ in size_list: + tensor_list.append(torch.empty((max_size,), dtype=torch.uint8, device=device)) + if local_size != max_size: + padding = torch.empty(size=(max_size - local_size,), dtype=torch.uint8, device=device) + tensor = torch.cat((tensor, padding), dim=0) + if cpu_group is None: + dist.all_gather(tensor_list, tensor) + else: + dist.all_gather(tensor_list, tensor, group=cpu_group) + + data_list = [] + for size, tensor in zip(size_list, tensor_list): + tensor = torch.split(tensor, [size, max_size - size], dim=0)[0] + buffer = io.BytesIO(tensor.cpu().numpy()) + obj = torch.load(buffer) + data_list.append(obj) + + return data_list + + +def all_gather(data): + """ + Run all_gather on arbitrary picklable data (not necessarily tensors) + Args: + data: any picklable object + Returns: + list[data]: list of data gathered from each rank + """ + + if os.getenv("CPU_REDUCE") == "1": + return all_gather_cpu(data) + + world_size = get_world_size() + if world_size == 1: + return [data] + + # serialized to a Tensor + buffer = pickle.dumps(data) + storage = torch.ByteStorage.from_buffer(buffer) + tensor = torch.ByteTensor(storage).to("cuda") + + # obtain Tensor size of each rank + local_size = torch.tensor([tensor.numel()], device="cuda") + size_list = [torch.tensor([0], device="cuda") for _ in range(world_size)] + dist.all_gather(size_list, local_size) + size_list = [int(size.item()) for size in size_list] + max_size = max(size_list) + + # receiving Tensor from all ranks + # we pad the tensor because torch all_gather does not support + # gathering tensors of different shapes + tensor_list = [] + for _ in size_list: + tensor_list.append(torch.empty((max_size,), dtype=torch.uint8, device="cuda")) + if local_size != max_size: + padding = torch.empty(size=(max_size - local_size,), dtype=torch.uint8, device="cuda") + tensor = torch.cat((tensor, padding), dim=0) + dist.all_gather(tensor_list, tensor) + + data_list = [] + for size, tensor in zip(size_list, tensor_list): + buffer = tensor.cpu().numpy().tobytes()[:size] + data_list.append(pickle.loads(buffer)) + + return data_list + + +def reduce_dict(input_dict, average=True): + """ + Args: + input_dict (dict): all the values will be reduced + average (bool): whether to do average or sum + Reduce the values in the dictionary from all processes so that all processes + have the averaged results. Returns a dict with the same fields as + input_dict, after reduction. + """ + world_size = get_world_size() + if world_size < 2: + return input_dict + with torch.no_grad(): + names = [] + values = [] + # sort the keys so that they are consistent across processes + for k in sorted(input_dict.keys()): + names.append(k) + values.append(input_dict[k]) + values = torch.stack(values, dim=0) + dist.all_reduce(values) + if average: + values /= world_size + reduced_dict = {k: v for k, v in zip(names, values)} + return reduced_dict + + +class MetricLogger(object): + def __init__(self, delimiter="\t"): + self.meters = defaultdict(SmoothedValue) + self.delimiter = delimiter + + def update(self, **kwargs): + for k, v in kwargs.items(): + if isinstance(v, torch.Tensor): + v = v.item() + assert isinstance(v, (float, int)) + self.meters[k].update(v) + + def __getattr__(self, attr): + if attr in self.meters: + return self.meters[attr] + if attr in self.__dict__: + return self.__dict__[attr] + raise AttributeError("'{}' object has no attribute '{}'".format(type(self).__name__, attr)) + + def __str__(self): + loss_str = [] + for name, meter in self.meters.items(): + # print(name, str(meter)) + # import ipdb;ipdb.set_trace() + if meter.count > 0: + loss_str.append("{}: {}".format(name, str(meter))) + return self.delimiter.join(loss_str) + + def synchronize_between_processes(self): + for meter in self.meters.values(): + meter.synchronize_between_processes() + + def add_meter(self, name, meter): + self.meters[name] = meter + + def log_every(self, iterable, print_freq, header=None, logger=None): + if logger is None: + print_func = print + else: + print_func = logger.info + + i = 0 + if not header: + header = "" + start_time = time.time() + end = time.time() + iter_time = SmoothedValue(fmt="{avg:.4f}") + data_time = SmoothedValue(fmt="{avg:.4f}") + space_fmt = ":" + str(len(str(len(iterable)))) + "d" + if torch.cuda.is_available(): + log_msg = self.delimiter.join( + [ + header, + "[{0" + space_fmt + "}/{1}]", + "eta: {eta}", + "{meters}", + "time: {time}", + "data: {data}", + "max mem: {memory:.0f}", + ] + ) + else: + log_msg = self.delimiter.join( + [ + header, + "[{0" + space_fmt + "}/{1}]", + "eta: {eta}", + "{meters}", + "time: {time}", + "data: {data}", + ] + ) + MB = 1024.0 * 1024.0 + for obj in iterable: + data_time.update(time.time() - end) + yield obj + # import ipdb; ipdb.set_trace() + iter_time.update(time.time() - end) + if i % print_freq == 0 or i == len(iterable) - 1: + eta_seconds = iter_time.global_avg * (len(iterable) - i) + eta_string = str(datetime.timedelta(seconds=int(eta_seconds))) + if torch.cuda.is_available(): + print_func( + log_msg.format( + i, + len(iterable), + eta=eta_string, + meters=str(self), + time=str(iter_time), + data=str(data_time), + memory=torch.cuda.max_memory_allocated() / MB, + ) + ) + else: + print_func( + log_msg.format( + i, + len(iterable), + eta=eta_string, + meters=str(self), + time=str(iter_time), + data=str(data_time), + ) + ) + i += 1 + end = time.time() + total_time = time.time() - start_time + total_time_str = str(datetime.timedelta(seconds=int(total_time))) + print_func( + "{} Total time: {} ({:.4f} s / it)".format( + header, total_time_str, total_time / len(iterable) + ) + ) + + +def get_sha(): + cwd = os.path.dirname(os.path.abspath(__file__)) + + def _run(command): + return subprocess.check_output(command, cwd=cwd).decode("ascii").strip() + + sha = "N/A" + diff = "clean" + branch = "N/A" + try: + sha = _run(["git", "rev-parse", "HEAD"]) + subprocess.check_output(["git", "diff"], cwd=cwd) + diff = _run(["git", "diff-index", "HEAD"]) + diff = "has uncommited changes" if diff else "clean" + branch = _run(["git", "rev-parse", "--abbrev-ref", "HEAD"]) + except Exception: + pass + message = f"sha: {sha}, status: {diff}, branch: {branch}" + return message + + +def collate_fn(batch): + # import ipdb; ipdb.set_trace() + batch = list(zip(*batch)) + batch[0] = nested_tensor_from_tensor_list(batch[0]) + return tuple(batch) + + +def _max_by_axis(the_list): + # type: (List[List[int]]) -> List[int] + maxes = the_list[0] + for sublist in the_list[1:]: + for index, item in enumerate(sublist): + maxes[index] = max(maxes[index], item) + return maxes + + +class NestedTensor(object): + def __init__(self, tensors, mask: Optional[Tensor]): + self.tensors = tensors + self.mask = mask + if mask == "auto": + self.mask = torch.zeros_like(tensors).to(tensors.device) + if self.mask.dim() == 3: + self.mask = self.mask.sum(0).to(bool) + elif self.mask.dim() == 4: + self.mask = self.mask.sum(1).to(bool) + else: + raise ValueError( + "tensors dim must be 3 or 4 but {}({})".format( + self.tensors.dim(), self.tensors.shape + ) + ) + + def imgsize(self): + res = [] + for i in range(self.tensors.shape[0]): + mask = self.mask[i] + maxH = (~mask).sum(0).max() + maxW = (~mask).sum(1).max() + res.append(torch.Tensor([maxH, maxW])) + return res + + def to(self, device): + # type: (Device) -> NestedTensor # noqa + cast_tensor = self.tensors.to(device) + mask = self.mask + if mask is not None: + assert mask is not None + cast_mask = mask.to(device) + else: + cast_mask = None + return NestedTensor(cast_tensor, cast_mask) + + def to_img_list_single(self, tensor, mask): + assert tensor.dim() == 3, "dim of tensor should be 3 but {}".format(tensor.dim()) + maxH = (~mask).sum(0).max() + maxW = (~mask).sum(1).max() + img = tensor[:, :maxH, :maxW] + return img + + def to_img_list(self): + """remove the padding and convert to img list + + Returns: + [type]: [description] + """ + if self.tensors.dim() == 3: + return self.to_img_list_single(self.tensors, self.mask) + else: + res = [] + for i in range(self.tensors.shape[0]): + tensor_i = self.tensors[i] + mask_i = self.mask[i] + res.append(self.to_img_list_single(tensor_i, mask_i)) + return res + + @property + def device(self): + return self.tensors.device + + def decompose(self): + return self.tensors, self.mask + + def __repr__(self): + return str(self.tensors) + + @property + def shape(self): + return {"tensors.shape": self.tensors.shape, "mask.shape": self.mask.shape} + + +def nested_tensor_from_tensor_list(tensor_list: List[Tensor]): + # TODO make this more general + if tensor_list[0].ndim == 3: + if torchvision._is_tracing(): + # nested_tensor_from_tensor_list() does not export well to ONNX + # call _onnx_nested_tensor_from_tensor_list() instead + return _onnx_nested_tensor_from_tensor_list(tensor_list) + + # TODO make it support different-sized images + max_size = _max_by_axis([list(img.shape) for img in tensor_list]) + # min_size = tuple(min(s) for s in zip(*[img.shape for img in tensor_list])) + batch_shape = [len(tensor_list)] + max_size + b, c, h, w = batch_shape + dtype = tensor_list[0].dtype + device = tensor_list[0].device + tensor = torch.zeros(batch_shape, dtype=dtype, device=device) + mask = torch.ones((b, h, w), dtype=torch.bool, device=device) + for img, pad_img, m in zip(tensor_list, tensor, mask): + pad_img[: img.shape[0], : img.shape[1], : img.shape[2]].copy_(img) + m[: img.shape[1], : img.shape[2]] = False + else: + raise ValueError("not supported") + return NestedTensor(tensor, mask) + + +# _onnx_nested_tensor_from_tensor_list() is an implementation of +# nested_tensor_from_tensor_list() that is supported by ONNX tracing. +@torch.jit.unused +def _onnx_nested_tensor_from_tensor_list(tensor_list: List[Tensor]) -> NestedTensor: + max_size = [] + for i in range(tensor_list[0].dim()): + max_size_i = torch.max( + torch.stack([img.shape[i] for img in tensor_list]).to(torch.float32) + ).to(torch.int64) + max_size.append(max_size_i) + max_size = tuple(max_size) + + # work around for + # pad_img[: img.shape[0], : img.shape[1], : img.shape[2]].copy_(img) + # m[: img.shape[1], :img.shape[2]] = False + # which is not yet supported in onnx + padded_imgs = [] + padded_masks = [] + for img in tensor_list: + padding = [(s1 - s2) for s1, s2 in zip(max_size, tuple(img.shape))] + padded_img = torch.nn.functional.pad(img, (0, padding[2], 0, padding[1], 0, padding[0])) + padded_imgs.append(padded_img) + + m = torch.zeros_like(img[0], dtype=torch.int, device=img.device) + padded_mask = torch.nn.functional.pad(m, (0, padding[2], 0, padding[1]), "constant", 1) + padded_masks.append(padded_mask.to(torch.bool)) + + tensor = torch.stack(padded_imgs) + mask = torch.stack(padded_masks) + + return NestedTensor(tensor, mask=mask) + + +def setup_for_distributed(is_master): + """ + This function disables printing when not in master process + """ + import builtins as __builtin__ + + builtin_print = __builtin__.print + + def print(*args, **kwargs): + force = kwargs.pop("force", False) + if is_master or force: + builtin_print(*args, **kwargs) + + __builtin__.print = print + + +def is_dist_avail_and_initialized(): + if not dist.is_available(): + return False + if not dist.is_initialized(): + return False + return True + + +def get_world_size(): + if not is_dist_avail_and_initialized(): + return 1 + return dist.get_world_size() + + +def get_rank(): + if not is_dist_avail_and_initialized(): + return 0 + return dist.get_rank() + + +def is_main_process(): + return get_rank() == 0 + + +def save_on_master(*args, **kwargs): + if is_main_process(): + torch.save(*args, **kwargs) + + +def init_distributed_mode(args): + if "WORLD_SIZE" in os.environ and os.environ["WORLD_SIZE"] != "": # 'RANK' in os.environ and + args.rank = int(os.environ["RANK"]) + args.world_size = int(os.environ["WORLD_SIZE"]) + args.gpu = args.local_rank = int(os.environ["LOCAL_RANK"]) + + # launch by torch.distributed.launch + # Single node + # python -m torch.distributed.launch --nproc_per_node=8 main.py --world-size 1 --rank 0 ... + # Multi nodes + # python -m torch.distributed.launch --nproc_per_node=8 main.py --world-size 2 --rank 0 --dist-url 'tcp://IP_OF_NODE0:FREEPORT' ... + # python -m torch.distributed.launch --nproc_per_node=8 main.py --world-size 2 --rank 1 --dist-url 'tcp://IP_OF_NODE0:FREEPORT' ... + # args.rank = int(os.environ.get('OMPI_COMM_WORLD_RANK')) + # local_world_size = int(os.environ['GPU_PER_NODE_COUNT']) + # args.world_size = args.world_size * local_world_size + # args.gpu = args.local_rank = int(os.environ['LOCAL_RANK']) + # args.rank = args.rank * local_world_size + args.local_rank + print( + "world size: {}, rank: {}, local rank: {}".format( + args.world_size, args.rank, args.local_rank + ) + ) + print(json.dumps(dict(os.environ), indent=2)) + elif "SLURM_PROCID" in os.environ: + args.rank = int(os.environ["SLURM_PROCID"]) + args.gpu = args.local_rank = int(os.environ["SLURM_LOCALID"]) + args.world_size = int(os.environ["SLURM_NPROCS"]) + + print( + "world size: {}, world rank: {}, local rank: {}, device_count: {}".format( + args.world_size, args.rank, args.local_rank, torch.cuda.device_count() + ) + ) + else: + print("Not using distributed mode") + args.distributed = False + args.world_size = 1 + args.rank = 0 + args.local_rank = 0 + return + + print("world_size:{} rank:{} local_rank:{}".format(args.world_size, args.rank, args.local_rank)) + args.distributed = True + torch.cuda.set_device(args.local_rank) + args.dist_backend = "nccl" + print("| distributed init (rank {}): {}".format(args.rank, args.dist_url), flush=True) + + torch.distributed.init_process_group( + backend=args.dist_backend, + world_size=args.world_size, + rank=args.rank, + init_method=args.dist_url, + ) + + print("Before torch.distributed.barrier()") + torch.distributed.barrier() + print("End torch.distributed.barrier()") + setup_for_distributed(args.rank == 0) + + +@torch.no_grad() +def accuracy(output, target, topk=(1,)): + """Computes the precision@k for the specified values of k""" + if target.numel() == 0: + return [torch.zeros([], device=output.device)] + maxk = max(topk) + batch_size = target.size(0) + + _, pred = output.topk(maxk, 1, True, True) + pred = pred.t() + correct = pred.eq(target.view(1, -1).expand_as(pred)) + + res = [] + for k in topk: + correct_k = correct[:k].view(-1).float().sum(0) + res.append(correct_k.mul_(100.0 / batch_size)) + return res + + +@torch.no_grad() +def accuracy_onehot(pred, gt): + """_summary_ + + Args: + pred (_type_): n, c + gt (_type_): n, c + """ + tp = ((pred - gt).abs().sum(-1) < 1e-4).float().sum() + acc = tp / gt.shape[0] * 100 + return acc + + +def interpolate(input, size=None, scale_factor=None, mode="nearest", align_corners=None): + # type: (Tensor, Optional[List[int]], Optional[float], str, Optional[bool]) -> Tensor + """ + Equivalent to nn.functional.interpolate, but with support for empty batch sizes. + This will eventually be supported natively by PyTorch, and this + class can go away. + """ + if __torchvision_need_compat_flag < 0.7: + if input.numel() > 0: + return torch.nn.functional.interpolate(input, size, scale_factor, mode, align_corners) + + output_shape = _output_size(2, input, size, scale_factor) + output_shape = list(input.shape[:-2]) + list(output_shape) + return _new_empty_tensor(input, output_shape) + else: + return torchvision.ops.misc.interpolate(input, size, scale_factor, mode, align_corners) + + +class color_sys: + def __init__(self, num_colors) -> None: + self.num_colors = num_colors + colors = [] + for i in np.arange(0.0, 360.0, 360.0 / num_colors): + hue = i / 360.0 + lightness = (50 + np.random.rand() * 10) / 100.0 + saturation = (90 + np.random.rand() * 10) / 100.0 + colors.append( + tuple([int(j * 255) for j in colorsys.hls_to_rgb(hue, lightness, saturation)]) + ) + self.colors = colors + + def __call__(self, idx): + return self.colors[idx] + + +def inverse_sigmoid(x, eps=1e-3): + x = x.clamp(min=0, max=1) + x1 = x.clamp(min=eps) + x2 = (1 - x).clamp(min=eps) + return torch.log(x1 / x2) + + +def clean_state_dict(state_dict): + new_state_dict = OrderedDict() + for k, v in state_dict.items(): + if k[:7] == "module.": + k = k[7:] # remove `module.` + new_state_dict[k] = v + return new_state_dict diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/slconfig.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/slconfig.py new file mode 100644 index 0000000000000000000000000000000000000000..672e72ed0b68a54c13ade66c9f146d2d542e97c6 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/slconfig.py @@ -0,0 +1,427 @@ +# ========================================================== +# Modified from mmcv +# ========================================================== +import ast +import os +import os.path as osp +import shutil +import sys +import tempfile +from argparse import Action +from importlib import import_module + +from addict import Dict +from yapf.yapflib.yapf_api import FormatCode + +BASE_KEY = "_base_" +DELETE_KEY = "_delete_" +RESERVED_KEYS = ["filename", "text", "pretty_text", "get", "dump", "merge_from_dict"] + + +def check_file_exist(filename, msg_tmpl='file "{}" does not exist'): + if not osp.isfile(filename): + raise FileNotFoundError(msg_tmpl.format(filename)) + + +class ConfigDict(Dict): + def __missing__(self, name): + raise KeyError(name) + + def __getattr__(self, name): + try: + value = super(ConfigDict, self).__getattr__(name) + except KeyError: + ex = AttributeError(f"'{self.__class__.__name__}' object has no " f"attribute '{name}'") + except Exception as e: + ex = e + else: + return value + raise ex + + +class SLConfig(object): + """ + config files. + only support .py file as config now. + + ref: mmcv.utils.config + + Example: + >>> cfg = Config(dict(a=1, b=dict(b1=[0, 1]))) + >>> cfg.a + 1 + >>> cfg.b + {'b1': [0, 1]} + >>> cfg.b.b1 + [0, 1] + >>> cfg = Config.fromfile('tests/data/config/a.py') + >>> cfg.filename + "/home/kchen/projects/mmcv/tests/data/config/a.py" + >>> cfg.item4 + 'test' + >>> cfg + "Config [path: /home/kchen/projects/mmcv/tests/data/config/a.py]: " + "{'item1': [1, 2], 'item2': {'a': 0}, 'item3': True, 'item4': 'test'}" + """ + + @staticmethod + def _validate_py_syntax(filename): + with open(filename) as f: + content = f.read() + try: + ast.parse(content) + except SyntaxError: + raise SyntaxError("There are syntax errors in config " f"file {filename}") + + @staticmethod + def _file2dict(filename): + filename = osp.abspath(osp.expanduser(filename)) + check_file_exist(filename) + if filename.lower().endswith(".py"): + with tempfile.TemporaryDirectory() as temp_config_dir: + temp_config_file = tempfile.NamedTemporaryFile(dir=temp_config_dir, suffix=".py") + temp_config_name = osp.basename(temp_config_file.name) + if os.name == 'nt': + temp_config_file.close() + shutil.copyfile(filename, osp.join(temp_config_dir, temp_config_name)) + temp_module_name = osp.splitext(temp_config_name)[0] + sys.path.insert(0, temp_config_dir) + SLConfig._validate_py_syntax(filename) + mod = import_module(temp_module_name) + sys.path.pop(0) + cfg_dict = { + name: value for name, value in mod.__dict__.items() if not name.startswith("__") + } + # delete imported module + del sys.modules[temp_module_name] + # close temp file + temp_config_file.close() + elif filename.lower().endswith((".yml", ".yaml", ".json")): + from .slio import slload + + cfg_dict = slload(filename) + else: + raise IOError("Only py/yml/yaml/json type are supported now!") + + cfg_text = filename + "\n" + with open(filename, "r") as f: + cfg_text += f.read() + + # parse the base file + if BASE_KEY in cfg_dict: + cfg_dir = osp.dirname(filename) + base_filename = cfg_dict.pop(BASE_KEY) + base_filename = base_filename if isinstance(base_filename, list) else [base_filename] + + cfg_dict_list = list() + cfg_text_list = list() + for f in base_filename: + _cfg_dict, _cfg_text = SLConfig._file2dict(osp.join(cfg_dir, f)) + cfg_dict_list.append(_cfg_dict) + cfg_text_list.append(_cfg_text) + + base_cfg_dict = dict() + for c in cfg_dict_list: + if len(base_cfg_dict.keys() & c.keys()) > 0: + raise KeyError("Duplicate key is not allowed among bases") + # TODO Allow the duplicate key while warnning user + base_cfg_dict.update(c) + + base_cfg_dict = SLConfig._merge_a_into_b(cfg_dict, base_cfg_dict) + cfg_dict = base_cfg_dict + + # merge cfg_text + cfg_text_list.append(cfg_text) + cfg_text = "\n".join(cfg_text_list) + + return cfg_dict, cfg_text + + @staticmethod + def _merge_a_into_b(a, b): + """merge dict `a` into dict `b` (non-inplace). + values in `a` will overwrite `b`. + copy first to avoid inplace modification + + Args: + a ([type]): [description] + b ([type]): [description] + + Returns: + [dict]: [description] + """ + # import ipdb; ipdb.set_trace() + if not isinstance(a, dict): + return a + + b = b.copy() + for k, v in a.items(): + if isinstance(v, dict) and k in b and not v.pop(DELETE_KEY, False): + + if not isinstance(b[k], dict) and not isinstance(b[k], list): + # if : + # import ipdb; ipdb.set_trace() + raise TypeError( + f"{k}={v} in child config cannot inherit from base " + f"because {k} is a dict in the child config but is of " + f"type {type(b[k])} in base config. You may set " + f"`{DELETE_KEY}=True` to ignore the base config" + ) + b[k] = SLConfig._merge_a_into_b(v, b[k]) + elif isinstance(b, list): + try: + _ = int(k) + except: + raise TypeError( + f"b is a list, " f"index {k} should be an int when input but {type(k)}" + ) + b[int(k)] = SLConfig._merge_a_into_b(v, b[int(k)]) + else: + b[k] = v + + return b + + @staticmethod + def fromfile(filename): + cfg_dict, cfg_text = SLConfig._file2dict(filename) + return SLConfig(cfg_dict, cfg_text=cfg_text, filename=filename) + + def __init__(self, cfg_dict=None, cfg_text=None, filename=None): + if cfg_dict is None: + cfg_dict = dict() + elif not isinstance(cfg_dict, dict): + raise TypeError("cfg_dict must be a dict, but " f"got {type(cfg_dict)}") + for key in cfg_dict: + if key in RESERVED_KEYS: + raise KeyError(f"{key} is reserved for config file") + + super(SLConfig, self).__setattr__("_cfg_dict", ConfigDict(cfg_dict)) + super(SLConfig, self).__setattr__("_filename", filename) + if cfg_text: + text = cfg_text + elif filename: + with open(filename, "r") as f: + text = f.read() + else: + text = "" + super(SLConfig, self).__setattr__("_text", text) + + @property + def filename(self): + return self._filename + + @property + def text(self): + return self._text + + @property + def pretty_text(self): + + indent = 4 + + def _indent(s_, num_spaces): + s = s_.split("\n") + if len(s) == 1: + return s_ + first = s.pop(0) + s = [(num_spaces * " ") + line for line in s] + s = "\n".join(s) + s = first + "\n" + s + return s + + def _format_basic_types(k, v, use_mapping=False): + if isinstance(v, str): + v_str = f"'{v}'" + else: + v_str = str(v) + + if use_mapping: + k_str = f"'{k}'" if isinstance(k, str) else str(k) + attr_str = f"{k_str}: {v_str}" + else: + attr_str = f"{str(k)}={v_str}" + attr_str = _indent(attr_str, indent) + + return attr_str + + def _format_list(k, v, use_mapping=False): + # check if all items in the list are dict + if all(isinstance(_, dict) for _ in v): + v_str = "[\n" + v_str += "\n".join( + f"dict({_indent(_format_dict(v_), indent)})," for v_ in v + ).rstrip(",") + if use_mapping: + k_str = f"'{k}'" if isinstance(k, str) else str(k) + attr_str = f"{k_str}: {v_str}" + else: + attr_str = f"{str(k)}={v_str}" + attr_str = _indent(attr_str, indent) + "]" + else: + attr_str = _format_basic_types(k, v, use_mapping) + return attr_str + + def _contain_invalid_identifier(dict_str): + contain_invalid_identifier = False + for key_name in dict_str: + contain_invalid_identifier |= not str(key_name).isidentifier() + return contain_invalid_identifier + + def _format_dict(input_dict, outest_level=False): + r = "" + s = [] + + use_mapping = _contain_invalid_identifier(input_dict) + if use_mapping: + r += "{" + for idx, (k, v) in enumerate(input_dict.items()): + is_last = idx >= len(input_dict) - 1 + end = "" if outest_level or is_last else "," + if isinstance(v, dict): + v_str = "\n" + _format_dict(v) + if use_mapping: + k_str = f"'{k}'" if isinstance(k, str) else str(k) + attr_str = f"{k_str}: dict({v_str}" + else: + attr_str = f"{str(k)}=dict({v_str}" + attr_str = _indent(attr_str, indent) + ")" + end + elif isinstance(v, list): + attr_str = _format_list(k, v, use_mapping) + end + else: + attr_str = _format_basic_types(k, v, use_mapping) + end + + s.append(attr_str) + r += "\n".join(s) + if use_mapping: + r += "}" + return r + + cfg_dict = self._cfg_dict.to_dict() + text = _format_dict(cfg_dict, outest_level=True) + # copied from setup.cfg + yapf_style = dict( + based_on_style="pep8", + blank_line_before_nested_class_or_def=True, + split_before_expression_after_opening_paren=True, + ) + text, _ = FormatCode(text, style_config=yapf_style, verify=True) + + return text + + def __repr__(self): + return f"Config (path: {self.filename}): {self._cfg_dict.__repr__()}" + + def __len__(self): + return len(self._cfg_dict) + + def __getattr__(self, name): + # # debug + # print('+'*15) + # print('name=%s' % name) + # print("addr:", id(self)) + # # print('type(self):', type(self)) + # print(self.__dict__) + # print('+'*15) + # if self.__dict__ == {}: + # raise ValueError + + return getattr(self._cfg_dict, name) + + def __getitem__(self, name): + return self._cfg_dict.__getitem__(name) + + def __setattr__(self, name, value): + if isinstance(value, dict): + value = ConfigDict(value) + self._cfg_dict.__setattr__(name, value) + + def __setitem__(self, name, value): + if isinstance(value, dict): + value = ConfigDict(value) + self._cfg_dict.__setitem__(name, value) + + def __iter__(self): + return iter(self._cfg_dict) + + def dump(self, file=None): + # import ipdb; ipdb.set_trace() + if file is None: + return self.pretty_text + else: + with open(file, "w") as f: + f.write(self.pretty_text) + + def merge_from_dict(self, options): + """Merge list into cfg_dict + + Merge the dict parsed by MultipleKVAction into this cfg. + + Examples: + >>> options = {'model.backbone.depth': 50, + ... 'model.backbone.with_cp':True} + >>> cfg = Config(dict(model=dict(backbone=dict(type='ResNet')))) + >>> cfg.merge_from_dict(options) + >>> cfg_dict = super(Config, self).__getattribute__('_cfg_dict') + >>> assert cfg_dict == dict( + ... model=dict(backbone=dict(depth=50, with_cp=True))) + + Args: + options (dict): dict of configs to merge from. + """ + option_cfg_dict = {} + for full_key, v in options.items(): + d = option_cfg_dict + key_list = full_key.split(".") + for subkey in key_list[:-1]: + d.setdefault(subkey, ConfigDict()) + d = d[subkey] + subkey = key_list[-1] + d[subkey] = v + + cfg_dict = super(SLConfig, self).__getattribute__("_cfg_dict") + super(SLConfig, self).__setattr__( + "_cfg_dict", SLConfig._merge_a_into_b(option_cfg_dict, cfg_dict) + ) + + # for multiprocess + def __setstate__(self, state): + self.__init__(state) + + def copy(self): + return SLConfig(self._cfg_dict.copy()) + + def deepcopy(self): + return SLConfig(self._cfg_dict.deepcopy()) + + +class DictAction(Action): + """ + argparse action to split an argument into KEY=VALUE form + on the first = and append to a dictionary. List options should + be passed as comma separated values, i.e KEY=V1,V2,V3 + """ + + @staticmethod + def _parse_int_float_bool(val): + try: + return int(val) + except ValueError: + pass + try: + return float(val) + except ValueError: + pass + if val.lower() in ["true", "false"]: + return True if val.lower() == "true" else False + if val.lower() in ["none", "null"]: + return None + return val + + def __call__(self, parser, namespace, values, option_string=None): + options = {} + for kv in values: + key, val = kv.split("=", maxsplit=1) + val = [self._parse_int_float_bool(v) for v in val.split(",")] + if len(val) == 1: + val = val[0] + options[key] = val + setattr(namespace, self.dest, options) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/slio.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/slio.py new file mode 100644 index 0000000000000000000000000000000000000000..72c1f0f7b82cdc931d381feef64fe15815ba657e --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/slio.py @@ -0,0 +1,177 @@ +# ========================================================== +# Modified from mmcv +# ========================================================== + +import json +import pickle +from abc import ABCMeta, abstractmethod +from pathlib import Path + +import yaml + +try: + from yaml import CLoader as Loader, CDumper as Dumper +except ImportError: + from yaml import Loader, Dumper + + +# =========================== +# Rigister handler +# =========================== + + +class BaseFileHandler(metaclass=ABCMeta): + @abstractmethod + def load_from_fileobj(self, file, **kwargs): + pass + + @abstractmethod + def dump_to_fileobj(self, obj, file, **kwargs): + pass + + @abstractmethod + def dump_to_str(self, obj, **kwargs): + pass + + def load_from_path(self, filepath, mode="r", **kwargs): + with open(filepath, mode) as f: + return self.load_from_fileobj(f, **kwargs) + + def dump_to_path(self, obj, filepath, mode="w", **kwargs): + with open(filepath, mode) as f: + self.dump_to_fileobj(obj, f, **kwargs) + + +class JsonHandler(BaseFileHandler): + def load_from_fileobj(self, file): + return json.load(file) + + def dump_to_fileobj(self, obj, file, **kwargs): + json.dump(obj, file, **kwargs) + + def dump_to_str(self, obj, **kwargs): + return json.dumps(obj, **kwargs) + + +class PickleHandler(BaseFileHandler): + def load_from_fileobj(self, file, **kwargs): + return pickle.load(file, **kwargs) + + def load_from_path(self, filepath, **kwargs): + return super(PickleHandler, self).load_from_path(filepath, mode="rb", **kwargs) + + def dump_to_str(self, obj, **kwargs): + kwargs.setdefault("protocol", 2) + return pickle.dumps(obj, **kwargs) + + def dump_to_fileobj(self, obj, file, **kwargs): + kwargs.setdefault("protocol", 2) + pickle.dump(obj, file, **kwargs) + + def dump_to_path(self, obj, filepath, **kwargs): + super(PickleHandler, self).dump_to_path(obj, filepath, mode="wb", **kwargs) + + +class YamlHandler(BaseFileHandler): + def load_from_fileobj(self, file, **kwargs): + kwargs.setdefault("Loader", Loader) + return yaml.load(file, **kwargs) + + def dump_to_fileobj(self, obj, file, **kwargs): + kwargs.setdefault("Dumper", Dumper) + yaml.dump(obj, file, **kwargs) + + def dump_to_str(self, obj, **kwargs): + kwargs.setdefault("Dumper", Dumper) + return yaml.dump(obj, **kwargs) + + +file_handlers = { + "json": JsonHandler(), + "yaml": YamlHandler(), + "yml": YamlHandler(), + "pickle": PickleHandler(), + "pkl": PickleHandler(), +} + +# =========================== +# load and dump +# =========================== + + +def is_str(x): + """Whether the input is an string instance. + + Note: This method is deprecated since python 2 is no longer supported. + """ + return isinstance(x, str) + + +def slload(file, file_format=None, **kwargs): + """Load data from json/yaml/pickle files. + + This method provides a unified api for loading data from serialized files. + + Args: + file (str or :obj:`Path` or file-like object): Filename or a file-like + object. + file_format (str, optional): If not specified, the file format will be + inferred from the file extension, otherwise use the specified one. + Currently supported formats include "json", "yaml/yml" and + "pickle/pkl". + + Returns: + The content from the file. + """ + if isinstance(file, Path): + file = str(file) + if file_format is None and is_str(file): + file_format = file.split(".")[-1] + if file_format not in file_handlers: + raise TypeError(f"Unsupported format: {file_format}") + + handler = file_handlers[file_format] + if is_str(file): + obj = handler.load_from_path(file, **kwargs) + elif hasattr(file, "read"): + obj = handler.load_from_fileobj(file, **kwargs) + else: + raise TypeError('"file" must be a filepath str or a file-object') + return obj + + +def sldump(obj, file=None, file_format=None, **kwargs): + """Dump data to json/yaml/pickle strings or files. + + This method provides a unified api for dumping data as strings or to files, + and also supports custom arguments for each file format. + + Args: + obj (any): The python object to be dumped. + file (str or :obj:`Path` or file-like object, optional): If not + specified, then the object is dump to a str, otherwise to a file + specified by the filename or file-like object. + file_format (str, optional): Same as :func:`load`. + + Returns: + bool: True for success, False otherwise. + """ + if isinstance(file, Path): + file = str(file) + if file_format is None: + if is_str(file): + file_format = file.split(".")[-1] + elif file is None: + raise ValueError("file_format must be specified since file is None") + if file_format not in file_handlers: + raise TypeError(f"Unsupported format: {file_format}") + + handler = file_handlers[file_format] + if file is None: + return handler.dump_to_str(obj, **kwargs) + elif is_str(file): + handler.dump_to_path(obj, file, **kwargs) + elif hasattr(file, "write"): + handler.dump_to_fileobj(obj, file, **kwargs) + else: + raise TypeError('"file" must be a filename str or a file-object') diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/time_counter.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/time_counter.py new file mode 100644 index 0000000000000000000000000000000000000000..0aedb2e4d61bfbe7571dca9d50053f0fedaa1359 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/time_counter.py @@ -0,0 +1,62 @@ +import json +import time + + +class TimeCounter: + def __init__(self) -> None: + pass + + def clear(self): + self.timedict = {} + self.basetime = time.perf_counter() + + def timeit(self, name): + nowtime = time.perf_counter() - self.basetime + self.timedict[name] = nowtime + self.basetime = time.perf_counter() + + +class TimeHolder: + def __init__(self) -> None: + self.timedict = {} + + def update(self, _timedict: dict): + for k, v in _timedict.items(): + if k not in self.timedict: + self.timedict[k] = AverageMeter(name=k, val_only=True) + self.timedict[k].update(val=v) + + def final_res(self): + return {k: v.avg for k, v in self.timedict.items()} + + def __str__(self): + return json.dumps(self.final_res(), indent=2) + + +class AverageMeter(object): + """Computes and stores the average and current value""" + + def __init__(self, name, fmt=":f", val_only=False): + self.name = name + self.fmt = fmt + self.val_only = val_only + self.reset() + + def reset(self): + self.val = 0 + self.avg = 0 + self.sum = 0 + self.count = 0 + + def update(self, val, n=1): + self.val = val + self.sum += val * n + self.count += n + self.avg = self.sum / self.count + + def __str__(self): + if self.val_only: + fmtstr = "{name} {val" + self.fmt + "}" + else: + fmtstr = "{name} {val" + self.fmt + "} ({avg" + self.fmt + "})" + return fmtstr.format(**self.__dict__) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/utils.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..9e54be0531d11d3676a9540f7f7dd0ae5ec7ad5b --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/utils.py @@ -0,0 +1,610 @@ +import argparse +import json +import warnings +from collections import OrderedDict +from copy import deepcopy +from typing import Any, Dict, List + +import numpy as np +import torch +from transformers import AutoTokenizer + +from grounding_dino.groundingdino.util.slconfig import SLConfig + + +def slprint(x, name="x"): + if isinstance(x, (torch.Tensor, np.ndarray)): + print(f"{name}.shape:", x.shape) + elif isinstance(x, (tuple, list)): + print("type x:", type(x)) + for i in range(min(10, len(x))): + slprint(x[i], f"{name}[{i}]") + elif isinstance(x, dict): + for k, v in x.items(): + slprint(v, f"{name}[{k}]") + else: + print(f"{name}.type:", type(x)) + + +def clean_state_dict(state_dict): + new_state_dict = OrderedDict() + for k, v in state_dict.items(): + if k[:7] == "module.": + k = k[7:] # remove `module.` + new_state_dict[k] = v + return new_state_dict + + +def renorm( + img: torch.FloatTensor, mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225] +) -> torch.FloatTensor: + # img: tensor(3,H,W) or tensor(B,3,H,W) + # return: same as img + assert img.dim() == 3 or img.dim() == 4, "img.dim() should be 3 or 4 but %d" % img.dim() + if img.dim() == 3: + assert img.size(0) == 3, 'img.size(0) shoule be 3 but "%d". (%s)' % ( + img.size(0), + str(img.size()), + ) + img_perm = img.permute(1, 2, 0) + mean = torch.Tensor(mean) + std = torch.Tensor(std) + img_res = img_perm * std + mean + return img_res.permute(2, 0, 1) + else: # img.dim() == 4 + assert img.size(1) == 3, 'img.size(1) shoule be 3 but "%d". (%s)' % ( + img.size(1), + str(img.size()), + ) + img_perm = img.permute(0, 2, 3, 1) + mean = torch.Tensor(mean) + std = torch.Tensor(std) + img_res = img_perm * std + mean + return img_res.permute(0, 3, 1, 2) + + +class CocoClassMapper: + def __init__(self) -> None: + self.category_map_str = { + "1": 1, + "2": 2, + "3": 3, + "4": 4, + "5": 5, + "6": 6, + "7": 7, + "8": 8, + "9": 9, + "10": 10, + "11": 11, + "13": 12, + "14": 13, + "15": 14, + "16": 15, + "17": 16, + "18": 17, + "19": 18, + "20": 19, + "21": 20, + "22": 21, + "23": 22, + "24": 23, + "25": 24, + "27": 25, + "28": 26, + "31": 27, + "32": 28, + "33": 29, + "34": 30, + "35": 31, + "36": 32, + "37": 33, + "38": 34, + "39": 35, + "40": 36, + "41": 37, + "42": 38, + "43": 39, + "44": 40, + "46": 41, + "47": 42, + "48": 43, + "49": 44, + "50": 45, + "51": 46, + "52": 47, + "53": 48, + "54": 49, + "55": 50, + "56": 51, + "57": 52, + "58": 53, + "59": 54, + "60": 55, + "61": 56, + "62": 57, + "63": 58, + "64": 59, + "65": 60, + "67": 61, + "70": 62, + "72": 63, + "73": 64, + "74": 65, + "75": 66, + "76": 67, + "77": 68, + "78": 69, + "79": 70, + "80": 71, + "81": 72, + "82": 73, + "84": 74, + "85": 75, + "86": 76, + "87": 77, + "88": 78, + "89": 79, + "90": 80, + } + self.origin2compact_mapper = {int(k): v - 1 for k, v in self.category_map_str.items()} + self.compact2origin_mapper = {int(v - 1): int(k) for k, v in self.category_map_str.items()} + + def origin2compact(self, idx): + return self.origin2compact_mapper[int(idx)] + + def compact2origin(self, idx): + return self.compact2origin_mapper[int(idx)] + + +def to_device(item, device): + if isinstance(item, torch.Tensor): + return item.to(device) + elif isinstance(item, list): + return [to_device(i, device) for i in item] + elif isinstance(item, dict): + return {k: to_device(v, device) for k, v in item.items()} + else: + raise NotImplementedError( + "Call Shilong if you use other containers! type: {}".format(type(item)) + ) + + +# +def get_gaussian_mean(x, axis, other_axis, softmax=True): + """ + + Args: + x (float): Input images(BxCxHxW) + axis (int): The index for weighted mean + other_axis (int): The other index + + Returns: weighted index for axis, BxC + + """ + mat2line = torch.sum(x, axis=other_axis) + # mat2line = mat2line / mat2line.mean() * 10 + if softmax: + u = torch.softmax(mat2line, axis=2) + else: + u = mat2line / (mat2line.sum(2, keepdim=True) + 1e-6) + size = x.shape[axis] + ind = torch.linspace(0, 1, size).to(x.device) + batch = x.shape[0] + channel = x.shape[1] + index = ind.repeat([batch, channel, 1]) + mean_position = torch.sum(index * u, dim=2) + return mean_position + + +def get_expected_points_from_map(hm, softmax=True): + """get_gaussian_map_from_points + B,C,H,W -> B,N,2 float(0, 1) float(0, 1) + softargmax function + + Args: + hm (float): Input images(BxCxHxW) + + Returns: + weighted index for axis, BxCx2. float between 0 and 1. + + """ + # hm = 10*hm + B, C, H, W = hm.shape + y_mean = get_gaussian_mean(hm, 2, 3, softmax=softmax) # B,C + x_mean = get_gaussian_mean(hm, 3, 2, softmax=softmax) # B,C + # return torch.cat((x_mean.unsqueeze(-1), y_mean.unsqueeze(-1)), 2) + return torch.stack([x_mean, y_mean], dim=2) + + +# Positional encoding (section 5.1) +# borrow from nerf +class Embedder: + def __init__(self, **kwargs): + self.kwargs = kwargs + self.create_embedding_fn() + + def create_embedding_fn(self): + embed_fns = [] + d = self.kwargs["input_dims"] + out_dim = 0 + if self.kwargs["include_input"]: + embed_fns.append(lambda x: x) + out_dim += d + + max_freq = self.kwargs["max_freq_log2"] + N_freqs = self.kwargs["num_freqs"] + + if self.kwargs["log_sampling"]: + freq_bands = 2.0 ** torch.linspace(0.0, max_freq, steps=N_freqs) + else: + freq_bands = torch.linspace(2.0**0.0, 2.0**max_freq, steps=N_freqs) + + for freq in freq_bands: + for p_fn in self.kwargs["periodic_fns"]: + embed_fns.append(lambda x, p_fn=p_fn, freq=freq: p_fn(x * freq)) + out_dim += d + + self.embed_fns = embed_fns + self.out_dim = out_dim + + def embed(self, inputs): + return torch.cat([fn(inputs) for fn in self.embed_fns], -1) + + +def get_embedder(multires, i=0): + import torch.nn as nn + + if i == -1: + return nn.Identity(), 3 + + embed_kwargs = { + "include_input": True, + "input_dims": 3, + "max_freq_log2": multires - 1, + "num_freqs": multires, + "log_sampling": True, + "periodic_fns": [torch.sin, torch.cos], + } + + embedder_obj = Embedder(**embed_kwargs) + embed = lambda x, eo=embedder_obj: eo.embed(x) + return embed, embedder_obj.out_dim + + +class APOPMeter: + def __init__(self) -> None: + self.tp = 0 + self.fp = 0 + self.tn = 0 + self.fn = 0 + + def update(self, pred, gt): + """ + Input: + pred, gt: Tensor() + """ + assert pred.shape == gt.shape + self.tp += torch.logical_and(pred == 1, gt == 1).sum().item() + self.fp += torch.logical_and(pred == 1, gt == 0).sum().item() + self.tn += torch.logical_and(pred == 0, gt == 0).sum().item() + self.tn += torch.logical_and(pred == 1, gt == 0).sum().item() + + def update_cm(self, tp, fp, tn, fn): + self.tp += tp + self.fp += fp + self.tn += tn + self.tn += fn + + +def inverse_sigmoid(x, eps=1e-5): + x = x.clamp(min=0, max=1) + x1 = x.clamp(min=eps) + x2 = (1 - x).clamp(min=eps) + return torch.log(x1 / x2) + + +def get_raw_dict(args): + """ + return the dicf contained in args. + + e.g: + >>> with open(path, 'w') as f: + json.dump(get_raw_dict(args), f, indent=2) + """ + if isinstance(args, argparse.Namespace): + return vars(args) + elif isinstance(args, dict): + return args + elif isinstance(args, SLConfig): + return args._cfg_dict + else: + raise NotImplementedError("Unknown type {}".format(type(args))) + + +def stat_tensors(tensor): + assert tensor.dim() == 1 + tensor_sm = tensor.softmax(0) + entropy = (tensor_sm * torch.log(tensor_sm + 1e-9)).sum() + + return { + "max": tensor.max(), + "min": tensor.min(), + "mean": tensor.mean(), + "var": tensor.var(), + "std": tensor.var() ** 0.5, + "entropy": entropy, + } + + +class NiceRepr: + """Inherit from this class and define ``__nice__`` to "nicely" print your + objects. + + Defines ``__str__`` and ``__repr__`` in terms of ``__nice__`` function + Classes that inherit from :class:`NiceRepr` should redefine ``__nice__``. + If the inheriting class has a ``__len__``, method then the default + ``__nice__`` method will return its length. + + Example: + >>> class Foo(NiceRepr): + ... def __nice__(self): + ... return 'info' + >>> foo = Foo() + >>> assert str(foo) == '' + >>> assert repr(foo).startswith('>> class Bar(NiceRepr): + ... pass + >>> bar = Bar() + >>> import pytest + >>> with pytest.warns(None) as record: + >>> assert 'object at' in str(bar) + >>> assert 'object at' in repr(bar) + + Example: + >>> class Baz(NiceRepr): + ... def __len__(self): + ... return 5 + >>> baz = Baz() + >>> assert str(baz) == '' + """ + + def __nice__(self): + """str: a "nice" summary string describing this module""" + if hasattr(self, "__len__"): + # It is a common pattern for objects to use __len__ in __nice__ + # As a convenience we define a default __nice__ for these objects + return str(len(self)) + else: + # In all other cases force the subclass to overload __nice__ + raise NotImplementedError(f"Define the __nice__ method for {self.__class__!r}") + + def __repr__(self): + """str: the string of the module""" + try: + nice = self.__nice__() + classname = self.__class__.__name__ + return f"<{classname}({nice}) at {hex(id(self))}>" + except NotImplementedError as ex: + warnings.warn(str(ex), category=RuntimeWarning) + return object.__repr__(self) + + def __str__(self): + """str: the string of the module""" + try: + classname = self.__class__.__name__ + nice = self.__nice__() + return f"<{classname}({nice})>" + except NotImplementedError as ex: + warnings.warn(str(ex), category=RuntimeWarning) + return object.__repr__(self) + + +def ensure_rng(rng=None): + """Coerces input into a random number generator. + + If the input is None, then a global random state is returned. + + If the input is a numeric value, then that is used as a seed to construct a + random state. Otherwise the input is returned as-is. + + Adapted from [1]_. + + Args: + rng (int | numpy.random.RandomState | None): + if None, then defaults to the global rng. Otherwise this can be an + integer or a RandomState class + Returns: + (numpy.random.RandomState) : rng - + a numpy random number generator + + References: + .. [1] https://gitlab.kitware.com/computer-vision/kwarray/blob/master/kwarray/util_random.py#L270 # noqa: E501 + """ + + if rng is None: + rng = np.random.mtrand._rand + elif isinstance(rng, int): + rng = np.random.RandomState(rng) + else: + rng = rng + return rng + + +def random_boxes(num=1, scale=1, rng=None): + """Simple version of ``kwimage.Boxes.random`` + + Returns: + Tensor: shape (n, 4) in x1, y1, x2, y2 format. + + References: + https://gitlab.kitware.com/computer-vision/kwimage/blob/master/kwimage/structs/boxes.py#L1390 + + Example: + >>> num = 3 + >>> scale = 512 + >>> rng = 0 + >>> boxes = random_boxes(num, scale, rng) + >>> print(boxes) + tensor([[280.9925, 278.9802, 308.6148, 366.1769], + [216.9113, 330.6978, 224.0446, 456.5878], + [405.3632, 196.3221, 493.3953, 270.7942]]) + """ + rng = ensure_rng(rng) + + tlbr = rng.rand(num, 4).astype(np.float32) + + tl_x = np.minimum(tlbr[:, 0], tlbr[:, 2]) + tl_y = np.minimum(tlbr[:, 1], tlbr[:, 3]) + br_x = np.maximum(tlbr[:, 0], tlbr[:, 2]) + br_y = np.maximum(tlbr[:, 1], tlbr[:, 3]) + + tlbr[:, 0] = tl_x * scale + tlbr[:, 1] = tl_y * scale + tlbr[:, 2] = br_x * scale + tlbr[:, 3] = br_y * scale + + boxes = torch.from_numpy(tlbr) + return boxes + + +class ModelEma(torch.nn.Module): + def __init__(self, model, decay=0.9997, device=None): + super(ModelEma, self).__init__() + # make a copy of the model for accumulating moving average of weights + self.module = deepcopy(model) + self.module.eval() + + # import ipdb; ipdb.set_trace() + + self.decay = decay + self.device = device # perform ema on different device from model if set + if self.device is not None: + self.module.to(device=device) + + def _update(self, model, update_fn): + with torch.no_grad(): + for ema_v, model_v in zip( + self.module.state_dict().values(), model.state_dict().values() + ): + if self.device is not None: + model_v = model_v.to(device=self.device) + ema_v.copy_(update_fn(ema_v, model_v)) + + def update(self, model): + self._update(model, update_fn=lambda e, m: self.decay * e + (1.0 - self.decay) * m) + + def set(self, model): + self._update(model, update_fn=lambda e, m: m) + + +class BestMetricSingle: + def __init__(self, init_res=0.0, better="large") -> None: + self.init_res = init_res + self.best_res = init_res + self.best_ep = -1 + + self.better = better + assert better in ["large", "small"] + + def isbetter(self, new_res, old_res): + if self.better == "large": + return new_res > old_res + if self.better == "small": + return new_res < old_res + + def update(self, new_res, ep): + if self.isbetter(new_res, self.best_res): + self.best_res = new_res + self.best_ep = ep + return True + return False + + def __str__(self) -> str: + return "best_res: {}\t best_ep: {}".format(self.best_res, self.best_ep) + + def __repr__(self) -> str: + return self.__str__() + + def summary(self) -> dict: + return { + "best_res": self.best_res, + "best_ep": self.best_ep, + } + + +class BestMetricHolder: + def __init__(self, init_res=0.0, better="large", use_ema=False) -> None: + self.best_all = BestMetricSingle(init_res, better) + self.use_ema = use_ema + if use_ema: + self.best_ema = BestMetricSingle(init_res, better) + self.best_regular = BestMetricSingle(init_res, better) + + def update(self, new_res, epoch, is_ema=False): + """ + return if the results is the best. + """ + if not self.use_ema: + return self.best_all.update(new_res, epoch) + else: + if is_ema: + self.best_ema.update(new_res, epoch) + return self.best_all.update(new_res, epoch) + else: + self.best_regular.update(new_res, epoch) + return self.best_all.update(new_res, epoch) + + def summary(self): + if not self.use_ema: + return self.best_all.summary() + + res = {} + res.update({f"all_{k}": v for k, v in self.best_all.summary().items()}) + res.update({f"regular_{k}": v for k, v in self.best_regular.summary().items()}) + res.update({f"ema_{k}": v for k, v in self.best_ema.summary().items()}) + return res + + def __repr__(self) -> str: + return json.dumps(self.summary(), indent=2) + + def __str__(self) -> str: + return self.__repr__() + + +def targets_to(targets: List[Dict[str, Any]], device): + """Moves the target dicts to the given device.""" + excluded_keys = [ + "questionId", + "tokens_positive", + "strings_positive", + "tokens", + "dataset_name", + "sentence_id", + "original_img_id", + "nb_eval", + "task_id", + "original_id", + "token_span", + "caption", + "dataset_type", + ] + return [ + {k: v.to(device) if k not in excluded_keys else v for k, v in t.items()} for t in targets + ] + + +def get_phrases_from_posmap( + posmap: torch.BoolTensor, tokenized: Dict, tokenizer: AutoTokenizer, left_idx: int = 0, right_idx: int = 255 +): + assert isinstance(posmap, torch.Tensor), "posmap must be torch.Tensor" + if posmap.dim() == 1: + posmap[0: left_idx + 1] = False + posmap[right_idx:] = False + non_zero_idx = posmap.nonzero(as_tuple=True)[0].tolist() + token_ids = [tokenized["input_ids"][i] for i in non_zero_idx] + return tokenizer.decode(token_ids) + else: + raise NotImplementedError("posmap must be 1-dim") diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/visualizer.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/visualizer.py new file mode 100644 index 0000000000000000000000000000000000000000..7a1b7b101e9b73f75f9136bc67f2063c7c1cf1c1 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/visualizer.py @@ -0,0 +1,318 @@ +# -*- coding: utf-8 -*- +""" +@File : visualizer.py +@Time : 2022/04/05 11:39:33 +@Author : Shilong Liu +@Contact : slongliu86@gmail.com +""" + +import datetime +import os + +import cv2 +import matplotlib.pyplot as plt +import numpy as np +import torch +from matplotlib import transforms +from matplotlib.collections import PatchCollection +from matplotlib.patches import Polygon +from pycocotools import mask as maskUtils + + +def renorm( + img: torch.FloatTensor, mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225] +) -> torch.FloatTensor: + # img: tensor(3,H,W) or tensor(B,3,H,W) + # return: same as img + assert img.dim() == 3 or img.dim() == 4, "img.dim() should be 3 or 4 but %d" % img.dim() + if img.dim() == 3: + assert img.size(0) == 3, 'img.size(0) shoule be 3 but "%d". (%s)' % ( + img.size(0), + str(img.size()), + ) + img_perm = img.permute(1, 2, 0) + mean = torch.Tensor(mean) + std = torch.Tensor(std) + img_res = img_perm * std + mean + return img_res.permute(2, 0, 1) + else: # img.dim() == 4 + assert img.size(1) == 3, 'img.size(1) shoule be 3 but "%d". (%s)' % ( + img.size(1), + str(img.size()), + ) + img_perm = img.permute(0, 2, 3, 1) + mean = torch.Tensor(mean) + std = torch.Tensor(std) + img_res = img_perm * std + mean + return img_res.permute(0, 3, 1, 2) + + +class ColorMap: + def __init__(self, basergb=[255, 255, 0]): + self.basergb = np.array(basergb) + + def __call__(self, attnmap): + # attnmap: h, w. np.uint8. + # return: h, w, 4. np.uint8. + assert attnmap.dtype == np.uint8 + h, w = attnmap.shape + res = self.basergb.copy() + res = res[None][None].repeat(h, 0).repeat(w, 1) # h, w, 3 + attn1 = attnmap.copy()[..., None] # h, w, 1 + res = np.concatenate((res, attn1), axis=-1).astype(np.uint8) + return res + + +def rainbow_text(x, y, ls, lc, **kw): + """ + Take a list of strings ``ls`` and colors ``lc`` and place them next to each + other, with text ls[i] being shown in color lc[i]. + + This example shows how to do both vertical and horizontal text, and will + pass all keyword arguments to plt.text, so you can set the font size, + family, etc. + """ + t = plt.gca().transData + fig = plt.gcf() + plt.show() + + # horizontal version + for s, c in zip(ls, lc): + text = plt.text(x, y, " " + s + " ", color=c, transform=t, **kw) + text.draw(fig.canvas.get_renderer()) + ex = text.get_window_extent() + t = transforms.offset_copy(text._transform, x=ex.width, units="dots") + + # #vertical version + # for s,c in zip(ls,lc): + # text = plt.text(x,y," "+s+" ",color=c, transform=t, + # rotation=90,va='bottom',ha='center',**kw) + # text.draw(fig.canvas.get_renderer()) + # ex = text.get_window_extent() + # t = transforms.offset_copy(text._transform, y=ex.height, units='dots') + + +class COCOVisualizer: + def __init__(self, coco=None, tokenlizer=None) -> None: + self.coco = coco + + def visualize(self, img, tgt, caption=None, dpi=180, savedir="vis"): + """ + img: tensor(3, H, W) + tgt: make sure they are all on cpu. + must have items: 'image_id', 'boxes', 'size' + """ + plt.figure(dpi=dpi) + plt.rcParams["font.size"] = "5" + ax = plt.gca() + img = renorm(img).permute(1, 2, 0) + # if os.environ.get('IPDB_SHILONG_DEBUG', None) == 'INFO': + # import ipdb; ipdb.set_trace() + ax.imshow(img) + + self.addtgt(tgt) + + if tgt is None: + image_id = 0 + elif "image_id" not in tgt: + image_id = 0 + else: + image_id = tgt["image_id"] + + if caption is None: + savename = "{}/{}-{}.png".format( + savedir, int(image_id), str(datetime.datetime.now()).replace(" ", "-") + ) + else: + savename = "{}/{}-{}-{}.png".format( + savedir, caption, int(image_id), str(datetime.datetime.now()).replace(" ", "-") + ) + print("savename: {}".format(savename)) + os.makedirs(os.path.dirname(savename), exist_ok=True) + plt.savefig(savename) + plt.close() + + def addtgt(self, tgt): + """ """ + if tgt is None or not "boxes" in tgt: + ax = plt.gca() + + if "caption" in tgt: + ax.set_title(tgt["caption"], wrap=True) + + ax.set_axis_off() + return + + ax = plt.gca() + H, W = tgt["size"] + numbox = tgt["boxes"].shape[0] + + color = [] + polygons = [] + boxes = [] + for box in tgt["boxes"].cpu(): + unnormbbox = box * torch.Tensor([W, H, W, H]) + unnormbbox[:2] -= unnormbbox[2:] / 2 + [bbox_x, bbox_y, bbox_w, bbox_h] = unnormbbox.tolist() + boxes.append([bbox_x, bbox_y, bbox_w, bbox_h]) + poly = [ + [bbox_x, bbox_y], + [bbox_x, bbox_y + bbox_h], + [bbox_x + bbox_w, bbox_y + bbox_h], + [bbox_x + bbox_w, bbox_y], + ] + np_poly = np.array(poly).reshape((4, 2)) + polygons.append(Polygon(np_poly)) + c = (np.random.random((1, 3)) * 0.6 + 0.4).tolist()[0] + color.append(c) + + p = PatchCollection(polygons, facecolor=color, linewidths=0, alpha=0.1) + ax.add_collection(p) + p = PatchCollection(polygons, facecolor="none", edgecolors=color, linewidths=2) + ax.add_collection(p) + + if "strings_positive" in tgt and len(tgt["strings_positive"]) > 0: + assert ( + len(tgt["strings_positive"]) == numbox + ), f"{len(tgt['strings_positive'])} = {numbox}, " + for idx, strlist in enumerate(tgt["strings_positive"]): + cate_id = int(tgt["labels"][idx]) + _string = str(cate_id) + ":" + " ".join(strlist) + bbox_x, bbox_y, bbox_w, bbox_h = boxes[idx] + # ax.text(bbox_x, bbox_y, _string, color='black', bbox={'facecolor': 'yellow', 'alpha': 1.0, 'pad': 1}) + ax.text( + bbox_x, + bbox_y, + _string, + color="black", + bbox={"facecolor": color[idx], "alpha": 0.6, "pad": 1}, + ) + + if "box_label" in tgt: + assert len(tgt["box_label"]) == numbox, f"{len(tgt['box_label'])} = {numbox}, " + for idx, bl in enumerate(tgt["box_label"]): + _string = str(bl) + bbox_x, bbox_y, bbox_w, bbox_h = boxes[idx] + # ax.text(bbox_x, bbox_y, _string, color='black', bbox={'facecolor': 'yellow', 'alpha': 1.0, 'pad': 1}) + ax.text( + bbox_x, + bbox_y, + _string, + color="black", + bbox={"facecolor": color[idx], "alpha": 0.6, "pad": 1}, + ) + + if "caption" in tgt: + ax.set_title(tgt["caption"], wrap=True) + # plt.figure() + # rainbow_text(0.0,0.0,"all unicorns poop rainbows ! ! !".split(), + # ['red', 'orange', 'brown', 'green', 'blue', 'purple', 'black']) + + if "attn" in tgt: + # if os.environ.get('IPDB_SHILONG_DEBUG', None) == 'INFO': + # import ipdb; ipdb.set_trace() + if isinstance(tgt["attn"], tuple): + tgt["attn"] = [tgt["attn"]] + for item in tgt["attn"]: + attn_map, basergb = item + attn_map = (attn_map - attn_map.min()) / (attn_map.max() - attn_map.min() + 1e-3) + attn_map = (attn_map * 255).astype(np.uint8) + cm = ColorMap(basergb) + heatmap = cm(attn_map) + ax.imshow(heatmap) + ax.set_axis_off() + + def showAnns(self, anns, draw_bbox=False): + """ + Display the specified annotations. + :param anns (array of object): annotations to display + :return: None + """ + if len(anns) == 0: + return 0 + if "segmentation" in anns[0] or "keypoints" in anns[0]: + datasetType = "instances" + elif "caption" in anns[0]: + datasetType = "captions" + else: + raise Exception("datasetType not supported") + if datasetType == "instances": + ax = plt.gca() + ax.set_autoscale_on(False) + polygons = [] + color = [] + for ann in anns: + c = (np.random.random((1, 3)) * 0.6 + 0.4).tolist()[0] + if "segmentation" in ann: + if type(ann["segmentation"]) == list: + # polygon + for seg in ann["segmentation"]: + poly = np.array(seg).reshape((int(len(seg) / 2), 2)) + polygons.append(Polygon(poly)) + color.append(c) + else: + # mask + t = self.imgs[ann["image_id"]] + if type(ann["segmentation"]["counts"]) == list: + rle = maskUtils.frPyObjects( + [ann["segmentation"]], t["height"], t["width"] + ) + else: + rle = [ann["segmentation"]] + m = maskUtils.decode(rle) + img = np.ones((m.shape[0], m.shape[1], 3)) + if ann["iscrowd"] == 1: + color_mask = np.array([2.0, 166.0, 101.0]) / 255 + if ann["iscrowd"] == 0: + color_mask = np.random.random((1, 3)).tolist()[0] + for i in range(3): + img[:, :, i] = color_mask[i] + ax.imshow(np.dstack((img, m * 0.5))) + if "keypoints" in ann and type(ann["keypoints"]) == list: + # turn skeleton into zero-based index + sks = np.array(self.loadCats(ann["category_id"])[0]["skeleton"]) - 1 + kp = np.array(ann["keypoints"]) + x = kp[0::3] + y = kp[1::3] + v = kp[2::3] + for sk in sks: + if np.all(v[sk] > 0): + plt.plot(x[sk], y[sk], linewidth=3, color=c) + plt.plot( + x[v > 0], + y[v > 0], + "o", + markersize=8, + markerfacecolor=c, + markeredgecolor="k", + markeredgewidth=2, + ) + plt.plot( + x[v > 1], + y[v > 1], + "o", + markersize=8, + markerfacecolor=c, + markeredgecolor=c, + markeredgewidth=2, + ) + + if draw_bbox: + [bbox_x, bbox_y, bbox_w, bbox_h] = ann["bbox"] + poly = [ + [bbox_x, bbox_y], + [bbox_x, bbox_y + bbox_h], + [bbox_x + bbox_w, bbox_y + bbox_h], + [bbox_x + bbox_w, bbox_y], + ] + np_poly = np.array(poly).reshape((4, 2)) + polygons.append(Polygon(np_poly)) + color.append(c) + + # p = PatchCollection(polygons, facecolor=color, linewidths=0, alpha=0.4) + # ax.add_collection(p) + p = PatchCollection(polygons, facecolor="none", edgecolors=color, linewidths=2) + ax.add_collection(p) + elif datasetType == "captions": + for ann in anns: + print(ann["caption"]) diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/vl_utils.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/vl_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..c91bb02f584398f08a28e6b7719e2b99f6e28616 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/util/vl_utils.py @@ -0,0 +1,100 @@ +import os +import random +from typing import List + +import torch + + +def create_positive_map_from_span(tokenized, token_span, max_text_len=256): + """construct a map such that positive_map[i,j] = True iff box i is associated to token j + Input: + - tokenized: + - input_ids: Tensor[1, ntokens] + - attention_mask: Tensor[1, ntokens] + - token_span: list with length num_boxes. + - each item: [start_idx, end_idx] + """ + positive_map = torch.zeros((len(token_span), max_text_len), dtype=torch.float) + for j, tok_list in enumerate(token_span): + for (beg, end) in tok_list: + beg_pos = tokenized.char_to_token(beg) + end_pos = tokenized.char_to_token(end - 1) + if beg_pos is None: + try: + beg_pos = tokenized.char_to_token(beg + 1) + if beg_pos is None: + beg_pos = tokenized.char_to_token(beg + 2) + except: + beg_pos = None + if end_pos is None: + try: + end_pos = tokenized.char_to_token(end - 2) + if end_pos is None: + end_pos = tokenized.char_to_token(end - 3) + except: + end_pos = None + if beg_pos is None or end_pos is None: + continue + + assert beg_pos is not None and end_pos is not None + if os.environ.get("SHILONG_DEBUG_ONLY_ONE_POS", None) == "TRUE": + positive_map[j, beg_pos] = 1 + break + else: + positive_map[j, beg_pos : end_pos + 1].fill_(1) + + return positive_map / (positive_map.sum(-1)[:, None] + 1e-6) + + +def build_captions_and_token_span(cat_list, force_lowercase): + """ + Return: + captions: str + cat2tokenspan: dict + { + 'dog': [[0, 2]], + ... + } + """ + + cat2tokenspan = {} + captions = "" + for catname in cat_list: + class_name = catname + if force_lowercase: + class_name = class_name.lower() + if "/" in class_name: + class_name_list: List = class_name.strip().split("/") + class_name_list.append(class_name) + class_name: str = random.choice(class_name_list) + + tokens_positive_i = [] + subnamelist = [i.strip() for i in class_name.strip().split(" ")] + for subname in subnamelist: + if len(subname) == 0: + continue + if len(captions) > 0: + captions = captions + " " + strat_idx = len(captions) + end_idx = strat_idx + len(subname) + tokens_positive_i.append([strat_idx, end_idx]) + captions = captions + subname + + if len(tokens_positive_i) > 0: + captions = captions + " ." + cat2tokenspan[class_name] = tokens_positive_i + + return captions, cat2tokenspan + + +def build_id2posspan_and_caption(category_dict: dict): + """Build id2pos_span and caption from category_dict + + Args: + category_dict (dict): category_dict + """ + cat_list = [item["name"].lower() for item in category_dict] + id2catname = {item["id"]: item["name"].lower() for item in category_dict} + caption, cat2posspan = build_captions_and_token_span(cat_list, force_lowercase=True) + id2posspan = {catid: cat2posspan[catname] for catid, catname in id2catname.items()} + return id2posspan, caption diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/version.py b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/version.py new file mode 100644 index 0000000000000000000000000000000000000000..b794fd409a5e3b3b65ad76a43d6a01a318877640 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/groundingdino/version.py @@ -0,0 +1 @@ +__version__ = '0.1.0' diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/requirements.txt b/trajectory_construction/Grounded_SAM2/grounding_dino/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..c4915fede62f85df1b14277e554265b65f95ab7a --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/requirements.txt @@ -0,0 +1,10 @@ +torch +torchvision +transformers +addict +yapf +timm +numpy +opencv-python +supervision>=0.22.0 +pycocotools \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/grounding_dino/setup.py b/trajectory_construction/Grounded_SAM2/grounding_dino/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..5acf018d832574373100455ed877a8153f8f8ed4 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/grounding_dino/setup.py @@ -0,0 +1,224 @@ +# coding=utf-8 +# Copyright 2022 The IDEA Authors. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ------------------------------------------------------------------------------------------------ +# Modified from +# https://github.com/fundamentalvision/Deformable-DETR/blob/main/models/ops/setup.py +# https://github.com/facebookresearch/detectron2/blob/main/setup.py +# https://github.com/open-mmlab/mmdetection/blob/master/setup.py +# https://github.com/Oneflow-Inc/libai/blob/main/setup.py +# ------------------------------------------------------------------------------------------------ + +import glob +import os +import subprocess + +import subprocess +import sys + +def install_torch(): + try: + import torch + except ImportError: + subprocess.check_call([sys.executable, "-m", "pip", "install", "torch"]) + +# Call the function to ensure torch is installed +install_torch() + +import torch +from setuptools import find_packages, setup +from torch.utils.cpp_extension import CUDA_HOME, CppExtension, CUDAExtension + +# groundingdino version info +version = "0.1.0" +package_name = "groundingdino" +cwd = os.path.dirname(os.path.abspath(__file__)) + + +sha = "Unknown" +try: + sha = subprocess.check_output(["git", "rev-parse", "HEAD"], cwd=cwd).decode("ascii").strip() +except Exception: + pass + + +def write_version_file(): + version_path = os.path.join(cwd, "groundingdino", "version.py") + with open(version_path, "w") as f: + f.write(f"__version__ = '{version}'\n") + # f.write(f"git_version = {repr(sha)}\n") + + +requirements = ["torch", "torchvision"] + +torch_ver = [int(x) for x in torch.__version__.split(".")[:2]] + + +def get_extensions(): + this_dir = os.path.dirname(os.path.abspath(__file__)) + extensions_dir = os.path.join(this_dir, "groundingdino", "models", "GroundingDINO", "csrc") + + main_source = os.path.join(extensions_dir, "vision.cpp") + sources = glob.glob(os.path.join(extensions_dir, "**", "*.cpp")) + source_cuda = glob.glob(os.path.join(extensions_dir, "**", "*.cu")) + glob.glob( + os.path.join(extensions_dir, "*.cu") + ) + + sources = [main_source] + sources + + extension = CppExtension + + extra_compile_args = {"cxx": []} + define_macros = [] + + if CUDA_HOME is not None and (torch.cuda.is_available() or "TORCH_CUDA_ARCH_LIST" in os.environ): + print("Compiling with CUDA") + extension = CUDAExtension + sources += source_cuda + define_macros += [("WITH_CUDA", None)] + extra_compile_args["nvcc"] = [ + "-DCUDA_HAS_FP16=1", + "-D__CUDA_NO_HALF_OPERATORS__", + "-D__CUDA_NO_HALF_CONVERSIONS__", + "-D__CUDA_NO_HALF2_OPERATORS__", + "-gencode=arch=compute_70,code=sm_70", + "-gencode=arch=compute_75,code=sm_75", + "-gencode=arch=compute_80,code=sm_80", + "-gencode=arch=compute_86,code=sm_86", + ] + else: + print("Compiling without CUDA") + define_macros += [("WITH_HIP", None)] + extra_compile_args["nvcc"] = [] + return None + + sources = [os.path.join(extensions_dir, s) for s in sources] + include_dirs = [extensions_dir] + + ext_modules = [ + extension( + "groundingdino._C", + sources, + include_dirs=include_dirs, + define_macros=define_macros, + extra_compile_args=extra_compile_args, + ) + ] + + return ext_modules + + +def parse_requirements(fname="requirements.txt", with_version=True): + """Parse the package dependencies listed in a requirements file but strips + specific versioning information. + + Args: + fname (str): path to requirements file + with_version (bool, default=False): if True include version specs + + Returns: + List[str]: list of requirements items + + CommandLine: + python -c "import setup; print(setup.parse_requirements())" + """ + import re + import sys + from os.path import exists + + require_fpath = fname + + def parse_line(line): + """Parse information from a line in a requirements text file.""" + if line.startswith("-r "): + # Allow specifying requirements in other files + target = line.split(" ")[1] + for info in parse_require_file(target): + yield info + else: + info = {"line": line} + if line.startswith("-e "): + info["package"] = line.split("#egg=")[1] + elif "@git+" in line: + info["package"] = line + else: + # Remove versioning from the package + pat = "(" + "|".join([">=", "==", ">"]) + ")" + parts = re.split(pat, line, maxsplit=1) + parts = [p.strip() for p in parts] + + info["package"] = parts[0] + if len(parts) > 1: + op, rest = parts[1:] + if ";" in rest: + # Handle platform specific dependencies + # http://setuptools.readthedocs.io/en/latest/setuptools.html#declaring-platform-specific-dependencies + version, platform_deps = map(str.strip, rest.split(";")) + info["platform_deps"] = platform_deps + else: + version = rest # NOQA + info["version"] = (op, version) + yield info + + def parse_require_file(fpath): + with open(fpath, "r") as f: + for line in f.readlines(): + line = line.strip() + if line and not line.startswith("#"): + for info in parse_line(line): + yield info + + def gen_packages_items(): + if exists(require_fpath): + for info in parse_require_file(require_fpath): + parts = [info["package"]] + if with_version and "version" in info: + parts.extend(info["version"]) + if not sys.version.startswith("3.4"): + # apparently package_deps are broken in 3.4 + platform_deps = info.get("platform_deps") + if platform_deps is not None: + parts.append(";" + platform_deps) + item = "".join(parts) + yield item + + packages = list(gen_packages_items()) + return packages + + +if __name__ == "__main__": + print(f"Building wheel {package_name}-{version}") + + with open("LICENSE", "r", encoding="utf-8") as f: + license = f.read() + + write_version_file() + + setup( + name="groundingdino", + version="0.1.0", + author="International Digital Economy Academy, Shilong Liu", + url="https://github.com/IDEA-Research/GroundingDINO", + description="open-set object detector", + license=license, + # install_requires=parse_requirements("requirements.txt"), + packages=find_packages( + exclude=( + "configs", + "tests", + ) + ), + ext_modules=get_extensions(), + cmdclass={"build_ext": torch.utils.cpp_extension.BuildExtension}, + ) diff --git a/trajectory_construction/Grounded_SAM2/mask.png b/trajectory_construction/Grounded_SAM2/mask.png new file mode 100644 index 0000000000000000000000000000000000000000..19534ef5648cc2eb22811fe74101ed962b4c9fef --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e56c10f66af933e9652e3e3ebb11649e39853d0ee96d910df46160c1e9356ced +size 3134 diff --git a/trajectory_construction/Grounded_SAM2/pyproject.toml b/trajectory_construction/Grounded_SAM2/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..f7e865232d225043e50a406435bbd7d7fc03a314 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/pyproject.toml @@ -0,0 +1,6 @@ +[build-system] +requires = [ + "setuptools>=61.0", + "torch>=2.3.1", + ] +build-backend = "setuptools.build_meta" diff --git a/trajectory_construction/Grounded_SAM2/sam2/__init__.py b/trajectory_construction/Grounded_SAM2/sam2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..7acf8d9f5c21665edbad77447615fd0b939b1cdb --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/__init__.py @@ -0,0 +1,13 @@ +# 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. + +from hydra import initialize_config_module +from hydra.core.global_hydra import GlobalHydra + +if GlobalHydra().is_initialized(): + GlobalHydra().clear() + +initialize_config_module("sam2_configs", version_base="1.2") diff --git a/trajectory_construction/Grounded_SAM2/sam2/automatic_mask_generator.py b/trajectory_construction/Grounded_SAM2/sam2/automatic_mask_generator.py new file mode 100644 index 0000000000000000000000000000000000000000..065e469e27c2d3af40d51d072031e828692c799b --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/automatic_mask_generator.py @@ -0,0 +1,454 @@ +# 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. + +# Adapted from https://github.com/facebookresearch/segment-anything/blob/main/segment_anything/automatic_mask_generator.py +from typing import Any, Dict, List, Optional, Tuple + +import numpy as np +import torch +from torchvision.ops.boxes import batched_nms, box_area # type: ignore + +from sam2.modeling.sam2_base import SAM2Base +from sam2.sam2_image_predictor import SAM2ImagePredictor +from sam2.utils.amg import ( + area_from_rle, + batch_iterator, + batched_mask_to_box, + box_xyxy_to_xywh, + build_all_layer_point_grids, + calculate_stability_score, + coco_encode_rle, + generate_crop_boxes, + is_box_near_crop_edge, + mask_to_rle_pytorch, + MaskData, + remove_small_regions, + rle_to_mask, + uncrop_boxes_xyxy, + uncrop_masks, + uncrop_points, +) + + +class SAM2AutomaticMaskGenerator: + def __init__( + self, + model: SAM2Base, + points_per_side: Optional[int] = 32, + points_per_batch: int = 64, + pred_iou_thresh: float = 0.8, + stability_score_thresh: float = 0.95, + stability_score_offset: float = 1.0, + mask_threshold: float = 0.0, + box_nms_thresh: float = 0.7, + crop_n_layers: int = 0, + crop_nms_thresh: float = 0.7, + crop_overlap_ratio: float = 512 / 1500, + crop_n_points_downscale_factor: int = 1, + point_grids: Optional[List[np.ndarray]] = None, + min_mask_region_area: int = 0, + output_mode: str = "binary_mask", + use_m2m: bool = False, + multimask_output: bool = True, + **kwargs, + ) -> None: + """ + Using a SAM 2 model, generates masks for the entire image. + Generates a grid of point prompts over the image, then filters + low quality and duplicate masks. The default settings are chosen + for SAM 2 with a HieraL backbone. + + Arguments: + model (Sam): The SAM 2 model to use for mask prediction. + points_per_side (int or None): The number of points to be sampled + along one side of the image. The total number of points is + points_per_side**2. If None, 'point_grids' must provide explicit + point sampling. + points_per_batch (int): Sets the number of points run simultaneously + by the model. Higher numbers may be faster but use more GPU memory. + pred_iou_thresh (float): A filtering threshold in [0,1], using the + model's predicted mask quality. + stability_score_thresh (float): A filtering threshold in [0,1], using + the stability of the mask under changes to the cutoff used to binarize + the model's mask predictions. + stability_score_offset (float): The amount to shift the cutoff when + calculated the stability score. + mask_threshold (float): Threshold for binarizing the mask logits + box_nms_thresh (float): The box IoU cutoff used by non-maximal + suppression to filter duplicate masks. + crop_n_layers (int): If >0, mask prediction will be run again on + crops of the image. Sets the number of layers to run, where each + layer has 2**i_layer number of image crops. + crop_nms_thresh (float): The box IoU cutoff used by non-maximal + suppression to filter duplicate masks between different crops. + crop_overlap_ratio (float): Sets the degree to which crops overlap. + In the first crop layer, crops will overlap by this fraction of + the image length. Later layers with more crops scale down this overlap. + crop_n_points_downscale_factor (int): The number of points-per-side + sampled in layer n is scaled down by crop_n_points_downscale_factor**n. + point_grids (list(np.ndarray) or None): A list over explicit grids + of points used for sampling, normalized to [0,1]. The nth grid in the + list is used in the nth crop layer. Exclusive with points_per_side. + min_mask_region_area (int): If >0, postprocessing will be applied + to remove disconnected regions and holes in masks with area smaller + than min_mask_region_area. Requires opencv. + output_mode (str): The form masks are returned in. Can be 'binary_mask', + 'uncompressed_rle', or 'coco_rle'. 'coco_rle' requires pycocotools. + For large resolutions, 'binary_mask' may consume large amounts of + memory. + use_m2m (bool): Whether to add a one step refinement using previous mask predictions. + multimask_output (bool): Whether to output multimask at each point of the grid. + """ + + assert (points_per_side is None) != ( + point_grids is None + ), "Exactly one of points_per_side or point_grid must be provided." + if points_per_side is not None: + self.point_grids = build_all_layer_point_grids( + points_per_side, + crop_n_layers, + crop_n_points_downscale_factor, + ) + elif point_grids is not None: + self.point_grids = point_grids + else: + raise ValueError("Can't have both points_per_side and point_grid be None.") + + assert output_mode in [ + "binary_mask", + "uncompressed_rle", + "coco_rle", + ], f"Unknown output_mode {output_mode}." + if output_mode == "coco_rle": + try: + from pycocotools import mask as mask_utils # type: ignore # noqa: F401 + except ImportError as e: + print("Please install pycocotools") + raise e + + self.predictor = SAM2ImagePredictor( + model, + max_hole_area=min_mask_region_area, + max_sprinkle_area=min_mask_region_area, + ) + self.points_per_batch = points_per_batch + self.pred_iou_thresh = pred_iou_thresh + self.stability_score_thresh = stability_score_thresh + self.stability_score_offset = stability_score_offset + self.mask_threshold = mask_threshold + self.box_nms_thresh = box_nms_thresh + self.crop_n_layers = crop_n_layers + self.crop_nms_thresh = crop_nms_thresh + self.crop_overlap_ratio = crop_overlap_ratio + self.crop_n_points_downscale_factor = crop_n_points_downscale_factor + self.min_mask_region_area = min_mask_region_area + self.output_mode = output_mode + self.use_m2m = use_m2m + self.multimask_output = multimask_output + + @classmethod + def from_pretrained(cls, model_id: str, **kwargs) -> "SAM2AutomaticMaskGenerator": + """ + Load a pretrained model from the Hugging Face hub. + + Arguments: + model_id (str): The Hugging Face repository ID. + **kwargs: Additional arguments to pass to the model constructor. + + Returns: + (SAM2AutomaticMaskGenerator): The loaded model. + """ + from sam2.build_sam import build_sam2_hf + + sam_model = build_sam2_hf(model_id, **kwargs) + return cls(sam_model, **kwargs) + + @torch.no_grad() + def generate(self, image: np.ndarray) -> List[Dict[str, Any]]: + """ + Generates masks for the given image. + + Arguments: + image (np.ndarray): The image to generate masks for, in HWC uint8 format. + + Returns: + list(dict(str, any)): A list over records for masks. Each record is + a dict containing the following keys: + segmentation (dict(str, any) or np.ndarray): The mask. If + output_mode='binary_mask', is an array of shape HW. Otherwise, + is a dictionary containing the RLE. + bbox (list(float)): The box around the mask, in XYWH format. + area (int): The area in pixels of the mask. + predicted_iou (float): The model's own prediction of the mask's + quality. This is filtered by the pred_iou_thresh parameter. + point_coords (list(list(float))): The point coordinates input + to the model to generate this mask. + stability_score (float): A measure of the mask's quality. This + is filtered on using the stability_score_thresh parameter. + crop_box (list(float)): The crop of the image used to generate + the mask, given in XYWH format. + """ + + # Generate masks + mask_data = self._generate_masks(image) + + # Encode masks + if self.output_mode == "coco_rle": + mask_data["segmentations"] = [ + coco_encode_rle(rle) for rle in mask_data["rles"] + ] + elif self.output_mode == "binary_mask": + mask_data["segmentations"] = [rle_to_mask(rle) for rle in mask_data["rles"]] + else: + mask_data["segmentations"] = mask_data["rles"] + + # Write mask records + curr_anns = [] + for idx in range(len(mask_data["segmentations"])): + ann = { + "segmentation": mask_data["segmentations"][idx], + "area": area_from_rle(mask_data["rles"][idx]), + "bbox": box_xyxy_to_xywh(mask_data["boxes"][idx]).tolist(), + "predicted_iou": mask_data["iou_preds"][idx].item(), + "point_coords": [mask_data["points"][idx].tolist()], + "stability_score": mask_data["stability_score"][idx].item(), + "crop_box": box_xyxy_to_xywh(mask_data["crop_boxes"][idx]).tolist(), + } + curr_anns.append(ann) + + return curr_anns + + def _generate_masks(self, image: np.ndarray) -> MaskData: + orig_size = image.shape[:2] + crop_boxes, layer_idxs = generate_crop_boxes( + orig_size, self.crop_n_layers, self.crop_overlap_ratio + ) + + # Iterate over image crops + data = MaskData() + for crop_box, layer_idx in zip(crop_boxes, layer_idxs): + crop_data = self._process_crop(image, crop_box, layer_idx, orig_size) + data.cat(crop_data) + + # Remove duplicate masks between crops + if len(crop_boxes) > 1: + # Prefer masks from smaller crops + scores = 1 / box_area(data["crop_boxes"]) + scores = scores.to(data["boxes"].device) + keep_by_nms = batched_nms( + data["boxes"].float(), + scores, + torch.zeros_like(data["boxes"][:, 0]), # categories + iou_threshold=self.crop_nms_thresh, + ) + data.filter(keep_by_nms) + data.to_numpy() + return data + + def _process_crop( + self, + image: np.ndarray, + crop_box: List[int], + crop_layer_idx: int, + orig_size: Tuple[int, ...], + ) -> MaskData: + # Crop the image and calculate embeddings + x0, y0, x1, y1 = crop_box + cropped_im = image[y0:y1, x0:x1, :] + cropped_im_size = cropped_im.shape[:2] + self.predictor.set_image(cropped_im) + + # Get points for this crop + points_scale = np.array(cropped_im_size)[None, ::-1] + points_for_image = self.point_grids[crop_layer_idx] * points_scale + + # Generate masks for this crop in batches + data = MaskData() + for (points,) in batch_iterator(self.points_per_batch, points_for_image): + batch_data = self._process_batch( + points, cropped_im_size, crop_box, orig_size, normalize=True + ) + data.cat(batch_data) + del batch_data + self.predictor.reset_predictor() + + # Remove duplicates within this crop. + keep_by_nms = batched_nms( + data["boxes"].float(), + data["iou_preds"], + torch.zeros_like(data["boxes"][:, 0]), # categories + iou_threshold=self.box_nms_thresh, + ) + data.filter(keep_by_nms) + + # Return to the original image frame + data["boxes"] = uncrop_boxes_xyxy(data["boxes"], crop_box) + data["points"] = uncrop_points(data["points"], crop_box) + data["crop_boxes"] = torch.tensor([crop_box for _ in range(len(data["rles"]))]) + + return data + + def _process_batch( + self, + points: np.ndarray, + im_size: Tuple[int, ...], + crop_box: List[int], + orig_size: Tuple[int, ...], + normalize=False, + ) -> MaskData: + orig_h, orig_w = orig_size + + # Run model on this batch + points = torch.as_tensor( + points, dtype=torch.float32, device=self.predictor.device + ) + in_points = self.predictor._transforms.transform_coords( + points, normalize=normalize, orig_hw=im_size + ) + in_labels = torch.ones( + in_points.shape[0], dtype=torch.int, device=in_points.device + ) + masks, iou_preds, low_res_masks = self.predictor._predict( + in_points[:, None, :], + in_labels[:, None], + multimask_output=self.multimask_output, + return_logits=True, + ) + + # Serialize predictions and store in MaskData + data = MaskData( + masks=masks.flatten(0, 1), + iou_preds=iou_preds.flatten(0, 1), + points=points.repeat_interleave(masks.shape[1], dim=0), + low_res_masks=low_res_masks.flatten(0, 1), + ) + del masks + + if not self.use_m2m: + # Filter by predicted IoU + if self.pred_iou_thresh > 0.0: + keep_mask = data["iou_preds"] > self.pred_iou_thresh + data.filter(keep_mask) + + # Calculate and filter by stability score + data["stability_score"] = calculate_stability_score( + data["masks"], self.mask_threshold, self.stability_score_offset + ) + if self.stability_score_thresh > 0.0: + keep_mask = data["stability_score"] >= self.stability_score_thresh + data.filter(keep_mask) + else: + # One step refinement using previous mask predictions + in_points = self.predictor._transforms.transform_coords( + data["points"], normalize=normalize, orig_hw=im_size + ) + labels = torch.ones( + in_points.shape[0], dtype=torch.int, device=in_points.device + ) + masks, ious = self.refine_with_m2m( + in_points, labels, data["low_res_masks"], self.points_per_batch + ) + data["masks"] = masks.squeeze(1) + data["iou_preds"] = ious.squeeze(1) + + if self.pred_iou_thresh > 0.0: + keep_mask = data["iou_preds"] > self.pred_iou_thresh + data.filter(keep_mask) + + data["stability_score"] = calculate_stability_score( + data["masks"], self.mask_threshold, self.stability_score_offset + ) + if self.stability_score_thresh > 0.0: + keep_mask = data["stability_score"] >= self.stability_score_thresh + data.filter(keep_mask) + + # Threshold masks and calculate boxes + data["masks"] = data["masks"] > self.mask_threshold + data["boxes"] = batched_mask_to_box(data["masks"]) + + # Filter boxes that touch crop boundaries + keep_mask = ~is_box_near_crop_edge( + data["boxes"], crop_box, [0, 0, orig_w, orig_h] + ) + if not torch.all(keep_mask): + data.filter(keep_mask) + + # Compress to RLE + data["masks"] = uncrop_masks(data["masks"], crop_box, orig_h, orig_w) + data["rles"] = mask_to_rle_pytorch(data["masks"]) + del data["masks"] + + return data + + @staticmethod + def postprocess_small_regions( + mask_data: MaskData, min_area: int, nms_thresh: float + ) -> MaskData: + """ + Removes small disconnected regions and holes in masks, then reruns + box NMS to remove any new duplicates. + + Edits mask_data in place. + + Requires open-cv as a dependency. + """ + if len(mask_data["rles"]) == 0: + return mask_data + + # Filter small disconnected regions and holes + new_masks = [] + scores = [] + for rle in mask_data["rles"]: + mask = rle_to_mask(rle) + + mask, changed = remove_small_regions(mask, min_area, mode="holes") + unchanged = not changed + mask, changed = remove_small_regions(mask, min_area, mode="islands") + unchanged = unchanged and not changed + + new_masks.append(torch.as_tensor(mask).unsqueeze(0)) + # Give score=0 to changed masks and score=1 to unchanged masks + # so NMS will prefer ones that didn't need postprocessing + scores.append(float(unchanged)) + + # Recalculate boxes and remove any new duplicates + masks = torch.cat(new_masks, dim=0) + boxes = batched_mask_to_box(masks) + keep_by_nms = batched_nms( + boxes.float(), + torch.as_tensor(scores), + torch.zeros_like(boxes[:, 0]), # categories + iou_threshold=nms_thresh, + ) + + # Only recalculate RLEs for masks that have changed + for i_mask in keep_by_nms: + if scores[i_mask] == 0.0: + mask_torch = masks[i_mask].unsqueeze(0) + mask_data["rles"][i_mask] = mask_to_rle_pytorch(mask_torch)[0] + mask_data["boxes"][i_mask] = boxes[i_mask] # update res directly + mask_data.filter(keep_by_nms) + + return mask_data + + def refine_with_m2m(self, points, point_labels, low_res_masks, points_per_batch): + new_masks = [] + new_iou_preds = [] + + for cur_points, cur_point_labels, low_res_mask in batch_iterator( + points_per_batch, points, point_labels, low_res_masks + ): + best_masks, best_iou_preds, _ = self.predictor._predict( + cur_points[:, None, :], + cur_point_labels[:, None], + mask_input=low_res_mask[:, None, :], + multimask_output=False, + return_logits=True, + ) + new_masks.append(best_masks) + new_iou_preds.append(best_iou_preds) + masks = torch.cat(new_masks, dim=0) + return masks, torch.cat(new_iou_preds, dim=0) diff --git a/trajectory_construction/Grounded_SAM2/sam2/build_sam.py b/trajectory_construction/Grounded_SAM2/sam2/build_sam.py new file mode 100644 index 0000000000000000000000000000000000000000..3a29eda3cdd244c805310f5d19948f82619a31e7 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/build_sam.py @@ -0,0 +1,129 @@ +# 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 logging + +import torch +from hydra import compose +from hydra.utils import instantiate +from omegaconf import OmegaConf + + +def build_sam2( + config_file, + ckpt_path=None, + device="cuda", + mode="eval", + hydra_overrides_extra=[], + apply_postprocessing=True, + **kwargs, +): + + if apply_postprocessing: + hydra_overrides_extra = hydra_overrides_extra.copy() + hydra_overrides_extra += [ + # dynamically fall back to multi-mask if the single mask is not stable + "++model.sam_mask_decoder_extra_args.dynamic_multimask_via_stability=true", + "++model.sam_mask_decoder_extra_args.dynamic_multimask_stability_delta=0.05", + "++model.sam_mask_decoder_extra_args.dynamic_multimask_stability_thresh=0.98", + ] + # Read config and init model + cfg = compose(config_name=config_file, overrides=hydra_overrides_extra) + OmegaConf.resolve(cfg) + model = instantiate(cfg.model, _recursive_=True) + _load_checkpoint(model, ckpt_path) + model = model.to(device) + if mode == "eval": + model.eval() + return model + + +def build_sam2_video_predictor( + config_file, + ckpt_path=None, + device="cuda", + mode="eval", + hydra_overrides_extra=[], + apply_postprocessing=True, + **kwargs, +): + hydra_overrides = [ + "++model._target_=sam2.sam2_video_predictor.SAM2VideoPredictor", + ] + if apply_postprocessing: + hydra_overrides_extra = hydra_overrides_extra.copy() + hydra_overrides_extra += [ + # dynamically fall back to multi-mask if the single mask is not stable + "++model.sam_mask_decoder_extra_args.dynamic_multimask_via_stability=true", + "++model.sam_mask_decoder_extra_args.dynamic_multimask_stability_delta=0.05", + "++model.sam_mask_decoder_extra_args.dynamic_multimask_stability_thresh=0.98", + # the sigmoid mask logits on interacted frames with clicks in the memory encoder so that the encoded masks are exactly as what users see from clicking + "++model.binarize_mask_from_pts_for_mem_enc=true", + # fill small holes in the low-res masks up to `fill_hole_area` (before resizing them to the original video resolution) + "++model.fill_hole_area=8", + ] + hydra_overrides.extend(hydra_overrides_extra) + + # Read config and init model + cfg = compose(config_name=config_file, overrides=hydra_overrides) + OmegaConf.resolve(cfg) + model = instantiate(cfg.model, _recursive_=True) + _load_checkpoint(model, ckpt_path) + model = model.to(device) + if mode == "eval": + model.eval() + return model + + +def build_sam2_hf(model_id, **kwargs): + + from huggingface_hub import hf_hub_download + + model_id_to_filenames = { + "facebook/sam2-hiera-tiny": ("sam2_hiera_t.yaml", "sam2_hiera_tiny.pt"), + "facebook/sam2-hiera-small": ("sam2_hiera_s.yaml", "sam2_hiera_small.pt"), + "facebook/sam2-hiera-base-plus": ( + "sam2_hiera_b+.yaml", + "sam2_hiera_base_plus.pt", + ), + "facebook/sam2-hiera-large": ("sam2_hiera_l.yaml", "sam2_hiera_large.pt"), + } + config_name, checkpoint_name = model_id_to_filenames[model_id] + ckpt_path = hf_hub_download(repo_id=model_id, filename=checkpoint_name) + return build_sam2(config_file=config_name, ckpt_path=ckpt_path, **kwargs) + + +def build_sam2_video_predictor_hf(model_id, **kwargs): + + from huggingface_hub import hf_hub_download + + model_id_to_filenames = { + "facebook/sam2-hiera-tiny": ("sam2_hiera_t.yaml", "sam2_hiera_tiny.pt"), + "facebook/sam2-hiera-small": ("sam2_hiera_s.yaml", "sam2_hiera_small.pt"), + "facebook/sam2-hiera-base-plus": ( + "sam2_hiera_b+.yaml", + "sam2_hiera_base_plus.pt", + ), + "facebook/sam2-hiera-large": ("sam2_hiera_l.yaml", "sam2_hiera_large.pt"), + } + config_name, checkpoint_name = model_id_to_filenames[model_id] + ckpt_path = hf_hub_download(repo_id=model_id, filename=checkpoint_name) + return build_sam2_video_predictor( + config_file=config_name, ckpt_path=ckpt_path, **kwargs + ) + + +def _load_checkpoint(model, ckpt_path): + if ckpt_path is not None: + sd = torch.load(ckpt_path, map_location="cpu")["model"] + missing_keys, unexpected_keys = model.load_state_dict(sd) + if missing_keys: + logging.error(missing_keys) + raise RuntimeError() + if unexpected_keys: + logging.error(unexpected_keys) + raise RuntimeError() + logging.info("Loaded checkpoint sucessfully") diff --git a/trajectory_construction/Grounded_SAM2/sam2/csrc/connected_components.cu b/trajectory_construction/Grounded_SAM2/sam2/csrc/connected_components.cu new file mode 100644 index 0000000000000000000000000000000000000000..ced21eb32eaaadb818d441c1322b99d1bf068f45 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/csrc/connected_components.cu @@ -0,0 +1,289 @@ +// 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. + +// adapted from https://github.com/zsef123/Connected_components_PyTorch +// with license found in the LICENSE_cctorch file in the root directory. +#include +#include +#include +#include +#include +#include + +// 2d +#define BLOCK_ROWS 16 +#define BLOCK_COLS 16 + +namespace cc2d { + +template +__device__ __forceinline__ unsigned char hasBit(T bitmap, unsigned char pos) { + return (bitmap >> pos) & 1; +} + +__device__ int32_t find(const int32_t* s_buf, int32_t n) { + while (s_buf[n] != n) + n = s_buf[n]; + return n; +} + +__device__ int32_t find_n_compress(int32_t* s_buf, int32_t n) { + const int32_t id = n; + while (s_buf[n] != n) { + n = s_buf[n]; + s_buf[id] = n; + } + return n; +} + +__device__ void union_(int32_t* s_buf, int32_t a, int32_t b) { + bool done; + do { + a = find(s_buf, a); + b = find(s_buf, b); + + if (a < b) { + int32_t old = atomicMin(s_buf + b, a); + done = (old == b); + b = old; + } else if (b < a) { + int32_t old = atomicMin(s_buf + a, b); + done = (old == a); + a = old; + } else + done = true; + + } while (!done); +} + +__global__ void +init_labeling(int32_t* label, const uint32_t W, const uint32_t H) { + const uint32_t row = (blockIdx.y * blockDim.y + threadIdx.y) * 2; + const uint32_t col = (blockIdx.x * blockDim.x + threadIdx.x) * 2; + const uint32_t idx = row * W + col; + + if (row < H && col < W) + label[idx] = idx; +} + +__global__ void +merge(uint8_t* img, int32_t* label, const uint32_t W, const uint32_t H) { + const uint32_t row = (blockIdx.y * blockDim.y + threadIdx.y) * 2; + const uint32_t col = (blockIdx.x * blockDim.x + threadIdx.x) * 2; + const uint32_t idx = row * W + col; + + if (row >= H || col >= W) + return; + + uint32_t P = 0; + + if (img[idx]) + P |= 0x777; + if (row + 1 < H && img[idx + W]) + P |= 0x777 << 4; + if (col + 1 < W && img[idx + 1]) + P |= 0x777 << 1; + + if (col == 0) + P &= 0xEEEE; + if (col + 1 >= W) + P &= 0x3333; + else if (col + 2 >= W) + P &= 0x7777; + + if (row == 0) + P &= 0xFFF0; + if (row + 1 >= H) + P &= 0xFF; + + if (P > 0) { + // If need check about top-left pixel(if flag the first bit) and hit the + // top-left pixel + if (hasBit(P, 0) && img[idx - W - 1]) { + union_(label, idx, idx - 2 * W - 2); // top left block + } + + if ((hasBit(P, 1) && img[idx - W]) || (hasBit(P, 2) && img[idx - W + 1])) + union_(label, idx, idx - 2 * W); // top bottom block + + if (hasBit(P, 3) && img[idx + 2 - W]) + union_(label, idx, idx - 2 * W + 2); // top right block + + if ((hasBit(P, 4) && img[idx - 1]) || (hasBit(P, 8) && img[idx + W - 1])) + union_(label, idx, idx - 2); // just left block + } +} + +__global__ void compression(int32_t* label, const int32_t W, const int32_t H) { + const uint32_t row = (blockIdx.y * blockDim.y + threadIdx.y) * 2; + const uint32_t col = (blockIdx.x * blockDim.x + threadIdx.x) * 2; + const uint32_t idx = row * W + col; + + if (row < H && col < W) + find_n_compress(label, idx); +} + +__global__ void final_labeling( + const uint8_t* img, + int32_t* label, + const int32_t W, + const int32_t H) { + const uint32_t row = (blockIdx.y * blockDim.y + threadIdx.y) * 2; + const uint32_t col = (blockIdx.x * blockDim.x + threadIdx.x) * 2; + const uint32_t idx = row * W + col; + + if (row >= H || col >= W) + return; + + int32_t y = label[idx] + 1; + + if (img[idx]) + label[idx] = y; + else + label[idx] = 0; + + if (col + 1 < W) { + if (img[idx + 1]) + label[idx + 1] = y; + else + label[idx + 1] = 0; + + if (row + 1 < H) { + if (img[idx + W + 1]) + label[idx + W + 1] = y; + else + label[idx + W + 1] = 0; + } + } + + if (row + 1 < H) { + if (img[idx + W]) + label[idx + W] = y; + else + label[idx + W] = 0; + } +} + +__global__ void init_counting( + const int32_t* label, + int32_t* count_init, + const int32_t W, + const int32_t H) { + const uint32_t row = (blockIdx.y * blockDim.y + threadIdx.y); + const uint32_t col = (blockIdx.x * blockDim.x + threadIdx.x); + const uint32_t idx = row * W + col; + + if (row >= H || col >= W) + return; + + int32_t y = label[idx]; + if (y > 0) { + int32_t count_idx = y - 1; + atomicAdd(count_init + count_idx, 1); + } +} + +__global__ void final_counting( + const int32_t* label, + const int32_t* count_init, + int32_t* count_final, + const int32_t W, + const int32_t H) { + const uint32_t row = (blockIdx.y * blockDim.y + threadIdx.y); + const uint32_t col = (blockIdx.x * blockDim.x + threadIdx.x); + const uint32_t idx = row * W + col; + + if (row >= H || col >= W) + return; + + int32_t y = label[idx]; + if (y > 0) { + int32_t count_idx = y - 1; + count_final[idx] = count_init[count_idx]; + } else { + count_final[idx] = 0; + } +} + +} // namespace cc2d + +std::vector get_connected_componnets( + const torch::Tensor& inputs) { + AT_ASSERTM(inputs.is_cuda(), "inputs must be a CUDA tensor"); + AT_ASSERTM(inputs.ndimension() == 4, "inputs must be [N, 1, H, W] shape"); + AT_ASSERTM( + inputs.scalar_type() == torch::kUInt8, "inputs must be a uint8 type"); + + const uint32_t N = inputs.size(0); + const uint32_t C = inputs.size(1); + const uint32_t H = inputs.size(2); + const uint32_t W = inputs.size(3); + + AT_ASSERTM(C == 1, "inputs must be [N, 1, H, W] shape"); + AT_ASSERTM((H % 2) == 0, "height must be an even number"); + AT_ASSERTM((W % 2) == 0, "width must be an even number"); + + // label must be uint32_t + auto label_options = + torch::TensorOptions().dtype(torch::kInt32).device(inputs.device()); + torch::Tensor labels = torch::zeros({N, C, H, W}, label_options); + torch::Tensor counts_init = torch::zeros({N, C, H, W}, label_options); + torch::Tensor counts_final = torch::zeros({N, C, H, W}, label_options); + + dim3 grid = dim3( + ((W + 1) / 2 + BLOCK_COLS - 1) / BLOCK_COLS, + ((H + 1) / 2 + BLOCK_ROWS - 1) / BLOCK_ROWS); + dim3 block = dim3(BLOCK_COLS, BLOCK_ROWS); + dim3 grid_count = + dim3((W + BLOCK_COLS) / BLOCK_COLS, (H + BLOCK_ROWS) / BLOCK_ROWS); + dim3 block_count = dim3(BLOCK_COLS, BLOCK_ROWS); + cudaStream_t stream = at::cuda::getCurrentCUDAStream(); + + for (int n = 0; n < N; n++) { + uint32_t offset = n * H * W; + + cc2d::init_labeling<<>>( + labels.data_ptr() + offset, W, H); + cc2d::merge<<>>( + inputs.data_ptr() + offset, + labels.data_ptr() + offset, + W, + H); + cc2d::compression<<>>( + labels.data_ptr() + offset, W, H); + cc2d::final_labeling<<>>( + inputs.data_ptr() + offset, + labels.data_ptr() + offset, + W, + H); + + // get the counting of each pixel + cc2d::init_counting<<>>( + labels.data_ptr() + offset, + counts_init.data_ptr() + offset, + W, + H); + cc2d::final_counting<<>>( + labels.data_ptr() + offset, + counts_init.data_ptr() + offset, + counts_final.data_ptr() + offset, + W, + H); + } + + // returned values are [labels, counts] + std::vector outputs; + outputs.push_back(labels); + outputs.push_back(counts_final); + return outputs; +} + +PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) { + m.def( + "get_connected_componnets", + &get_connected_componnets, + "get_connected_componnets"); +} diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/__init__.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5277f46157403e47fd830fc519144b97ef69d4ae --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/__init__.py @@ -0,0 +1,5 @@ +# 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. diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/__init__.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5277f46157403e47fd830fc519144b97ef69d4ae --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/__init__.py @@ -0,0 +1,5 @@ +# 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. diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/hieradet.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/hieradet.py new file mode 100644 index 0000000000000000000000000000000000000000..973d622fcfa19c5210bd69169477f799341ae9e8 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/hieradet.py @@ -0,0 +1,291 @@ +# 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. + +from functools import partial +from typing import List, Tuple, Union + +import torch +import torch.nn as nn +import torch.nn.functional as F + +from sam2.modeling.backbones.utils import ( + PatchEmbed, + window_partition, + window_unpartition, +) + +from sam2.modeling.sam2_utils import DropPath, MLP + + +def do_pool(x: torch.Tensor, pool: nn.Module, norm: nn.Module = None) -> torch.Tensor: + if pool is None: + return x + # (B, H, W, C) -> (B, C, H, W) + x = x.permute(0, 3, 1, 2) + x = pool(x) + # (B, C, H', W') -> (B, H', W', C) + x = x.permute(0, 2, 3, 1) + if norm: + x = norm(x) + + return x + + +class MultiScaleAttention(nn.Module): + def __init__( + self, + dim: int, + dim_out: int, + num_heads: int, + q_pool: nn.Module = None, + ): + super().__init__() + + self.dim = dim + self.dim_out = dim_out + self.num_heads = num_heads + self.q_pool = q_pool + self.qkv = nn.Linear(dim, dim_out * 3) + self.proj = nn.Linear(dim_out, dim_out) + + def forward(self, x: torch.Tensor) -> torch.Tensor: + B, H, W, _ = x.shape + # qkv with shape (B, H * W, 3, nHead, C) + qkv = self.qkv(x).reshape(B, H * W, 3, self.num_heads, -1) + # q, k, v with shape (B, H * W, nheads, C) + q, k, v = torch.unbind(qkv, 2) + + # Q pooling (for downsample at stage changes) + if self.q_pool: + q = do_pool(q.reshape(B, H, W, -1), self.q_pool) + H, W = q.shape[1:3] # downsampled shape + q = q.reshape(B, H * W, self.num_heads, -1) + + # Torch's SDPA expects [B, nheads, H*W, C] so we transpose + x = F.scaled_dot_product_attention( + q.transpose(1, 2), + k.transpose(1, 2), + v.transpose(1, 2), + ) + # Transpose back + x = x.transpose(1, 2) + x = x.reshape(B, H, W, -1) + + x = self.proj(x) + + return x + + +class MultiScaleBlock(nn.Module): + def __init__( + self, + dim: int, + dim_out: int, + num_heads: int, + mlp_ratio: float = 4.0, + drop_path: float = 0.0, + norm_layer: Union[nn.Module, str] = "LayerNorm", + q_stride: Tuple[int, int] = None, + act_layer: nn.Module = nn.GELU, + window_size: int = 0, + ): + super().__init__() + + if isinstance(norm_layer, str): + norm_layer = partial(getattr(nn, norm_layer), eps=1e-6) + + self.dim = dim + self.dim_out = dim_out + self.norm1 = norm_layer(dim) + + self.window_size = window_size + + self.pool, self.q_stride = None, q_stride + if self.q_stride: + self.pool = nn.MaxPool2d( + kernel_size=q_stride, stride=q_stride, ceil_mode=False + ) + + self.attn = MultiScaleAttention( + dim, + dim_out, + num_heads=num_heads, + q_pool=self.pool, + ) + self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.norm2 = norm_layer(dim_out) + self.mlp = MLP( + dim_out, + int(dim_out * mlp_ratio), + dim_out, + num_layers=2, + activation=act_layer, + ) + + if dim != dim_out: + self.proj = nn.Linear(dim, dim_out) + + def forward(self, x: torch.Tensor) -> torch.Tensor: + shortcut = x # B, H, W, C + x = self.norm1(x) + + # Skip connection + if self.dim != self.dim_out: + shortcut = do_pool(self.proj(x), self.pool) + + # Window partition + window_size = self.window_size + if window_size > 0: + H, W = x.shape[1], x.shape[2] + x, pad_hw = window_partition(x, window_size) + + # Window Attention + Q Pooling (if stage change) + x = self.attn(x) + if self.q_stride: + # Shapes have changed due to Q pooling + window_size = self.window_size // self.q_stride[0] + H, W = shortcut.shape[1:3] + + pad_h = (window_size - H % window_size) % window_size + pad_w = (window_size - W % window_size) % window_size + pad_hw = (H + pad_h, W + pad_w) + + # Reverse window partition + if self.window_size > 0: + x = window_unpartition(x, window_size, pad_hw, (H, W)) + + x = shortcut + self.drop_path(x) + # MLP + x = x + self.drop_path(self.mlp(self.norm2(x))) + return x + + +class Hiera(nn.Module): + """ + Reference: https://arxiv.org/abs/2306.00989 + """ + + def __init__( + self, + embed_dim: int = 96, # initial embed dim + num_heads: int = 1, # initial number of heads + drop_path_rate: float = 0.0, # stochastic depth + q_pool: int = 3, # number of q_pool stages + q_stride: Tuple[int, int] = (2, 2), # downsample stride bet. stages + stages: Tuple[int, ...] = (2, 3, 16, 3), # blocks per stage + dim_mul: float = 2.0, # dim_mul factor at stage shift + head_mul: float = 2.0, # head_mul factor at stage shift + window_pos_embed_bkg_spatial_size: Tuple[int, int] = (14, 14), + # window size per stage, when not using global att. + window_spec: Tuple[int, ...] = ( + 8, + 4, + 14, + 7, + ), + # global attn in these blocks + global_att_blocks: Tuple[int, ...] = ( + 12, + 16, + 20, + ), + return_interm_layers=True, # return feats from every stage + ): + super().__init__() + + assert len(stages) == len(window_spec) + self.window_spec = window_spec + + depth = sum(stages) + self.q_stride = q_stride + self.stage_ends = [sum(stages[:i]) - 1 for i in range(1, len(stages) + 1)] + assert 0 <= q_pool <= len(self.stage_ends[:-1]) + self.q_pool_blocks = [x + 1 for x in self.stage_ends[:-1]][:q_pool] + self.return_interm_layers = return_interm_layers + + self.patch_embed = PatchEmbed( + embed_dim=embed_dim, + ) + # Which blocks have global att? + self.global_att_blocks = global_att_blocks + + # Windowed positional embedding (https://arxiv.org/abs/2311.05613) + self.window_pos_embed_bkg_spatial_size = window_pos_embed_bkg_spatial_size + self.pos_embed = nn.Parameter( + torch.zeros(1, embed_dim, *self.window_pos_embed_bkg_spatial_size) + ) + self.pos_embed_window = nn.Parameter( + torch.zeros(1, embed_dim, self.window_spec[0], self.window_spec[0]) + ) + + dpr = [ + x.item() for x in torch.linspace(0, drop_path_rate, depth) + ] # stochastic depth decay rule + + cur_stage = 1 + self.blocks = nn.ModuleList() + + for i in range(depth): + dim_out = embed_dim + # lags by a block, so first block of + # next stage uses an initial window size + # of previous stage and final window size of current stage + window_size = self.window_spec[cur_stage - 1] + + if self.global_att_blocks is not None: + window_size = 0 if i in self.global_att_blocks else window_size + + if i - 1 in self.stage_ends: + dim_out = int(embed_dim * dim_mul) + num_heads = int(num_heads * head_mul) + cur_stage += 1 + + block = MultiScaleBlock( + dim=embed_dim, + dim_out=dim_out, + num_heads=num_heads, + drop_path=dpr[i], + q_stride=self.q_stride if i in self.q_pool_blocks else None, + window_size=window_size, + ) + + embed_dim = dim_out + self.blocks.append(block) + + self.channel_list = ( + [self.blocks[i].dim_out for i in self.stage_ends[::-1]] + if return_interm_layers + else [self.blocks[-1].dim_out] + ) + + def _get_pos_embed(self, hw: Tuple[int, int]) -> torch.Tensor: + h, w = hw + window_embed = self.pos_embed_window + pos_embed = F.interpolate(self.pos_embed, size=(h, w), mode="bicubic") + pos_embed = pos_embed + window_embed.tile( + [x // y for x, y in zip(pos_embed.shape, window_embed.shape)] + ) + pos_embed = pos_embed.permute(0, 2, 3, 1) + return pos_embed + + def forward(self, x: torch.Tensor) -> List[torch.Tensor]: + x = self.patch_embed(x) + # x: (B, H, W, C) + + # Add pos embed + x = x + self._get_pos_embed(x.shape[1:3]) + + outputs = [] + for i, blk in enumerate(self.blocks): + x = blk(x) + if (i == self.stage_ends[-1]) or ( + i in self.stage_ends and self.return_interm_layers + ): + feats = x.permute(0, 3, 1, 2) + outputs.append(feats) + + return outputs diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/image_encoder.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/image_encoder.py new file mode 100644 index 0000000000000000000000000000000000000000..5f92baf47dcab96385ff99899fd3e3a642c1cf9c --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/image_encoder.py @@ -0,0 +1,133 @@ +# 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. + +from typing import List, Optional + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +class ImageEncoder(nn.Module): + def __init__( + self, + trunk: nn.Module, + neck: nn.Module, + scalp: int = 0, + ): + super().__init__() + self.trunk = trunk + self.neck = neck + self.scalp = scalp + assert ( + self.trunk.channel_list == self.neck.backbone_channel_list + ), f"Channel dims of trunk and neck do not match. Trunk: {self.trunk.channel_list}, neck: {self.neck.backbone_channel_list}" + + def forward(self, sample: torch.Tensor): + # Forward through backbone + features, pos = self.neck(self.trunk(sample)) + if self.scalp > 0: + # Discard the lowest resolution features + features, pos = features[: -self.scalp], pos[: -self.scalp] + + src = features[-1] + output = { + "vision_features": src, + "vision_pos_enc": pos, + "backbone_fpn": features, + } + return output + + +class FpnNeck(nn.Module): + """ + A modified variant of Feature Pyramid Network (FPN) neck + (we remove output conv and also do bicubic interpolation similar to ViT + pos embed interpolation) + """ + + def __init__( + self, + position_encoding: nn.Module, + d_model: int, + backbone_channel_list: List[int], + kernel_size: int = 1, + stride: int = 1, + padding: int = 0, + fpn_interp_model: str = "bilinear", + fuse_type: str = "sum", + fpn_top_down_levels: Optional[List[int]] = None, + ): + """Initialize the neck + :param trunk: the backbone + :param position_encoding: the positional encoding to use + :param d_model: the dimension of the model + :param neck_norm: the normalization to use + """ + super().__init__() + self.position_encoding = position_encoding + self.convs = nn.ModuleList() + self.backbone_channel_list = backbone_channel_list + for dim in backbone_channel_list: + current = nn.Sequential() + current.add_module( + "conv", + nn.Conv2d( + in_channels=dim, + out_channels=d_model, + kernel_size=kernel_size, + stride=stride, + padding=padding, + ), + ) + + self.convs.append(current) + self.fpn_interp_model = fpn_interp_model + assert fuse_type in ["sum", "avg"] + self.fuse_type = fuse_type + + # levels to have top-down features in its outputs + # e.g. if fpn_top_down_levels is [2, 3], then only outputs of level 2 and 3 + # have top-down propagation, while outputs of level 0 and level 1 have only + # lateral features from the same backbone level. + if fpn_top_down_levels is None: + # default is to have top-down features on all levels + fpn_top_down_levels = range(len(self.convs)) + self.fpn_top_down_levels = list(fpn_top_down_levels) + + def forward(self, xs: List[torch.Tensor]): + + out = [None] * len(self.convs) + pos = [None] * len(self.convs) + assert len(xs) == len(self.convs) + # fpn forward pass + # see https://github.com/facebookresearch/detectron2/blob/main/detectron2/modeling/backbone/fpn.py + prev_features = None + # forward in top-down order (from low to high resolution) + n = len(self.convs) - 1 + for i in range(n, -1, -1): + x = xs[i] + lateral_features = self.convs[n - i](x) + if i in self.fpn_top_down_levels and prev_features is not None: + top_down_features = F.interpolate( + prev_features.to(dtype=torch.float32), + scale_factor=2.0, + mode=self.fpn_interp_model, + align_corners=( + None if self.fpn_interp_model == "nearest" else False + ), + antialias=False, + ) + prev_features = lateral_features + top_down_features + if self.fuse_type == "avg": + prev_features /= 2 + else: + prev_features = lateral_features + x_out = prev_features + out[i] = x_out + pos[i] = self.position_encoding(x_out).to(x_out.dtype) + + return out, pos diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/utils.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..32d55c7545f064de133a5ff0200ba1ece9b504b7 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/backbones/utils.py @@ -0,0 +1,95 @@ +# 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. + +"""Some utilities for backbones, in particular for windowing""" + +from typing import Tuple + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +def window_partition(x, window_size): + """ + Partition into non-overlapping windows with padding if needed. + Args: + x (tensor): input tokens with [B, H, W, C]. + window_size (int): window size. + Returns: + windows: windows after partition with [B * num_windows, window_size, window_size, C]. + (Hp, Wp): padded height and width before partition + """ + B, H, W, C = x.shape + + pad_h = (window_size - H % window_size) % window_size + pad_w = (window_size - W % window_size) % window_size + if pad_h > 0 or pad_w > 0: + x = F.pad(x, (0, 0, 0, pad_w, 0, pad_h)) + Hp, Wp = H + pad_h, W + pad_w + + x = x.view(B, Hp // window_size, window_size, Wp // window_size, window_size, C) + windows = ( + x.permute(0, 1, 3, 2, 4, 5).contiguous().view(-1, window_size, window_size, C) + ) + return windows, (Hp, Wp) + + +def window_unpartition(windows, window_size, pad_hw, hw): + """ + Window unpartition into original sequences and removing padding. + Args: + x (tensor): input tokens with [B * num_windows, window_size, window_size, C]. + window_size (int): window size. + pad_hw (Tuple): padded height and width (Hp, Wp). + hw (Tuple): original height and width (H, W) before padding. + Returns: + x: unpartitioned sequences with [B, H, W, C]. + """ + Hp, Wp = pad_hw + H, W = hw + B = windows.shape[0] // (Hp * Wp // window_size // window_size) + x = windows.view( + B, Hp // window_size, Wp // window_size, window_size, window_size, -1 + ) + x = x.permute(0, 1, 3, 2, 4, 5).contiguous().view(B, Hp, Wp, -1) + + if Hp > H or Wp > W: + x = x[:, :H, :W, :].contiguous() + return x + + +class PatchEmbed(nn.Module): + """ + Image to Patch Embedding. + """ + + def __init__( + self, + kernel_size: Tuple[int, ...] = (7, 7), + stride: Tuple[int, ...] = (4, 4), + padding: Tuple[int, ...] = (3, 3), + in_chans: int = 3, + embed_dim: int = 768, + ): + """ + Args: + kernel_size (Tuple): kernel size of the projection layer. + stride (Tuple): stride of the projection layer. + padding (Tuple): padding size of the projection layer. + in_chans (int): Number of input image channels. + embed_dim (int): embed_dim (int): Patch embedding dimension. + """ + super().__init__() + self.proj = nn.Conv2d( + in_chans, embed_dim, kernel_size=kernel_size, stride=stride, padding=padding + ) + + def forward(self, x: torch.Tensor) -> torch.Tensor: + x = self.proj(x) + # B C H W -> B H W C + x = x.permute(0, 2, 3, 1) + return x diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/memory_attention.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/memory_attention.py new file mode 100644 index 0000000000000000000000000000000000000000..0b07f9d87e3d8194ca5e11fc20f01604d591a59d --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/memory_attention.py @@ -0,0 +1,169 @@ +# 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. + +from typing import Optional + +import torch +from torch import nn, Tensor + +from sam2.modeling.sam.transformer import RoPEAttention + +from sam2.modeling.sam2_utils import get_activation_fn, get_clones + + +class MemoryAttentionLayer(nn.Module): + + def __init__( + self, + activation: str, + cross_attention: nn.Module, + d_model: int, + dim_feedforward: int, + dropout: float, + pos_enc_at_attn: bool, + pos_enc_at_cross_attn_keys: bool, + pos_enc_at_cross_attn_queries: bool, + self_attention: nn.Module, + ): + super().__init__() + self.d_model = d_model + self.dim_feedforward = dim_feedforward + self.dropout_value = dropout + self.self_attn = self_attention + self.cross_attn_image = cross_attention + + # Implementation of Feedforward model + self.linear1 = nn.Linear(d_model, dim_feedforward) + self.dropout = nn.Dropout(dropout) + self.linear2 = nn.Linear(dim_feedforward, d_model) + + self.norm1 = nn.LayerNorm(d_model) + self.norm2 = nn.LayerNorm(d_model) + self.norm3 = nn.LayerNorm(d_model) + self.dropout1 = nn.Dropout(dropout) + self.dropout2 = nn.Dropout(dropout) + self.dropout3 = nn.Dropout(dropout) + + self.activation_str = activation + self.activation = get_activation_fn(activation) + + # Where to add pos enc + self.pos_enc_at_attn = pos_enc_at_attn + self.pos_enc_at_cross_attn_queries = pos_enc_at_cross_attn_queries + self.pos_enc_at_cross_attn_keys = pos_enc_at_cross_attn_keys + + def _forward_sa(self, tgt, query_pos): + # Self-Attention + tgt2 = self.norm1(tgt) + q = k = tgt2 + query_pos if self.pos_enc_at_attn else tgt2 + tgt2 = self.self_attn(q, k, v=tgt2) + tgt = tgt + self.dropout1(tgt2) + return tgt + + def _forward_ca(self, tgt, memory, query_pos, pos, num_k_exclude_rope=0): + kwds = {} + if num_k_exclude_rope > 0: + assert isinstance(self.cross_attn_image, RoPEAttention) + kwds = {"num_k_exclude_rope": num_k_exclude_rope} + + # Cross-Attention + tgt2 = self.norm2(tgt) + tgt2 = self.cross_attn_image( + q=tgt2 + query_pos if self.pos_enc_at_cross_attn_queries else tgt2, + k=memory + pos if self.pos_enc_at_cross_attn_keys else memory, + v=memory, + **kwds, + ) + tgt = tgt + self.dropout2(tgt2) + return tgt + + def forward( + self, + tgt, + memory, + pos: Optional[Tensor] = None, + query_pos: Optional[Tensor] = None, + num_k_exclude_rope: int = 0, + ) -> torch.Tensor: + + # Self-Attn, Cross-Attn + tgt = self._forward_sa(tgt, query_pos) + tgt = self._forward_ca(tgt, memory, query_pos, pos, num_k_exclude_rope) + # MLP + tgt2 = self.norm3(tgt) + tgt2 = self.linear2(self.dropout(self.activation(self.linear1(tgt2)))) + tgt = tgt + self.dropout3(tgt2) + return tgt + + +class MemoryAttention(nn.Module): + def __init__( + self, + d_model: int, + pos_enc_at_input: bool, + layer: nn.Module, + num_layers: int, + batch_first: bool = True, # Do layers expect batch first input? + ): + super().__init__() + self.d_model = d_model + self.layers = get_clones(layer, num_layers) + self.num_layers = num_layers + self.norm = nn.LayerNorm(d_model) + self.pos_enc_at_input = pos_enc_at_input + self.batch_first = batch_first + + def forward( + self, + curr: torch.Tensor, # self-attention inputs + memory: torch.Tensor, # cross-attention inputs + curr_pos: Optional[Tensor] = None, # pos_enc for self-attention inputs + memory_pos: Optional[Tensor] = None, # pos_enc for cross-attention inputs + num_obj_ptr_tokens: int = 0, # number of object pointer *tokens* + ): + if isinstance(curr, list): + assert isinstance(curr_pos, list) + assert len(curr) == len(curr_pos) == 1 + curr, curr_pos = ( + curr[0], + curr_pos[0], + ) + + assert ( + curr.shape[1] == memory.shape[1] + ), "Batch size must be the same for curr and memory" + + output = curr + if self.pos_enc_at_input and curr_pos is not None: + output = output + 0.1 * curr_pos + + if self.batch_first: + # Convert to batch first + output = output.transpose(0, 1) + curr_pos = curr_pos.transpose(0, 1) + memory = memory.transpose(0, 1) + memory_pos = memory_pos.transpose(0, 1) + + for layer in self.layers: + kwds = {} + if isinstance(layer.cross_attn_image, RoPEAttention): + kwds = {"num_k_exclude_rope": num_obj_ptr_tokens} + + output = layer( + tgt=output, + memory=memory, + pos=memory_pos, + query_pos=curr_pos, + **kwds, + ) + normed_output = self.norm(output) + + if self.batch_first: + # Convert back to seq first + normed_output = normed_output.transpose(0, 1) + curr_pos = curr_pos.transpose(0, 1) + + return normed_output diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/memory_encoder.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/memory_encoder.py new file mode 100644 index 0000000000000000000000000000000000000000..f60202dfaba87232c3870fb2101b5322a119d985 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/memory_encoder.py @@ -0,0 +1,181 @@ +# 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 +from typing import Tuple + +import torch +import torch.nn as nn +import torch.nn.functional as F + +from sam2.modeling.sam2_utils import DropPath, get_clones, LayerNorm2d + + +class MaskDownSampler(nn.Module): + """ + Progressively downsample a mask by total_stride, each time by stride. + Note that LayerNorm is applied per *token*, like in ViT. + + With each downsample (by a factor stride**2), channel capacity increases by the same factor. + In the end, we linearly project to embed_dim channels. + """ + + def __init__( + self, + embed_dim=256, + kernel_size=4, + stride=4, + padding=0, + total_stride=16, + activation=nn.GELU, + ): + super().__init__() + num_layers = int(math.log2(total_stride) // math.log2(stride)) + assert stride**num_layers == total_stride + self.encoder = nn.Sequential() + mask_in_chans, mask_out_chans = 1, 1 + for _ in range(num_layers): + mask_out_chans = mask_in_chans * (stride**2) + self.encoder.append( + nn.Conv2d( + mask_in_chans, + mask_out_chans, + kernel_size=kernel_size, + stride=stride, + padding=padding, + ) + ) + self.encoder.append(LayerNorm2d(mask_out_chans)) + self.encoder.append(activation()) + mask_in_chans = mask_out_chans + + self.encoder.append(nn.Conv2d(mask_out_chans, embed_dim, kernel_size=1)) + + def forward(self, x): + return self.encoder(x) + + +# Lightly adapted from ConvNext (https://github.com/facebookresearch/ConvNeXt) +class CXBlock(nn.Module): + r"""ConvNeXt Block. There are two equivalent implementations: + (1) DwConv -> LayerNorm (channels_first) -> 1x1 Conv -> GELU -> 1x1 Conv; all in (N, C, H, W) + (2) DwConv -> Permute to (N, H, W, C); LayerNorm (channels_last) -> Linear -> GELU -> Linear; Permute back + We use (2) as we find it slightly faster in PyTorch + + Args: + dim (int): Number of input channels. + drop_path (float): Stochastic depth rate. Default: 0.0 + layer_scale_init_value (float): Init value for Layer Scale. Default: 1e-6. + """ + + def __init__( + self, + dim, + kernel_size=7, + padding=3, + drop_path=0.0, + layer_scale_init_value=1e-6, + use_dwconv=True, + ): + super().__init__() + self.dwconv = nn.Conv2d( + dim, + dim, + kernel_size=kernel_size, + padding=padding, + groups=dim if use_dwconv else 1, + ) # depthwise conv + self.norm = LayerNorm2d(dim, eps=1e-6) + self.pwconv1 = nn.Linear( + dim, 4 * dim + ) # pointwise/1x1 convs, implemented with linear layers + self.act = nn.GELU() + self.pwconv2 = nn.Linear(4 * dim, dim) + self.gamma = ( + nn.Parameter(layer_scale_init_value * torch.ones((dim)), requires_grad=True) + if layer_scale_init_value > 0 + else None + ) + self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + def forward(self, x): + input = x + x = self.dwconv(x) + x = self.norm(x) + x = x.permute(0, 2, 3, 1) # (N, C, H, W) -> (N, H, W, C) + x = self.pwconv1(x) + x = self.act(x) + x = self.pwconv2(x) + if self.gamma is not None: + x = self.gamma * x + x = x.permute(0, 3, 1, 2) # (N, H, W, C) -> (N, C, H, W) + + x = input + self.drop_path(x) + return x + + +class Fuser(nn.Module): + def __init__(self, layer, num_layers, dim=None, input_projection=False): + super().__init__() + self.proj = nn.Identity() + self.layers = get_clones(layer, num_layers) + + if input_projection: + assert dim is not None + self.proj = nn.Conv2d(dim, dim, kernel_size=1) + + def forward(self, x): + # normally x: (N, C, H, W) + x = self.proj(x) + for layer in self.layers: + x = layer(x) + return x + + +class MemoryEncoder(nn.Module): + def __init__( + self, + out_dim, + mask_downsampler, + fuser, + position_encoding, + in_dim=256, # in_dim of pix_feats + ): + super().__init__() + + self.mask_downsampler = mask_downsampler + + self.pix_feat_proj = nn.Conv2d(in_dim, in_dim, kernel_size=1) + self.fuser = fuser + self.position_encoding = position_encoding + self.out_proj = nn.Identity() + if out_dim != in_dim: + self.out_proj = nn.Conv2d(in_dim, out_dim, kernel_size=1) + + def forward( + self, + pix_feat: torch.Tensor, + masks: torch.Tensor, + skip_mask_sigmoid: bool = False, + ) -> Tuple[torch.Tensor, torch.Tensor]: + ## Process masks + # sigmoid, so that less domain shift from gt masks which are bool + if not skip_mask_sigmoid: + masks = F.sigmoid(masks) + masks = self.mask_downsampler(masks) + + ## Fuse pix_feats and downsampled masks + # in case the visual features are on CPU, cast them to CUDA + pix_feat = pix_feat.to(masks.device) + + x = self.pix_feat_proj(pix_feat) + x = x + masks + x = self.fuser(x) + x = self.out_proj(x) + + pos = self.position_encoding(x).to(x.dtype) + + return {"vision_features": x, "vision_pos_enc": [pos]} diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/position_encoding.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/position_encoding.py new file mode 100644 index 0000000000000000000000000000000000000000..52ac22674d5d4fdd9e83b6bdf034bff56d04bc0d --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/position_encoding.py @@ -0,0 +1,221 @@ +# 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 +from typing import Any, Optional, Tuple + +import numpy as np + +import torch +from torch import nn + + +class PositionEmbeddingSine(nn.Module): + """ + This is a more standard version of the position embedding, very similar to the one + used by the Attention Is All You Need paper, generalized to work on images. + """ + + def __init__( + self, + num_pos_feats, + temperature: int = 10000, + normalize: bool = True, + scale: Optional[float] = None, + ): + super().__init__() + assert num_pos_feats % 2 == 0, "Expecting even model width" + self.num_pos_feats = num_pos_feats // 2 + self.temperature = temperature + self.normalize = normalize + if scale is not None and normalize is False: + raise ValueError("normalize should be True if scale is passed") + if scale is None: + scale = 2 * math.pi + self.scale = scale + + self.cache = {} + + def _encode_xy(self, x, y): + # The positions are expected to be normalized + assert len(x) == len(y) and x.ndim == y.ndim == 1 + x_embed = x * self.scale + y_embed = y * self.scale + + dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device) + dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats) + + pos_x = x_embed[:, None] / dim_t + pos_y = y_embed[:, None] / dim_t + pos_x = torch.stack( + (pos_x[:, 0::2].sin(), pos_x[:, 1::2].cos()), dim=2 + ).flatten(1) + pos_y = torch.stack( + (pos_y[:, 0::2].sin(), pos_y[:, 1::2].cos()), dim=2 + ).flatten(1) + return pos_x, pos_y + + @torch.no_grad() + def encode_boxes(self, x, y, w, h): + pos_x, pos_y = self._encode_xy(x, y) + pos = torch.cat((pos_y, pos_x, h[:, None], w[:, None]), dim=1) + return pos + + encode = encode_boxes # Backwards compatibility + + @torch.no_grad() + def encode_points(self, x, y, labels): + (bx, nx), (by, ny), (bl, nl) = x.shape, y.shape, labels.shape + assert bx == by and nx == ny and bx == bl and nx == nl + pos_x, pos_y = self._encode_xy(x.flatten(), y.flatten()) + pos_x, pos_y = pos_x.reshape(bx, nx, -1), pos_y.reshape(by, ny, -1) + pos = torch.cat((pos_y, pos_x, labels[:, :, None]), dim=2) + return pos + + @torch.no_grad() + def forward(self, x: torch.Tensor): + cache_key = (x.shape[-2], x.shape[-1]) + if cache_key in self.cache: + return self.cache[cache_key][None].repeat(x.shape[0], 1, 1, 1) + y_embed = ( + torch.arange(1, x.shape[-2] + 1, dtype=torch.float32, device=x.device) + .view(1, -1, 1) + .repeat(x.shape[0], 1, x.shape[-1]) + ) + x_embed = ( + torch.arange(1, x.shape[-1] + 1, dtype=torch.float32, device=x.device) + .view(1, 1, -1) + .repeat(x.shape[0], x.shape[-2], 1) + ) + + if self.normalize: + eps = 1e-6 + y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale + x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale + + dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device) + dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats) + + pos_x = x_embed[:, :, :, None] / dim_t + pos_y = y_embed[:, :, :, None] / dim_t + pos_x = torch.stack( + (pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4 + ).flatten(3) + pos_y = torch.stack( + (pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4 + ).flatten(3) + pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2) + self.cache[cache_key] = pos[0] + return pos + + +class PositionEmbeddingRandom(nn.Module): + """ + Positional encoding using random spatial frequencies. + """ + + def __init__(self, num_pos_feats: int = 64, scale: Optional[float] = None) -> None: + super().__init__() + if scale is None or scale <= 0.0: + scale = 1.0 + self.register_buffer( + "positional_encoding_gaussian_matrix", + scale * torch.randn((2, num_pos_feats)), + ) + + def _pe_encoding(self, coords: torch.Tensor) -> torch.Tensor: + """Positionally encode points that are normalized to [0,1].""" + # assuming coords are in [0, 1]^2 square and have d_1 x ... x d_n x 2 shape + coords = 2 * coords - 1 + coords = coords @ self.positional_encoding_gaussian_matrix + coords = 2 * np.pi * coords + # outputs d_1 x ... x d_n x C shape + return torch.cat([torch.sin(coords), torch.cos(coords)], dim=-1) + + def forward(self, size: Tuple[int, int]) -> torch.Tensor: + """Generate positional encoding for a grid of the specified size.""" + h, w = size + device: Any = self.positional_encoding_gaussian_matrix.device + grid = torch.ones((h, w), device=device, dtype=torch.float32) + y_embed = grid.cumsum(dim=0) - 0.5 + x_embed = grid.cumsum(dim=1) - 0.5 + y_embed = y_embed / h + x_embed = x_embed / w + + pe = self._pe_encoding(torch.stack([x_embed, y_embed], dim=-1)) + return pe.permute(2, 0, 1) # C x H x W + + def forward_with_coords( + self, coords_input: torch.Tensor, image_size: Tuple[int, int] + ) -> torch.Tensor: + """Positionally encode points that are not normalized to [0,1].""" + coords = coords_input.clone() + coords[:, :, 0] = coords[:, :, 0] / image_size[1] + coords[:, :, 1] = coords[:, :, 1] / image_size[0] + return self._pe_encoding(coords.to(torch.float)) # B x N x C + + +# Rotary Positional Encoding, adapted from: +# 1. https://github.com/meta-llama/codellama/blob/main/llama/model.py +# 2. https://github.com/naver-ai/rope-vit +# 3. https://github.com/lucidrains/rotary-embedding-torch + + +def init_t_xy(end_x: int, end_y: int): + t = torch.arange(end_x * end_y, dtype=torch.float32) + t_x = (t % end_x).float() + t_y = torch.div(t, end_x, rounding_mode="floor").float() + return t_x, t_y + + +def compute_axial_cis(dim: int, end_x: int, end_y: int, theta: float = 10000.0): + freqs_x = 1.0 / (theta ** (torch.arange(0, dim, 4)[: (dim // 4)].float() / dim)) + freqs_y = 1.0 / (theta ** (torch.arange(0, dim, 4)[: (dim // 4)].float() / dim)) + + t_x, t_y = init_t_xy(end_x, end_y) + freqs_x = torch.outer(t_x, freqs_x) + freqs_y = torch.outer(t_y, freqs_y) + freqs_cis_x = torch.polar(torch.ones_like(freqs_x), freqs_x) + freqs_cis_y = torch.polar(torch.ones_like(freqs_y), freqs_y) + return torch.cat([freqs_cis_x, freqs_cis_y], dim=-1) + + +def reshape_for_broadcast(freqs_cis: torch.Tensor, x: torch.Tensor): + ndim = x.ndim + assert 0 <= 1 < ndim + assert freqs_cis.shape == (x.shape[-2], x.shape[-1]) + shape = [d if i >= ndim - 2 else 1 for i, d in enumerate(x.shape)] + return freqs_cis.view(*shape) + + +def apply_rotary_enc( + xq: torch.Tensor, + xk: torch.Tensor, + freqs_cis: torch.Tensor, + repeat_freqs_k: bool = False, +): + xq_ = torch.view_as_complex(xq.float().reshape(*xq.shape[:-1], -1, 2)) + xk_ = ( + torch.view_as_complex(xk.float().reshape(*xk.shape[:-1], -1, 2)) + if xk.shape[-2] != 0 + else None + ) + freqs_cis = reshape_for_broadcast(freqs_cis, xq_) + xq_out = torch.view_as_real(xq_ * freqs_cis).flatten(3) + if xk_ is None: + # no keys to rotate, due to dropout + return xq_out.type_as(xq).to(xq.device), xk + # repeat freqs along seq_len dim to match k seq_len + if repeat_freqs_k: + r = xk_.shape[-2] // xq_.shape[-2] + if freqs_cis.is_cuda: + freqs_cis = freqs_cis.repeat(*([1] * (freqs_cis.ndim - 2)), r, 1) + else: + # torch.repeat on complex numbers may not be supported on non-CUDA devices + # (freqs_cis has 4 dims and we repeat on dim 2) so we use expand + flatten + freqs_cis = freqs_cis.unsqueeze(2).expand(-1, -1, r, -1, -1).flatten(2, 3) + xk_out = torch.view_as_real(xk_ * freqs_cis).flatten(3) + return xq_out.type_as(xq).to(xq.device), xk_out.type_as(xk).to(xk.device) diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._mask_decoder.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._mask_decoder.py new file mode 100644 index 0000000000000000000000000000000000000000..d3522e6be96a80ba6ba67e8d24cdad34fa3a768a Binary files /dev/null and b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._mask_decoder.py differ diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._prompt_encoder.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._prompt_encoder.py new file mode 100644 index 0000000000000000000000000000000000000000..48bcb0ff0488707180790b47cefb03e76ff4e388 Binary files /dev/null and b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._prompt_encoder.py differ diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._transformer.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..d86f9c9cf3e10bba8fb485ab42148800209c3b80 Binary files /dev/null and b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/._transformer.py differ diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/__init__.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5277f46157403e47fd830fc519144b97ef69d4ae --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/__init__.py @@ -0,0 +1,5 @@ +# 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. diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/mask_decoder.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/mask_decoder.py new file mode 100644 index 0000000000000000000000000000000000000000..b7c7dfdb32b0c8781d037e6d7ec87e15d224eb03 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/mask_decoder.py @@ -0,0 +1,295 @@ +# 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. + +from typing import List, Optional, Tuple, Type + +import torch +from torch import nn + +from sam2.modeling.sam2_utils import LayerNorm2d, MLP + + +class MaskDecoder(nn.Module): + def __init__( + self, + *, + transformer_dim: int, + transformer: nn.Module, + num_multimask_outputs: int = 3, + activation: Type[nn.Module] = nn.GELU, + iou_head_depth: int = 3, + iou_head_hidden_dim: int = 256, + use_high_res_features: bool = False, + iou_prediction_use_sigmoid=False, + dynamic_multimask_via_stability=False, + dynamic_multimask_stability_delta=0.05, + dynamic_multimask_stability_thresh=0.98, + pred_obj_scores: bool = False, + pred_obj_scores_mlp: bool = False, + use_multimask_token_for_obj_ptr: bool = False, + ) -> None: + """ + Predicts masks given an image and prompt embeddings, using a + transformer architecture. + + Arguments: + transformer_dim (int): the channel dimension of the transformer + transformer (nn.Module): the transformer used to predict masks + num_multimask_outputs (int): the number of masks to predict + when disambiguating masks + activation (nn.Module): the type of activation to use when + upscaling masks + iou_head_depth (int): the depth of the MLP used to predict + mask quality + iou_head_hidden_dim (int): the hidden dimension of the MLP + used to predict mask quality + """ + super().__init__() + self.transformer_dim = transformer_dim + self.transformer = transformer + + self.num_multimask_outputs = num_multimask_outputs + + self.iou_token = nn.Embedding(1, transformer_dim) + self.num_mask_tokens = num_multimask_outputs + 1 + self.mask_tokens = nn.Embedding(self.num_mask_tokens, transformer_dim) + + self.pred_obj_scores = pred_obj_scores + if self.pred_obj_scores: + self.obj_score_token = nn.Embedding(1, transformer_dim) + self.use_multimask_token_for_obj_ptr = use_multimask_token_for_obj_ptr + + self.output_upscaling = nn.Sequential( + nn.ConvTranspose2d( + transformer_dim, transformer_dim // 4, kernel_size=2, stride=2 + ), + LayerNorm2d(transformer_dim // 4), + activation(), + nn.ConvTranspose2d( + transformer_dim // 4, transformer_dim // 8, kernel_size=2, stride=2 + ), + activation(), + ) + self.use_high_res_features = use_high_res_features + if use_high_res_features: + self.conv_s0 = nn.Conv2d( + transformer_dim, transformer_dim // 8, kernel_size=1, stride=1 + ) + self.conv_s1 = nn.Conv2d( + transformer_dim, transformer_dim // 4, kernel_size=1, stride=1 + ) + + self.output_hypernetworks_mlps = nn.ModuleList( + [ + MLP(transformer_dim, transformer_dim, transformer_dim // 8, 3) + for i in range(self.num_mask_tokens) + ] + ) + + self.iou_prediction_head = MLP( + transformer_dim, + iou_head_hidden_dim, + self.num_mask_tokens, + iou_head_depth, + sigmoid_output=iou_prediction_use_sigmoid, + ) + if self.pred_obj_scores: + self.pred_obj_score_head = nn.Linear(transformer_dim, 1) + if pred_obj_scores_mlp: + self.pred_obj_score_head = MLP(transformer_dim, transformer_dim, 1, 3) + + # When outputting a single mask, optionally we can dynamically fall back to the best + # multimask output token if the single mask output token gives low stability scores. + self.dynamic_multimask_via_stability = dynamic_multimask_via_stability + self.dynamic_multimask_stability_delta = dynamic_multimask_stability_delta + self.dynamic_multimask_stability_thresh = dynamic_multimask_stability_thresh + + def forward( + self, + image_embeddings: torch.Tensor, + image_pe: torch.Tensor, + sparse_prompt_embeddings: torch.Tensor, + dense_prompt_embeddings: torch.Tensor, + multimask_output: bool, + repeat_image: bool, + high_res_features: Optional[List[torch.Tensor]] = None, + ) -> Tuple[torch.Tensor, torch.Tensor]: + """ + Predict masks given image and prompt embeddings. + + Arguments: + image_embeddings (torch.Tensor): the embeddings from the image encoder + image_pe (torch.Tensor): positional encoding with the shape of image_embeddings + sparse_prompt_embeddings (torch.Tensor): the embeddings of the points and boxes + dense_prompt_embeddings (torch.Tensor): the embeddings of the mask inputs + multimask_output (bool): Whether to return multiple masks or a single + mask. + + Returns: + torch.Tensor: batched predicted masks + torch.Tensor: batched predictions of mask quality + torch.Tensor: batched SAM token for mask output + """ + masks, iou_pred, mask_tokens_out, object_score_logits = self.predict_masks( + image_embeddings=image_embeddings, + image_pe=image_pe, + sparse_prompt_embeddings=sparse_prompt_embeddings, + dense_prompt_embeddings=dense_prompt_embeddings, + repeat_image=repeat_image, + high_res_features=high_res_features, + ) + + # Select the correct mask or masks for output + if multimask_output: + masks = masks[:, 1:, :, :] + iou_pred = iou_pred[:, 1:] + elif self.dynamic_multimask_via_stability and not self.training: + masks, iou_pred = self._dynamic_multimask_via_stability(masks, iou_pred) + else: + masks = masks[:, 0:1, :, :] + iou_pred = iou_pred[:, 0:1] + + if multimask_output and self.use_multimask_token_for_obj_ptr: + sam_tokens_out = mask_tokens_out[:, 1:] # [b, 3, c] shape + else: + # Take the mask output token. Here we *always* use the token for single mask output. + # At test time, even if we track after 1-click (and using multimask_output=True), + # we still take the single mask token here. The rationale is that we always track + # after multiple clicks during training, so the past tokens seen during training + # are always the single mask token (and we'll let it be the object-memory token). + sam_tokens_out = mask_tokens_out[:, 0:1] # [b, 1, c] shape + + # Prepare output + return masks, iou_pred, sam_tokens_out, object_score_logits + + def predict_masks( + self, + image_embeddings: torch.Tensor, + image_pe: torch.Tensor, + sparse_prompt_embeddings: torch.Tensor, + dense_prompt_embeddings: torch.Tensor, + repeat_image: bool, + high_res_features: Optional[List[torch.Tensor]] = None, + ) -> Tuple[torch.Tensor, torch.Tensor]: + """Predicts masks. See 'forward' for more details.""" + # Concatenate output tokens + s = 0 + if self.pred_obj_scores: + output_tokens = torch.cat( + [ + self.obj_score_token.weight, + self.iou_token.weight, + self.mask_tokens.weight, + ], + dim=0, + ) + s = 1 + else: + output_tokens = torch.cat( + [self.iou_token.weight, self.mask_tokens.weight], dim=0 + ) + output_tokens = output_tokens.unsqueeze(0).expand( + sparse_prompt_embeddings.size(0), -1, -1 + ) + tokens = torch.cat((output_tokens, sparse_prompt_embeddings), dim=1) + + # Expand per-image data in batch direction to be per-mask + if repeat_image: + src = torch.repeat_interleave(image_embeddings, tokens.shape[0], dim=0) + else: + assert image_embeddings.shape[0] == tokens.shape[0] + src = image_embeddings + src = src + dense_prompt_embeddings + assert ( + image_pe.size(0) == 1 + ), "image_pe should have size 1 in batch dim (from `get_dense_pe()`)" + pos_src = torch.repeat_interleave(image_pe, tokens.shape[0], dim=0) + b, c, h, w = src.shape + + # Run the transformer + hs, src = self.transformer(src, pos_src, tokens) + iou_token_out = hs[:, s, :] + mask_tokens_out = hs[:, s + 1 : (s + 1 + self.num_mask_tokens), :] + + # Upscale mask embeddings and predict masks using the mask tokens + src = src.transpose(1, 2).view(b, c, h, w) + if not self.use_high_res_features: + upscaled_embedding = self.output_upscaling(src) + else: + dc1, ln1, act1, dc2, act2 = self.output_upscaling + feat_s0, feat_s1 = high_res_features + upscaled_embedding = act1(ln1(dc1(src) + feat_s1)) + upscaled_embedding = act2(dc2(upscaled_embedding) + feat_s0) + + hyper_in_list: List[torch.Tensor] = [] + for i in range(self.num_mask_tokens): + hyper_in_list.append( + self.output_hypernetworks_mlps[i](mask_tokens_out[:, i, :]) + ) + hyper_in = torch.stack(hyper_in_list, dim=1) + b, c, h, w = upscaled_embedding.shape + masks = (hyper_in @ upscaled_embedding.view(b, c, h * w)).view(b, -1, h, w) + + # Generate mask quality predictions + iou_pred = self.iou_prediction_head(iou_token_out) + if self.pred_obj_scores: + assert s == 1 + object_score_logits = self.pred_obj_score_head(hs[:, 0, :]) + else: + # Obj scores logits - default to 10.0, i.e. assuming the object is present, sigmoid(10)=1 + object_score_logits = 10.0 * iou_pred.new_ones(iou_pred.shape[0], 1) + + return masks, iou_pred, mask_tokens_out, object_score_logits + + def _get_stability_scores(self, mask_logits): + """ + Compute stability scores of the mask logits based on the IoU between upper and + lower thresholds, similar to https://github.com/fairinternal/onevision/pull/568. + """ + mask_logits = mask_logits.flatten(-2) + stability_delta = self.dynamic_multimask_stability_delta + area_i = torch.sum(mask_logits > stability_delta, dim=-1).float() + area_u = torch.sum(mask_logits > -stability_delta, dim=-1).float() + stability_scores = torch.where(area_u > 0, area_i / area_u, 1.0) + return stability_scores + + def _dynamic_multimask_via_stability(self, all_mask_logits, all_iou_scores): + """ + When outputting a single mask, if the stability score from the current single-mask + output (based on output token 0) falls below a threshold, we instead select from + multi-mask outputs (based on output token 1~3) the mask with the highest predicted + IoU score. This is intended to ensure a valid mask for both clicking and tracking. + """ + # The best mask from multimask output tokens (1~3) + multimask_logits = all_mask_logits[:, 1:, :, :] + multimask_iou_scores = all_iou_scores[:, 1:] + best_scores_inds = torch.argmax(multimask_iou_scores, dim=-1) + batch_inds = torch.arange( + multimask_iou_scores.size(0), device=all_iou_scores.device + ) + best_multimask_logits = multimask_logits[batch_inds, best_scores_inds] + best_multimask_logits = best_multimask_logits.unsqueeze(1) + best_multimask_iou_scores = multimask_iou_scores[batch_inds, best_scores_inds] + best_multimask_iou_scores = best_multimask_iou_scores.unsqueeze(1) + + # The mask from singlemask output token 0 and its stability score + singlemask_logits = all_mask_logits[:, 0:1, :, :] + singlemask_iou_scores = all_iou_scores[:, 0:1] + stability_scores = self._get_stability_scores(singlemask_logits) + is_stable = stability_scores >= self.dynamic_multimask_stability_thresh + + # Dynamically fall back to best multimask output upon low stability scores. + mask_logits_out = torch.where( + is_stable[..., None, None].expand_as(singlemask_logits), + singlemask_logits, + best_multimask_logits, + ) + iou_scores_out = torch.where( + is_stable.expand_as(singlemask_iou_scores), + singlemask_iou_scores, + best_multimask_iou_scores, + ) + return mask_logits_out, iou_scores_out diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/prompt_encoder.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/prompt_encoder.py new file mode 100644 index 0000000000000000000000000000000000000000..6b3bbb95be0aea9c88f49f586ac959a9fda1b18b --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/prompt_encoder.py @@ -0,0 +1,182 @@ +# 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. + +from typing import Optional, Tuple, Type + +import torch +from torch import nn + +from sam2.modeling.position_encoding import PositionEmbeddingRandom + +from sam2.modeling.sam2_utils import LayerNorm2d + + +class PromptEncoder(nn.Module): + def __init__( + self, + embed_dim: int, + image_embedding_size: Tuple[int, int], + input_image_size: Tuple[int, int], + mask_in_chans: int, + activation: Type[nn.Module] = nn.GELU, + ) -> None: + """ + Encodes prompts for input to SAM's mask decoder. + + Arguments: + embed_dim (int): The prompts' embedding dimension + image_embedding_size (tuple(int, int)): The spatial size of the + image embedding, as (H, W). + input_image_size (int): The padded size of the image as input + to the image encoder, as (H, W). + mask_in_chans (int): The number of hidden channels used for + encoding input masks. + activation (nn.Module): The activation to use when encoding + input masks. + """ + super().__init__() + self.embed_dim = embed_dim + self.input_image_size = input_image_size + self.image_embedding_size = image_embedding_size + self.pe_layer = PositionEmbeddingRandom(embed_dim // 2) + + self.num_point_embeddings: int = 4 # pos/neg point + 2 box corners + point_embeddings = [ + nn.Embedding(1, embed_dim) for i in range(self.num_point_embeddings) + ] + self.point_embeddings = nn.ModuleList(point_embeddings) + self.not_a_point_embed = nn.Embedding(1, embed_dim) + + self.mask_input_size = ( + 4 * image_embedding_size[0], + 4 * image_embedding_size[1], + ) + self.mask_downscaling = nn.Sequential( + nn.Conv2d(1, mask_in_chans // 4, kernel_size=2, stride=2), + LayerNorm2d(mask_in_chans // 4), + activation(), + nn.Conv2d(mask_in_chans // 4, mask_in_chans, kernel_size=2, stride=2), + LayerNorm2d(mask_in_chans), + activation(), + nn.Conv2d(mask_in_chans, embed_dim, kernel_size=1), + ) + self.no_mask_embed = nn.Embedding(1, embed_dim) + + def get_dense_pe(self) -> torch.Tensor: + """ + Returns the positional encoding used to encode point prompts, + applied to a dense set of points the shape of the image encoding. + + Returns: + torch.Tensor: Positional encoding with shape + 1x(embed_dim)x(embedding_h)x(embedding_w) + """ + return self.pe_layer(self.image_embedding_size).unsqueeze(0) + + def _embed_points( + self, + points: torch.Tensor, + labels: torch.Tensor, + pad: bool, + ) -> torch.Tensor: + """Embeds point prompts.""" + points = points + 0.5 # Shift to center of pixel + if pad: + padding_point = torch.zeros((points.shape[0], 1, 2), device=points.device) + padding_label = -torch.ones((labels.shape[0], 1), device=labels.device) + points = torch.cat([points, padding_point], dim=1) + labels = torch.cat([labels, padding_label], dim=1) + point_embedding = self.pe_layer.forward_with_coords( + points, self.input_image_size + ) + point_embedding[labels == -1] = 0.0 + point_embedding[labels == -1] += self.not_a_point_embed.weight + point_embedding[labels == 0] += self.point_embeddings[0].weight + point_embedding[labels == 1] += self.point_embeddings[1].weight + point_embedding[labels == 2] += self.point_embeddings[2].weight + point_embedding[labels == 3] += self.point_embeddings[3].weight + return point_embedding + + def _embed_boxes(self, boxes: torch.Tensor) -> torch.Tensor: + """Embeds box prompts.""" + boxes = boxes + 0.5 # Shift to center of pixel + coords = boxes.reshape(-1, 2, 2) + corner_embedding = self.pe_layer.forward_with_coords( + coords, self.input_image_size + ) + corner_embedding[:, 0, :] += self.point_embeddings[2].weight + corner_embedding[:, 1, :] += self.point_embeddings[3].weight + return corner_embedding + + def _embed_masks(self, masks: torch.Tensor) -> torch.Tensor: + """Embeds mask inputs.""" + mask_embedding = self.mask_downscaling(masks) + return mask_embedding + + def _get_batch_size( + self, + points: Optional[Tuple[torch.Tensor, torch.Tensor]], + boxes: Optional[torch.Tensor], + masks: Optional[torch.Tensor], + ) -> int: + """ + Gets the batch size of the output given the batch size of the input prompts. + """ + if points is not None: + return points[0].shape[0] + elif boxes is not None: + return boxes.shape[0] + elif masks is not None: + return masks.shape[0] + else: + return 1 + + def _get_device(self) -> torch.device: + return self.point_embeddings[0].weight.device + + def forward( + self, + points: Optional[Tuple[torch.Tensor, torch.Tensor]], + boxes: Optional[torch.Tensor], + masks: Optional[torch.Tensor], + ) -> Tuple[torch.Tensor, torch.Tensor]: + """ + Embeds different types of prompts, returning both sparse and dense + embeddings. + + Arguments: + points (tuple(torch.Tensor, torch.Tensor) or none): point coordinates + and labels to embed. + boxes (torch.Tensor or none): boxes to embed + masks (torch.Tensor or none): masks to embed + + Returns: + torch.Tensor: sparse embeddings for the points and boxes, with shape + BxNx(embed_dim), where N is determined by the number of input points + and boxes. + torch.Tensor: dense embeddings for the masks, in the shape + Bx(embed_dim)x(embed_H)x(embed_W) + """ + bs = self._get_batch_size(points, boxes, masks) + sparse_embeddings = torch.empty( + (bs, 0, self.embed_dim), device=self._get_device() + ) + if points is not None: + coords, labels = points + point_embeddings = self._embed_points(coords, labels, pad=(boxes is None)) + sparse_embeddings = torch.cat([sparse_embeddings, point_embeddings], dim=1) + if boxes is not None: + box_embeddings = self._embed_boxes(boxes) + sparse_embeddings = torch.cat([sparse_embeddings, box_embeddings], dim=1) + + if masks is not None: + dense_embeddings = self._embed_masks(masks) + else: + dense_embeddings = self.no_mask_embed.weight.reshape(1, -1, 1, 1).expand( + bs, -1, self.image_embedding_size[0], self.image_embedding_size[1] + ) + + return sparse_embeddings, dense_embeddings diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/transformer.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..16059ac7bd3041c6cbde222e89d75519756775f1 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam/transformer.py @@ -0,0 +1,329 @@ +# 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 warnings +from functools import partial +from typing import Tuple, Type + +import torch +import torch.nn.functional as F +from torch import nn, Tensor + +from sam2.modeling.position_encoding import apply_rotary_enc, compute_axial_cis + +from sam2.modeling.sam2_utils import MLP +from sam2.utils.misc import get_sdpa_settings + +warnings.simplefilter(action="ignore", category=FutureWarning) +OLD_GPU, USE_FLASH_ATTN, MATH_KERNEL_ON = get_sdpa_settings() +USE_FLASH_ATTN = False +MATH_KERNEL_ON = True +OLD_GPU = True + +class TwoWayTransformer(nn.Module): + def __init__( + self, + depth: int, + embedding_dim: int, + num_heads: int, + mlp_dim: int, + activation: Type[nn.Module] = nn.ReLU, + attention_downsample_rate: int = 2, + ) -> None: + """ + A transformer decoder that attends to an input image using + queries whose positional embedding is supplied. + + Args: + depth (int): number of layers in the transformer + embedding_dim (int): the channel dimension for the input embeddings + num_heads (int): the number of heads for multihead attention. Must + divide embedding_dim + mlp_dim (int): the channel dimension internal to the MLP block + activation (nn.Module): the activation to use in the MLP block + """ + super().__init__() + self.depth = depth + self.embedding_dim = embedding_dim + self.num_heads = num_heads + self.mlp_dim = mlp_dim + self.layers = nn.ModuleList() + + for i in range(depth): + self.layers.append( + TwoWayAttentionBlock( + embedding_dim=embedding_dim, + num_heads=num_heads, + mlp_dim=mlp_dim, + activation=activation, + attention_downsample_rate=attention_downsample_rate, + skip_first_layer_pe=(i == 0), + ) + ) + + self.final_attn_token_to_image = Attention( + embedding_dim, num_heads, downsample_rate=attention_downsample_rate + ) + self.norm_final_attn = nn.LayerNorm(embedding_dim) + + def forward( + self, + image_embedding: Tensor, + image_pe: Tensor, + point_embedding: Tensor, + ) -> Tuple[Tensor, Tensor]: + """ + Args: + image_embedding (torch.Tensor): image to attend to. Should be shape + B x embedding_dim x h x w for any h and w. + image_pe (torch.Tensor): the positional encoding to add to the image. Must + have the same shape as image_embedding. + point_embedding (torch.Tensor): the embedding to add to the query points. + Must have shape B x N_points x embedding_dim for any N_points. + + Returns: + torch.Tensor: the processed point_embedding + torch.Tensor: the processed image_embedding + """ + # BxCxHxW -> BxHWxC == B x N_image_tokens x C + bs, c, h, w = image_embedding.shape + image_embedding = image_embedding.flatten(2).permute(0, 2, 1) + image_pe = image_pe.flatten(2).permute(0, 2, 1) + + # Prepare queries + queries = point_embedding + keys = image_embedding + + # Apply transformer blocks and final layernorm + for layer in self.layers: + queries, keys = layer( + queries=queries, + keys=keys, + query_pe=point_embedding, + key_pe=image_pe, + ) + + # Apply the final attention layer from the points to the image + q = queries + point_embedding + k = keys + image_pe + attn_out = self.final_attn_token_to_image(q=q, k=k, v=keys) + queries = queries + attn_out + queries = self.norm_final_attn(queries) + + return queries, keys + + +class TwoWayAttentionBlock(nn.Module): + def __init__( + self, + embedding_dim: int, + num_heads: int, + mlp_dim: int = 2048, + activation: Type[nn.Module] = nn.ReLU, + attention_downsample_rate: int = 2, + skip_first_layer_pe: bool = False, + ) -> None: + """ + A transformer block with four layers: (1) self-attention of sparse + inputs, (2) cross attention of sparse inputs to dense inputs, (3) mlp + block on sparse inputs, and (4) cross attention of dense inputs to sparse + inputs. + + Arguments: + embedding_dim (int): the channel dimension of the embeddings + num_heads (int): the number of heads in the attention layers + mlp_dim (int): the hidden dimension of the mlp block + activation (nn.Module): the activation of the mlp block + skip_first_layer_pe (bool): skip the PE on the first layer + """ + super().__init__() + self.self_attn = Attention(embedding_dim, num_heads) + self.norm1 = nn.LayerNorm(embedding_dim) + + self.cross_attn_token_to_image = Attention( + embedding_dim, num_heads, downsample_rate=attention_downsample_rate + ) + self.norm2 = nn.LayerNorm(embedding_dim) + + self.mlp = MLP( + embedding_dim, mlp_dim, embedding_dim, num_layers=2, activation=activation + ) + self.norm3 = nn.LayerNorm(embedding_dim) + + self.norm4 = nn.LayerNorm(embedding_dim) + self.cross_attn_image_to_token = Attention( + embedding_dim, num_heads, downsample_rate=attention_downsample_rate + ) + + self.skip_first_layer_pe = skip_first_layer_pe + + def forward( + self, queries: Tensor, keys: Tensor, query_pe: Tensor, key_pe: Tensor + ) -> Tuple[Tensor, Tensor]: + # Self attention block + if self.skip_first_layer_pe: + queries = self.self_attn(q=queries, k=queries, v=queries) + else: + q = queries + query_pe + attn_out = self.self_attn(q=q, k=q, v=queries) + queries = queries + attn_out + queries = self.norm1(queries) + + # Cross attention block, tokens attending to image embedding + q = queries + query_pe + k = keys + key_pe + attn_out = self.cross_attn_token_to_image(q=q, k=k, v=keys) + queries = queries + attn_out + queries = self.norm2(queries) + + # MLP block + mlp_out = self.mlp(queries) + queries = queries + mlp_out + queries = self.norm3(queries) + + # Cross attention block, image embedding attending to tokens + q = queries + query_pe + k = keys + key_pe + attn_out = self.cross_attn_image_to_token(q=k, k=q, v=queries) + keys = keys + attn_out + keys = self.norm4(keys) + + return queries, keys + + +class Attention(nn.Module): + """ + An attention layer that allows for downscaling the size of the embedding + after projection to queries, keys, and values. + """ + + def __init__( + self, + embedding_dim: int, + num_heads: int, + downsample_rate: int = 1, + dropout: float = 0.0, + kv_in_dim: int = None, + ) -> None: + super().__init__() + self.embedding_dim = embedding_dim + self.kv_in_dim = kv_in_dim if kv_in_dim is not None else embedding_dim + self.internal_dim = embedding_dim // downsample_rate + self.num_heads = num_heads + assert ( + self.internal_dim % num_heads == 0 + ), "num_heads must divide embedding_dim." + + self.q_proj = nn.Linear(embedding_dim, self.internal_dim) + self.k_proj = nn.Linear(self.kv_in_dim, self.internal_dim) + self.v_proj = nn.Linear(self.kv_in_dim, self.internal_dim) + self.out_proj = nn.Linear(self.internal_dim, embedding_dim) + + self.dropout_p = dropout + + def _separate_heads(self, x: Tensor, num_heads: int) -> Tensor: + b, n, c = x.shape + x = x.reshape(b, n, num_heads, c // num_heads) + return x.transpose(1, 2) # B x N_heads x N_tokens x C_per_head + + def _recombine_heads(self, x: Tensor) -> Tensor: + b, n_heads, n_tokens, c_per_head = x.shape + x = x.transpose(1, 2) + return x.reshape(b, n_tokens, n_heads * c_per_head) # B x N_tokens x C + + def forward(self, q: Tensor, k: Tensor, v: Tensor) -> Tensor: + # Input projections + q = self.q_proj(q) + k = self.k_proj(k) + v = self.v_proj(v) + + # Separate into heads + q = self._separate_heads(q, self.num_heads) + k = self._separate_heads(k, self.num_heads) + v = self._separate_heads(v, self.num_heads) + + dropout_p = self.dropout_p if self.training else 0.0 + # Attention + with torch.backends.cuda.sdp_kernel( + enable_flash=USE_FLASH_ATTN, + # if Flash attention kernel is off, then math kernel needs to be enabled + enable_math=(OLD_GPU and dropout_p > 0.0) or MATH_KERNEL_ON, + enable_mem_efficient=OLD_GPU, + ): + out = F.scaled_dot_product_attention(q, k, v, dropout_p=dropout_p) + + out = self._recombine_heads(out) + out = self.out_proj(out) + + return out + + +class RoPEAttention(Attention): + """Attention with rotary position encoding.""" + + def __init__( + self, + *args, + rope_theta=10000.0, + # whether to repeat q rope to match k length + # this is needed for cross-attention to memories + rope_k_repeat=False, + feat_sizes=(32, 32), # [w, h] for stride 16 feats at 512 resolution + **kwargs, + ): + super().__init__(*args, **kwargs) + + self.compute_cis = partial( + compute_axial_cis, dim=self.internal_dim // self.num_heads, theta=rope_theta + ) + freqs_cis = self.compute_cis(end_x=feat_sizes[0], end_y=feat_sizes[1]) + self.freqs_cis = freqs_cis + self.rope_k_repeat = rope_k_repeat + + def forward( + self, q: Tensor, k: Tensor, v: Tensor, num_k_exclude_rope: int = 0 + ) -> Tensor: + # Input projections + q = self.q_proj(q) + k = self.k_proj(k) + v = self.v_proj(v) + + # Separate into heads + q = self._separate_heads(q, self.num_heads) + k = self._separate_heads(k, self.num_heads) + v = self._separate_heads(v, self.num_heads) + + # Apply rotary position encoding + w = h = math.sqrt(q.shape[-2]) + self.freqs_cis = self.freqs_cis.to(q.device) + if self.freqs_cis.shape[0] != q.shape[-2]: + self.freqs_cis = self.compute_cis(end_x=w, end_y=h).to(q.device) + if q.shape[-2] != k.shape[-2]: + assert self.rope_k_repeat + + num_k_rope = k.size(-2) - num_k_exclude_rope + q, k[:, :, :num_k_rope] = apply_rotary_enc( + q, + k[:, :, :num_k_rope], + freqs_cis=self.freqs_cis, + repeat_freqs_k=self.rope_k_repeat, + ) + + dropout_p = self.dropout_p if self.training else 0.0 + # Attention + with torch.backends.cuda.sdp_kernel( + enable_flash=USE_FLASH_ATTN, + # if Flash attention kernel is off, then math kernel needs to be enabled + enable_math=(OLD_GPU and dropout_p > 0.0) or MATH_KERNEL_ON, + enable_mem_efficient=OLD_GPU, + ): + out = F.scaled_dot_product_attention(q, k, v, dropout_p=dropout_p) + + out = self._recombine_heads(out) + out = self.out_proj(out) + + return out diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam2_base.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam2_base.py new file mode 100644 index 0000000000000000000000000000000000000000..224a8c1bbfa49f4909556c41bf2b8ad8c03dc0ad --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam2_base.py @@ -0,0 +1,829 @@ +# 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 torch +import torch.distributed +import torch.nn.functional as F + +from torch.nn.init import trunc_normal_ + +from sam2.modeling.sam.mask_decoder import MaskDecoder +from sam2.modeling.sam.prompt_encoder import PromptEncoder +from sam2.modeling.sam.transformer import TwoWayTransformer +from sam2.modeling.sam2_utils import get_1d_sine_pe, MLP, select_closest_cond_frames + +# a large negative value as a placeholder score for missing objects +NO_OBJ_SCORE = -1024.0 + + +class SAM2Base(torch.nn.Module): + def __init__( + self, + image_encoder, + memory_attention, + memory_encoder, + num_maskmem=7, # default 1 input frame + 6 previous frames + image_size=512, + backbone_stride=16, # stride of the image backbone output + sigmoid_scale_for_mem_enc=1.0, # scale factor for mask sigmoid prob + sigmoid_bias_for_mem_enc=0.0, # bias factor for mask sigmoid prob + # During evaluation, whether to binarize the sigmoid mask logits on interacted frames with clicks + binarize_mask_from_pts_for_mem_enc=False, + use_mask_input_as_output_without_sam=False, # on frames with mask input, whether to directly output the input mask without using a SAM prompt encoder + mask decoder + # The maximum number of conditioning frames to participate in the memory attention (-1 means no limit; if there are more conditioning frames than this limit, + # we only cross-attend to the temporally closest `max_cond_frames_in_attn` conditioning frames in the encoder when tracking each frame). This gives the model + # a temporal locality when handling a large number of annotated frames (since closer frames should be more important) and also avoids GPU OOM. + max_cond_frames_in_attn=-1, + # on the first frame, whether to directly add the no-memory embedding to the image feature + # (instead of using the transformer encoder) + directly_add_no_mem_embed=False, + # whether to use high-resolution feature maps in the SAM mask decoder + use_high_res_features_in_sam=False, + # whether to output multiple (3) masks for the first click on initial conditioning frames + multimask_output_in_sam=False, + # the minimum and maximum number of clicks to use multimask_output_in_sam (only relevant when `multimask_output_in_sam=True`; + # default is 1 for both, meaning that only the first click gives multimask output; also note that a box counts as two points) + multimask_min_pt_num=1, + multimask_max_pt_num=1, + # whether to also use multimask output for tracking (not just for the first click on initial conditioning frames; only relevant when `multimask_output_in_sam=True`) + multimask_output_for_tracking=False, + # Whether to use multimask tokens for obj ptr; Only relevant when both + # use_obj_ptrs_in_encoder=True and multimask_output_for_tracking=True + use_multimask_token_for_obj_ptr: bool = False, + # whether to use sigmoid to restrict ious prediction to [0-1] + iou_prediction_use_sigmoid=False, + # The memory bank's temporal stride during evaluation (i.e. the `r` parameter in XMem and Cutie; XMem and Cutie use r=5). + # For r>1, the (self.num_maskmem - 1) non-conditioning memory frames consist of + # (self.num_maskmem - 2) nearest frames from every r-th frames, plus the last frame. + memory_temporal_stride_for_eval=1, + # if `add_all_frames_to_correct_as_cond` is True, we also append to the conditioning frame list any frame that receives a later correction click + # if `add_all_frames_to_correct_as_cond` is False, we conditioning frame list to only use those initial conditioning frames + add_all_frames_to_correct_as_cond=False, + # whether to apply non-overlapping constraints on the object masks in the memory encoder during evaluation (to avoid/alleviate superposing masks) + non_overlap_masks_for_mem_enc=False, + # whether to cross-attend to object pointers from other frames (based on SAM output tokens) in the encoder + use_obj_ptrs_in_encoder=False, + # the maximum number of object pointers from other frames in encoder cross attention (only relevant when `use_obj_ptrs_in_encoder=True`) + max_obj_ptrs_in_encoder=16, + # whether to add temporal positional encoding to the object pointers in the encoder (only relevant when `use_obj_ptrs_in_encoder=True`) + add_tpos_enc_to_obj_ptrs=True, + # whether to add an extra linear projection layer for the temporal positional encoding in the object pointers to avoid potential interference + # with spatial positional encoding (only relevant when both `use_obj_ptrs_in_encoder=True` and `add_tpos_enc_to_obj_ptrs=True`) + proj_tpos_enc_in_obj_ptrs=False, + # whether to only attend to object pointers in the past (before the current frame) in the encoder during evaluation + # (only relevant when `use_obj_ptrs_in_encoder=True`; this might avoid pointer information too far in the future to distract the initial tracking) + only_obj_ptrs_in_the_past_for_eval=False, + # Whether to predict if there is an object in the frame + pred_obj_scores: bool = False, + # Whether to use an MLP to predict object scores + pred_obj_scores_mlp: bool = False, + # Only relevant if pred_obj_scores=True and use_obj_ptrs_in_encoder=True; + # Whether to have a fixed no obj pointer when there is no object present + # or to use it as an additive embedding with obj_ptr produced by decoder + fixed_no_obj_ptr: bool = False, + # Soft no object, i.e. mix in no_obj_ptr softly, + # hope to make recovery easier if there is a mistake and mitigate accumulation of errors + soft_no_obj_ptr: bool = False, + use_mlp_for_obj_ptr_proj: bool = False, + # extra arguments used to construct the SAM mask decoder; if not None, it should be a dict of kwargs to be passed into `MaskDecoder` class. + sam_mask_decoder_extra_args=None, + compile_image_encoder: bool = False, + ): + super().__init__() + + # Part 1: the image backbone + self.image_encoder = image_encoder + # Use level 0, 1, 2 for high-res setting, or just level 2 for the default setting + self.use_high_res_features_in_sam = use_high_res_features_in_sam + self.num_feature_levels = 3 if use_high_res_features_in_sam else 1 + self.use_obj_ptrs_in_encoder = use_obj_ptrs_in_encoder + self.max_obj_ptrs_in_encoder = max_obj_ptrs_in_encoder + if use_obj_ptrs_in_encoder: + # A conv layer to downsample the mask prompt to stride 4 (the same stride as + # low-res SAM mask logits) and to change its scales from 0~1 to SAM logit scale, + # so that it can be fed into the SAM mask decoder to generate a pointer. + self.mask_downsample = torch.nn.Conv2d(1, 1, kernel_size=4, stride=4) + self.add_tpos_enc_to_obj_ptrs = add_tpos_enc_to_obj_ptrs + if proj_tpos_enc_in_obj_ptrs: + assert add_tpos_enc_to_obj_ptrs # these options need to be used together + self.proj_tpos_enc_in_obj_ptrs = proj_tpos_enc_in_obj_ptrs + self.only_obj_ptrs_in_the_past_for_eval = only_obj_ptrs_in_the_past_for_eval + + # Part 2: memory attention to condition current frame's visual features + # with memories (and obj ptrs) from past frames + self.memory_attention = memory_attention + self.hidden_dim = memory_attention.d_model + + # Part 3: memory encoder for the previous frame's outputs + self.memory_encoder = memory_encoder + self.mem_dim = self.hidden_dim + if hasattr(self.memory_encoder, "out_proj") and hasattr( + self.memory_encoder.out_proj, "weight" + ): + # if there is compression of memories along channel dim + self.mem_dim = self.memory_encoder.out_proj.weight.shape[0] + self.num_maskmem = num_maskmem # Number of memories accessible + # Temporal encoding of the memories + self.maskmem_tpos_enc = torch.nn.Parameter( + torch.zeros(num_maskmem, 1, 1, self.mem_dim) + ) + trunc_normal_(self.maskmem_tpos_enc, std=0.02) + # a single token to indicate no memory embedding from previous frames + self.no_mem_embed = torch.nn.Parameter(torch.zeros(1, 1, self.hidden_dim)) + self.no_mem_pos_enc = torch.nn.Parameter(torch.zeros(1, 1, self.hidden_dim)) + trunc_normal_(self.no_mem_embed, std=0.02) + trunc_normal_(self.no_mem_pos_enc, std=0.02) + self.directly_add_no_mem_embed = directly_add_no_mem_embed + # Apply sigmoid to the output raw mask logits (to turn them from + # range (-inf, +inf) to range (0, 1)) before feeding them into the memory encoder + self.sigmoid_scale_for_mem_enc = sigmoid_scale_for_mem_enc + self.sigmoid_bias_for_mem_enc = sigmoid_bias_for_mem_enc + self.binarize_mask_from_pts_for_mem_enc = binarize_mask_from_pts_for_mem_enc + self.non_overlap_masks_for_mem_enc = non_overlap_masks_for_mem_enc + self.memory_temporal_stride_for_eval = memory_temporal_stride_for_eval + # On frames with mask input, whether to directly output the input mask without + # using a SAM prompt encoder + mask decoder + self.use_mask_input_as_output_without_sam = use_mask_input_as_output_without_sam + self.multimask_output_in_sam = multimask_output_in_sam + self.multimask_min_pt_num = multimask_min_pt_num + self.multimask_max_pt_num = multimask_max_pt_num + self.multimask_output_for_tracking = multimask_output_for_tracking + self.use_multimask_token_for_obj_ptr = use_multimask_token_for_obj_ptr + self.iou_prediction_use_sigmoid = iou_prediction_use_sigmoid + + # Part 4: SAM-style prompt encoder (for both mask and point inputs) + # and SAM-style mask decoder for the final mask output + self.image_size = image_size + self.backbone_stride = backbone_stride + self.sam_mask_decoder_extra_args = sam_mask_decoder_extra_args + self.pred_obj_scores = pred_obj_scores + self.pred_obj_scores_mlp = pred_obj_scores_mlp + self.fixed_no_obj_ptr = fixed_no_obj_ptr + self.soft_no_obj_ptr = soft_no_obj_ptr + if self.fixed_no_obj_ptr: + assert self.pred_obj_scores + assert self.use_obj_ptrs_in_encoder + if self.pred_obj_scores and self.use_obj_ptrs_in_encoder: + self.no_obj_ptr = torch.nn.Parameter(torch.zeros(1, self.hidden_dim)) + trunc_normal_(self.no_obj_ptr, std=0.02) + self.use_mlp_for_obj_ptr_proj = use_mlp_for_obj_ptr_proj + + self._build_sam_heads() + self.add_all_frames_to_correct_as_cond = add_all_frames_to_correct_as_cond + self.max_cond_frames_in_attn = max_cond_frames_in_attn + + # Model compilation + if compile_image_encoder: + # Compile the forward function (not the full module) to allow loading checkpoints. + print( + "Image encoder compilation is enabled. First forward pass will be slow." + ) + self.image_encoder.forward = torch.compile( + self.image_encoder.forward, + mode="max-autotune", + fullgraph=True, + dynamic=False, + ) + + @property + def device(self): + return next(self.parameters()).device + + def forward(self, *args, **kwargs): + raise NotImplementedError( + "Please use the corresponding methods in SAM2VideoPredictor for inference." + "See notebooks/video_predictor_example.ipynb for an example." + ) + + def _build_sam_heads(self): + """Build SAM-style prompt encoder and mask decoder.""" + self.sam_prompt_embed_dim = self.hidden_dim + self.sam_image_embedding_size = self.image_size // self.backbone_stride + + # build PromptEncoder and MaskDecoder from SAM + # (their hyperparameters like `mask_in_chans=16` are from SAM code) + self.sam_prompt_encoder = PromptEncoder( + embed_dim=self.sam_prompt_embed_dim, + image_embedding_size=( + self.sam_image_embedding_size, + self.sam_image_embedding_size, + ), + input_image_size=(self.image_size, self.image_size), + mask_in_chans=16, + ) + self.sam_mask_decoder = MaskDecoder( + num_multimask_outputs=3, + transformer=TwoWayTransformer( + depth=2, + embedding_dim=self.sam_prompt_embed_dim, + mlp_dim=2048, + num_heads=8, + ), + transformer_dim=self.sam_prompt_embed_dim, + iou_head_depth=3, + iou_head_hidden_dim=256, + use_high_res_features=self.use_high_res_features_in_sam, + iou_prediction_use_sigmoid=self.iou_prediction_use_sigmoid, + pred_obj_scores=self.pred_obj_scores, + pred_obj_scores_mlp=self.pred_obj_scores_mlp, + use_multimask_token_for_obj_ptr=self.use_multimask_token_for_obj_ptr, + **(self.sam_mask_decoder_extra_args or {}), + ) + if self.use_obj_ptrs_in_encoder: + # a linear projection on SAM output tokens to turn them into object pointers + self.obj_ptr_proj = torch.nn.Linear(self.hidden_dim, self.hidden_dim) + if self.use_mlp_for_obj_ptr_proj: + self.obj_ptr_proj = MLP( + self.hidden_dim, self.hidden_dim, self.hidden_dim, 3 + ) + else: + self.obj_ptr_proj = torch.nn.Identity() + if self.proj_tpos_enc_in_obj_ptrs: + # a linear projection on temporal positional encoding in object pointers to + # avoid potential interference with spatial positional encoding + self.obj_ptr_tpos_proj = torch.nn.Linear(self.hidden_dim, self.mem_dim) + else: + self.obj_ptr_tpos_proj = torch.nn.Identity() + + def _forward_sam_heads( + self, + backbone_features, + point_inputs=None, + mask_inputs=None, + high_res_features=None, + multimask_output=False, + ): + """ + Forward SAM prompt encoders and mask heads. + + Inputs: + - backbone_features: image features of [B, C, H, W] shape + - point_inputs: a dictionary with "point_coords" and "point_labels", where + 1) "point_coords" has [B, P, 2] shape and float32 dtype and contains the + absolute pixel-unit coordinate in (x, y) format of the P input points + 2) "point_labels" has shape [B, P] and int32 dtype, where 1 means + positive clicks, 0 means negative clicks, and -1 means padding + - mask_inputs: a mask of [B, 1, H*16, W*16] shape, float or bool, with the + same spatial size as the image. + - high_res_features: either 1) None or 2) or a list of length 2 containing + two feature maps of [B, C, 4*H, 4*W] and [B, C, 2*H, 2*W] shapes respectively, + which will be used as high-resolution feature maps for SAM decoder. + - multimask_output: if it's True, we output 3 candidate masks and their 3 + corresponding IoU estimates, and if it's False, we output only 1 mask and + its corresponding IoU estimate. + + Outputs: + - low_res_multimasks: [B, M, H*4, W*4] shape (where M = 3 if + `multimask_output=True` and M = 1 if `multimask_output=False`), the SAM + output mask logits (before sigmoid) for the low-resolution masks, with 4x + the resolution (1/4 stride) of the input backbone_features. + - high_res_multimasks: [B, M, H*16, W*16] shape (where M = 3 + if `multimask_output=True` and M = 1 if `multimask_output=False`), + upsampled from the low-resolution masks, with shape size as the image + (stride is 1 pixel). + - ious, [B, M] shape, where (where M = 3 if `multimask_output=True` and M = 1 + if `multimask_output=False`), the estimated IoU of each output mask. + - low_res_masks: [B, 1, H*4, W*4] shape, the best mask in `low_res_multimasks`. + If `multimask_output=True`, it's the mask with the highest IoU estimate. + If `multimask_output=False`, it's the same as `low_res_multimasks`. + - high_res_masks: [B, 1, H*16, W*16] shape, the best mask in `high_res_multimasks`. + If `multimask_output=True`, it's the mask with the highest IoU estimate. + If `multimask_output=False`, it's the same as `high_res_multimasks`. + - obj_ptr: [B, C] shape, the object pointer vector for the output mask, extracted + based on the output token from the SAM mask decoder. + """ + B = backbone_features.size(0) + device = backbone_features.device + assert backbone_features.size(1) == self.sam_prompt_embed_dim + assert backbone_features.size(2) == self.sam_image_embedding_size + assert backbone_features.size(3) == self.sam_image_embedding_size + + # a) Handle point prompts + if point_inputs is not None: + sam_point_coords = point_inputs["point_coords"] + sam_point_labels = point_inputs["point_labels"] + assert sam_point_coords.size(0) == B and sam_point_labels.size(0) == B + else: + # If no points are provide, pad with an empty point (with label -1) + sam_point_coords = torch.zeros(B, 1, 2, device=device) + sam_point_labels = -torch.ones(B, 1, dtype=torch.int32, device=device) + + # b) Handle mask prompts + if mask_inputs is not None: + # If mask_inputs is provided, downsize it into low-res mask input if needed + # and feed it as a dense mask prompt into the SAM mask encoder + assert len(mask_inputs.shape) == 4 and mask_inputs.shape[:2] == (B, 1) + if mask_inputs.shape[-2:] != self.sam_prompt_encoder.mask_input_size: + sam_mask_prompt = F.interpolate( + mask_inputs.float(), + size=self.sam_prompt_encoder.mask_input_size, + align_corners=False, + mode="bilinear", + antialias=True, # use antialias for downsampling + ) + else: + sam_mask_prompt = mask_inputs + else: + # Otherwise, simply feed None (and SAM's prompt encoder will add + # a learned `no_mask_embed` to indicate no mask input in this case). + sam_mask_prompt = None + + sparse_embeddings, dense_embeddings = self.sam_prompt_encoder( + points=(sam_point_coords, sam_point_labels), + boxes=None, + masks=sam_mask_prompt, + ) + ( + low_res_multimasks, + ious, + sam_output_tokens, + object_score_logits, + ) = self.sam_mask_decoder( + image_embeddings=backbone_features, + image_pe=self.sam_prompt_encoder.get_dense_pe(), + sparse_prompt_embeddings=sparse_embeddings, + dense_prompt_embeddings=dense_embeddings, + multimask_output=multimask_output, + repeat_image=False, # the image is already batched + high_res_features=high_res_features, + ) + if self.pred_obj_scores: + is_obj_appearing = object_score_logits > 0 + + # Mask used for spatial memories is always a *hard* choice between obj and no obj, + # consistent with the actual mask prediction + low_res_multimasks = torch.where( + is_obj_appearing[:, None, None], + low_res_multimasks, + NO_OBJ_SCORE, + ) + + # convert masks from possibly bfloat16 (or float16) to float32 + # (older PyTorch versions before 2.1 don't support `interpolate` on bf16) + low_res_multimasks = low_res_multimasks.float() + high_res_multimasks = F.interpolate( + low_res_multimasks, + size=(self.image_size, self.image_size), + mode="bilinear", + align_corners=False, + ) + + sam_output_token = sam_output_tokens[:, 0] + if multimask_output: + # take the best mask prediction (with the highest IoU estimation) + best_iou_inds = torch.argmax(ious, dim=-1) + batch_inds = torch.arange(B, device=device) + low_res_masks = low_res_multimasks[batch_inds, best_iou_inds].unsqueeze(1) + high_res_masks = high_res_multimasks[batch_inds, best_iou_inds].unsqueeze(1) + if sam_output_tokens.size(1) > 1: + sam_output_token = sam_output_tokens[batch_inds, best_iou_inds] + else: + low_res_masks, high_res_masks = low_res_multimasks, high_res_multimasks + + # Extract object pointer from the SAM output token (with occlusion handling) + obj_ptr = self.obj_ptr_proj(sam_output_token) + if self.pred_obj_scores: + # Allow *soft* no obj ptr, unlike for masks + if self.soft_no_obj_ptr: + # Only hard possible with gt + assert not self.teacher_force_obj_scores_for_mem + lambda_is_obj_appearing = object_score_logits.sigmoid() + else: + lambda_is_obj_appearing = is_obj_appearing.float() + + if self.fixed_no_obj_ptr: + obj_ptr = lambda_is_obj_appearing * obj_ptr + obj_ptr = obj_ptr + (1 - lambda_is_obj_appearing) * self.no_obj_ptr + + return ( + low_res_multimasks, + high_res_multimasks, + ious, + low_res_masks, + high_res_masks, + obj_ptr, + object_score_logits, + ) + + def _use_mask_as_output(self, backbone_features, high_res_features, mask_inputs): + """ + Directly turn binary `mask_inputs` into a output mask logits without using SAM. + (same input and output shapes as in _forward_sam_heads above). + """ + # Use -10/+10 as logits for neg/pos pixels (very close to 0/1 in prob after sigmoid). + out_scale, out_bias = 20.0, -10.0 # sigmoid(-10.0)=4.5398e-05 + mask_inputs_float = mask_inputs.float() + high_res_masks = mask_inputs_float * out_scale + out_bias + low_res_masks = F.interpolate( + high_res_masks, + size=(high_res_masks.size(-2) // 4, high_res_masks.size(-1) // 4), + align_corners=False, + mode="bilinear", + antialias=True, # use antialias for downsampling + ) + # a dummy IoU prediction of all 1's under mask input + ious = mask_inputs.new_ones(mask_inputs.size(0), 1).float() + if not self.use_obj_ptrs_in_encoder: + # all zeros as a dummy object pointer (of shape [B, C]) + obj_ptr = torch.zeros( + mask_inputs.size(0), self.hidden_dim, device=mask_inputs.device + ) + else: + # produce an object pointer using the SAM decoder from the mask input + _, _, _, _, _, obj_ptr, _ = self._forward_sam_heads( + backbone_features=backbone_features, + mask_inputs=self.mask_downsample(mask_inputs_float), + high_res_features=high_res_features, + ) + # In this method, we are treating mask_input as output, e.g. using it directly to create spatial mem; + # Below, we follow the same design axiom to use mask_input to decide if obj appears or not instead of relying + # on the object_scores from the SAM decoder. + is_obj_appearing = torch.any(mask_inputs.flatten(1).float() > 0.0, dim=1) + is_obj_appearing = is_obj_appearing[..., None] + lambda_is_obj_appearing = is_obj_appearing.float() + object_score_logits = out_scale * lambda_is_obj_appearing + out_bias + if self.pred_obj_scores: + if self.fixed_no_obj_ptr: + obj_ptr = lambda_is_obj_appearing * obj_ptr + obj_ptr = obj_ptr + (1 - lambda_is_obj_appearing) * self.no_obj_ptr + + return ( + low_res_masks, + high_res_masks, + ious, + low_res_masks, + high_res_masks, + obj_ptr, + object_score_logits, + ) + + def forward_image(self, img_batch: torch.Tensor): + """Get the image feature on the input batch.""" + backbone_out = self.image_encoder(img_batch) + if self.use_high_res_features_in_sam: + # precompute projected level 0 and level 1 features in SAM decoder + # to avoid running it again on every SAM click + backbone_out["backbone_fpn"][0] = self.sam_mask_decoder.conv_s0( + backbone_out["backbone_fpn"][0] + ) + backbone_out["backbone_fpn"][1] = self.sam_mask_decoder.conv_s1( + backbone_out["backbone_fpn"][1] + ) + return backbone_out + + def _prepare_backbone_features(self, backbone_out): + """Prepare and flatten visual features.""" + backbone_out = backbone_out.copy() + assert len(backbone_out["backbone_fpn"]) == len(backbone_out["vision_pos_enc"]) + assert len(backbone_out["backbone_fpn"]) >= self.num_feature_levels + + feature_maps = backbone_out["backbone_fpn"][-self.num_feature_levels :] + vision_pos_embeds = backbone_out["vision_pos_enc"][-self.num_feature_levels :] + + feat_sizes = [(x.shape[-2], x.shape[-1]) for x in vision_pos_embeds] + # flatten NxCxHxW to HWxNxC + vision_feats = [x.flatten(2).permute(2, 0, 1) for x in feature_maps] + vision_pos_embeds = [x.flatten(2).permute(2, 0, 1) for x in vision_pos_embeds] + + return backbone_out, vision_feats, vision_pos_embeds, feat_sizes + + def _prepare_memory_conditioned_features( + self, + frame_idx, + is_init_cond_frame, + current_vision_feats, + current_vision_pos_embeds, + feat_sizes, + output_dict, + num_frames, + track_in_reverse=False, # tracking in reverse time order (for demo usage) + ): + """Fuse the current frame's visual feature map with previous memory.""" + B = current_vision_feats[-1].size(1) # batch size on this frame + C = self.hidden_dim + H, W = feat_sizes[-1] # top-level (lowest-resolution) feature size + device = current_vision_feats[-1].device + # The case of `self.num_maskmem == 0` below is primarily used for reproducing SAM on images. + # In this case, we skip the fusion with any memory. + if self.num_maskmem == 0: # Disable memory and skip fusion + pix_feat = current_vision_feats[-1].permute(1, 2, 0).view(B, C, H, W) + return pix_feat + + num_obj_ptr_tokens = 0 + # Step 1: condition the visual features of the current frame on previous memories + if not is_init_cond_frame: + # Retrieve the memories encoded with the maskmem backbone + to_cat_memory, to_cat_memory_pos_embed = [], [] + # Add conditioning frames's output first (all cond frames have t_pos=0 for + # when getting temporal positional embedding below) + assert len(output_dict["cond_frame_outputs"]) > 0 + # Select a maximum number of temporally closest cond frames for cross attention + cond_outputs = output_dict["cond_frame_outputs"] + selected_cond_outputs, unselected_cond_outputs = select_closest_cond_frames( + frame_idx, cond_outputs, self.max_cond_frames_in_attn + ) + t_pos_and_prevs = [(0, out) for out in selected_cond_outputs.values()] + # Add last (self.num_maskmem - 1) frames before current frame for non-conditioning memory + # the earliest one has t_pos=1 and the latest one has t_pos=self.num_maskmem-1 + # We also allow taking the memory frame non-consecutively (with r>1), in which case + # we take (self.num_maskmem - 2) frames among every r-th frames plus the last frame. + r = self.memory_temporal_stride_for_eval + for t_pos in range(1, self.num_maskmem): + t_rel = self.num_maskmem - t_pos # how many frames before current frame + if t_rel == 1: + # for t_rel == 1, we take the last frame (regardless of r) + if not track_in_reverse: + # the frame immediately before this frame (i.e. frame_idx - 1) + prev_frame_idx = frame_idx - t_rel + else: + # the frame immediately after this frame (i.e. frame_idx + 1) + prev_frame_idx = frame_idx + t_rel + else: + # for t_rel >= 2, we take the memory frame from every r-th frames + if not track_in_reverse: + # first find the nearest frame among every r-th frames before this frame + # for r=1, this would be (frame_idx - 2) + prev_frame_idx = ((frame_idx - 2) // r) * r + # then seek further among every r-th frames + prev_frame_idx = prev_frame_idx - (t_rel - 2) * r + else: + # first find the nearest frame among every r-th frames after this frame + # for r=1, this would be (frame_idx + 2) + prev_frame_idx = -(-(frame_idx + 2) // r) * r + # then seek further among every r-th frames + prev_frame_idx = prev_frame_idx + (t_rel - 2) * r + out = output_dict["non_cond_frame_outputs"].get(prev_frame_idx, None) + if out is None: + # If an unselected conditioning frame is among the last (self.num_maskmem - 1) + # frames, we still attend to it as if it's a non-conditioning frame. + out = unselected_cond_outputs.get(prev_frame_idx, None) + t_pos_and_prevs.append((t_pos, out)) + + for t_pos, prev in t_pos_and_prevs: + if prev is None: + continue # skip padding frames + # "maskmem_features" might have been offloaded to CPU in demo use cases, + # so we load it back to GPU (it's a no-op if it's already on GPU). + feats = prev["maskmem_features"].to(device, non_blocking=True) + to_cat_memory.append(feats.flatten(2).permute(2, 0, 1)) + # Spatial positional encoding (it might have been offloaded to CPU in eval) + maskmem_enc = prev["maskmem_pos_enc"][-1].to(device) + maskmem_enc = maskmem_enc.flatten(2).permute(2, 0, 1) + # Temporal positional encoding + maskmem_enc = ( + maskmem_enc + self.maskmem_tpos_enc[self.num_maskmem - t_pos - 1] + ) + to_cat_memory_pos_embed.append(maskmem_enc) + + # Construct the list of past object pointers + if self.use_obj_ptrs_in_encoder: + max_obj_ptrs_in_encoder = min(num_frames, self.max_obj_ptrs_in_encoder) + # First add those object pointers from selected conditioning frames + # (optionally, only include object pointers in the past during evaluation) + if not self.training and self.only_obj_ptrs_in_the_past_for_eval: + ptr_cond_outputs = { + t: out + for t, out in selected_cond_outputs.items() + if (t >= frame_idx if track_in_reverse else t <= frame_idx) + } + else: + ptr_cond_outputs = selected_cond_outputs + pos_and_ptrs = [ + # Temporal pos encoding contains how far away each pointer is from current frame + (abs(frame_idx - t), out["obj_ptr"]) + for t, out in ptr_cond_outputs.items() + ] + # Add up to (max_obj_ptrs_in_encoder - 1) non-conditioning frames before current frame + for t_diff in range(1, max_obj_ptrs_in_encoder): + t = frame_idx + t_diff if track_in_reverse else frame_idx - t_diff + if t < 0 or (num_frames is not None and t >= num_frames): + break + out = output_dict["non_cond_frame_outputs"].get( + t, unselected_cond_outputs.get(t, None) + ) + if out is not None: + pos_and_ptrs.append((t_diff, out["obj_ptr"])) + # If we have at least one object pointer, add them to the across attention + if len(pos_and_ptrs) > 0: + pos_list, ptrs_list = zip(*pos_and_ptrs) + # stack object pointers along dim=0 into [ptr_seq_len, B, C] shape + obj_ptrs = torch.stack(ptrs_list, dim=0) + # a temporal positional embedding based on how far each object pointer is from + # the current frame (sine embedding normalized by the max pointer num). + if self.add_tpos_enc_to_obj_ptrs: + t_diff_max = max_obj_ptrs_in_encoder - 1 + tpos_dim = C if self.proj_tpos_enc_in_obj_ptrs else self.mem_dim + obj_pos = torch.tensor(pos_list, device=device) + obj_pos = get_1d_sine_pe(obj_pos / t_diff_max, dim=tpos_dim) + obj_pos = self.obj_ptr_tpos_proj(obj_pos) + obj_pos = obj_pos.unsqueeze(1).expand(-1, B, self.mem_dim) + else: + obj_pos = obj_ptrs.new_zeros(len(pos_list), B, self.mem_dim) + if self.mem_dim < C: + # split a pointer into (C // self.mem_dim) tokens for self.mem_dim < C + obj_ptrs = obj_ptrs.reshape( + -1, B, C // self.mem_dim, self.mem_dim + ) + obj_ptrs = obj_ptrs.permute(0, 2, 1, 3).flatten(0, 1) + obj_pos = obj_pos.repeat_interleave(C // self.mem_dim, dim=0) + to_cat_memory.append(obj_ptrs) + to_cat_memory_pos_embed.append(obj_pos) + num_obj_ptr_tokens = obj_ptrs.shape[0] + else: + num_obj_ptr_tokens = 0 + else: + # for initial conditioning frames, encode them without using any previous memory + if self.directly_add_no_mem_embed: + # directly add no-mem embedding (instead of using the transformer encoder) + pix_feat_with_mem = current_vision_feats[-1] + self.no_mem_embed + pix_feat_with_mem = pix_feat_with_mem.permute(1, 2, 0).view(B, C, H, W) + return pix_feat_with_mem + + # Use a dummy token on the first frame (to avoid empty memory input to tranformer encoder) + to_cat_memory = [self.no_mem_embed.expand(1, B, self.mem_dim)] + to_cat_memory_pos_embed = [self.no_mem_pos_enc.expand(1, B, self.mem_dim)] + + # Step 2: Concatenate the memories and forward through the transformer encoder + memory = torch.cat(to_cat_memory, dim=0) + memory_pos_embed = torch.cat(to_cat_memory_pos_embed, dim=0) + + pix_feat_with_mem = self.memory_attention( + curr=current_vision_feats, + curr_pos=current_vision_pos_embeds, + memory=memory, + memory_pos=memory_pos_embed, + num_obj_ptr_tokens=num_obj_ptr_tokens, + ) + # reshape the output (HW)BC => BCHW + pix_feat_with_mem = pix_feat_with_mem.permute(1, 2, 0).view(B, C, H, W) + return pix_feat_with_mem + + def _encode_new_memory( + self, + current_vision_feats, + feat_sizes, + pred_masks_high_res, + is_mask_from_pts, + ): + """Encode the current image and its prediction into a memory feature.""" + B = current_vision_feats[-1].size(1) # batch size on this frame + C = self.hidden_dim + H, W = feat_sizes[-1] # top-level (lowest-resolution) feature size + # top-level feature, (HW)BC => BCHW + pix_feat = current_vision_feats[-1].permute(1, 2, 0).view(B, C, H, W) + if self.non_overlap_masks_for_mem_enc and not self.training: + # optionally, apply non-overlapping constraints to the masks (it's applied + # in the batch dimension and should only be used during eval, where all + # the objects come from the same video under batch size 1). + pred_masks_high_res = self._apply_non_overlapping_constraints( + pred_masks_high_res + ) + # scale the raw mask logits with a temperature before applying sigmoid + binarize = self.binarize_mask_from_pts_for_mem_enc and is_mask_from_pts + if binarize and not self.training: + mask_for_mem = (pred_masks_high_res > 0).float() + else: + # apply sigmoid on the raw mask logits to turn them into range (0, 1) + mask_for_mem = torch.sigmoid(pred_masks_high_res) + # apply scale and bias terms to the sigmoid probabilities + if self.sigmoid_scale_for_mem_enc != 1.0: + mask_for_mem = mask_for_mem * self.sigmoid_scale_for_mem_enc + if self.sigmoid_bias_for_mem_enc != 0.0: + mask_for_mem = mask_for_mem + self.sigmoid_bias_for_mem_enc + maskmem_out = self.memory_encoder( + pix_feat, mask_for_mem, skip_mask_sigmoid=True # sigmoid already applied + ) + maskmem_features = maskmem_out["vision_features"] + maskmem_pos_enc = maskmem_out["vision_pos_enc"] + + return maskmem_features, maskmem_pos_enc + + def track_step( + self, + frame_idx, + is_init_cond_frame, + current_vision_feats, + current_vision_pos_embeds, + feat_sizes, + point_inputs, + mask_inputs, + output_dict, + num_frames, + track_in_reverse=False, # tracking in reverse time order (for demo usage) + # Whether to run the memory encoder on the predicted masks. Sometimes we might want + # to skip the memory encoder with `run_mem_encoder=False`. For example, + # in demo we might call `track_step` multiple times for each user click, + # and only encode the memory when the user finalizes their clicks. And in ablation + # settings like SAM training on static images, we don't need the memory encoder. + run_mem_encoder=True, + # The previously predicted SAM mask logits (which can be fed together with new clicks in demo). + prev_sam_mask_logits=None, + ): + current_out = {"point_inputs": point_inputs, "mask_inputs": mask_inputs} + # High-resolution feature maps for the SAM head, reshape (HW)BC => BCHW + if len(current_vision_feats) > 1: + high_res_features = [ + x.permute(1, 2, 0).view(x.size(1), x.size(2), *s) + for x, s in zip(current_vision_feats[:-1], feat_sizes[:-1]) + ] + else: + high_res_features = None + if mask_inputs is not None and self.use_mask_input_as_output_without_sam: + # When use_mask_input_as_output_without_sam=True, we directly output the mask input + # (see it as a GT mask) without using a SAM prompt encoder + mask decoder. + pix_feat = current_vision_feats[-1].permute(1, 2, 0) + pix_feat = pix_feat.view(-1, self.hidden_dim, *feat_sizes[-1]) + sam_outputs = self._use_mask_as_output( + pix_feat, high_res_features, mask_inputs + ) + else: + # fused the visual feature with previous memory features in the memory bank + pix_feat_with_mem = self._prepare_memory_conditioned_features( + frame_idx=frame_idx, + is_init_cond_frame=is_init_cond_frame, + current_vision_feats=current_vision_feats[-1:], + current_vision_pos_embeds=current_vision_pos_embeds[-1:], + feat_sizes=feat_sizes[-1:], + output_dict=output_dict, + num_frames=num_frames, + track_in_reverse=track_in_reverse, + ) + # apply SAM-style segmentation head + # here we might feed previously predicted low-res SAM mask logits into the SAM mask decoder, + # e.g. in demo where such logits come from earlier interaction instead of correction sampling + # (in this case, any `mask_inputs` shouldn't reach here as they are sent to _use_mask_as_output instead) + if prev_sam_mask_logits is not None: + assert point_inputs is not None and mask_inputs is None + mask_inputs = prev_sam_mask_logits + multimask_output = self._use_multimask(is_init_cond_frame, point_inputs) + sam_outputs = self._forward_sam_heads( + backbone_features=pix_feat_with_mem, + point_inputs=point_inputs, + mask_inputs=mask_inputs, + high_res_features=high_res_features, + multimask_output=multimask_output, + ) + ( + _, + _, + _, + low_res_masks, + high_res_masks, + obj_ptr, + _, + ) = sam_outputs + + current_out["pred_masks"] = low_res_masks + current_out["pred_masks_high_res"] = high_res_masks + current_out["obj_ptr"] = obj_ptr + + # Finally run the memory encoder on the predicted mask to encode + # it into a new memory feature (that can be used in future frames) + if run_mem_encoder and self.num_maskmem > 0: + high_res_masks_for_mem_enc = high_res_masks + maskmem_features, maskmem_pos_enc = self._encode_new_memory( + current_vision_feats=current_vision_feats, + feat_sizes=feat_sizes, + pred_masks_high_res=high_res_masks_for_mem_enc, + is_mask_from_pts=(point_inputs is not None), + ) + current_out["maskmem_features"] = maskmem_features + current_out["maskmem_pos_enc"] = maskmem_pos_enc + else: + current_out["maskmem_features"] = None + current_out["maskmem_pos_enc"] = None + + return current_out + + def _use_multimask(self, is_init_cond_frame, point_inputs): + """Whether to use multimask output in the SAM head.""" + num_pts = 0 if point_inputs is None else point_inputs["point_labels"].size(1) + multimask_output = ( + self.multimask_output_in_sam + and (is_init_cond_frame or self.multimask_output_for_tracking) + and (self.multimask_min_pt_num <= num_pts <= self.multimask_max_pt_num) + ) + return multimask_output + + def _apply_non_overlapping_constraints(self, pred_masks): + """ + Apply non-overlapping constraints to the object scores in pred_masks. Here we + keep only the highest scoring object at each spatial location in pred_masks. + """ + batch_size = pred_masks.size(0) + if batch_size == 1: + return pred_masks + + device = pred_masks.device + # "max_obj_inds": object index of the object with the highest score at each location + max_obj_inds = torch.argmax(pred_masks, dim=0, keepdim=True) + # "batch_obj_inds": object index of each object slice (along dim 0) in `pred_masks` + batch_obj_inds = torch.arange(batch_size, device=device)[:, None, None, None] + keep = max_obj_inds == batch_obj_inds + # suppress overlapping regions' scores below -10.0 so that the foreground regions + # don't overlap (here sigmoid(-10.0)=4.5398e-05) + pred_masks = torch.where(keep, pred_masks, torch.clamp(pred_masks, max=-10.0)) + return pred_masks diff --git a/trajectory_construction/Grounded_SAM2/sam2/modeling/sam2_utils.py b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam2_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..6d9705963efc57d74b7d1bff31692d7d293a46ad --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/modeling/sam2_utils.py @@ -0,0 +1,149 @@ +# 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 copy + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +def select_closest_cond_frames(frame_idx, cond_frame_outputs, max_cond_frame_num): + """ + Select up to `max_cond_frame_num` conditioning frames from `cond_frame_outputs` + that are temporally closest to the current frame at `frame_idx`. Here, we take + - a) the closest conditioning frame before `frame_idx` (if any); + - b) the closest conditioning frame after `frame_idx` (if any); + - c) any other temporally closest conditioning frames until reaching a total + of `max_cond_frame_num` conditioning frames. + + Outputs: + - selected_outputs: selected items (keys & values) from `cond_frame_outputs`. + - unselected_outputs: items (keys & values) not selected in `cond_frame_outputs`. + """ + if max_cond_frame_num == -1 or len(cond_frame_outputs) <= max_cond_frame_num: + selected_outputs = cond_frame_outputs + unselected_outputs = {} + else: + assert max_cond_frame_num >= 2, "we should allow using 2+ conditioning frames" + selected_outputs = {} + + # the closest conditioning frame before `frame_idx` (if any) + idx_before = max((t for t in cond_frame_outputs if t < frame_idx), default=None) + if idx_before is not None: + selected_outputs[idx_before] = cond_frame_outputs[idx_before] + + # the closest conditioning frame after `frame_idx` (if any) + idx_after = min((t for t in cond_frame_outputs if t >= frame_idx), default=None) + if idx_after is not None: + selected_outputs[idx_after] = cond_frame_outputs[idx_after] + + # add other temporally closest conditioning frames until reaching a total + # of `max_cond_frame_num` conditioning frames. + num_remain = max_cond_frame_num - len(selected_outputs) + inds_remain = sorted( + (t for t in cond_frame_outputs if t not in selected_outputs), + key=lambda x: abs(x - frame_idx), + )[:num_remain] + selected_outputs.update((t, cond_frame_outputs[t]) for t in inds_remain) + unselected_outputs = { + t: v for t, v in cond_frame_outputs.items() if t not in selected_outputs + } + + return selected_outputs, unselected_outputs + + +def get_1d_sine_pe(pos_inds, dim, temperature=10000): + """ + Get 1D sine positional embedding as in the original Transformer paper. + """ + pe_dim = dim // 2 + dim_t = torch.arange(pe_dim, dtype=torch.float32, device=pos_inds.device) + dim_t = temperature ** (2 * (dim_t // 2) / pe_dim) + + pos_embed = pos_inds.unsqueeze(-1) / dim_t + pos_embed = torch.cat([pos_embed.sin(), pos_embed.cos()], dim=-1) + return pos_embed + + +def get_activation_fn(activation): + """Return an activation function given a string""" + if activation == "relu": + return F.relu + if activation == "gelu": + return F.gelu + if activation == "glu": + return F.glu + raise RuntimeError(f"activation should be relu/gelu, not {activation}.") + + +def get_clones(module, N): + return nn.ModuleList([copy.deepcopy(module) for i in range(N)]) + + +class DropPath(nn.Module): + # adapted from https://github.com/huggingface/pytorch-image-models/blob/main/timm/layers/drop.py + def __init__(self, drop_prob=0.0, scale_by_keep=True): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + self.scale_by_keep = scale_by_keep + + def forward(self, x): + if self.drop_prob == 0.0 or not self.training: + return x + keep_prob = 1 - self.drop_prob + shape = (x.shape[0],) + (1,) * (x.ndim - 1) + random_tensor = x.new_empty(shape).bernoulli_(keep_prob) + if keep_prob > 0.0 and self.scale_by_keep: + random_tensor.div_(keep_prob) + return x * random_tensor + + +# Lightly adapted from +# https://github.com/facebookresearch/MaskFormer/blob/main/mask_former/modeling/transformer/transformer_predictor.py # noqa +class MLP(nn.Module): + def __init__( + self, + input_dim: int, + hidden_dim: int, + output_dim: int, + num_layers: int, + activation: nn.Module = nn.ReLU, + sigmoid_output: bool = False, + ) -> None: + super().__init__() + self.num_layers = num_layers + h = [hidden_dim] * (num_layers - 1) + self.layers = nn.ModuleList( + nn.Linear(n, k) for n, k in zip([input_dim] + h, h + [output_dim]) + ) + self.sigmoid_output = sigmoid_output + self.act = activation() + + def forward(self, x): + for i, layer in enumerate(self.layers): + x = self.act(layer(x)) if i < self.num_layers - 1 else layer(x) + if self.sigmoid_output: + x = F.sigmoid(x) + return x + + +# From https://github.com/facebookresearch/detectron2/blob/main/detectron2/layers/batch_norm.py # noqa +# Itself from https://github.com/facebookresearch/ConvNeXt/blob/d1fa8f6fef0a165b27399986cc2bdacc92777e40/models/convnext.py#L119 # noqa +class LayerNorm2d(nn.Module): + def __init__(self, num_channels: int, eps: float = 1e-6) -> None: + super().__init__() + self.weight = nn.Parameter(torch.ones(num_channels)) + self.bias = nn.Parameter(torch.zeros(num_channels)) + self.eps = eps + + def forward(self, x: torch.Tensor) -> torch.Tensor: + u = x.mean(1, keepdim=True) + s = (x - u).pow(2).mean(1, keepdim=True) + x = (x - u) / torch.sqrt(s + self.eps) + x = self.weight[:, None, None] * x + self.bias[:, None, None] + return x diff --git a/trajectory_construction/Grounded_SAM2/sam2/sam2_image_predictor.py b/trajectory_construction/Grounded_SAM2/sam2/sam2_image_predictor.py new file mode 100644 index 0000000000000000000000000000000000000000..41ce53af5924504c07216df52b2d2eefaeec7ae9 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/sam2_image_predictor.py @@ -0,0 +1,466 @@ +# 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 logging + +from typing import List, Optional, Tuple, Union + +import numpy as np +import torch +from PIL.Image import Image + +from sam2.modeling.sam2_base import SAM2Base + +from sam2.utils.transforms import SAM2Transforms + + +class SAM2ImagePredictor: + def __init__( + self, + sam_model: SAM2Base, + mask_threshold=0.0, + max_hole_area=0.0, + max_sprinkle_area=0.0, + **kwargs, + ) -> None: + """ + Uses SAM-2 to calculate the image embedding for an image, and then + allow repeated, efficient mask prediction given prompts. + + Arguments: + sam_model (Sam-2): The model to use for mask prediction. + mask_threshold (float): The threshold to use when converting mask logits + to binary masks. Masks are thresholded at 0 by default. + max_hole_area (int): If max_hole_area > 0, we fill small holes in up to + the maximum area of max_hole_area in low_res_masks. + max_sprinkle_area (int): If max_sprinkle_area > 0, we remove small sprinkles up to + the maximum area of max_sprinkle_area in low_res_masks. + """ + super().__init__() + self.model = sam_model + self._transforms = SAM2Transforms( + resolution=self.model.image_size, + mask_threshold=mask_threshold, + max_hole_area=max_hole_area, + max_sprinkle_area=max_sprinkle_area, + ) + + # Predictor state + self._is_image_set = False + self._features = None + self._orig_hw = None + # Whether the predictor is set for single image or a batch of images + self._is_batch = False + + # Predictor config + self.mask_threshold = mask_threshold + + # Spatial dim for backbone feature maps + self._bb_feat_sizes = [ + (256, 256), + (128, 128), + (64, 64), + ] + + @classmethod + def from_pretrained(cls, model_id: str, **kwargs) -> "SAM2ImagePredictor": + """ + Load a pretrained model from the Hugging Face hub. + + Arguments: + model_id (str): The Hugging Face repository ID. + **kwargs: Additional arguments to pass to the model constructor. + + Returns: + (SAM2ImagePredictor): The loaded model. + """ + from sam2.build_sam import build_sam2_hf + + sam_model = build_sam2_hf(model_id, **kwargs) + return cls(sam_model, **kwargs) + + @torch.no_grad() + def set_image( + self, + image: Union[np.ndarray, Image], + ) -> None: + """ + Calculates the image embeddings for the provided image, allowing + masks to be predicted with the 'predict' method. + + Arguments: + image (np.ndarray or PIL Image): The input image to embed in RGB format. The image should be in HWC format if np.ndarray, or WHC format if PIL Image + with pixel values in [0, 255]. + image_format (str): The color format of the image, in ['RGB', 'BGR']. + """ + self.reset_predictor() + # Transform the image to the form expected by the model + if isinstance(image, np.ndarray): + logging.info("For numpy array image, we assume (HxWxC) format") + self._orig_hw = [image.shape[:2]] + elif isinstance(image, Image): + w, h = image.size + self._orig_hw = [(h, w)] + else: + raise NotImplementedError("Image format not supported") + + input_image = self._transforms(image) + input_image = input_image[None, ...].to(self.device) + + assert ( + len(input_image.shape) == 4 and input_image.shape[1] == 3 + ), f"input_image must be of size 1x3xHxW, got {input_image.shape}" + logging.info("Computing image embeddings for the provided image...") + backbone_out = self.model.forward_image(input_image) + _, vision_feats, _, _ = self.model._prepare_backbone_features(backbone_out) + # Add no_mem_embed, which is added to the lowest rest feat. map during training on videos + if self.model.directly_add_no_mem_embed: + vision_feats[-1] = vision_feats[-1] + self.model.no_mem_embed + + feats = [ + feat.permute(1, 2, 0).view(1, -1, *feat_size) + for feat, feat_size in zip(vision_feats[::-1], self._bb_feat_sizes[::-1]) + ][::-1] + self._features = {"image_embed": feats[-1], "high_res_feats": feats[:-1]} + self._is_image_set = True + logging.info("Image embeddings computed.") + + @torch.no_grad() + def set_image_batch( + self, + image_list: List[Union[np.ndarray]], + ) -> None: + """ + Calculates the image embeddings for the provided image batch, allowing + masks to be predicted with the 'predict_batch' method. + + Arguments: + image_list (List[np.ndarray]): The input images to embed in RGB format. The image should be in HWC format if np.ndarray + with pixel values in [0, 255]. + """ + self.reset_predictor() + assert isinstance(image_list, list) + self._orig_hw = [] + for image in image_list: + assert isinstance( + image, np.ndarray + ), "Images are expected to be an np.ndarray in RGB format, and of shape HWC" + self._orig_hw.append(image.shape[:2]) + # Transform the image to the form expected by the model + img_batch = self._transforms.forward_batch(image_list) + img_batch = img_batch.to(self.device) + batch_size = img_batch.shape[0] + assert ( + len(img_batch.shape) == 4 and img_batch.shape[1] == 3 + ), f"img_batch must be of size Bx3xHxW, got {img_batch.shape}" + logging.info("Computing image embeddings for the provided images...") + backbone_out = self.model.forward_image(img_batch) + _, vision_feats, _, _ = self.model._prepare_backbone_features(backbone_out) + # Add no_mem_embed, which is added to the lowest rest feat. map during training on videos + if self.model.directly_add_no_mem_embed: + vision_feats[-1] = vision_feats[-1] + self.model.no_mem_embed + + feats = [ + feat.permute(1, 2, 0).view(batch_size, -1, *feat_size) + for feat, feat_size in zip(vision_feats[::-1], self._bb_feat_sizes[::-1]) + ][::-1] + self._features = {"image_embed": feats[-1], "high_res_feats": feats[:-1]} + self._is_image_set = True + self._is_batch = True + logging.info("Image embeddings computed.") + + def predict_batch( + self, + point_coords_batch: List[np.ndarray] = None, + point_labels_batch: List[np.ndarray] = None, + box_batch: List[np.ndarray] = None, + mask_input_batch: List[np.ndarray] = None, + multimask_output: bool = True, + return_logits: bool = False, + normalize_coords=True, + ) -> Tuple[List[np.ndarray], List[np.ndarray], List[np.ndarray]]: + """This function is very similar to predict(...), however it is used for batched mode, when the model is expected to generate predictions on multiple images. + It returns a tuple of lists of masks, ious, and low_res_masks_logits. + """ + assert self._is_batch, "This function should only be used when in batched mode" + if not self._is_image_set: + raise RuntimeError( + "An image must be set with .set_image_batch(...) before mask prediction." + ) + num_images = len(self._features["image_embed"]) + all_masks = [] + all_ious = [] + all_low_res_masks = [] + for img_idx in range(num_images): + # Transform input prompts + point_coords = ( + point_coords_batch[img_idx] if point_coords_batch is not None else None + ) + point_labels = ( + point_labels_batch[img_idx] if point_labels_batch is not None else None + ) + box = box_batch[img_idx] if box_batch is not None else None + mask_input = ( + mask_input_batch[img_idx] if mask_input_batch is not None else None + ) + mask_input, unnorm_coords, labels, unnorm_box = self._prep_prompts( + point_coords, + point_labels, + box, + mask_input, + normalize_coords, + img_idx=img_idx, + ) + masks, iou_predictions, low_res_masks = self._predict( + unnorm_coords, + labels, + unnorm_box, + mask_input, + multimask_output, + return_logits=return_logits, + img_idx=img_idx, + ) + masks_np = masks.squeeze(0).float().detach().cpu().numpy() + iou_predictions_np = ( + iou_predictions.squeeze(0).float().detach().cpu().numpy() + ) + low_res_masks_np = low_res_masks.squeeze(0).float().detach().cpu().numpy() + all_masks.append(masks_np) + all_ious.append(iou_predictions_np) + all_low_res_masks.append(low_res_masks_np) + + return all_masks, all_ious, all_low_res_masks + + def predict( + self, + point_coords: Optional[np.ndarray] = None, + point_labels: Optional[np.ndarray] = None, + box: Optional[np.ndarray] = None, + mask_input: Optional[np.ndarray] = None, + multimask_output: bool = True, + return_logits: bool = False, + normalize_coords=True, + ) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """ + Predict masks for the given input prompts, using the currently set image. + + Arguments: + point_coords (np.ndarray or None): A Nx2 array of point prompts to the + model. Each point is in (X,Y) in pixels. + point_labels (np.ndarray or None): A length N array of labels for the + point prompts. 1 indicates a foreground point and 0 indicates a + background point. + box (np.ndarray or None): A length 4 array given a box prompt to the + model, in XYXY format. + mask_input (np.ndarray): A low resolution mask input to the model, typically + coming from a previous prediction iteration. Has form 1xHxW, where + for SAM, H=W=256. + multimask_output (bool): If true, the model will return three masks. + For ambiguous input prompts (such as a single click), this will often + produce better masks than a single prediction. If only a single + mask is needed, the model's predicted quality score can be used + to select the best mask. For non-ambiguous prompts, such as multiple + input prompts, multimask_output=False can give better results. + return_logits (bool): If true, returns un-thresholded masks logits + instead of a binary mask. + normalize_coords (bool): If true, the point coordinates will be normalized to the range [0,1] and point_coords is expected to be wrt. image dimensions. + + Returns: + (np.ndarray): The output masks in CxHxW format, where C is the + number of masks, and (H, W) is the original image size. + (np.ndarray): An array of length C containing the model's + predictions for the quality of each mask. + (np.ndarray): An array of shape CxHxW, where C is the number + of masks and H=W=256. These low resolution logits can be passed to + a subsequent iteration as mask input. + """ + if not self._is_image_set: + raise RuntimeError( + "An image must be set with .set_image(...) before mask prediction." + ) + + # Transform input prompts + + mask_input, unnorm_coords, labels, unnorm_box = self._prep_prompts( + point_coords, point_labels, box, mask_input, normalize_coords + ) + + masks, iou_predictions, low_res_masks = self._predict( + unnorm_coords, + labels, + unnorm_box, + mask_input, + multimask_output, + return_logits=return_logits, + ) + + masks_np = masks.squeeze(0).float().detach().cpu().numpy() + iou_predictions_np = iou_predictions.squeeze(0).float().detach().cpu().numpy() + low_res_masks_np = low_res_masks.squeeze(0).float().detach().cpu().numpy() + return masks_np, iou_predictions_np, low_res_masks_np + + def _prep_prompts( + self, point_coords, point_labels, box, mask_logits, normalize_coords, img_idx=-1 + ): + + unnorm_coords, labels, unnorm_box, mask_input = None, None, None, None + if point_coords is not None: + assert ( + point_labels is not None + ), "point_labels must be supplied if point_coords is supplied." + point_coords = torch.as_tensor( + point_coords, dtype=torch.float, device=self.device + ) + unnorm_coords = self._transforms.transform_coords( + point_coords, normalize=normalize_coords, orig_hw=self._orig_hw[img_idx] + ) + labels = torch.as_tensor(point_labels, dtype=torch.int, device=self.device) + if len(unnorm_coords.shape) == 2: + unnorm_coords, labels = unnorm_coords[None, ...], labels[None, ...] + if box is not None: + box = torch.as_tensor(box, dtype=torch.float, device=self.device) + unnorm_box = self._transforms.transform_boxes( + box, normalize=normalize_coords, orig_hw=self._orig_hw[img_idx] + ) # Bx2x2 + if mask_logits is not None: + mask_input = torch.as_tensor( + mask_logits, dtype=torch.float, device=self.device + ) + if len(mask_input.shape) == 3: + mask_input = mask_input[None, :, :, :] + return mask_input, unnorm_coords, labels, unnorm_box + + @torch.no_grad() + def _predict( + self, + point_coords: Optional[torch.Tensor], + point_labels: Optional[torch.Tensor], + boxes: Optional[torch.Tensor] = None, + mask_input: Optional[torch.Tensor] = None, + multimask_output: bool = True, + return_logits: bool = False, + img_idx: int = -1, + ) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor]: + """ + Predict masks for the given input prompts, using the currently set image. + Input prompts are batched torch tensors and are expected to already be + transformed to the input frame using SAM2Transforms. + + Arguments: + point_coords (torch.Tensor or None): A BxNx2 array of point prompts to the + model. Each point is in (X,Y) in pixels. + point_labels (torch.Tensor or None): A BxN array of labels for the + point prompts. 1 indicates a foreground point and 0 indicates a + background point. + boxes (np.ndarray or None): A Bx4 array given a box prompt to the + model, in XYXY format. + mask_input (np.ndarray): A low resolution mask input to the model, typically + coming from a previous prediction iteration. Has form Bx1xHxW, where + for SAM, H=W=256. Masks returned by a previous iteration of the + predict method do not need further transformation. + multimask_output (bool): If true, the model will return three masks. + For ambiguous input prompts (such as a single click), this will often + produce better masks than a single prediction. If only a single + mask is needed, the model's predicted quality score can be used + to select the best mask. For non-ambiguous prompts, such as multiple + input prompts, multimask_output=False can give better results. + return_logits (bool): If true, returns un-thresholded masks logits + instead of a binary mask. + + Returns: + (torch.Tensor): The output masks in BxCxHxW format, where C is the + number of masks, and (H, W) is the original image size. + (torch.Tensor): An array of shape BxC containing the model's + predictions for the quality of each mask. + (torch.Tensor): An array of shape BxCxHxW, where C is the number + of masks and H=W=256. These low res logits can be passed to + a subsequent iteration as mask input. + """ + if not self._is_image_set: + raise RuntimeError( + "An image must be set with .set_image(...) before mask prediction." + ) + + if point_coords is not None: + concat_points = (point_coords, point_labels) + else: + concat_points = None + + # Embed prompts + if boxes is not None: + box_coords = boxes.reshape(-1, 2, 2) + box_labels = torch.tensor([[2, 3]], dtype=torch.int, device=boxes.device) + box_labels = box_labels.repeat(boxes.size(0), 1) + # we merge "boxes" and "points" into a single "concat_points" input (where + # boxes are added at the beginning) to sam_prompt_encoder + if concat_points is not None: + concat_coords = torch.cat([box_coords, concat_points[0]], dim=1) + concat_labels = torch.cat([box_labels, concat_points[1]], dim=1) + concat_points = (concat_coords, concat_labels) + else: + concat_points = (box_coords, box_labels) + + sparse_embeddings, dense_embeddings = self.model.sam_prompt_encoder( + points=concat_points, + boxes=None, + masks=mask_input, + ) + + # Predict masks + batched_mode = ( + concat_points is not None and concat_points[0].shape[0] > 1 + ) # multi object prediction + high_res_features = [ + feat_level[img_idx].unsqueeze(0) + for feat_level in self._features["high_res_feats"] + ] + low_res_masks, iou_predictions, _, _ = self.model.sam_mask_decoder( + image_embeddings=self._features["image_embed"][img_idx].unsqueeze(0), + image_pe=self.model.sam_prompt_encoder.get_dense_pe(), + sparse_prompt_embeddings=sparse_embeddings, + dense_prompt_embeddings=dense_embeddings, + multimask_output=multimask_output, + repeat_image=batched_mode, + high_res_features=high_res_features, + ) + + # Upscale the masks to the original image resolution + masks = self._transforms.postprocess_masks( + low_res_masks, self._orig_hw[img_idx] + ) + low_res_masks = torch.clamp(low_res_masks, -32.0, 32.0) + if not return_logits: + masks = masks > self.mask_threshold + + return masks, iou_predictions, low_res_masks + + def get_image_embedding(self) -> torch.Tensor: + """ + Returns the image embeddings for the currently set image, with + shape 1xCxHxW, where C is the embedding dimension and (H,W) are + the embedding spatial dimension of SAM (typically C=256, H=W=64). + """ + if not self._is_image_set: + raise RuntimeError( + "An image must be set with .set_image(...) to generate an embedding." + ) + assert ( + self._features is not None + ), "Features must exist if an image has been set." + return self._features["image_embed"] + + @property + def device(self) -> torch.device: + return self.model.device + + def reset_predictor(self) -> None: + """ + Resets the image embeddings and other state variables. + """ + self._is_image_set = False + self._features = None + self._orig_hw = None + self._is_batch = False diff --git a/trajectory_construction/Grounded_SAM2/sam2/sam2_video_predictor.py b/trajectory_construction/Grounded_SAM2/sam2/sam2_video_predictor.py new file mode 100644 index 0000000000000000000000000000000000000000..ebc12a30484d4687f277dec4d0f73c809b73379d --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/sam2_video_predictor.py @@ -0,0 +1,961 @@ +# 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 warnings +from collections import OrderedDict + +import torch + +from tqdm import tqdm + +from sam2.modeling.sam2_base import NO_OBJ_SCORE, SAM2Base +from sam2.utils.misc import concat_points, fill_holes_in_mask_scores, load_video_frames + + +class SAM2VideoPredictor(SAM2Base): + """The predictor class to handle user interactions and manage inference states.""" + + def __init__( + self, + fill_hole_area=0, + # whether to apply non-overlapping constraints on the output object masks + non_overlap_masks=False, + # whether to clear non-conditioning memory of the surrounding frames (which may contain outdated information) after adding correction clicks; + # note that this would only apply to *single-object tracking* unless `clear_non_cond_mem_for_multi_obj` is also set to True) + clear_non_cond_mem_around_input=False, + # whether to also clear non-conditioning memory of the surrounding frames (only effective when `clear_non_cond_mem_around_input` is True). + clear_non_cond_mem_for_multi_obj=False, + **kwargs, + ): + super().__init__(**kwargs) + self.fill_hole_area = fill_hole_area + self.non_overlap_masks = non_overlap_masks + self.clear_non_cond_mem_around_input = clear_non_cond_mem_around_input + self.clear_non_cond_mem_for_multi_obj = clear_non_cond_mem_for_multi_obj + + @torch.inference_mode() + def init_state( + self, + video_path, + offload_video_to_cpu=True, + offload_state_to_cpu=False, + async_loading_frames=False, + ): + """Initialize an inference state.""" + compute_device = self.device # device of the model + images, video_height, video_width = load_video_frames( + video_path=video_path, + image_size=self.image_size, + offload_video_to_cpu=offload_video_to_cpu, + async_loading_frames=async_loading_frames, + compute_device=compute_device, + ) + inference_state = {} + inference_state["images"] = images + inference_state["num_frames"] = len(images) + # whether to offload the video frames to CPU memory + # turning on this option saves the GPU memory with only a very small overhead + inference_state["offload_video_to_cpu"] = offload_video_to_cpu + # whether to offload the inference state to CPU memory + # turning on this option saves the GPU memory at the cost of a lower tracking fps + # (e.g. in a test case of 768x768 model, fps dropped from 27 to 24 when tracking one object + # and from 24 to 21 when tracking two objects) + inference_state["offload_state_to_cpu"] = offload_state_to_cpu + # the original video height and width, used for resizing final output scores + inference_state["video_height"] = video_height + inference_state["video_width"] = video_width + inference_state["device"] = compute_device + if offload_state_to_cpu: + inference_state["storage_device"] = torch.device("cpu") + else: + inference_state["storage_device"] = compute_device + # inputs on each frame + inference_state["point_inputs_per_obj"] = {} + inference_state["mask_inputs_per_obj"] = {} + # visual features on a small number of recently visited frames for quick interactions + inference_state["cached_features"] = {} + # values that don't change across frames (so we only need to hold one copy of them) + inference_state["constants"] = {} + # mapping between client-side object id and model-side object index + inference_state["obj_id_to_idx"] = OrderedDict() + inference_state["obj_idx_to_id"] = OrderedDict() + inference_state["obj_ids"] = [] + # A storage to hold the model's tracking results and states on each frame + inference_state["output_dict"] = { + "cond_frame_outputs": {}, # dict containing {frame_idx: } + "non_cond_frame_outputs": {}, # dict containing {frame_idx: } + } + # Slice (view) of each object tracking results, sharing the same memory with "output_dict" + inference_state["output_dict_per_obj"] = {} + # A temporary storage to hold new outputs when user interact with a frame + # to add clicks or mask (it's merged into "output_dict" before propagation starts) + inference_state["temp_output_dict_per_obj"] = {} + # Frames that already holds consolidated outputs from click or mask inputs + # (we directly use their consolidated outputs during tracking) + inference_state["consolidated_frame_inds"] = { + "cond_frame_outputs": set(), # set containing frame indices + "non_cond_frame_outputs": set(), # set containing frame indices + } + # metadata for each tracking frame (e.g. which direction it's tracked) + inference_state["tracking_has_started"] = False + inference_state["frames_already_tracked"] = {} + # Warm up the visual backbone and cache the image feature on frame 0 + self._get_image_feature(inference_state, frame_idx=0, batch_size=1) + return inference_state + + @classmethod + def from_pretrained(cls, model_id: str, **kwargs) -> "SAM2VideoPredictor": + """ + Load a pretrained model from the Hugging Face hub. + + Arguments: + model_id (str): The Hugging Face repository ID. + **kwargs: Additional arguments to pass to the model constructor. + + Returns: + (SAM2VideoPredictor): The loaded model. + """ + from sam2.build_sam import build_sam2_video_predictor_hf + + sam_model = build_sam2_video_predictor_hf(model_id, **kwargs) + return sam_model + + def _obj_id_to_idx(self, inference_state, obj_id): + """Map client-side object id to model-side object index.""" + obj_idx = inference_state["obj_id_to_idx"].get(obj_id, None) + if obj_idx is not None: + return obj_idx + + # This is a new object id not sent to the server before. We only allow adding + # new objects *before* the tracking starts. + allow_new_object = not inference_state["tracking_has_started"] + if allow_new_object: + # get the next object slot + obj_idx = len(inference_state["obj_id_to_idx"]) + inference_state["obj_id_to_idx"][obj_id] = obj_idx + inference_state["obj_idx_to_id"][obj_idx] = obj_id + inference_state["obj_ids"] = list(inference_state["obj_id_to_idx"]) + # set up input and output structures for this object + inference_state["point_inputs_per_obj"][obj_idx] = {} + inference_state["mask_inputs_per_obj"][obj_idx] = {} + inference_state["output_dict_per_obj"][obj_idx] = { + "cond_frame_outputs": {}, # dict containing {frame_idx: } + "non_cond_frame_outputs": {}, # dict containing {frame_idx: } + } + inference_state["temp_output_dict_per_obj"][obj_idx] = { + "cond_frame_outputs": {}, # dict containing {frame_idx: } + "non_cond_frame_outputs": {}, # dict containing {frame_idx: } + } + return obj_idx + else: + raise RuntimeError( + f"Cannot add new object id {obj_id} after tracking starts. " + f"All existing object ids: {inference_state['obj_ids']}. " + f"Please call 'reset_state' to restart from scratch." + ) + + def _obj_idx_to_id(self, inference_state, obj_idx): + """Map model-side object index to client-side object id.""" + return inference_state["obj_idx_to_id"][obj_idx] + + def _get_obj_num(self, inference_state): + """Get the total number of unique object ids received so far in this session.""" + return len(inference_state["obj_idx_to_id"]) + + @torch.inference_mode() + def add_new_points_or_box( + self, + inference_state, + frame_idx, + obj_id, + points=None, + labels=None, + clear_old_points=True, + normalize_coords=True, + box=None, + ): + """Add new points to a frame.""" + obj_idx = self._obj_id_to_idx(inference_state, obj_id) + point_inputs_per_frame = inference_state["point_inputs_per_obj"][obj_idx] + mask_inputs_per_frame = inference_state["mask_inputs_per_obj"][obj_idx] + + if (points is not None) != (labels is not None): + raise ValueError("points and labels must be provided together") + if points is None and box is None: + raise ValueError("at least one of points or box must be provided as input") + + if points is None: + points = torch.zeros(0, 2, dtype=torch.float32) + elif not isinstance(points, torch.Tensor): + points = torch.tensor(points, dtype=torch.float32) + if labels is None: + labels = torch.zeros(0, dtype=torch.int32) + elif not isinstance(labels, torch.Tensor): + labels = torch.tensor(labels, dtype=torch.int32) + if points.dim() == 2: + points = points.unsqueeze(0) # add batch dimension + if labels.dim() == 1: + labels = labels.unsqueeze(0) # add batch dimension + + # If `box` is provided, we add it as the first two points with labels 2 and 3 + # along with the user-provided points (consistent with how SAM 2 is trained). + if box is not None: + if not clear_old_points: + raise ValueError( + "cannot add box without clearing old points, since " + "box prompt must be provided before any point prompt " + "(please use clear_old_points=True instead)" + ) + if inference_state["tracking_has_started"]: + warnings.warn( + "You are adding a box after tracking starts. SAM 2 may not always be " + "able to incorporate a box prompt for *refinement*. If you intend to " + "use box prompt as an *initial* input before tracking, please call " + "'reset_state' on the inference state to restart from scratch.", + category=UserWarning, + stacklevel=2, + ) + if not isinstance(box, torch.Tensor): + box = torch.tensor(box, dtype=torch.float32, device=points.device) + box_coords = box.reshape(1, 2, 2) + box_labels = torch.tensor([2, 3], dtype=torch.int32, device=labels.device) + box_labels = box_labels.reshape(1, 2) + points = torch.cat([box_coords, points], dim=1) + labels = torch.cat([box_labels, labels], dim=1) + + if normalize_coords: + video_H = inference_state["video_height"] + video_W = inference_state["video_width"] + points = points / torch.tensor([video_W, video_H]).to(points.device) + # scale the (normalized) coordinates by the model's internal image size + points = points * self.image_size + points = points.to(inference_state["device"]) + labels = labels.to(inference_state["device"]) + + if not clear_old_points: + point_inputs = point_inputs_per_frame.get(frame_idx, None) + else: + point_inputs = None + point_inputs = concat_points(point_inputs, points, labels) + + point_inputs_per_frame[frame_idx] = point_inputs + mask_inputs_per_frame.pop(frame_idx, None) + # If this frame hasn't been tracked before, we treat it as an initial conditioning + # frame, meaning that the inputs points are to generate segments on this frame without + # using any memory from other frames, like in SAM. Otherwise (if it has been tracked), + # the input points will be used to correct the already tracked masks. + is_init_cond_frame = frame_idx not in inference_state["frames_already_tracked"] + # whether to track in reverse time order + if is_init_cond_frame: + reverse = False + else: + reverse = inference_state["frames_already_tracked"][frame_idx]["reverse"] + obj_output_dict = inference_state["output_dict_per_obj"][obj_idx] + obj_temp_output_dict = inference_state["temp_output_dict_per_obj"][obj_idx] + # Add a frame to conditioning output if it's an initial conditioning frame or + # if the model sees all frames receiving clicks/mask as conditioning frames. + is_cond = is_init_cond_frame or self.add_all_frames_to_correct_as_cond + storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs" + + # Get any previously predicted mask logits on this object and feed it along with + # the new clicks into the SAM mask decoder. + prev_sam_mask_logits = None + # lookup temporary output dict first, which contains the most recent output + # (if not found, then lookup conditioning and non-conditioning frame output) + prev_out = obj_temp_output_dict[storage_key].get(frame_idx) + if prev_out is None: + prev_out = obj_output_dict["cond_frame_outputs"].get(frame_idx) + if prev_out is None: + prev_out = obj_output_dict["non_cond_frame_outputs"].get(frame_idx) + + if prev_out is not None and prev_out["pred_masks"] is not None: + device = inference_state["device"] + prev_sam_mask_logits = prev_out["pred_masks"].to(device, non_blocking=True) + # Clamp the scale of prev_sam_mask_logits to avoid rare numerical issues. + prev_sam_mask_logits = torch.clamp(prev_sam_mask_logits, -32.0, 32.0) + current_out, _ = self._run_single_frame_inference( + inference_state=inference_state, + output_dict=obj_output_dict, # run on the slice of a single object + frame_idx=frame_idx, + batch_size=1, # run on the slice of a single object + is_init_cond_frame=is_init_cond_frame, + point_inputs=point_inputs, + mask_inputs=None, + reverse=reverse, + # Skip the memory encoder when adding clicks or mask. We execute the memory encoder + # at the beginning of `propagate_in_video` (after user finalize their clicks). This + # allows us to enforce non-overlapping constraints on all objects before encoding + # them into memory. + run_mem_encoder=False, + prev_sam_mask_logits=prev_sam_mask_logits, + ) + # Add the output to the output dict (to be used as future memory) + obj_temp_output_dict[storage_key][frame_idx] = current_out + + # Resize the output mask to the original video resolution + obj_ids = inference_state["obj_ids"] + consolidated_out = self._consolidate_temp_output_across_obj( + inference_state, + frame_idx, + is_cond=is_cond, + run_mem_encoder=False, + consolidate_at_video_res=True, + ) + _, video_res_masks = self._get_orig_video_res_output( + inference_state, consolidated_out["pred_masks_video_res"] + ) + return frame_idx, obj_ids, video_res_masks + + def add_new_points(self, *args, **kwargs): + """Deprecated method. Please use `add_new_points_or_box` instead.""" + return self.add_new_points_or_box(*args, **kwargs) + + @torch.inference_mode() + def add_new_mask( + self, + inference_state, + frame_idx, + obj_id, + mask, + ): + """Add new mask to a frame.""" + obj_idx = self._obj_id_to_idx(inference_state, obj_id) + point_inputs_per_frame = inference_state["point_inputs_per_obj"][obj_idx] + mask_inputs_per_frame = inference_state["mask_inputs_per_obj"][obj_idx] + + if not isinstance(mask, torch.Tensor): + mask = torch.tensor(mask, dtype=torch.bool) + assert mask.dim() == 2 + mask_H, mask_W = mask.shape + mask_inputs_orig = mask[None, None] # add batch and channel dimension + mask_inputs_orig = mask_inputs_orig.float().to(inference_state["device"]) + + # resize the mask if it doesn't match the model's image size + if mask_H != self.image_size or mask_W != self.image_size: + mask_inputs = torch.nn.functional.interpolate( + mask_inputs_orig, + size=(self.image_size, self.image_size), + align_corners=False, + mode="bilinear", + antialias=True, # use antialias for downsampling + ) + mask_inputs = (mask_inputs >= 0.5).float() + else: + mask_inputs = mask_inputs_orig + + mask_inputs_per_frame[frame_idx] = mask_inputs + point_inputs_per_frame.pop(frame_idx, None) + # If this frame hasn't been tracked before, we treat it as an initial conditioning + # frame, meaning that the inputs points are to generate segments on this frame without + # using any memory from other frames, like in SAM. Otherwise (if it has been tracked), + # the input points will be used to correct the already tracked masks. + is_init_cond_frame = frame_idx not in inference_state["frames_already_tracked"] + # whether to track in reverse time order + if is_init_cond_frame: + reverse = False + else: + reverse = inference_state["frames_already_tracked"][frame_idx]["reverse"] + obj_output_dict = inference_state["output_dict_per_obj"][obj_idx] + obj_temp_output_dict = inference_state["temp_output_dict_per_obj"][obj_idx] + # Add a frame to conditioning output if it's an initial conditioning frame or + # if the model sees all frames receiving clicks/mask as conditioning frames. + is_cond = is_init_cond_frame or self.add_all_frames_to_correct_as_cond + storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs" + + current_out, _ = self._run_single_frame_inference( + inference_state=inference_state, + output_dict=obj_output_dict, # run on the slice of a single object + frame_idx=frame_idx, + batch_size=1, # run on the slice of a single object + is_init_cond_frame=is_init_cond_frame, + point_inputs=None, + mask_inputs=mask_inputs, + reverse=reverse, + # Skip the memory encoder when adding clicks or mask. We execute the memory encoder + # at the beginning of `propagate_in_video` (after user finalize their clicks). This + # allows us to enforce non-overlapping constraints on all objects before encoding + # them into memory. + run_mem_encoder=False, + ) + # Add the output to the output dict (to be used as future memory) + obj_temp_output_dict[storage_key][frame_idx] = current_out + + # Resize the output mask to the original video resolution + obj_ids = inference_state["obj_ids"] + consolidated_out = self._consolidate_temp_output_across_obj( + inference_state, + frame_idx, + is_cond=is_cond, + run_mem_encoder=False, + consolidate_at_video_res=True, + ) + _, video_res_masks = self._get_orig_video_res_output( + inference_state, consolidated_out["pred_masks_video_res"] + ) + return frame_idx, obj_ids, video_res_masks + + def _get_orig_video_res_output(self, inference_state, any_res_masks): + """ + Resize the object scores to the original video resolution (video_res_masks) + and apply non-overlapping constraints for final output. + """ + device = inference_state["device"] + video_H = inference_state["video_height"] + video_W = inference_state["video_width"] + any_res_masks = any_res_masks.to(device, non_blocking=True) + if any_res_masks.shape[-2:] == (video_H, video_W): + video_res_masks = any_res_masks + else: + video_res_masks = torch.nn.functional.interpolate( + any_res_masks, + size=(video_H, video_W), + mode="bilinear", + align_corners=False, + ) + if self.non_overlap_masks: + video_res_masks = self._apply_non_overlapping_constraints(video_res_masks) + return any_res_masks, video_res_masks + + def _consolidate_temp_output_across_obj( + self, + inference_state, + frame_idx, + is_cond, + run_mem_encoder, + consolidate_at_video_res=False, + ): + """ + Consolidate the per-object temporary outputs in `temp_output_dict_per_obj` on + a frame into a single output for all objects, including + 1) fill any missing objects either from `output_dict_per_obj` (if they exist in + `output_dict_per_obj` for this frame) or leave them as placeholder values + (if they don't exist in `output_dict_per_obj` for this frame); + 2) if specified, rerun memory encoder after apply non-overlapping constraints + on the object scores. + """ + batch_size = self._get_obj_num(inference_state) + storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs" + # Optionally, we allow consolidating the temporary outputs at the original + # video resolution (to provide a better editing experience for mask prompts). + if consolidate_at_video_res: + assert not run_mem_encoder, "memory encoder cannot run at video resolution" + consolidated_H = inference_state["video_height"] + consolidated_W = inference_state["video_width"] + consolidated_mask_key = "pred_masks_video_res" + else: + consolidated_H = consolidated_W = self.image_size // 4 + consolidated_mask_key = "pred_masks" + + # Initialize `consolidated_out`. Its "maskmem_features" and "maskmem_pos_enc" + # will be added when rerunning the memory encoder after applying non-overlapping + # constraints to object scores. Its "pred_masks" are prefilled with a large + # negative value (NO_OBJ_SCORE) to represent missing objects. + consolidated_out = { + "maskmem_features": None, + "maskmem_pos_enc": None, + consolidated_mask_key: torch.full( + size=(batch_size, 1, consolidated_H, consolidated_W), + fill_value=NO_OBJ_SCORE, + dtype=torch.float32, + device=inference_state["storage_device"], + ), + "obj_ptr": torch.full( + size=(batch_size, self.hidden_dim), + fill_value=NO_OBJ_SCORE, + dtype=torch.float32, + device=inference_state["device"], + ), + } + empty_mask_ptr = None + for obj_idx in range(batch_size): + obj_temp_output_dict = inference_state["temp_output_dict_per_obj"][obj_idx] + obj_output_dict = inference_state["output_dict_per_obj"][obj_idx] + out = obj_temp_output_dict[storage_key].get(frame_idx, None) + # If the object doesn't appear in "temp_output_dict_per_obj" on this frame, + # we fall back and look up its previous output in "output_dict_per_obj". + # We look up both "cond_frame_outputs" and "non_cond_frame_outputs" in + # "output_dict_per_obj" to find a previous output for this object. + if out is None: + out = obj_output_dict["cond_frame_outputs"].get(frame_idx, None) + if out is None: + out = obj_output_dict["non_cond_frame_outputs"].get(frame_idx, None) + # If the object doesn't appear in "output_dict_per_obj" either, we skip it + # and leave its mask scores to the default scores (i.e. the NO_OBJ_SCORE + # placeholder above) and set its object pointer to be a dummy pointer. + if out is None: + # Fill in dummy object pointers for those objects without any inputs or + # tracking outcomes on this frame (only do it under `run_mem_encoder=True`, + # i.e. when we need to build the memory for tracking). + if run_mem_encoder: + if empty_mask_ptr is None: + empty_mask_ptr = self._get_empty_mask_ptr( + inference_state, frame_idx + ) + # fill object pointer with a dummy pointer (based on an empty mask) + consolidated_out["obj_ptr"][obj_idx : obj_idx + 1] = empty_mask_ptr + continue + # Add the temporary object output mask to consolidated output mask + obj_mask = out["pred_masks"] + consolidated_pred_masks = consolidated_out[consolidated_mask_key] + if obj_mask.shape[-2:] == consolidated_pred_masks.shape[-2:]: + consolidated_pred_masks[obj_idx : obj_idx + 1] = obj_mask + else: + # Resize first if temporary object mask has a different resolution + resized_obj_mask = torch.nn.functional.interpolate( + obj_mask, + size=consolidated_pred_masks.shape[-2:], + mode="bilinear", + align_corners=False, + ) + consolidated_pred_masks[obj_idx : obj_idx + 1] = resized_obj_mask + consolidated_out["obj_ptr"][obj_idx : obj_idx + 1] = out["obj_ptr"] + + # Optionally, apply non-overlapping constraints on the consolidated scores + # and rerun the memory encoder + if run_mem_encoder: + device = inference_state["device"] + high_res_masks = torch.nn.functional.interpolate( + consolidated_out["pred_masks"].to(device, non_blocking=True), + size=(self.image_size, self.image_size), + mode="bilinear", + align_corners=False, + ) + if self.non_overlap_masks_for_mem_enc: + high_res_masks = self._apply_non_overlapping_constraints(high_res_masks) + maskmem_features, maskmem_pos_enc = self._run_memory_encoder( + inference_state=inference_state, + frame_idx=frame_idx, + batch_size=batch_size, + high_res_masks=high_res_masks, + is_mask_from_pts=True, # these frames are what the user interacted with + ) + consolidated_out["maskmem_features"] = maskmem_features + consolidated_out["maskmem_pos_enc"] = maskmem_pos_enc + + return consolidated_out + + def _get_empty_mask_ptr(self, inference_state, frame_idx): + """Get a dummy object pointer based on an empty mask on the current frame.""" + # A dummy (empty) mask with a single object + batch_size = 1 + mask_inputs = torch.zeros( + (batch_size, 1, self.image_size, self.image_size), + dtype=torch.float32, + device=inference_state["device"], + ) + + # Retrieve correct image features + ( + _, + _, + current_vision_feats, + current_vision_pos_embeds, + feat_sizes, + ) = self._get_image_feature(inference_state, frame_idx, batch_size) + + # Feed the empty mask and image feature above to get a dummy object pointer + current_out = self.track_step( + frame_idx=frame_idx, + is_init_cond_frame=True, + current_vision_feats=current_vision_feats, + current_vision_pos_embeds=current_vision_pos_embeds, + feat_sizes=feat_sizes, + point_inputs=None, + mask_inputs=mask_inputs, + output_dict={}, + num_frames=inference_state["num_frames"], + track_in_reverse=False, + run_mem_encoder=False, + prev_sam_mask_logits=None, + ) + return current_out["obj_ptr"] + + @torch.inference_mode() + def propagate_in_video_preflight(self, inference_state): + """Prepare inference_state and consolidate temporary outputs before tracking.""" + # Tracking has started and we don't allow adding new objects until session is reset. + inference_state["tracking_has_started"] = True + batch_size = self._get_obj_num(inference_state) + + # Consolidate per-object temporary outputs in "temp_output_dict_per_obj" and + # add them into "output_dict". + temp_output_dict_per_obj = inference_state["temp_output_dict_per_obj"] + output_dict = inference_state["output_dict"] + # "consolidated_frame_inds" contains indices of those frames where consolidated + # temporary outputs have been added (either in this call or any previous calls + # to `propagate_in_video_preflight`). + consolidated_frame_inds = inference_state["consolidated_frame_inds"] + for is_cond in [False, True]: + # Separately consolidate conditioning and non-conditioning temp outputs + storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs" + # Find all the frames that contain temporary outputs for any objects + # (these should be the frames that have just received clicks for mask inputs + # via `add_new_points_or_box` or `add_new_mask`) + temp_frame_inds = set() + for obj_temp_output_dict in temp_output_dict_per_obj.values(): + temp_frame_inds.update(obj_temp_output_dict[storage_key].keys()) + consolidated_frame_inds[storage_key].update(temp_frame_inds) + # consolidate the temporary output across all objects on this frame + for frame_idx in temp_frame_inds: + consolidated_out = self._consolidate_temp_output_across_obj( + inference_state, frame_idx, is_cond=is_cond, run_mem_encoder=True + ) + # merge them into "output_dict" and also create per-object slices + output_dict[storage_key][frame_idx] = consolidated_out + self._add_output_per_object( + inference_state, frame_idx, consolidated_out, storage_key + ) + clear_non_cond_mem = self.clear_non_cond_mem_around_input and ( + self.clear_non_cond_mem_for_multi_obj or batch_size <= 1 + ) + if clear_non_cond_mem: + # clear non-conditioning memory of the surrounding frames + self._clear_non_cond_mem_around_input(inference_state, frame_idx) + + # clear temporary outputs in `temp_output_dict_per_obj` + for obj_temp_output_dict in temp_output_dict_per_obj.values(): + obj_temp_output_dict[storage_key].clear() + + # edge case: if an output is added to "cond_frame_outputs", we remove any prior + # output on the same frame in "non_cond_frame_outputs" + for frame_idx in output_dict["cond_frame_outputs"]: + output_dict["non_cond_frame_outputs"].pop(frame_idx, None) + for obj_output_dict in inference_state["output_dict_per_obj"].values(): + for frame_idx in obj_output_dict["cond_frame_outputs"]: + obj_output_dict["non_cond_frame_outputs"].pop(frame_idx, None) + for frame_idx in consolidated_frame_inds["cond_frame_outputs"]: + assert frame_idx in output_dict["cond_frame_outputs"] + consolidated_frame_inds["non_cond_frame_outputs"].discard(frame_idx) + + # Make sure that the frame indices in "consolidated_frame_inds" are exactly those frames + # with either points or mask inputs (which should be true under a correct workflow). + all_consolidated_frame_inds = ( + consolidated_frame_inds["cond_frame_outputs"] + | consolidated_frame_inds["non_cond_frame_outputs"] + ) + input_frames_inds = set() + for point_inputs_per_frame in inference_state["point_inputs_per_obj"].values(): + input_frames_inds.update(point_inputs_per_frame.keys()) + for mask_inputs_per_frame in inference_state["mask_inputs_per_obj"].values(): + input_frames_inds.update(mask_inputs_per_frame.keys()) + assert all_consolidated_frame_inds == input_frames_inds + + @torch.inference_mode() + def propagate_in_video( + self, + inference_state, + start_frame_idx=None, + max_frame_num_to_track=None, + reverse=False, + ): + """Propagate the input points across frames to track in the entire video.""" + self.propagate_in_video_preflight(inference_state) + + output_dict = inference_state["output_dict"] + consolidated_frame_inds = inference_state["consolidated_frame_inds"] + obj_ids = inference_state["obj_ids"] + num_frames = inference_state["num_frames"] + batch_size = self._get_obj_num(inference_state) + if len(output_dict["cond_frame_outputs"]) == 0: + raise RuntimeError("No points are provided; please add points first") + clear_non_cond_mem = self.clear_non_cond_mem_around_input and ( + self.clear_non_cond_mem_for_multi_obj or batch_size <= 1 + ) + + # set start index, end index, and processing order + if start_frame_idx is None: + # default: start from the earliest frame with input points + start_frame_idx = min(output_dict["cond_frame_outputs"]) + if max_frame_num_to_track is None: + # default: track all the frames in the video + max_frame_num_to_track = num_frames + if reverse: + end_frame_idx = max(start_frame_idx - max_frame_num_to_track, 0) + if start_frame_idx > 0: + processing_order = range(start_frame_idx, end_frame_idx - 1, -1) + else: + processing_order = [] # skip reverse tracking if starting from frame 0 + else: + end_frame_idx = min( + start_frame_idx + max_frame_num_to_track, num_frames - 1 + ) + processing_order = range(start_frame_idx, end_frame_idx + 1) + + for frame_idx in tqdm(processing_order, desc="propagate in video"): + # We skip those frames already in consolidated outputs (these are frames + # that received input clicks or mask). Note that we cannot directly run + # batched forward on them via `_run_single_frame_inference` because the + # number of clicks on each object might be different. + if frame_idx in consolidated_frame_inds["cond_frame_outputs"]: + storage_key = "cond_frame_outputs" + current_out = output_dict[storage_key][frame_idx] + pred_masks = current_out["pred_masks"] + if clear_non_cond_mem: + # clear non-conditioning memory of the surrounding frames + self._clear_non_cond_mem_around_input(inference_state, frame_idx) + elif frame_idx in consolidated_frame_inds["non_cond_frame_outputs"]: + storage_key = "non_cond_frame_outputs" + current_out = output_dict[storage_key][frame_idx] + pred_masks = current_out["pred_masks"] + else: + storage_key = "non_cond_frame_outputs" + current_out, pred_masks = self._run_single_frame_inference( + inference_state=inference_state, + output_dict=output_dict, + frame_idx=frame_idx, + batch_size=batch_size, + is_init_cond_frame=False, + point_inputs=None, + mask_inputs=None, + reverse=reverse, + run_mem_encoder=True, + ) + output_dict[storage_key][frame_idx] = current_out + # Create slices of per-object outputs for subsequent interaction with each + # individual object after tracking. + self._add_output_per_object( + inference_state, frame_idx, current_out, storage_key + ) + inference_state["frames_already_tracked"][frame_idx] = {"reverse": reverse} + + # Resize the output mask to the original video resolution (we directly use + # the mask scores on GPU for output to avoid any CPU conversion in between) + _, video_res_masks = self._get_orig_video_res_output( + inference_state, pred_masks + ) + yield frame_idx, obj_ids, video_res_masks + + def _add_output_per_object( + self, inference_state, frame_idx, current_out, storage_key + ): + """ + Split a multi-object output into per-object output slices and add them into + `output_dict_per_obj`. The resulting slices share the same tensor storage. + """ + maskmem_features = current_out["maskmem_features"] + assert maskmem_features is None or isinstance(maskmem_features, torch.Tensor) + + maskmem_pos_enc = current_out["maskmem_pos_enc"] + assert maskmem_pos_enc is None or isinstance(maskmem_pos_enc, list) + + output_dict_per_obj = inference_state["output_dict_per_obj"] + for obj_idx, obj_output_dict in output_dict_per_obj.items(): + obj_slice = slice(obj_idx, obj_idx + 1) + obj_out = { + "maskmem_features": None, + "maskmem_pos_enc": None, + "pred_masks": current_out["pred_masks"][obj_slice], + "obj_ptr": current_out["obj_ptr"][obj_slice], + } + if maskmem_features is not None: + obj_out["maskmem_features"] = maskmem_features[obj_slice] + if maskmem_pos_enc is not None: + obj_out["maskmem_pos_enc"] = [x[obj_slice] for x in maskmem_pos_enc] + obj_output_dict[storage_key][frame_idx] = obj_out + + @torch.inference_mode() + def reset_state(self, inference_state): + """Remove all input points or mask in all frames throughout the video.""" + self._reset_tracking_results(inference_state) + # Remove all object ids + inference_state["obj_id_to_idx"].clear() + inference_state["obj_idx_to_id"].clear() + inference_state["obj_ids"].clear() + inference_state["point_inputs_per_obj"].clear() + inference_state["mask_inputs_per_obj"].clear() + inference_state["output_dict_per_obj"].clear() + inference_state["temp_output_dict_per_obj"].clear() + + def _reset_tracking_results(self, inference_state): + """Reset all tracking inputs and results across the videos.""" + for v in inference_state["point_inputs_per_obj"].values(): + v.clear() + for v in inference_state["mask_inputs_per_obj"].values(): + v.clear() + for v in inference_state["output_dict_per_obj"].values(): + v["cond_frame_outputs"].clear() + v["non_cond_frame_outputs"].clear() + for v in inference_state["temp_output_dict_per_obj"].values(): + v["cond_frame_outputs"].clear() + v["non_cond_frame_outputs"].clear() + inference_state["output_dict"]["cond_frame_outputs"].clear() + inference_state["output_dict"]["non_cond_frame_outputs"].clear() + inference_state["consolidated_frame_inds"]["cond_frame_outputs"].clear() + inference_state["consolidated_frame_inds"]["non_cond_frame_outputs"].clear() + inference_state["tracking_has_started"] = False + inference_state["frames_already_tracked"].clear() + + def _get_image_feature(self, inference_state, frame_idx, batch_size): + """Compute the image features on a given frame.""" + # Look up in the cache first + image, backbone_out = inference_state["cached_features"].get( + frame_idx, (None, None) + ) + if backbone_out is None: + # Cache miss -- we will run inference on a single image + device = inference_state["device"] + image = inference_state["images"][frame_idx].to(device).float().unsqueeze(0) + backbone_out = self.forward_image(image) + # Cache the most recent frame's feature (for repeated interactions with + # a frame; we can use an LRU cache for more frames in the future). + inference_state["cached_features"] = {frame_idx: (image, backbone_out)} + + # expand the features to have the same dimension as the number of objects + expanded_image = image.expand(batch_size, -1, -1, -1) + expanded_backbone_out = { + "backbone_fpn": backbone_out["backbone_fpn"].copy(), + "vision_pos_enc": backbone_out["vision_pos_enc"].copy(), + } + for i, feat in enumerate(expanded_backbone_out["backbone_fpn"]): + expanded_backbone_out["backbone_fpn"][i] = feat.expand( + batch_size, -1, -1, -1 + ) + for i, pos in enumerate(expanded_backbone_out["vision_pos_enc"]): + pos = pos.expand(batch_size, -1, -1, -1) + expanded_backbone_out["vision_pos_enc"][i] = pos + + features = self._prepare_backbone_features(expanded_backbone_out) + features = (expanded_image,) + features + return features + + def _run_single_frame_inference( + self, + inference_state, + output_dict, + frame_idx, + batch_size, + is_init_cond_frame, + point_inputs, + mask_inputs, + reverse, + run_mem_encoder, + prev_sam_mask_logits=None, + ): + """Run tracking on a single frame based on current inputs and previous memory.""" + # Retrieve correct image features + ( + _, + _, + current_vision_feats, + current_vision_pos_embeds, + feat_sizes, + ) = self._get_image_feature(inference_state, frame_idx, batch_size) + + # point and mask should not appear as input simultaneously on the same frame + assert point_inputs is None or mask_inputs is None + current_out = self.track_step( + frame_idx=frame_idx, + is_init_cond_frame=is_init_cond_frame, + current_vision_feats=current_vision_feats, + current_vision_pos_embeds=current_vision_pos_embeds, + feat_sizes=feat_sizes, + point_inputs=point_inputs, + mask_inputs=mask_inputs, + output_dict=output_dict, + num_frames=inference_state["num_frames"], + track_in_reverse=reverse, + run_mem_encoder=run_mem_encoder, + prev_sam_mask_logits=prev_sam_mask_logits, + ) + + # optionally offload the output to CPU memory to save GPU space + storage_device = inference_state["storage_device"] + maskmem_features = current_out["maskmem_features"] + if maskmem_features is not None: + maskmem_features = maskmem_features.to(torch.bfloat16) + maskmem_features = maskmem_features.to(storage_device, non_blocking=True) + pred_masks_gpu = current_out["pred_masks"] + # potentially fill holes in the predicted masks + if self.fill_hole_area > 0: + pred_masks_gpu = fill_holes_in_mask_scores( + pred_masks_gpu, self.fill_hole_area + ) + pred_masks = pred_masks_gpu.to(storage_device, non_blocking=True) + # "maskmem_pos_enc" is the same across frames, so we only need to store one copy of it + maskmem_pos_enc = self._get_maskmem_pos_enc(inference_state, current_out) + # object pointer is a small tensor, so we always keep it on GPU memory for fast access + obj_ptr = current_out["obj_ptr"] + # make a compact version of this frame's output to reduce the state size + compact_current_out = { + "maskmem_features": maskmem_features, + "maskmem_pos_enc": maskmem_pos_enc, + "pred_masks": pred_masks, + "obj_ptr": obj_ptr, + } + return compact_current_out, pred_masks_gpu + + def _run_memory_encoder( + self, inference_state, frame_idx, batch_size, high_res_masks, is_mask_from_pts + ): + """ + Run the memory encoder on `high_res_masks`. This is usually after applying + non-overlapping constraints to object scores. Since their scores changed, their + memory also need to be computed again with the memory encoder. + """ + # Retrieve correct image features + _, _, current_vision_feats, _, feat_sizes = self._get_image_feature( + inference_state, frame_idx, batch_size + ) + maskmem_features, maskmem_pos_enc = self._encode_new_memory( + current_vision_feats=current_vision_feats, + feat_sizes=feat_sizes, + pred_masks_high_res=high_res_masks, + is_mask_from_pts=is_mask_from_pts, + ) + + # optionally offload the output to CPU memory to save GPU space + storage_device = inference_state["storage_device"] + maskmem_features = maskmem_features.to(torch.bfloat16) + maskmem_features = maskmem_features.to(storage_device, non_blocking=True) + # "maskmem_pos_enc" is the same across frames, so we only need to store one copy of it + maskmem_pos_enc = self._get_maskmem_pos_enc( + inference_state, {"maskmem_pos_enc": maskmem_pos_enc} + ) + return maskmem_features, maskmem_pos_enc + + def _get_maskmem_pos_enc(self, inference_state, current_out): + """ + `maskmem_pos_enc` is the same across frames and objects, so we cache it as + a constant in the inference session to reduce session storage size. + """ + model_constants = inference_state["constants"] + # "out_maskmem_pos_enc" should be either a list of tensors or None + out_maskmem_pos_enc = current_out["maskmem_pos_enc"] + if out_maskmem_pos_enc is not None: + if "maskmem_pos_enc" not in model_constants: + assert isinstance(out_maskmem_pos_enc, list) + # only take the slice for one object, since it's same across objects + maskmem_pos_enc = [x[0:1].clone() for x in out_maskmem_pos_enc] + model_constants["maskmem_pos_enc"] = maskmem_pos_enc + else: + maskmem_pos_enc = model_constants["maskmem_pos_enc"] + # expand the cached maskmem_pos_enc to the actual batch size + batch_size = out_maskmem_pos_enc[0].size(0) + expanded_maskmem_pos_enc = [ + x.expand(batch_size, -1, -1, -1) for x in maskmem_pos_enc + ] + else: + expanded_maskmem_pos_enc = None + return expanded_maskmem_pos_enc + + def _clear_non_cond_mem_around_input(self, inference_state, frame_idx): + """ + Remove the non-conditioning memory around the input frame. When users provide + correction clicks, the surrounding frames' non-conditioning memories can still + contain outdated object appearance information and could confuse the model. + + This method clears those non-conditioning memories surrounding the interacted + frame to avoid giving the model both old and new information about the object. + """ + r = self.memory_temporal_stride_for_eval + frame_idx_begin = frame_idx - r * self.num_maskmem + frame_idx_end = frame_idx + r * self.num_maskmem + output_dict = inference_state["output_dict"] + non_cond_frame_outputs = output_dict["non_cond_frame_outputs"] + for t in range(frame_idx_begin, frame_idx_end + 1): + non_cond_frame_outputs.pop(t, None) + for obj_output_dict in inference_state["output_dict_per_obj"].values(): + obj_output_dict["non_cond_frame_outputs"].pop(t, None) diff --git a/trajectory_construction/Grounded_SAM2/sam2/utils/._misc.py b/trajectory_construction/Grounded_SAM2/sam2/utils/._misc.py new file mode 100644 index 0000000000000000000000000000000000000000..a70be533f43cf5c9b7363851f35c5d60facf2d76 Binary files /dev/null and b/trajectory_construction/Grounded_SAM2/sam2/utils/._misc.py differ diff --git a/trajectory_construction/Grounded_SAM2/sam2/utils/__init__.py b/trajectory_construction/Grounded_SAM2/sam2/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5277f46157403e47fd830fc519144b97ef69d4ae --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/utils/__init__.py @@ -0,0 +1,5 @@ +# 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. diff --git a/trajectory_construction/Grounded_SAM2/sam2/utils/amg.py b/trajectory_construction/Grounded_SAM2/sam2/utils/amg.py new file mode 100644 index 0000000000000000000000000000000000000000..986842960cf5deca00614b7b1cde1ab77dad7e6e --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/utils/amg.py @@ -0,0 +1,348 @@ +# 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 +from copy import deepcopy +from itertools import product +from typing import Any, Dict, Generator, ItemsView, List, Tuple + +import numpy as np +import torch + +# Very lightly adapted from https://github.com/facebookresearch/segment-anything/blob/main/segment_anything/utils/amg.py + + +class MaskData: + """ + A structure for storing masks and their related data in batched format. + Implements basic filtering and concatenation. + """ + + def __init__(self, **kwargs) -> None: + for v in kwargs.values(): + assert isinstance( + v, (list, np.ndarray, torch.Tensor) + ), "MaskData only supports list, numpy arrays, and torch tensors." + self._stats = dict(**kwargs) + + def __setitem__(self, key: str, item: Any) -> None: + assert isinstance( + item, (list, np.ndarray, torch.Tensor) + ), "MaskData only supports list, numpy arrays, and torch tensors." + self._stats[key] = item + + def __delitem__(self, key: str) -> None: + del self._stats[key] + + def __getitem__(self, key: str) -> Any: + return self._stats[key] + + def items(self) -> ItemsView[str, Any]: + return self._stats.items() + + def filter(self, keep: torch.Tensor) -> None: + for k, v in self._stats.items(): + if v is None: + self._stats[k] = None + elif isinstance(v, torch.Tensor): + self._stats[k] = v[torch.as_tensor(keep, device=v.device)] + elif isinstance(v, np.ndarray): + self._stats[k] = v[keep.detach().cpu().numpy()] + elif isinstance(v, list) and keep.dtype == torch.bool: + self._stats[k] = [a for i, a in enumerate(v) if keep[i]] + elif isinstance(v, list): + self._stats[k] = [v[i] for i in keep] + else: + raise TypeError(f"MaskData key {k} has an unsupported type {type(v)}.") + + def cat(self, new_stats: "MaskData") -> None: + for k, v in new_stats.items(): + if k not in self._stats or self._stats[k] is None: + self._stats[k] = deepcopy(v) + elif isinstance(v, torch.Tensor): + self._stats[k] = torch.cat([self._stats[k], v], dim=0) + elif isinstance(v, np.ndarray): + self._stats[k] = np.concatenate([self._stats[k], v], axis=0) + elif isinstance(v, list): + self._stats[k] = self._stats[k] + deepcopy(v) + else: + raise TypeError(f"MaskData key {k} has an unsupported type {type(v)}.") + + def to_numpy(self) -> None: + for k, v in self._stats.items(): + if isinstance(v, torch.Tensor): + self._stats[k] = v.float().detach().cpu().numpy() + + +def is_box_near_crop_edge( + boxes: torch.Tensor, crop_box: List[int], orig_box: List[int], atol: float = 20.0 +) -> torch.Tensor: + """Filter masks at the edge of a crop, but not at the edge of the original image.""" + crop_box_torch = torch.as_tensor(crop_box, dtype=torch.float, device=boxes.device) + orig_box_torch = torch.as_tensor(orig_box, dtype=torch.float, device=boxes.device) + boxes = uncrop_boxes_xyxy(boxes, crop_box).float() + near_crop_edge = torch.isclose(boxes, crop_box_torch[None, :], atol=atol, rtol=0) + near_image_edge = torch.isclose(boxes, orig_box_torch[None, :], atol=atol, rtol=0) + near_crop_edge = torch.logical_and(near_crop_edge, ~near_image_edge) + return torch.any(near_crop_edge, dim=1) + + +def box_xyxy_to_xywh(box_xyxy: torch.Tensor) -> torch.Tensor: + box_xywh = deepcopy(box_xyxy) + box_xywh[2] = box_xywh[2] - box_xywh[0] + box_xywh[3] = box_xywh[3] - box_xywh[1] + return box_xywh + + +def batch_iterator(batch_size: int, *args) -> Generator[List[Any], None, None]: + assert len(args) > 0 and all( + len(a) == len(args[0]) for a in args + ), "Batched iteration must have inputs of all the same size." + n_batches = len(args[0]) // batch_size + int(len(args[0]) % batch_size != 0) + for b in range(n_batches): + yield [arg[b * batch_size : (b + 1) * batch_size] for arg in args] + + +def mask_to_rle_pytorch(tensor: torch.Tensor) -> List[Dict[str, Any]]: + """ + Encodes masks to an uncompressed RLE, in the format expected by + pycoco tools. + """ + # Put in fortran order and flatten h,w + b, h, w = tensor.shape + tensor = tensor.permute(0, 2, 1).flatten(1) + + # Compute change indices + diff = tensor[:, 1:] ^ tensor[:, :-1] + change_indices = diff.nonzero() + + # Encode run length + out = [] + for i in range(b): + cur_idxs = change_indices[change_indices[:, 0] == i, 1] + cur_idxs = torch.cat( + [ + torch.tensor([0], dtype=cur_idxs.dtype, device=cur_idxs.device), + cur_idxs + 1, + torch.tensor([h * w], dtype=cur_idxs.dtype, device=cur_idxs.device), + ] + ) + btw_idxs = cur_idxs[1:] - cur_idxs[:-1] + counts = [] if tensor[i, 0] == 0 else [0] + counts.extend(btw_idxs.detach().cpu().tolist()) + out.append({"size": [h, w], "counts": counts}) + return out + + +def rle_to_mask(rle: Dict[str, Any]) -> np.ndarray: + """Compute a binary mask from an uncompressed RLE.""" + h, w = rle["size"] + mask = np.empty(h * w, dtype=bool) + idx = 0 + parity = False + for count in rle["counts"]: + mask[idx : idx + count] = parity + idx += count + parity ^= True + mask = mask.reshape(w, h) + return mask.transpose() # Put in C order + + +def area_from_rle(rle: Dict[str, Any]) -> int: + return sum(rle["counts"][1::2]) + + +def calculate_stability_score( + masks: torch.Tensor, mask_threshold: float, threshold_offset: float +) -> torch.Tensor: + """ + Computes the stability score for a batch of masks. The stability + score is the IoU between the binary masks obtained by thresholding + the predicted mask logits at high and low values. + """ + # One mask is always contained inside the other. + # Save memory by preventing unnecessary cast to torch.int64 + intersections = ( + (masks > (mask_threshold + threshold_offset)) + .sum(-1, dtype=torch.int16) + .sum(-1, dtype=torch.int32) + ) + unions = ( + (masks > (mask_threshold - threshold_offset)) + .sum(-1, dtype=torch.int16) + .sum(-1, dtype=torch.int32) + ) + return intersections / unions + + +def build_point_grid(n_per_side: int) -> np.ndarray: + """Generates a 2D grid of points evenly spaced in [0,1]x[0,1].""" + offset = 1 / (2 * n_per_side) + points_one_side = np.linspace(offset, 1 - offset, n_per_side) + points_x = np.tile(points_one_side[None, :], (n_per_side, 1)) + points_y = np.tile(points_one_side[:, None], (1, n_per_side)) + points = np.stack([points_x, points_y], axis=-1).reshape(-1, 2) + return points + + +def build_all_layer_point_grids( + n_per_side: int, n_layers: int, scale_per_layer: int +) -> List[np.ndarray]: + """Generates point grids for all crop layers.""" + points_by_layer = [] + for i in range(n_layers + 1): + n_points = int(n_per_side / (scale_per_layer**i)) + points_by_layer.append(build_point_grid(n_points)) + return points_by_layer + + +def generate_crop_boxes( + im_size: Tuple[int, ...], n_layers: int, overlap_ratio: float +) -> Tuple[List[List[int]], List[int]]: + """ + Generates a list of crop boxes of different sizes. Each layer + has (2**i)**2 boxes for the ith layer. + """ + crop_boxes, layer_idxs = [], [] + im_h, im_w = im_size + short_side = min(im_h, im_w) + + # Original image + crop_boxes.append([0, 0, im_w, im_h]) + layer_idxs.append(0) + + def crop_len(orig_len, n_crops, overlap): + return int(math.ceil((overlap * (n_crops - 1) + orig_len) / n_crops)) + + for i_layer in range(n_layers): + n_crops_per_side = 2 ** (i_layer + 1) + overlap = int(overlap_ratio * short_side * (2 / n_crops_per_side)) + + crop_w = crop_len(im_w, n_crops_per_side, overlap) + crop_h = crop_len(im_h, n_crops_per_side, overlap) + + crop_box_x0 = [int((crop_w - overlap) * i) for i in range(n_crops_per_side)] + crop_box_y0 = [int((crop_h - overlap) * i) for i in range(n_crops_per_side)] + + # Crops in XYWH format + for x0, y0 in product(crop_box_x0, crop_box_y0): + box = [x0, y0, min(x0 + crop_w, im_w), min(y0 + crop_h, im_h)] + crop_boxes.append(box) + layer_idxs.append(i_layer + 1) + + return crop_boxes, layer_idxs + + +def uncrop_boxes_xyxy(boxes: torch.Tensor, crop_box: List[int]) -> torch.Tensor: + x0, y0, _, _ = crop_box + offset = torch.tensor([[x0, y0, x0, y0]], device=boxes.device) + # Check if boxes has a channel dimension + if len(boxes.shape) == 3: + offset = offset.unsqueeze(1) + return boxes + offset + + +def uncrop_points(points: torch.Tensor, crop_box: List[int]) -> torch.Tensor: + x0, y0, _, _ = crop_box + offset = torch.tensor([[x0, y0]], device=points.device) + # Check if points has a channel dimension + if len(points.shape) == 3: + offset = offset.unsqueeze(1) + return points + offset + + +def uncrop_masks( + masks: torch.Tensor, crop_box: List[int], orig_h: int, orig_w: int +) -> torch.Tensor: + x0, y0, x1, y1 = crop_box + if x0 == 0 and y0 == 0 and x1 == orig_w and y1 == orig_h: + return masks + # Coordinate transform masks + pad_x, pad_y = orig_w - (x1 - x0), orig_h - (y1 - y0) + pad = (x0, pad_x - x0, y0, pad_y - y0) + return torch.nn.functional.pad(masks, pad, value=0) + + +def remove_small_regions( + mask: np.ndarray, area_thresh: float, mode: str +) -> Tuple[np.ndarray, bool]: + """ + Removes small disconnected regions and holes in a mask. Returns the + mask and an indicator of if the mask has been modified. + """ + import cv2 # type: ignore + + assert mode in ["holes", "islands"] + correct_holes = mode == "holes" + working_mask = (correct_holes ^ mask).astype(np.uint8) + n_labels, regions, stats, _ = cv2.connectedComponentsWithStats(working_mask, 8) + sizes = stats[:, -1][1:] # Row 0 is background label + small_regions = [i + 1 for i, s in enumerate(sizes) if s < area_thresh] + if len(small_regions) == 0: + return mask, False + fill_labels = [0] + small_regions + if not correct_holes: + fill_labels = [i for i in range(n_labels) if i not in fill_labels] + # If every region is below threshold, keep largest + if len(fill_labels) == 0: + fill_labels = [int(np.argmax(sizes)) + 1] + mask = np.isin(regions, fill_labels) + return mask, True + + +def coco_encode_rle(uncompressed_rle: Dict[str, Any]) -> Dict[str, Any]: + from pycocotools import mask as mask_utils # type: ignore + + h, w = uncompressed_rle["size"] + rle = mask_utils.frPyObjects(uncompressed_rle, h, w) + rle["counts"] = rle["counts"].decode("utf-8") # Necessary to serialize with json + return rle + + +def batched_mask_to_box(masks: torch.Tensor) -> torch.Tensor: + """ + Calculates boxes in XYXY format around masks. Return [0,0,0,0] for + an empty mask. For input shape C1xC2x...xHxW, the output shape is C1xC2x...x4. + """ + # torch.max below raises an error on empty inputs, just skip in this case + if torch.numel(masks) == 0: + return torch.zeros(*masks.shape[:-2], 4, device=masks.device) + + # Normalize shape to CxHxW + shape = masks.shape + h, w = shape[-2:] + if len(shape) > 2: + masks = masks.flatten(0, -3) + else: + masks = masks.unsqueeze(0) + + # Get top and bottom edges + in_height, _ = torch.max(masks, dim=-1) + in_height_coords = in_height * torch.arange(h, device=in_height.device)[None, :] + bottom_edges, _ = torch.max(in_height_coords, dim=-1) + in_height_coords = in_height_coords + h * (~in_height) + top_edges, _ = torch.min(in_height_coords, dim=-1) + + # Get left and right edges + in_width, _ = torch.max(masks, dim=-2) + in_width_coords = in_width * torch.arange(w, device=in_width.device)[None, :] + right_edges, _ = torch.max(in_width_coords, dim=-1) + in_width_coords = in_width_coords + w * (~in_width) + left_edges, _ = torch.min(in_width_coords, dim=-1) + + # If the mask is empty the right edge will be to the left of the left edge. + # Replace these boxes with [0, 0, 0, 0] + empty_filter = (right_edges < left_edges) | (bottom_edges < top_edges) + out = torch.stack([left_edges, top_edges, right_edges, bottom_edges], dim=-1) + out = out * (~empty_filter).unsqueeze(-1) + + # Return to original shape + if len(shape) > 2: + out = out.reshape(*shape[:-2], 4) + else: + out = out[0] + + return out diff --git a/trajectory_construction/Grounded_SAM2/sam2/utils/misc.py b/trajectory_construction/Grounded_SAM2/sam2/utils/misc.py new file mode 100644 index 0000000000000000000000000000000000000000..9d11cf90248ae0e071f9c2c23fa0ef8341cab197 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/utils/misc.py @@ -0,0 +1,290 @@ +# 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 os +import cv2 +import warnings +from threading import Thread + +import numpy as np +import torch +from PIL import Image +from tqdm import tqdm + + +def get_sdpa_settings(): + if torch.cuda.is_available(): + old_gpu = torch.cuda.get_device_properties(0).major < 7 + # only use Flash Attention on Ampere (8.0) or newer GPUs + use_flash_attn = torch.cuda.get_device_properties(0).major >= 8 + if not use_flash_attn: + warnings.warn( + "Flash Attention is disabled as it requires a GPU with Ampere (8.0) CUDA capability.", + category=UserWarning, + stacklevel=2, + ) + # keep math kernel for PyTorch versions before 2.2 (Flash Attention v2 is only + # available on PyTorch 2.2+, while Flash Attention v1 cannot handle all cases) + pytorch_version = tuple(int(v) for v in torch.__version__.split(".")[:2]) + if pytorch_version < (2, 2): + warnings.warn( + f"You are using PyTorch {torch.__version__} without Flash Attention v2 support. " + "Consider upgrading to PyTorch 2.2+ for Flash Attention v2 (which could be faster).", + category=UserWarning, + stacklevel=2, + ) + math_kernel_on = pytorch_version < (2, 2) or not use_flash_attn + else: + old_gpu = True + use_flash_attn = False + math_kernel_on = True + + return old_gpu, use_flash_attn, math_kernel_on + + +def get_connected_components(mask): + """ + Get the connected components (8-connectivity) of binary masks of shape (N, 1, H, W). + + Inputs: + - mask: A binary mask tensor of shape (N, 1, H, W), where 1 is foreground and 0 is + background. + + Outputs: + - labels: A tensor of shape (N, 1, H, W) containing the connected component labels + for foreground pixels and 0 for background pixels. + - counts: A tensor of shape (N, 1, H, W) containing the area of the connected + components for foreground pixels and 0 for background pixels. + """ + from sam2 import _C + + return _C.get_connected_componnets(mask.to(torch.uint8).contiguous()) + + +def mask_to_box(masks: torch.Tensor): + """ + compute bounding box given an input mask + + Inputs: + - masks: [B, 1, H, W] masks, dtype=torch.Tensor + + Returns: + - box_coords: [B, 1, 4], contains (x, y) coordinates of top left and bottom right box corners, dtype=torch.Tensor + """ + B, _, h, w = masks.shape + device = masks.device + xs = torch.arange(w, device=device, dtype=torch.int32) + ys = torch.arange(h, device=device, dtype=torch.int32) + grid_xs, grid_ys = torch.meshgrid(xs, ys, indexing="xy") + grid_xs = grid_xs[None, None, ...].expand(B, 1, h, w) + grid_ys = grid_ys[None, None, ...].expand(B, 1, h, w) + min_xs, _ = torch.min(torch.where(masks, grid_xs, w).flatten(-2), dim=-1) + max_xs, _ = torch.max(torch.where(masks, grid_xs, -1).flatten(-2), dim=-1) + min_ys, _ = torch.min(torch.where(masks, grid_ys, h).flatten(-2), dim=-1) + max_ys, _ = torch.max(torch.where(masks, grid_ys, -1).flatten(-2), dim=-1) + bbox_coords = torch.stack((min_xs, min_ys, max_xs, max_ys), dim=-1) + + return bbox_coords + + +def _load_img_as_tensor(img_path, image_size): + img_pil = Image.open(img_path) + img_np = np.array(img_pil.convert("RGB").resize((image_size, image_size))) + if img_np.dtype == np.uint8: # np.uint8 is expected for JPEG images + img_np = img_np / 255.0 + else: + raise RuntimeError(f"Unknown image dtype: {img_np.dtype} on {img_path}") + img = torch.from_numpy(img_np).permute(2, 0, 1) + video_width, video_height = img_pil.size # the original video size + return img, video_height, video_width + + +def _load_pil_img_as_tensor(img_pil, image_size): + img_np = np.array(img_pil.convert("RGB").resize((image_size, image_size))) + if img_np.dtype == np.uint8: + img_np = img_np / 255.0 + else: + raise RuntimeError(f"Unknown image dtype: {img_np.dtype}") + img = torch.from_numpy(img_np).permute(2, 0, 1) + video_width, video_height = img_pil.size + return img, video_height, video_width + +class AsyncVideoFrameLoader: + """ + A list of video frames to be load asynchronously without blocking session start. + """ + + def __init__( + self, + img_paths, + image_size, + offload_video_to_cpu, + img_mean, + img_std, + compute_device, + ): + self.img_paths = img_paths + self.image_size = image_size + self.offload_video_to_cpu = offload_video_to_cpu + self.img_mean = img_mean + self.img_std = img_std + # items in `self.images` will be loaded asynchronously + self.images = [None] * len(img_paths) + # catch and raise any exceptions in the async loading thread + self.exception = None + # video_height and video_width be filled when loading the first image + self.video_height = None + self.video_width = None + self.compute_device = compute_device + + # load the first frame to fill video_height and video_width and also + # to cache it (since it's most likely where the user will click) + self.__getitem__(0) + + # load the rest of frames asynchronously without blocking the session start + def _load_frames(): + try: + for n in tqdm(range(len(self.images)), desc="frame loading (JPEG)"): + self.__getitem__(n) + except Exception as e: + self.exception = e + + self.thread = Thread(target=_load_frames, daemon=True) + self.thread.start() + + def __getitem__(self, index): + if self.exception is not None: + raise RuntimeError("Failure in frame loading thread") from self.exception + + img = self.images[index] + if img is not None: + return img + + img, video_height, video_width = _load_img_as_tensor( + self.img_paths[index], self.image_size + ) + self.video_height = video_height + self.video_width = video_width + # normalize by mean and std + img -= self.img_mean + img /= self.img_std + if not self.offload_video_to_cpu: + img = img.to(self.compute_device, non_blocking=True) + self.images[index] = img + return img + + def __len__(self): + return len(self.images) + + +def load_video_frames( + video_path, + image_size, + offload_video_to_cpu, + img_mean=(0.485, 0.456, 0.406), + img_std=(0.229, 0.224, 0.225), + async_loading_frames=False, + compute_device=torch.device("cuda"), +): + """ + Load the video frames from a directory of JPEG files (".jpg" format). + + The frames are resized to image_size x image_size and are loaded to GPU if + `offload_video_to_cpu` is `False` and to CPU if `offload_video_to_cpu` is `True`. + + You can load a frame asynchronously by setting `async_loading_frames` to `True`. + """ + img_mean = torch.tensor(img_mean, dtype=torch.float32)[:, None, None] + img_std = torch.tensor(img_std, dtype=torch.float32)[:, None, None] + + if isinstance(video_path, str) and os.path.isdir(video_path): + jpg_folder = video_path + frame_names = [ + p + for p in os.listdir(jpg_folder) + if os.path.splitext(p)[-1] in [".jpg", ".jpeg", ".JPG", ".JPEG"] + ] + frame_names.sort(key=lambda p: int(os.path.splitext(p)[0])) + num_frames = len(frame_names) + if num_frames == 0: + raise RuntimeError(f"no images found in {jpg_folder}") + img_paths = [os.path.join(jpg_folder, frame_name) for frame_name in frame_names] + + images = torch.zeros(num_frames, 3, image_size, image_size, dtype=torch.float32) + for n, img_path in enumerate(tqdm(img_paths, desc="frame loading (JPEG)")): + images[n], video_height, video_width = _load_img_as_tensor(img_path, image_size) + + else: + cap = cv2.VideoCapture(video_path) + if not cap.isOpened(): + raise ValueError(f"Error opening video file: {video_path}") + num_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT)) + + images = torch.zeros(num_frames, 3, image_size, image_size, dtype=torch.float32) + + video_height, video_width = 0, 0 + # 逐帧读取视频 + for n in tqdm(range(num_frames), desc=f"frame loading {video_path}"): + ret, frame = cap.read() + if not ret: + break + + # 转换帧为 RGB 格式 + # frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + # 将帧转换为 PIL 图像以便处理 + img_pil = Image.fromarray(frame) + # 处理图像并获取帧的尺寸 + images[n], video_height, video_width = _load_pil_img_as_tensor(img_pil, image_size) + cap.release() + + if not offload_video_to_cpu: + images = images.to(compute_device) + img_mean = img_mean.to(compute_device) + img_std = img_std.to(compute_device) + # normalize by mean and std + images -= img_mean + images /= img_std + return images, video_height, video_width + + +def fill_holes_in_mask_scores(mask, max_area): + """ + A post processor to fill small holes in mask scores with area under `max_area`. + """ + # Holes are those connected components in background with area <= self.max_area + # (background regions are those with mask scores <= 0) + assert max_area > 0, "max_area must be positive" + + input_mask = mask + try: + labels, areas = get_connected_components(mask <= 0) + is_hole = (labels > 0) & (areas <= max_area) + # We fill holes with a small positive mask score (0.1) to change them to foreground. + mask = torch.where(is_hole, 0.1, mask) + except Exception as e: + # Skip the post-processing step on removing small holes if the CUDA kernel fails + warnings.warn( + f"{e}\n\nSkipping the post-processing step due to the error above. You can " + "still use SAM 2 and it's OK to ignore the error above, although some post-processing " + "functionality may be limited (which doesn't affect the results in most cases; see " + "https://github.com/facebookresearch/segment-anything-2/blob/main/INSTALL.md).", + category=UserWarning, + stacklevel=2, + ) + mask = input_mask + + return mask + + +def concat_points(old_point_inputs, new_points, new_labels): + """Add new points and labels to previous point inputs (add at the end).""" + if old_point_inputs is None: + points, labels = new_points, new_labels + else: + points = torch.cat([old_point_inputs["point_coords"], new_points], dim=1) + labels = torch.cat([old_point_inputs["point_labels"], new_labels], dim=1) + + return {"point_coords": points, "point_labels": labels} diff --git a/trajectory_construction/Grounded_SAM2/sam2/utils/transforms.py b/trajectory_construction/Grounded_SAM2/sam2/utils/transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..65ef77065fa1f384a31670571a5387387e648525 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2/utils/transforms.py @@ -0,0 +1,118 @@ +# 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 warnings + +import torch +import torch.nn as nn +import torch.nn.functional as F +from torchvision.transforms import Normalize, Resize, ToTensor + + +class SAM2Transforms(nn.Module): + def __init__( + self, resolution, mask_threshold, max_hole_area=0.0, max_sprinkle_area=0.0 + ): + """ + Transforms for SAM2. + """ + super().__init__() + self.resolution = resolution + self.mask_threshold = mask_threshold + self.max_hole_area = max_hole_area + self.max_sprinkle_area = max_sprinkle_area + self.mean = [0.485, 0.456, 0.406] + self.std = [0.229, 0.224, 0.225] + self.to_tensor = ToTensor() + self.transforms = torch.jit.script( + nn.Sequential( + Resize((self.resolution, self.resolution)), + Normalize(self.mean, self.std), + ) + ) + + def __call__(self, x): + x = self.to_tensor(x) + return self.transforms(x) + + def forward_batch(self, img_list): + img_batch = [self.transforms(self.to_tensor(img)) for img in img_list] + img_batch = torch.stack(img_batch, dim=0) + return img_batch + + def transform_coords( + self, coords: torch.Tensor, normalize=False, orig_hw=None + ) -> torch.Tensor: + """ + Expects a torch tensor with length 2 in the last dimension. The coordinates can be in absolute image or normalized coordinates, + If the coords are in absolute image coordinates, normalize should be set to True and original image size is required. + + Returns + Un-normalized coordinates in the range of [0, 1] which is expected by the SAM2 model. + """ + if normalize: + assert orig_hw is not None + h, w = orig_hw + coords = coords.clone() + coords[..., 0] = coords[..., 0] / w + coords[..., 1] = coords[..., 1] / h + + coords = coords * self.resolution # unnormalize coords + return coords + + def transform_boxes( + self, boxes: torch.Tensor, normalize=False, orig_hw=None + ) -> torch.Tensor: + """ + Expects a tensor of shape Bx4. The coordinates can be in absolute image or normalized coordinates, + if the coords are in absolute image coordinates, normalize should be set to True and original image size is required. + """ + boxes = self.transform_coords(boxes.reshape(-1, 2, 2), normalize, orig_hw) + return boxes + + def postprocess_masks(self, masks: torch.Tensor, orig_hw) -> torch.Tensor: + """ + Perform PostProcessing on output masks. + """ + from sam2.utils.misc import get_connected_components + + masks = masks.float() + input_masks = masks + mask_flat = masks.flatten(0, 1).unsqueeze(1) # flatten as 1-channel image + try: + if self.max_hole_area > 0: + # Holes are those connected components in background with area <= self.fill_hole_area + # (background regions are those with mask scores <= self.mask_threshold) + labels, areas = get_connected_components( + mask_flat <= self.mask_threshold + ) + is_hole = (labels > 0) & (areas <= self.max_hole_area) + is_hole = is_hole.reshape_as(masks) + # We fill holes with a small positive mask score (10.0) to change them to foreground. + masks = torch.where(is_hole, self.mask_threshold + 10.0, masks) + + if self.max_sprinkle_area > 0: + labels, areas = get_connected_components( + mask_flat > self.mask_threshold + ) + is_hole = (labels > 0) & (areas <= self.max_sprinkle_area) + is_hole = is_hole.reshape_as(masks) + # We fill holes with negative mask score (-10.0) to change them to background. + masks = torch.where(is_hole, self.mask_threshold - 10.0, masks) + except Exception as e: + # Skip the post-processing step if the CUDA kernel fails + warnings.warn( + f"{e}\n\nSkipping the post-processing step due to the error above. You can " + "still use SAM 2 and it's OK to ignore the error above, although some post-processing " + "functionality may be limited (which doesn't affect the results in most cases; see " + "https://github.com/facebookresearch/segment-anything-2/blob/main/INSTALL.md).", + category=UserWarning, + stacklevel=2, + ) + masks = input_masks + + masks = F.interpolate(masks, orig_hw, mode="bilinear", align_corners=False) + return masks diff --git a/trajectory_construction/Grounded_SAM2/sam2_configs/__init__.py b/trajectory_construction/Grounded_SAM2/sam2_configs/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5277f46157403e47fd830fc519144b97ef69d4ae --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2_configs/__init__.py @@ -0,0 +1,5 @@ +# 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. diff --git a/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_b+.yaml b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_b+.yaml new file mode 100644 index 0000000000000000000000000000000000000000..58f3eb81554018e873f8515ecb98e36d16ac29e4 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_b+.yaml @@ -0,0 +1,113 @@ +# @package _global_ + +# Model +model: + _target_: sam2.modeling.sam2_base.SAM2Base + image_encoder: + _target_: sam2.modeling.backbones.image_encoder.ImageEncoder + scalp: 1 + trunk: + _target_: sam2.modeling.backbones.hieradet.Hiera + embed_dim: 112 + num_heads: 2 + neck: + _target_: sam2.modeling.backbones.image_encoder.FpnNeck + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 256 + normalize: true + scale: null + temperature: 10000 + d_model: 256 + backbone_channel_list: [896, 448, 224, 112] + fpn_top_down_levels: [2, 3] # output level 0 and 1 directly use the backbone features + fpn_interp_model: nearest + + memory_attention: + _target_: sam2.modeling.memory_attention.MemoryAttention + d_model: 256 + pos_enc_at_input: true + layer: + _target_: sam2.modeling.memory_attention.MemoryAttentionLayer + activation: relu + dim_feedforward: 2048 + dropout: 0.1 + pos_enc_at_attn: false + self_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + d_model: 256 + pos_enc_at_cross_attn_keys: true + pos_enc_at_cross_attn_queries: false + cross_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + rope_k_repeat: True + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + kv_in_dim: 64 + num_layers: 4 + + memory_encoder: + _target_: sam2.modeling.memory_encoder.MemoryEncoder + out_dim: 64 + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 64 + normalize: true + scale: null + temperature: 10000 + mask_downsampler: + _target_: sam2.modeling.memory_encoder.MaskDownSampler + kernel_size: 3 + stride: 2 + padding: 1 + fuser: + _target_: sam2.modeling.memory_encoder.Fuser + layer: + _target_: sam2.modeling.memory_encoder.CXBlock + dim: 256 + kernel_size: 7 + padding: 3 + layer_scale_init_value: 1e-6 + use_dwconv: True # depth-wise convs + num_layers: 2 + + num_maskmem: 7 + image_size: 1024 + # apply scaled sigmoid on mask logits for memory encoder, and directly feed input mask as output mask + sigmoid_scale_for_mem_enc: 20.0 + sigmoid_bias_for_mem_enc: -10.0 + use_mask_input_as_output_without_sam: true + # Memory + directly_add_no_mem_embed: true + # use high-resolution feature map in the SAM mask decoder + use_high_res_features_in_sam: true + # output 3 masks on the first click on initial conditioning frames + multimask_output_in_sam: true + # SAM heads + iou_prediction_use_sigmoid: True + # cross-attend to object pointers from other frames (based on SAM output tokens) in the encoder + use_obj_ptrs_in_encoder: true + add_tpos_enc_to_obj_ptrs: false + only_obj_ptrs_in_the_past_for_eval: true + # object occlusion prediction + pred_obj_scores: true + pred_obj_scores_mlp: true + fixed_no_obj_ptr: true + # multimask tracking settings + multimask_output_for_tracking: true + use_multimask_token_for_obj_ptr: true + multimask_min_pt_num: 0 + multimask_max_pt_num: 1 + use_mlp_for_obj_ptr_proj: true + # Compilation flag + compile_image_encoder: False diff --git a/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_l.yaml b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_l.yaml new file mode 100644 index 0000000000000000000000000000000000000000..918667f50c3e1ad2dcf77c0c14cb4dd114cfd080 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_l.yaml @@ -0,0 +1,117 @@ +# @package _global_ + +# Model +model: + _target_: sam2.modeling.sam2_base.SAM2Base + image_encoder: + _target_: sam2.modeling.backbones.image_encoder.ImageEncoder + scalp: 1 + trunk: + _target_: sam2.modeling.backbones.hieradet.Hiera + embed_dim: 144 + num_heads: 2 + stages: [2, 6, 36, 4] + global_att_blocks: [23, 33, 43] + window_pos_embed_bkg_spatial_size: [7, 7] + window_spec: [8, 4, 16, 8] + neck: + _target_: sam2.modeling.backbones.image_encoder.FpnNeck + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 256 + normalize: true + scale: null + temperature: 10000 + d_model: 256 + backbone_channel_list: [1152, 576, 288, 144] + fpn_top_down_levels: [2, 3] # output level 0 and 1 directly use the backbone features + fpn_interp_model: nearest + + memory_attention: + _target_: sam2.modeling.memory_attention.MemoryAttention + d_model: 256 + pos_enc_at_input: true + layer: + _target_: sam2.modeling.memory_attention.MemoryAttentionLayer + activation: relu + dim_feedforward: 2048 + dropout: 0.1 + pos_enc_at_attn: false + self_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + d_model: 256 + pos_enc_at_cross_attn_keys: true + pos_enc_at_cross_attn_queries: false + cross_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + rope_k_repeat: True + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + kv_in_dim: 64 + num_layers: 4 + + memory_encoder: + _target_: sam2.modeling.memory_encoder.MemoryEncoder + out_dim: 64 + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 64 + normalize: true + scale: null + temperature: 10000 + mask_downsampler: + _target_: sam2.modeling.memory_encoder.MaskDownSampler + kernel_size: 3 + stride: 2 + padding: 1 + fuser: + _target_: sam2.modeling.memory_encoder.Fuser + layer: + _target_: sam2.modeling.memory_encoder.CXBlock + dim: 256 + kernel_size: 7 + padding: 3 + layer_scale_init_value: 1e-6 + use_dwconv: True # depth-wise convs + num_layers: 2 + + num_maskmem: 7 + image_size: 1024 + # apply scaled sigmoid on mask logits for memory encoder, and directly feed input mask as output mask + sigmoid_scale_for_mem_enc: 20.0 + sigmoid_bias_for_mem_enc: -10.0 + use_mask_input_as_output_without_sam: true + # Memory + directly_add_no_mem_embed: true + # use high-resolution feature map in the SAM mask decoder + use_high_res_features_in_sam: true + # output 3 masks on the first click on initial conditioning frames + multimask_output_in_sam: true + # SAM heads + iou_prediction_use_sigmoid: True + # cross-attend to object pointers from other frames (based on SAM output tokens) in the encoder + use_obj_ptrs_in_encoder: true + add_tpos_enc_to_obj_ptrs: false + only_obj_ptrs_in_the_past_for_eval: true + # object occlusion prediction + pred_obj_scores: true + pred_obj_scores_mlp: true + fixed_no_obj_ptr: true + # multimask tracking settings + multimask_output_for_tracking: true + use_multimask_token_for_obj_ptr: true + multimask_min_pt_num: 0 + multimask_max_pt_num: 1 + use_mlp_for_obj_ptr_proj: true + # Compilation flag + compile_image_encoder: False diff --git a/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_s.yaml b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_s.yaml new file mode 100644 index 0000000000000000000000000000000000000000..26e5d4d39f7b2892396106005c37c7ffe6c83bc2 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_s.yaml @@ -0,0 +1,116 @@ +# @package _global_ + +# Model +model: + _target_: sam2.modeling.sam2_base.SAM2Base + image_encoder: + _target_: sam2.modeling.backbones.image_encoder.ImageEncoder + scalp: 1 + trunk: + _target_: sam2.modeling.backbones.hieradet.Hiera + embed_dim: 96 + num_heads: 1 + stages: [1, 2, 11, 2] + global_att_blocks: [7, 10, 13] + window_pos_embed_bkg_spatial_size: [7, 7] + neck: + _target_: sam2.modeling.backbones.image_encoder.FpnNeck + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 256 + normalize: true + scale: null + temperature: 10000 + d_model: 256 + backbone_channel_list: [768, 384, 192, 96] + fpn_top_down_levels: [2, 3] # output level 0 and 1 directly use the backbone features + fpn_interp_model: nearest + + memory_attention: + _target_: sam2.modeling.memory_attention.MemoryAttention + d_model: 256 + pos_enc_at_input: true + layer: + _target_: sam2.modeling.memory_attention.MemoryAttentionLayer + activation: relu + dim_feedforward: 2048 + dropout: 0.1 + pos_enc_at_attn: false + self_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + d_model: 256 + pos_enc_at_cross_attn_keys: true + pos_enc_at_cross_attn_queries: false + cross_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + rope_k_repeat: True + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + kv_in_dim: 64 + num_layers: 4 + + memory_encoder: + _target_: sam2.modeling.memory_encoder.MemoryEncoder + out_dim: 64 + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 64 + normalize: true + scale: null + temperature: 10000 + mask_downsampler: + _target_: sam2.modeling.memory_encoder.MaskDownSampler + kernel_size: 3 + stride: 2 + padding: 1 + fuser: + _target_: sam2.modeling.memory_encoder.Fuser + layer: + _target_: sam2.modeling.memory_encoder.CXBlock + dim: 256 + kernel_size: 7 + padding: 3 + layer_scale_init_value: 1e-6 + use_dwconv: True # depth-wise convs + num_layers: 2 + + num_maskmem: 7 + image_size: 1024 + # apply scaled sigmoid on mask logits for memory encoder, and directly feed input mask as output mask + sigmoid_scale_for_mem_enc: 20.0 + sigmoid_bias_for_mem_enc: -10.0 + use_mask_input_as_output_without_sam: true + # Memory + directly_add_no_mem_embed: true + # use high-resolution feature map in the SAM mask decoder + use_high_res_features_in_sam: true + # output 3 masks on the first click on initial conditioning frames + multimask_output_in_sam: true + # SAM heads + iou_prediction_use_sigmoid: True + # cross-attend to object pointers from other frames (based on SAM output tokens) in the encoder + use_obj_ptrs_in_encoder: true + add_tpos_enc_to_obj_ptrs: false + only_obj_ptrs_in_the_past_for_eval: true + # object occlusion prediction + pred_obj_scores: true + pred_obj_scores_mlp: true + fixed_no_obj_ptr: true + # multimask tracking settings + multimask_output_for_tracking: true + use_multimask_token_for_obj_ptr: true + multimask_min_pt_num: 0 + multimask_max_pt_num: 1 + use_mlp_for_obj_ptr_proj: true + # Compilation flag + compile_image_encoder: False diff --git a/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_t.yaml b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_t.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a62c903aaa5f80828077c6e06a59626926570ed6 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/sam2_configs/sam2_hiera_t.yaml @@ -0,0 +1,118 @@ +# @package _global_ + +# Model +model: + _target_: sam2.modeling.sam2_base.SAM2Base + image_encoder: + _target_: sam2.modeling.backbones.image_encoder.ImageEncoder + scalp: 1 + trunk: + _target_: sam2.modeling.backbones.hieradet.Hiera + embed_dim: 96 + num_heads: 1 + stages: [1, 2, 7, 2] + global_att_blocks: [5, 7, 9] + window_pos_embed_bkg_spatial_size: [7, 7] + neck: + _target_: sam2.modeling.backbones.image_encoder.FpnNeck + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 256 + normalize: true + scale: null + temperature: 10000 + d_model: 256 + backbone_channel_list: [768, 384, 192, 96] + fpn_top_down_levels: [2, 3] # output level 0 and 1 directly use the backbone features + fpn_interp_model: nearest + + memory_attention: + _target_: sam2.modeling.memory_attention.MemoryAttention + d_model: 256 + pos_enc_at_input: true + layer: + _target_: sam2.modeling.memory_attention.MemoryAttentionLayer + activation: relu + dim_feedforward: 2048 + dropout: 0.1 + pos_enc_at_attn: false + self_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + d_model: 256 + pos_enc_at_cross_attn_keys: true + pos_enc_at_cross_attn_queries: false + cross_attention: + _target_: sam2.modeling.sam.transformer.RoPEAttention + rope_theta: 10000.0 + feat_sizes: [32, 32] + rope_k_repeat: True + embedding_dim: 256 + num_heads: 1 + downsample_rate: 1 + dropout: 0.1 + kv_in_dim: 64 + num_layers: 4 + + memory_encoder: + _target_: sam2.modeling.memory_encoder.MemoryEncoder + out_dim: 64 + position_encoding: + _target_: sam2.modeling.position_encoding.PositionEmbeddingSine + num_pos_feats: 64 + normalize: true + scale: null + temperature: 10000 + mask_downsampler: + _target_: sam2.modeling.memory_encoder.MaskDownSampler + kernel_size: 3 + stride: 2 + padding: 1 + fuser: + _target_: sam2.modeling.memory_encoder.Fuser + layer: + _target_: sam2.modeling.memory_encoder.CXBlock + dim: 256 + kernel_size: 7 + padding: 3 + layer_scale_init_value: 1e-6 + use_dwconv: True # depth-wise convs + num_layers: 2 + + num_maskmem: 7 + image_size: 1024 + # apply scaled sigmoid on mask logits for memory encoder, and directly feed input mask as output mask + # SAM decoder + sigmoid_scale_for_mem_enc: 20.0 + sigmoid_bias_for_mem_enc: -10.0 + use_mask_input_as_output_without_sam: true + # Memory + directly_add_no_mem_embed: true + # use high-resolution feature map in the SAM mask decoder + use_high_res_features_in_sam: true + # output 3 masks on the first click on initial conditioning frames + multimask_output_in_sam: true + # SAM heads + iou_prediction_use_sigmoid: True + # cross-attend to object pointers from other frames (based on SAM output tokens) in the encoder + use_obj_ptrs_in_encoder: true + add_tpos_enc_to_obj_ptrs: false + only_obj_ptrs_in_the_past_for_eval: true + # object occlusion prediction + pred_obj_scores: true + pred_obj_scores_mlp: true + fixed_no_obj_ptr: true + # multimask tracking settings + multimask_output_for_tracking: true + use_multimask_token_for_obj_ptr: true + multimask_min_pt_num: 0 + multimask_max_pt_num: 1 + use_mlp_for_obj_ptr_proj: true + # Compilation flag + # HieraT does not currently support compilation, should always be set to False + compile_image_encoder: False diff --git a/trajectory_construction/Grounded_SAM2/segment.py b/trajectory_construction/Grounded_SAM2/segment.py new file mode 100644 index 0000000000000000000000000000000000000000..c6e3abb3122a0fec8493482852132cbd1f18b7bd --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/segment.py @@ -0,0 +1,210 @@ +import os +import cv2 +import torch +import numpy as np +import supervision as sv +from PIL import Image +from sam2.build_sam import build_sam2_video_predictor, build_sam2 +from sam2.sam2_image_predictor import SAM2ImagePredictor +from transformers import AutoProcessor, AutoModelForZeroShotObjectDetection +from utils.track_utils import sample_points_from_masks +from utils.video_utils import create_video_from_images + + +""" +Step 1: Environment settings and model initialization +""" +# use bfloat16 for the entire notebook +torch.autocast(device_type="cuda", dtype=torch.bfloat16).__enter__() + +if torch.cuda.get_device_properties(0).major >= 8: + # turn on tfloat32 for Ampere GPUs (https://pytorch.org/docs/stable/notes/cuda.html#tensorfloat-32-tf32-on-ampere-devices) + torch.backends.cuda.matmul.allow_tf32 = True + torch.backends.cudnn.allow_tf32 = True + +# init sam image predictor and video predictor model +sam2_checkpoint = "./checkpoints/sam2_hiera_large.pt" +model_cfg = "sam2_hiera_l.yaml" + +video_predictor = build_sam2_video_predictor(model_cfg, sam2_checkpoint) +sam2_image_model = build_sam2(model_cfg, sam2_checkpoint) +image_predictor = SAM2ImagePredictor(sam2_image_model) + + +# init grounding dino model from huggingface +model_id = "IDEA-Research/grounding-dino-tiny" +device = "cuda" if torch.cuda.is_available() else "cpu" +processor = AutoProcessor.from_pretrained(model_id) +grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(model_id).to( + device +) + + +# setup the input image and text prompt for SAM 2 and Grounding DINO +# VERY important: text queries need to be lowercased + end with a dot +text = "head." + +# `video_dir` a directory of JPEG frames with filenames like `.jpg` + +video_dir = "demo/tiger" + +# scan all the JPEG frame names in this directory +frame_names = [ + p + for p in os.listdir(video_dir) + if os.path.splitext(p)[-1] in [".jpg", ".jpeg", ".JPG", ".JPEG"] +] +frame_names.sort(key=lambda p: int(os.path.splitext(p)[0])) + +# init video predictor state +inference_state = video_predictor.init_state(video_path=video_dir) + +ann_frame_idx = 0 # the frame index we interact with +ann_obj_id = ( + 1 # give a unique id to each object we interact with (it can be any integers) +) + + +""" +Step 2: Prompt Grounding DINO and SAM image predictor to get the box and mask for specific frame +""" + +# prompt grounding dino to get the box coordinates on specific frame +img_path = os.path.join(video_dir, frame_names[ann_frame_idx]) +image = Image.open(img_path) + +# run Grounding DINO on the image +inputs = processor(images=image, text=text, return_tensors="pt").to(device) +with torch.no_grad(): + outputs = grounding_model(**inputs) + +results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=0.25, + text_threshold=0.3, + target_sizes=[image.size[::-1]], +) + +# prompt SAM image predictor to get the mask for the object +image_predictor.set_image(np.array(image.convert("RGB"))) + +# process the detection results +input_boxes = results[0]["boxes"].cpu().numpy() +OBJECTS = results[0]["labels"] + +# prompt SAM 2 image predictor to get the mask for the object +masks, scores, logits = image_predictor.predict( + point_coords=None, + point_labels=None, + box=input_boxes, + multimask_output=False, +) + +# convert the mask shape to (n, H, W) +if masks.ndim == 3: + masks = masks[None] + scores = scores[None] + logits = logits[None] +elif masks.ndim == 4: + masks = masks.squeeze(1) + +""" +Step 3: Register each object's positive points to video predictor with seperate add_new_points call +""" + +PROMPT_TYPE_FOR_VIDEO = "box" # or "point" + +assert PROMPT_TYPE_FOR_VIDEO in [ + "point", + "box", + "mask", +], "SAM 2 video predictor only support point/box/mask prompt" + +# If you are using point prompts, we uniformly sample positive points based on the mask +if PROMPT_TYPE_FOR_VIDEO == "point": + # sample the positive points from mask for each objects + all_sample_points = sample_points_from_masks(masks=masks, num_points=10) + + for object_id, (label, points) in enumerate( + zip(OBJECTS, all_sample_points), start=1 + ): + labels = np.ones((points.shape[0]), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + points=points, + labels=labels, + ) +# Using box prompt +elif PROMPT_TYPE_FOR_VIDEO == "box": + for object_id, (label, box) in enumerate(zip(OBJECTS, input_boxes), start=1): + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + box=box, + ) +# Using mask prompt is a more straightforward way +elif PROMPT_TYPE_FOR_VIDEO == "mask": + for object_id, (label, mask) in enumerate(zip(OBJECTS, masks), start=1): + labels = np.ones((1), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_mask( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + mask=mask, + ) +else: + raise NotImplementedError( + "SAM 2 video predictor only support point/box/mask prompts" + ) + + +""" +Step 4: Propagate the video predictor to get the segmentation results for each frame +""" +video_segments = {} # video_segments contains the per-frame segmentation results +for out_frame_idx, out_obj_ids, out_mask_logits in video_predictor.propagate_in_video( + inference_state +): + video_segments[out_frame_idx] = { + out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy() + for i, out_obj_id in enumerate(out_obj_ids) + } + +""" +Step 5: Visualize the segment results across the video and save them +""" + +save_dir = "demo/masks" + +if not os.path.exists(save_dir): + os.makedirs(save_dir) + +ID_TO_OBJECTS = {i: obj for i, obj in enumerate(OBJECTS, start=1)} +for frame_idx, segments in video_segments.items(): + img = cv2.imread(os.path.join(video_dir, frame_names[frame_idx])) + + object_ids = list(segments.keys()) + masks = list(segments.values()) + masks = np.concatenate(masks, axis=0) + + detections = sv.Detections( + xyxy=sv.mask_to_xyxy(masks), # (n, 4) + mask=masks, # (n, h, w) + class_id=np.array(object_ids, dtype=np.int32), + ) + # box_annotator = sv.BoxAnnotator() + # annotated_frame = box_annotator.annotate(scene=img.copy(), detections=detections) + # label_annotator = sv.LabelAnnotator() + # annotated_frame = label_annotator.annotate(annotated_frame, detections=detections, labels=[ID_TO_OBJECTS[i] for i in object_ids]) + mask_annotator = sv.MaskAnnotator() + # annotated_frame = mask_annotator.annotate(scene=annotated_frame, detections=detections) + annotated_frame = mask_annotator.annotate( + scene=np.zeros_like(img), detections=detections + ) + cv2.imwrite( + os.path.join(save_dir, f"annotated_frame_{frame_idx:05d}.png"), annotated_frame + ) diff --git a/trajectory_construction/Grounded_SAM2/setup.py b/trajectory_construction/Grounded_SAM2/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..ebef97cd1fea00ce57dd41835614863cf4f37846 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/setup.py @@ -0,0 +1,147 @@ +# 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 os + +from setuptools import find_packages, setup + +# Package metadata +NAME = "SAM 2" +VERSION = "1.0" +DESCRIPTION = "SAM 2: Segment Anything in Images and Videos" +URL = "https://github.com/facebookresearch/segment-anything-2" +AUTHOR = "Meta AI" +AUTHOR_EMAIL = "segment-anything@meta.com" +LICENSE = "Apache 2.0" + +# Read the contents of README file +with open("README.md", "r", encoding="utf-8") as f: + LONG_DESCRIPTION = f.read() + +# Required dependencies +REQUIRED_PACKAGES = [ + "torch>=2.3.1", + "torchvision>=0.18.1", + "numpy>=1.24.4", + "tqdm>=4.66.1", + "hydra-core>=1.3.2", + "iopath>=0.1.10", + "pillow>=9.4.0", +] + +EXTRA_PACKAGES = { + "demo": ["matplotlib>=3.9.1", "jupyter>=1.0.0", "opencv-python>=4.7.0"], + "dev": ["black==24.2.0", "usort==1.0.2", "ufmt==2.0.0b2"], +} + +# By default, we also build the SAM 2 CUDA extension. +# You may turn off CUDA build with `export SAM2_BUILD_CUDA=0`. +BUILD_CUDA = os.getenv("SAM2_BUILD_CUDA", "1") == "1" +# By default, we allow SAM 2 installation to proceed even with build errors. +# You may force stopping on errors with `export SAM2_BUILD_ALLOW_ERRORS=0`. +BUILD_ALLOW_ERRORS = os.getenv("SAM2_BUILD_ALLOW_ERRORS", "1") == "1" + +# Catch and skip errors during extension building and print a warning message +# (note that this message only shows up under verbose build mode +# "pip install -v -e ." or "python setup.py build_ext -v") +CUDA_ERROR_MSG = ( + "{}\n\n" + "Failed to build the SAM 2 CUDA extension due to the error above. " + "You can still use SAM 2 and it's OK to ignore the error above, although some " + "post-processing functionality may be limited (which doesn't affect the results in most cases; " + "(see https://github.com/facebookresearch/segment-anything-2/blob/main/INSTALL.md).\n" +) + + +def get_extensions(): + if not BUILD_CUDA: + return [] + + try: + from torch.utils.cpp_extension import CUDAExtension + + srcs = ["sam2/csrc/connected_components.cu"] + compile_args = { + "cxx": [], + "nvcc": [ + "-DCUDA_HAS_FP16=1", + "-D__CUDA_NO_HALF_OPERATORS__", + "-D__CUDA_NO_HALF_CONVERSIONS__", + "-D__CUDA_NO_HALF2_OPERATORS__", + ], + } + ext_modules = [CUDAExtension("sam2._C", srcs, extra_compile_args=compile_args)] + except Exception as e: + if BUILD_ALLOW_ERRORS: + print(CUDA_ERROR_MSG.format(e)) + ext_modules = [] + else: + raise e + + return ext_modules + + +try: + from torch.utils.cpp_extension import BuildExtension + + class BuildExtensionIgnoreErrors(BuildExtension): + + def finalize_options(self): + try: + super().finalize_options() + except Exception as e: + print(CUDA_ERROR_MSG.format(e)) + self.extensions = [] + + def build_extensions(self): + try: + super().build_extensions() + except Exception as e: + print(CUDA_ERROR_MSG.format(e)) + self.extensions = [] + + def get_ext_filename(self, ext_name): + try: + return super().get_ext_filename(ext_name) + except Exception as e: + print(CUDA_ERROR_MSG.format(e)) + self.extensions = [] + return "_C.so" + + cmdclass = { + "build_ext": ( + BuildExtensionIgnoreErrors.with_options(no_python_abi_suffix=True) + if BUILD_ALLOW_ERRORS + else BuildExtension.with_options(no_python_abi_suffix=True) + ) + } +except Exception as e: + cmdclass = {} + if BUILD_ALLOW_ERRORS: + print(CUDA_ERROR_MSG.format(e)) + else: + raise e + + +# Setup configuration +setup( + name=NAME, + version=VERSION, + description=DESCRIPTION, + long_description=LONG_DESCRIPTION, + long_description_content_type="text/markdown", + url=URL, + author=AUTHOR, + author_email=AUTHOR_EMAIL, + license=LICENSE, + packages=find_packages(exclude="notebooks"), + package_data={"": ["*.yaml"]}, # SAM 2 configuration files + include_package_data=True, + install_requires=REQUIRED_PACKAGES, + extras_require=EXTRA_PACKAGES, + python_requires=">=3.10.0", + ext_modules=get_extensions(), + cmdclass=cmdclass, +) diff --git a/trajectory_construction/Grounded_SAM2/tools/README.md b/trajectory_construction/Grounded_SAM2/tools/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a8ad2d65483ed3afe6de85133f2cf3c8689a0048 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/tools/README.md @@ -0,0 +1,36 @@ +## SAM 2 toolkits + +This directory provides toolkits for additional SAM 2 use cases. + +### Semi-supervised VOS inference + +The `vos_inference.py` script can be used to generate predictions for semi-supervised video object segmentation (VOS) evaluation on datasets such as [DAVIS](https://davischallenge.org/index.html), [MOSE](https://henghuiding.github.io/MOSE/) or the SA-V dataset. + +After installing SAM 2 and its dependencies, it can be used as follows ([DAVIS 2017 dataset](https://davischallenge.org/davis2017/code.html) as an example). This script saves the prediction PNG files to the `--output_mask_dir`. +```bash +python ./tools/vos_inference.py \ + --sam2_cfg sam2_hiera_b+.yaml \ + --sam2_checkpoint ./checkpoints/sam2_hiera_base_plus.pt \ + --base_video_dir /path-to-davis-2017/JPEGImages/480p \ + --input_mask_dir /path-to-davis-2017/Annotations/480p \ + --video_list_file /path-to-davis-2017/ImageSets/2017/val.txt \ + --output_mask_dir ./outputs/davis_2017_pred_pngs +``` +(replace `/path-to-davis-2017` with the path to DAVIS 2017 dataset) + +To evaluate on the SA-V dataset with per-object PNG files for the object masks, we need to **add the `--per_obj_png_file` flag** as follows (using SA-V val as an example). This script will also save per-object PNG files for the output masks under the `--per_obj_png_file` flag. +```bash +python ./tools/vos_inference.py \ + --sam2_cfg sam2_hiera_b+.yaml \ + --sam2_checkpoint ./checkpoints/sam2_hiera_base_plus.pt \ + --base_video_dir /path-to-sav-val/JPEGImages_24fps \ + --input_mask_dir /path-to-sav-val/Annotations_6fps \ + --video_list_file /path-to-sav-val/sav_val.txt \ + --per_obj_png_file \ + --output_mask_dir ./outputs/sav_val_pred_pngs +``` +(replace `/path-to-sav-val` with the path to SA-V val) + +Then, we can use the evaluation tools or servers for each dataset to get the performance of the prediction PNG files above. + +**Note: a limitation of the `vos_inference.py` script above is that currently it only supports VOS datasets where all objects to track already appear on frame 0 in each video** (and therefore it doesn't apply to some datasets such as [LVOS](https://lingyihongfd.github.io/lvos.github.io/) that have objects only appearing in the middle of a video). diff --git a/trajectory_construction/Grounded_SAM2/tools/vos_inference.py b/trajectory_construction/Grounded_SAM2/tools/vos_inference.py new file mode 100644 index 0000000000000000000000000000000000000000..6348f4bf0af9cb2f6cf8492376ad34c5ef392b8d --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/tools/vos_inference.py @@ -0,0 +1,320 @@ +# 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 argparse +import os + +import numpy as np +import torch +from PIL import Image +from sam2.build_sam import build_sam2_video_predictor + + +# the PNG palette for DAVIS 2017 dataset +DAVIS_PALETTE = b"\x00\x00\x00\x80\x00\x00\x00\x80\x00\x80\x80\x00\x00\x00\x80\x80\x00\x80\x00\x80\x80\x80\x80\x80@\x00\x00\xc0\x00\x00@\x80\x00\xc0\x80\x00@\x00\x80\xc0\x00\x80@\x80\x80\xc0\x80\x80\x00@\x00\x80@\x00\x00\xc0\x00\x80\xc0\x00\x00@\x80\x80@\x80\x00\xc0\x80\x80\xc0\x80@@\x00\xc0@\x00@\xc0\x00\xc0\xc0\x00@@\x80\xc0@\x80@\xc0\x80\xc0\xc0\x80\x00\x00@\x80\x00@\x00\x80@\x80\x80@\x00\x00\xc0\x80\x00\xc0\x00\x80\xc0\x80\x80\xc0@\x00@\xc0\x00@@\x80@\xc0\x80@@\x00\xc0\xc0\x00\xc0@\x80\xc0\xc0\x80\xc0\x00@@\x80@@\x00\xc0@\x80\xc0@\x00@\xc0\x80@\xc0\x00\xc0\xc0\x80\xc0\xc0@@@\xc0@@@\xc0@\xc0\xc0@@@\xc0\xc0@\xc0@\xc0\xc0\xc0\xc0\xc0 \x00\x00\xa0\x00\x00 \x80\x00\xa0\x80\x00 \x00\x80\xa0\x00\x80 \x80\x80\xa0\x80\x80`\x00\x00\xe0\x00\x00`\x80\x00\xe0\x80\x00`\x00\x80\xe0\x00\x80`\x80\x80\xe0\x80\x80 @\x00\xa0@\x00 \xc0\x00\xa0\xc0\x00 @\x80\xa0@\x80 \xc0\x80\xa0\xc0\x80`@\x00\xe0@\x00`\xc0\x00\xe0\xc0\x00`@\x80\xe0@\x80`\xc0\x80\xe0\xc0\x80 \x00@\xa0\x00@ \x80@\xa0\x80@ \x00\xc0\xa0\x00\xc0 \x80\xc0\xa0\x80\xc0`\x00@\xe0\x00@`\x80@\xe0\x80@`\x00\xc0\xe0\x00\xc0`\x80\xc0\xe0\x80\xc0 @@\xa0@@ \xc0@\xa0\xc0@ @\xc0\xa0@\xc0 \xc0\xc0\xa0\xc0\xc0`@@\xe0@@`\xc0@\xe0\xc0@`@\xc0\xe0@\xc0`\xc0\xc0\xe0\xc0\xc0\x00 \x00\x80 \x00\x00\xa0\x00\x80\xa0\x00\x00 \x80\x80 \x80\x00\xa0\x80\x80\xa0\x80@ \x00\xc0 \x00@\xa0\x00\xc0\xa0\x00@ \x80\xc0 \x80@\xa0\x80\xc0\xa0\x80\x00`\x00\x80`\x00\x00\xe0\x00\x80\xe0\x00\x00`\x80\x80`\x80\x00\xe0\x80\x80\xe0\x80@`\x00\xc0`\x00@\xe0\x00\xc0\xe0\x00@`\x80\xc0`\x80@\xe0\x80\xc0\xe0\x80\x00 @\x80 @\x00\xa0@\x80\xa0@\x00 \xc0\x80 \xc0\x00\xa0\xc0\x80\xa0\xc0@ @\xc0 @@\xa0@\xc0\xa0@@ \xc0\xc0 \xc0@\xa0\xc0\xc0\xa0\xc0\x00`@\x80`@\x00\xe0@\x80\xe0@\x00`\xc0\x80`\xc0\x00\xe0\xc0\x80\xe0\xc0@`@\xc0`@@\xe0@\xc0\xe0@@`\xc0\xc0`\xc0@\xe0\xc0\xc0\xe0\xc0 \x00\xa0 \x00 \xa0\x00\xa0\xa0\x00 \x80\xa0 \x80 \xa0\x80\xa0\xa0\x80` \x00\xe0 \x00`\xa0\x00\xe0\xa0\x00` \x80\xe0 \x80`\xa0\x80\xe0\xa0\x80 `\x00\xa0`\x00 \xe0\x00\xa0\xe0\x00 `\x80\xa0`\x80 \xe0\x80\xa0\xe0\x80``\x00\xe0`\x00`\xe0\x00\xe0\xe0\x00``\x80\xe0`\x80`\xe0\x80\xe0\xe0\x80 @\xa0 @ \xa0@\xa0\xa0@ \xc0\xa0 \xc0 \xa0\xc0\xa0\xa0\xc0` @\xe0 @`\xa0@\xe0\xa0@` \xc0\xe0 \xc0`\xa0\xc0\xe0\xa0\xc0 `@\xa0`@ \xe0@\xa0\xe0@ `\xc0\xa0`\xc0 \xe0\xc0\xa0\xe0\xc0``@\xe0`@`\xe0@\xe0\xe0@``\xc0\xe0`\xc0`\xe0\xc0\xe0\xe0\xc0" + + +def load_ann_png(path): + """Load a PNG file as a mask and its palette.""" + mask = Image.open(path) + palette = mask.getpalette() + mask = np.array(mask).astype(np.uint8) + return mask, palette + + +def save_ann_png(path, mask, palette): + """Save a mask as a PNG file with the given palette.""" + assert mask.dtype == np.uint8 + assert mask.ndim == 2 + output_mask = Image.fromarray(mask) + output_mask.putpalette(palette) + output_mask.save(path) + + +def get_per_obj_mask(mask): + """Split a mask into per-object masks.""" + object_ids = np.unique(mask) + object_ids = object_ids[object_ids > 0].tolist() + per_obj_mask = {object_id: (mask == object_id) for object_id in object_ids} + return per_obj_mask + + +def put_per_obj_mask(per_obj_mask, height, width): + """Combine per-object masks into a single mask.""" + mask = np.zeros((height, width), dtype=np.uint8) + object_ids = sorted(per_obj_mask)[::-1] + for object_id in object_ids: + object_mask = per_obj_mask[object_id] + object_mask = object_mask.reshape(height, width) + mask[object_mask] = object_id + return mask + + +def load_masks_from_dir(input_mask_dir, video_name, frame_name, per_obj_png_file): + """Load masks from a directory as a dict of per-object masks.""" + if not per_obj_png_file: + input_mask_path = os.path.join(input_mask_dir, video_name, f"{frame_name}.png") + input_mask, input_palette = load_ann_png(input_mask_path) + per_obj_input_mask = get_per_obj_mask(input_mask) + else: + per_obj_input_mask = {} + # each object is a directory in "{object_id:%03d}" format + for object_name in os.listdir(os.path.join(input_mask_dir, video_name)): + object_id = int(object_name) + input_mask_path = os.path.join( + input_mask_dir, video_name, object_name, f"{frame_name}.png" + ) + input_mask, input_palette = load_ann_png(input_mask_path) + per_obj_input_mask[object_id] = input_mask > 0 + + return per_obj_input_mask, input_palette + + +def save_masks_to_dir( + output_mask_dir, + video_name, + frame_name, + per_obj_output_mask, + height, + width, + per_obj_png_file, + output_palette, +): + """Save masks to a directory as PNG files.""" + os.makedirs(os.path.join(output_mask_dir, video_name), exist_ok=True) + if not per_obj_png_file: + output_mask = put_per_obj_mask(per_obj_output_mask, height, width) + output_mask_path = os.path.join( + output_mask_dir, video_name, f"{frame_name}.png" + ) + save_ann_png(output_mask_path, output_mask, output_palette) + else: + for object_id, object_mask in per_obj_output_mask.items(): + object_name = f"{object_id:03d}" + os.makedirs( + os.path.join(output_mask_dir, video_name, object_name), + exist_ok=True, + ) + output_mask = object_mask.reshape(height, width).astype(np.uint8) + output_mask_path = os.path.join( + output_mask_dir, video_name, object_name, f"{frame_name}.png" + ) + save_ann_png(output_mask_path, output_mask, output_palette) + + +@torch.inference_mode() +@torch.autocast(device_type="cuda", dtype=torch.bfloat16) +def vos_inference( + predictor, + base_video_dir, + input_mask_dir, + output_mask_dir, + video_name, + score_thresh=0.0, + use_all_masks=False, + per_obj_png_file=False, +): + """Run VOS inference on a single video with the given predictor.""" + # load the video frames and initialize the inference state on this video + video_dir = os.path.join(base_video_dir, video_name) + frame_names = [ + os.path.splitext(p)[0] + for p in os.listdir(video_dir) + if os.path.splitext(p)[-1] in [".jpg", ".jpeg", ".JPG", ".JPEG"] + ] + frame_names.sort(key=lambda p: int(os.path.splitext(p)[0])) + inference_state = predictor.init_state( + video_path=video_dir, async_loading_frames=False + ) + height = inference_state["video_height"] + width = inference_state["video_width"] + input_palette = None + + # fetch mask inputs from input_mask_dir (either only mask for the first frame, or all available masks) + if not use_all_masks: + # use only the first video's ground-truth mask as the input mask + input_frame_inds = [0] + else: + # use all mask files available in the input_mask_dir as the input masks + if not per_obj_png_file: + input_frame_inds = [ + idx + for idx, name in enumerate(frame_names) + if os.path.exists( + os.path.join(input_mask_dir, video_name, f"{name}.png") + ) + ] + else: + input_frame_inds = [ + idx + for object_name in os.listdir(os.path.join(input_mask_dir, video_name)) + for idx, name in enumerate(frame_names) + if os.path.exists( + os.path.join(input_mask_dir, video_name, object_name, f"{name}.png") + ) + ] + input_frame_inds = sorted(set(input_frame_inds)) + + # add those input masks to SAM 2 inference state before propagation + for input_frame_idx in input_frame_inds: + per_obj_input_mask, input_palette = load_masks_from_dir( + input_mask_dir=input_mask_dir, + video_name=video_name, + frame_name=frame_names[input_frame_idx], + per_obj_png_file=per_obj_png_file, + ) + for object_id, object_mask in per_obj_input_mask.items(): + predictor.add_new_mask( + inference_state=inference_state, + frame_idx=input_frame_idx, + obj_id=object_id, + mask=object_mask, + ) + + # run propagation throughout the video and collect the results in a dict + os.makedirs(os.path.join(output_mask_dir, video_name), exist_ok=True) + output_palette = input_palette or DAVIS_PALETTE + video_segments = {} # video_segments contains the per-frame segmentation results + for out_frame_idx, out_obj_ids, out_mask_logits in predictor.propagate_in_video( + inference_state + ): + per_obj_output_mask = { + out_obj_id: (out_mask_logits[i] > score_thresh).cpu().numpy() + for i, out_obj_id in enumerate(out_obj_ids) + } + video_segments[out_frame_idx] = per_obj_output_mask + + # write the output masks as palette PNG files to output_mask_dir + for out_frame_idx, per_obj_output_mask in video_segments.items(): + save_masks_to_dir( + output_mask_dir=output_mask_dir, + video_name=video_name, + frame_name=frame_names[out_frame_idx], + per_obj_output_mask=per_obj_output_mask, + height=height, + width=width, + per_obj_png_file=per_obj_png_file, + output_palette=output_palette, + ) + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument( + "--sam2_cfg", + type=str, + default="sam2_hiera_b+.yaml", + help="SAM 2 model configuration file", + ) + parser.add_argument( + "--sam2_checkpoint", + type=str, + default="./checkpoints/sam2_hiera_b+.pt", + help="path to the SAM 2 model checkpoint", + ) + parser.add_argument( + "--base_video_dir", + type=str, + required=True, + help="directory containing videos (as JPEG files) to run VOS prediction on", + ) + parser.add_argument( + "--input_mask_dir", + type=str, + required=True, + help="directory containing input masks (as PNG files) of each video", + ) + parser.add_argument( + "--video_list_file", + type=str, + default=None, + help="text file containing the list of video names to run VOS prediction on", + ) + parser.add_argument( + "--output_mask_dir", + type=str, + required=True, + help="directory to save the output masks (as PNG files)", + ) + parser.add_argument( + "--score_thresh", + type=float, + default=0.0, + help="threshold for the output mask logits (default: 0.0)", + ) + parser.add_argument( + "--use_all_masks", + action="store_true", + help="whether to use all available PNG files in input_mask_dir " + "(default without this flag: just the first PNG file as input to the SAM 2 model; " + "usually we don't need this flag, since semi-supervised VOS evaluation usually takes input from the first frame only)", + ) + parser.add_argument( + "--per_obj_png_file", + action="store_true", + help="whether use separate per-object PNG files for input and output masks " + "(default without this flag: all object masks are packed into a single PNG file on each frame following DAVIS format; " + "note that the SA-V dataset stores each object mask as an individual PNG file and requires this flag)", + ) + parser.add_argument( + "--apply_postprocessing", + action="store_true", + help="whether to apply postprocessing (e.g. hole-filling) to the output masks " + "(we don't apply such post-processing in the SAM 2 model evaluation)", + ) + args = parser.parse_args() + + # if we use per-object PNG files, they could possibly overlap in inputs and outputs + hydra_overrides_extra = [ + "++model.non_overlap_masks=" + ("false" if args.per_obj_png_file else "true") + ] + predictor = build_sam2_video_predictor( + config_file=args.sam2_cfg, + ckpt_path=args.sam2_checkpoint, + apply_postprocessing=args.apply_postprocessing, + hydra_overrides_extra=hydra_overrides_extra, + ) + + if args.use_all_masks: + print("using all available masks in input_mask_dir as input to the SAM 2 model") + else: + print( + "using only the first frame's mask in input_mask_dir as input to the SAM 2 model" + ) + # if a video list file is provided, read the video names from the file + # (otherwise, we use all subdirectories in base_video_dir) + if args.video_list_file is not None: + with open(args.video_list_file, "r") as f: + video_names = [v.strip() for v in f.readlines()] + else: + video_names = [ + p + for p in os.listdir(args.base_video_dir) + if os.path.isdir(os.path.join(args.base_video_dir, p)) + ] + print(f"running VOS prediction on {len(video_names)} videos:\n{video_names}") + + for n_video, video_name in enumerate(video_names): + print(f"\n{n_video + 1}/{len(video_names)} - running on {video_name}") + vos_inference( + predictor=predictor, + base_video_dir=args.base_video_dir, + input_mask_dir=args.input_mask_dir, + output_mask_dir=args.output_mask_dir, + video_name=video_name, + score_thresh=args.score_thresh, + use_all_masks=args.use_all_masks, + per_obj_png_file=args.per_obj_png_file, + ) + + print( + f"completed VOS prediction on {len(video_names)} videos -- " + f"output masks saved to {args.output_mask_dir}" + ) + + +if __name__ == "__main__": + main() diff --git a/trajectory_construction/Grounded_SAM2/utils/common_utils.py b/trajectory_construction/Grounded_SAM2/utils/common_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..aa05f19083b336ecb6b1fbdcd0b30ea3e2d3c5a7 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/utils/common_utils.py @@ -0,0 +1,165 @@ +import os +import json +import cv2 +import numpy as np +from dataclasses import dataclass +import supervision as sv +import random + +class CommonUtils: + @staticmethod + def creat_dirs(path): + """ + Ensure the given path exists. If it does not exist, create it using os.makedirs. + + :param path: The directory path to check or create. + """ + try: + if not os.path.exists(path): + os.makedirs(path, exist_ok=True) + print(f"Path '{path}' did not exist and has been created.") + else: + print(f"Path '{path}' already exists.") + except Exception as e: + print(f"An error occurred while creating the path: {e}") + + @staticmethod + def draw_masks_and_box_with_supervision(raw_image_path, mask_path, json_path, output_path): + CommonUtils.creat_dirs(output_path) + raw_image_name_list = os.listdir(raw_image_path) + raw_image_name_list.sort() + for raw_image_name in raw_image_name_list: + image_path = os.path.join(raw_image_path, raw_image_name) + image = cv2.imread(image_path) + if image is None: + raise FileNotFoundError("Image file not found.") + # load mask + mask_npy_path = os.path.join(mask_path, "mask_"+raw_image_name.split(".")[0]+".npy") + mask = np.load(mask_npy_path) + # color map + unique_ids = np.unique(mask) + + # get each mask from unique mask file + all_object_masks = [] + for uid in unique_ids: + if uid == 0: # skip background id + continue + else: + object_mask = (mask == uid) + all_object_masks.append(object_mask[None]) + + if len(all_object_masks) == 0: + output_image_path = os.path.join(output_path, raw_image_name) + cv2.imwrite(output_image_path, image) + continue + # get n masks: (n, h, w) + all_object_masks = np.concatenate(all_object_masks, axis=0) + + # load box information + file_path = os.path.join(json_path, "mask_"+raw_image_name.split(".")[0]+".json") + + all_object_boxes = [] + all_object_ids = [] + all_class_names = [] + object_id_to_name = {} + with open(file_path, "r") as file: + json_data = json.load(file) + for obj_id, obj_item in json_data["labels"].items(): + # box id + instance_id = obj_item["instance_id"] + if instance_id not in unique_ids: # not a valid box + continue + # box coordinates + x1, y1, x2, y2 = obj_item["x1"], obj_item["y1"], obj_item["x2"], obj_item["y2"] + all_object_boxes.append([x1, y1, x2, y2]) + # box name + class_name = obj_item["class_name"] + + # build id list and id2name mapping + all_object_ids.append(instance_id) + all_class_names.append(class_name) + object_id_to_name[instance_id] = class_name + + # Adjust object id and boxes to ascending order + paired_id_and_box = zip(all_object_ids, all_object_boxes) + sorted_pair = sorted(paired_id_and_box, key=lambda pair: pair[0]) + + # Because we get the mask data as ascending order, so we also need to ascend box and ids + all_object_ids = [pair[0] for pair in sorted_pair] + all_object_boxes = [pair[1] for pair in sorted_pair] + + detections = sv.Detections( + xyxy=np.array(all_object_boxes), + mask=all_object_masks, + class_id=np.array(all_object_ids, dtype=np.int32), + ) + + # custom label to show both id and class name + labels = [ + f"{instance_id}: {class_name}" for instance_id, class_name in zip(all_object_ids, all_class_names) + ] + + # box_annotator = sv.BoxAnnotator() + # annotated_frame = box_annotator.annotate(scene=image.copy(), detections=detections) + # label_annotator = sv.LabelAnnotator() + # annotated_frame = label_annotator.annotate(annotated_frame, detections=detections, labels=labels) + mask_annotator = sv.MaskAnnotator() + annotated_frame = mask_annotator.annotate(scene=image.copy(), detections=detections) + + output_image_path = os.path.join(output_path, raw_image_name) + cv2.imwrite(output_image_path, annotated_frame) + print(f"Annotated image saved as {output_image_path}") + + @staticmethod + def draw_masks_and_box(raw_image_path, mask_path, json_path, output_path): + CommonUtils.creat_dirs(output_path) + raw_image_name_list = os.listdir(raw_image_path) + raw_image_name_list.sort() + for raw_image_name in raw_image_name_list: + image_path = os.path.join(raw_image_path, raw_image_name) + image = cv2.imread(image_path) + if image is None: + raise FileNotFoundError("Image file not found.") + # load mask + mask_npy_path = os.path.join(mask_path, "mask_"+raw_image_name.split(".")[0]+".npy") + mask = np.load(mask_npy_path) + # color map + unique_ids = np.unique(mask) + colors = {uid: CommonUtils.random_color() for uid in unique_ids} + colors[0] = (0, 0, 0) # background color + + # apply mask to image in RBG channels + colored_mask = np.zeros_like(image) + for uid in unique_ids: + colored_mask[mask == uid] = colors[uid] + alpha = 0.5 # 调整 alpha 值以改变透明度 + output_image = cv2.addWeighted(image, 1 - alpha, colored_mask, alpha, 0) + + + file_path = os.path.join(json_path, "mask_"+raw_image_name.split(".")[0]+".json") + with open(file_path, 'r') as file: + json_data = json.load(file) + # Draw bounding boxes and labels + for obj_id, obj_item in json_data["labels"].items(): + # Extract data from JSON + x1, y1, x2, y2 = obj_item["x1"], obj_item["y1"], obj_item["x2"], obj_item["y2"] + instance_id = obj_item["instance_id"] + class_name = obj_item["class_name"] + + # Draw rectangle + cv2.rectangle(output_image, (x1, y1), (x2, y2), (0, 255, 0), 2) + + # Put text + label = f"{instance_id}: {class_name}" + cv2.putText(output_image, label, (x1, y1 - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 2) + + # Save the modified image + output_image_path = os.path.join(output_path, raw_image_name) + cv2.imwrite(output_image_path, output_image) + + print(f"Annotated image saved as {output_image_path}") + + @staticmethod + def random_color(): + """random color generator""" + return (random.randint(0, 255), random.randint(0, 255), random.randint(0, 255)) diff --git a/trajectory_construction/Grounded_SAM2/utils/mask_dictionary_model.py b/trajectory_construction/Grounded_SAM2/utils/mask_dictionary_model.py new file mode 100644 index 0000000000000000000000000000000000000000..b91621667870fae8a4ee2c6b00e874b457f6d565 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/utils/mask_dictionary_model.py @@ -0,0 +1,157 @@ +import numpy as np +import json +import torch +import copy +import os +import cv2 +from dataclasses import dataclass, field + +@dataclass +class MaskDictionaryModel: + mask_name:str = "" + mask_height: int = 1080 + mask_width:int = 1920 + promote_type:str = "mask" + labels:dict = field(default_factory=dict) + + def add_new_frame_annotation(self, mask_list, box_list, label_list, background_value = 0): + mask_img = torch.zeros(mask_list.shape[-2:]) + anno_2d = {} + for idx, (mask, box, label) in enumerate(zip(mask_list, box_list, label_list)): + final_index = background_value + idx + 1 + + if mask.shape[0] != mask_img.shape[0] or mask.shape[1] != mask_img.shape[1]: + raise ValueError("The mask shape should be the same as the mask_img shape.") + # mask = mask + mask_img[mask == True] = final_index + # print("label", label) + name = label + box = box # .numpy().tolist() + new_annotation = ObjectInfo(instance_id = final_index, mask = mask, class_name = name, x1 = box[0], y1 = box[1], x2 = box[2], y2 = box[3]) + anno_2d[final_index] = new_annotation + + # np.save(os.path.join(output_dir, output_file_name), mask_img.numpy().astype(np.uint16)) + self.mask_height = mask_img.shape[0] + self.mask_width = mask_img.shape[1] + self.labels = anno_2d + + def update_masks(self, tracking_annotation_dict, iou_threshold=0.8, objects_count=0): + updated_masks = {} + + for seg_obj_id, seg_mask in self.labels.items(): # tracking_masks + flag = 0 + new_mask_copy = ObjectInfo() + if seg_mask.mask.sum() == 0: + continue + + for object_id, object_info in tracking_annotation_dict.labels.items(): # grounded_sam masks + iou = self.calculate_iou(seg_mask.mask, object_info.mask) # tensor, numpy + # print("iou", iou) + if iou > iou_threshold: + flag = object_info.instance_id + new_mask_copy.mask = seg_mask.mask + new_mask_copy.instance_id = object_info.instance_id + new_mask_copy.class_name = seg_mask.class_name + break + + if not flag: + objects_count += 1 + flag = objects_count + new_mask_copy.instance_id = objects_count + new_mask_copy.mask = seg_mask.mask + new_mask_copy.class_name = seg_mask.class_name + updated_masks[flag] = new_mask_copy + self.labels = updated_masks + return objects_count + + def get_target_class_name(self, instance_id): + return self.labels[instance_id].class_name + + def get_target_logit(self, instance_id): + return self.labels[instance_id].logit + + @staticmethod + def calculate_iou(mask1, mask2): + # Convert masks to float tensors for calculations + mask1 = mask1.to(torch.float32) + mask2 = mask2.to(torch.float32) + + # Calculate intersection and union + intersection = (mask1 * mask2).sum() + union = mask1.sum() + mask2.sum() - intersection + + # Calculate IoU + iou = intersection / union + return iou + + def to_dict(self): + return { + "mask_name": self.mask_name, + "mask_height": self.mask_height, + "mask_width": self.mask_width, + "promote_type": self.promote_type, + "labels": {k: v.to_dict() for k, v in self.labels.items()} + } + + def to_json(self, json_file): + with open(json_file, "w") as f: + json.dump(self.to_dict(), f, indent=4) + + def from_json(self, json_file): + with open(json_file, "r") as f: + data = json.load(f) + self.mask_name = data["mask_name"] + self.mask_height = data["mask_height"] + self.mask_width = data["mask_width"] + self.promote_type = data["promote_type"] + self.labels = {int(k): ObjectInfo(**v) for k, v in data["labels"].items()} + return self + + +@dataclass +class ObjectInfo: + instance_id:int = 0 + mask: any = None + class_name:str = "" + x1:int = 0 + y1:int = 0 + x2:int = 0 + y2:int = 0 + logit:float = 0.0 + + def get_mask(self): + return self.mask + + def get_id(self): + return self.instance_id + + def update_box(self): + # 找到所有非零值的索引 + nonzero_indices = torch.nonzero(self.mask) + + # 如果没有非零值，返回一个空的边界框 + if nonzero_indices.size(0) == 0: + # print("nonzero_indices", nonzero_indices) + return [] + + # 计算最小和最大索引 + y_min, x_min = torch.min(nonzero_indices, dim=0)[0] + y_max, x_max = torch.max(nonzero_indices, dim=0)[0] + + # 创建边界框 [x_min, y_min, x_max, y_max] + bbox = [x_min.item(), y_min.item(), x_max.item(), y_max.item()] + self.x1 = bbox[0] + self.y1 = bbox[1] + self.x2 = bbox[2] + self.y2 = bbox[3] + + def to_dict(self): + return { + "instance_id": self.instance_id, + "class_name": self.class_name, + "x1": self.x1, + "y1": self.y1, + "x2": self.x2, + "y2": self.y2, + "logit": self.logit + } \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/utils/supervision_utils.py b/trajectory_construction/Grounded_SAM2/utils/supervision_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..8a8d3d7a642b6aabc4cad2d78fc5b5ebe35b18b6 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/utils/supervision_utils.py @@ -0,0 +1,18 @@ +CUSTOM_COLOR_MAP = [ + "#e6194b", + "#3cb44b", + "#ffe119", + "#0082c8", + "#f58231", + "#911eb4", + "#46f0f0", + "#f032e6", + "#d2f53c", + "#fabebe", + "#008080", + "#e6beff", + "#aa6e28", + "#fffac8", + "#800000", + "#aaffc3", +] \ No newline at end of file diff --git a/trajectory_construction/Grounded_SAM2/utils/track_utils.py b/trajectory_construction/Grounded_SAM2/utils/track_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..1a63d9feb8338c2c3dcb5c6722b1e4e4c451b5a2 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/utils/track_utils.py @@ -0,0 +1,41 @@ +import numpy as np + +def sample_points_from_masks(masks, num_points): + """ + sample points from masks and return its absolute coordinates + + Args: + masks: np.array with shape (n, h, w) + num_points: int + + Returns: + points: np.array with shape (n, points, 2) + """ + n, h, w = masks.shape + points = [] + + for i in range(n): + # find the valid mask points + indices = np.argwhere(masks[i] == 1) + # the output format of np.argwhere is (y, x) and the shape is (num_points, 2) + # we should convert it to (x, y) + indices = indices[:, ::-1] # (num_points, [y x]) to (num_points, [x y]) + + # import pdb; pdb.set_trace() + if len(indices) == 0: + # if there are no valid points, append an empty array + points.append(np.array([])) + continue + + # resampling if there's not enough points + if len(indices) < num_points: + sampled_indices = np.random.choice(len(indices), num_points, replace=True) + else: + sampled_indices = np.random.choice(len(indices), num_points, replace=False) + + sampled_points = indices[sampled_indices] + points.append(sampled_points) + + # convert to np.array + points = np.array(points, dtype=np.float32) + return points diff --git a/trajectory_construction/Grounded_SAM2/utils/video_utils.py b/trajectory_construction/Grounded_SAM2/utils/video_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..a8c2581f5d97f6b50c80bf2af3ef5c0233282b10 --- /dev/null +++ b/trajectory_construction/Grounded_SAM2/utils/video_utils.py @@ -0,0 +1,35 @@ +import cv2 +import os +from tqdm import tqdm + + +def create_video_from_images(image_folder, output_video_path, frame_rate=25): + # define valid extension + valid_extensions = [".jpg", ".jpeg", ".JPG", ".JPEG", ".png", ".PNG"] + + # get all image files in the folder + image_files = [f for f in os.listdir(image_folder) + if os.path.splitext(f)[1] in valid_extensions] + image_files.sort() # sort the files in alphabetical order + # print(image_files) + if not image_files: + raise ValueError("No valid image files found in the specified folder.") + + # load the first image to get the dimensions of the video + first_image_path = os.path.join(image_folder, image_files[0]) + first_image = cv2.imread(first_image_path) + height, width, _ = first_image.shape + + # create a video writer + fourcc = cv2.VideoWriter_fourcc(*'mp4v') # codec for saving the video + video_writer = cv2.VideoWriter(output_video_path, fourcc, frame_rate, (width, height)) + + # write each image to the video + for image_file in tqdm(image_files): + image_path = os.path.join(image_folder, image_file) + image = cv2.imread(image_path) + video_writer.write(image) + + # source release + video_writer.release() + print(f"Video saved at {output_video_path}") diff --git a/trajectory_construction/README.md b/trajectory_construction/README.md new file mode 100644 index 0000000000000000000000000000000000000000..33bb1b6e45d43cd848eec0f38e198789aed5715c --- /dev/null +++ b/trajectory_construction/README.md @@ -0,0 +1,28 @@ +# Trajectory Construction + +## Mask Trajectory + +We use Grounded-SAM2 to segment out mask trajectory from an **input video**. +Please refer to `plan_mask.py` for more details. + +```bash +python trajectory_construction/plan_mask.py --text "elephant.rhino." --video_dir "trajectory_construction/Grounded_SAM2/demo/mammoth_rhino" --output_video_path "assets/mask_trajectory/mammoth_rhino.mp4" +``` + +## Box Trajectory +We use Grounded-SAM2 to segment out the first frame's mask from an **input image**. +Then we construct box trajectory by changing the box's (x, y, w, h) frame by frame. +Please refer to `plan_box.py` for more details. + +```bash +python trajectory_construction/plan_box.py --text "head." --video_dir "trajectory_construction/Grounded_SAM2/demo/tiger" --output_video_path "assets/box_trajectory/tiger.mp4" +``` + +## Sparse Box Trajectory + +We first construct box trajectory using the methods illustrated above, then only box trajectories in the specified index frames are retained. +See `plan_sparse_box.py` for more details. + +```bash +python trajectory_construction/plan_sparse_box.py --text "man." --video_dir "trajectory_construction/Grounded_SAM2/demo/man_head" --output_video_path "assets/sparse_box_trajectory/man_head.mp4" --sparse_box_index 1 48 +``` diff --git a/trajectory_construction/image_mask.py b/trajectory_construction/image_mask.py new file mode 100644 index 0000000000000000000000000000000000000000..672213d64a1e689899e8fe9b1431cae48325bfbe --- /dev/null +++ b/trajectory_construction/image_mask.py @@ -0,0 +1,107 @@ +import os +import cv2 +import numpy as np +import torch +from PIL import Image +from transformers import AutoProcessor, AutoModelForZeroShotObjectDetection +from sam2.sam2_image_predictor import SAM2ImagePredictor +from sam2.build_sam import build_sam2 + +def segment_single_image(image_path, text_prompt, + sam2_checkpoint="/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt", + model_cfg="sam2_hiera_l.yaml"): + """ + 对单张图片进行文本引导分割，返回二值掩码。 + + Args: + image_path (str): 输入图片路径 + text_prompt (str): 文本提示（如 "car"） + sam2_checkpoint (str): SAM2 模型路径 + model_cfg (str): SAM2 配置文件名 + + Returns: + mask (np.ndarray): 二值掩码 (H, W), dtype=bool + success (bool): 是否成功检测到物体 + """ + # === 1. 加载模型 === + device = "cuda" if torch.cuda.is_available() else "cpu" + + # Grounding DINO + processor = AutoProcessor.from_pretrained("/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny") + grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained( + "/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny" + ).to(device) + + # SAM2 Image Predictor + sam2_model = build_sam2(model_cfg, sam2_checkpoint) + predictor = SAM2ImagePredictor(sam2_model) + + # === 2. 读取图像 === + image_pil = Image.open(image_path).convert("RGB") + image_np = np.array(image_pil) + + # === 3. 文本预处理（Grounding DINO 要求小写 + 句号）=== + text = text_prompt.strip().lower() + if not text.endswith("."): + text += "." + + # === 4. Grounding DINO 检测边界框 === + inputs = processor(images=image_pil, text=text, return_tensors="pt").to(device) + with torch.no_grad(): + outputs = grounding_model(**inputs) + + results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=0.25, + text_threshold=0.3, + target_sizes=[image_pil.size[::-1]] # (H, W) + ) + + boxes = results[0]["boxes"].cpu().numpy() + if len(boxes) == 0: + print(f"❌ 未检测到 '{text_prompt}'") + return None, False + + print(f"✅ 检测到 {len(boxes)} 个 '{text_prompt}'") + + # === 5. SAM2 生成掩码 === + predictor.set_image(image_np) + masks, _, _ = predictor.predict( + point_coords=None, + point_labels=None, + box=boxes, # 可一次处理多个框 + multimask_output=False + ) + + # 合并所有检测到的物体（逻辑或） + if masks.ndim == 4: + masks = masks.squeeze(1) # (N, H, W) + final_mask = np.any(masks, axis=0) # (H, W), bool + + return final_mask, True + + +def save_mask(mask, output_path): + """保存二值掩码为 PNG（白色=前景，黑色=背景）""" + mask_uint8 = (mask * 255).astype(np.uint8) + cv2.imwrite(output_path, mask_uint8) + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(description="单图文本引导分割") + parser.add_argument("--image", required=True, help="输入图片路径") + parser.add_argument("--text", required=True, help="文本提示（如 'car'）") + parser.add_argument("--output", default="mask.png", help="输出掩码路径") + args = parser.parse_args() + + mask, success = segment_single_image(args.image, args.text) + + if success: + save_mask(mask, args.output) + print(f"✅ 掩码已保存至: {args.output}") + + else: + print("❌ 分割失败") diff --git a/trajectory_construction/image_mask_batch.py b/trajectory_construction/image_mask_batch.py new file mode 100644 index 0000000000000000000000000000000000000000..a51727e14d3f121e1b6ed9f5431514f42bc5c44f --- /dev/null +++ b/trajectory_construction/image_mask_batch.py @@ -0,0 +1,174 @@ +import os +import json +import cv2 +import numpy as np +import torch +from PIL import Image +from transformers import AutoProcessor, AutoModelForZeroShotObjectDetection +from sam2.sam2_image_predictor import SAM2ImagePredictor +from sam2.build_sam import build_sam2 + +VALID_DIR = {"left", "right", "front", "back"} + +def load_dir_map(jsonl_path: str): + mp = {} + with open(jsonl_path, "r", encoding="utf-8") as f: + for line in f: + line = line.strip() + if not line: + continue + try: + obj = json.loads(line) + except Exception: + continue + vid = obj.get("video_id", None) + direc = obj.get("direction", None) + if isinstance(direc, str): + direc = direc.strip().lower() + if direc not in VALID_DIR: + direc = None + else: + direc = None + if vid is not None: + mp[str(vid)] = direc + return mp + +def save_mask(mask_bool: np.ndarray, out_path: str): + os.makedirs(os.path.dirname(out_path), exist_ok=True) + mask_uint8 = (mask_bool.astype(np.uint8) * 255) + cv2.imwrite(out_path, mask_uint8) + +def build_models( + device, + dino_dir="/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny", + sam2_checkpoint="/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt", + model_cfg="sam2_hiera_l.yaml", +): + processor = AutoProcessor.from_pretrained(dino_dir) + grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(dino_dir).to(device) + sam2_model = build_sam2(model_cfg, sam2_checkpoint) + predictor = SAM2ImagePredictor(sam2_model) + return processor, grounding_model, predictor + +@torch.no_grad() +def segment_single_image(image_path, text_prompt, processor, grounding_model, predictor, device, + box_threshold=0.25, text_threshold=0.3): + image_pil = Image.open(image_path).convert("RGB") + image_np = np.array(image_pil) + + text = text_prompt.strip().lower() + if not text.endswith("."): + text += "." + + inputs = processor(images=image_pil, text=text, return_tensors="pt").to(device) + outputs = grounding_model(**inputs) + + results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=box_threshold, + text_threshold=text_threshold, + target_sizes=[image_pil.size[::-1]] # (H, W) + ) + + boxes = results[0]["boxes"].detach().cpu().numpy() + if len(boxes) == 0: + return None, False + + predictor.set_image(image_np) + masks, _, _ = predictor.predict( + point_coords=None, + point_labels=None, + box=boxes, + multimask_output=False + ) + + if masks.ndim == 4: + masks = masks.squeeze(1) # (N, H, W) + final_mask = np.any(masks, axis=0) # (H, W), bool + return final_mask, True + +def main(): + import argparse + p = argparse.ArgumentParser() + p.add_argument("--prompts_json", default="/mnt/prev_nas/qhy_1/datasets/unedit_image_prompts/genspace_prompts_vlm.json") + p.add_argument("--dir_jsonl", default="/mnt/5T_nas/cwl/wan/OmniGen2/data_configs/train/example/edit/qwen_direction_merged.jsonl") + + # 图片用 video_id 定位：{img_root}/{video_id}.png 或 {img_root}/{video_id} + p.add_argument("--img_root", default="/mnt/prev_nas/qhy_1/datasets/flux_gen_images_edit") + p.add_argument("--img_ext", default=".png", help="when image file is {video_id}{img_ext}") + + p.add_argument("--out_dir", default="/mnt/prev_nas/qhy_1/datasets/flux_gen_images_masks") + p.add_argument("--overwrite", action="store_true") + p.add_argument("--start", type=int, default=0) + p.add_argument("--end", type=int, default=-1) + + p.add_argument("--dino_dir", default="/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny") + p.add_argument("--sam2_ckpt", default="/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt") + p.add_argument("--sam2_cfg", default="sam2_hiera_l.yaml") + args = p.parse_args() + + dir_map = load_dir_map(args.dir_jsonl) + + with open(args.prompts_json, "r", encoding="utf-8") as f: + data = json.load(f) + samples = data["samples"] + + start = max(0, args.start) + end = len(samples) if args.end < 0 else min(len(samples), args.end) + samples = samples[start:end] + print(f"samples: [{start}:{end}) -> {len(samples)}") + + device = "cuda" if torch.cuda.is_available() else "cpu" + processor, grounding_model, predictor = build_models( + device=device, + dino_dir=args.dino_dir, + sam2_checkpoint=args.sam2_ckpt, + model_cfg=args.sam2_cfg, + ) + + for s in samples: + video_id = s.get("sample_id") + obj_class = s.get("object_class") + if not video_id or not obj_class: + continue + + # qwen_direction_merged.jsonl 里可能是 allocentric_000.png 这种 + direction = dir_map.get(video_id, None) + if direction is None: + direction = dir_map.get(video_id + ".png", None) + # 如果 jsonl 里有 .png，而 video_id 本身已经带扩展名，这里也不会影响 + if direction is None: + continue + + # 找图片：优先 {img_root}/{video_id}，不存在再试 {video_id}{img_ext} + img_path = os.path.join(args.img_root, video_id) + if not os.path.exists(img_path): + img_path2 = os.path.join(args.img_root, video_id + args.img_ext) + if os.path.exists(img_path2): + img_path = img_path2 + else: + print("missing image:", img_path, "or", img_path2) + continue + + # 保存同名 mask（统一用 png） + out_name = video_id + if not out_name.lower().endswith(".png"): + out_name = out_name + ".png" + out_path = os.path.join(args.out_dir, out_name) + + if (not args.overwrite) and os.path.exists(out_path): + continue + + mask, ok = segment_single_image( + img_path, obj_class, processor, grounding_model, predictor, device + ) + if not ok or mask is None: + print(f"no detection: {video_id} text={obj_class}") + continue + + save_mask(mask, out_path) + print("saved:", out_path) + +if __name__ == "__main__": + main() diff --git a/trajectory_construction/image_mask_batch.sh b/trajectory_construction/image_mask_batch.sh new file mode 100644 index 0000000000000000000000000000000000000000..72a77bc8343d8868c7abdd117e67486d4fef662c --- /dev/null +++ b/trajectory_construction/image_mask_batch.sh @@ -0,0 +1,46 @@ +#!/usr/bin/env bash +TOTAL=${1:-} +if ! [[ "$TOTAL" =~ ^[0-9]+$ ]]; then + echo "Usage: $0 TOTAL_SAMPLES" + exit 1 +fi + +conda activate /mnt/prev_nas/qhy/env/torch240 +cd /mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2 + +SCRIPT=/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/image_mask_batch.py + +PROMPTS_JSON=/mnt/prev_nas/qhy_1/datasets/unedit_image_prompts/genspace_prompts_vlm.json +DIR_JSONL=/mnt/5T_nas/cwl/wan/OmniGen2/data_configs/train/example/edit/qwen_direction_merged.jsonl +IMG_ROOT=/mnt/prev_nas/qhy_1/datasets/flux_gen_images +OUT_DIR=/mnt/prev_nas/qhy_1/datasets/flux_gen_images_masks + +GPUS=(0 1 2 3 4 5 6 7) + +N=${#GPUS[@]} +CHUNK=$(( (TOTAL + N - 1) / N )) + +echo "TOTAL=${TOTAL}, N=${N}, CHUNK=${CHUNK}" +mkdir -p "${OUT_DIR}" + +for i in "${!GPUS[@]}"; do + GPU=${GPUS[$i]} + START=$(( i * CHUNK )) + END=$(( (i + 1) * CHUNK )) + if [ "$END" -gt "$TOTAL" ]; then END="$TOTAL"; fi + if [ "$START" -ge "$TOTAL" ]; then continue; fi + + echo "Launch GPU ${GPU}: [${START}, ${END})" + CUDA_VISIBLE_DEVICES=${GPU} \ + python "$SCRIPT" \ + --prompts_json "$PROMPTS_JSON" \ + --dir_jsonl "$DIR_JSONL" \ + --img_root "$IMG_ROOT" \ + --img_ext ".png" \ + --out_dir "$OUT_DIR" \ + --start "$START" \ + --end "$END" & +done + +wait +echo "All done." diff --git a/trajectory_construction/mask_resize.py b/trajectory_construction/mask_resize.py new file mode 100644 index 0000000000000000000000000000000000000000..2133c3e6e25ac29d847c22d74c3cfc1b7ca1877b --- /dev/null +++ b/trajectory_construction/mask_resize.py @@ -0,0 +1,121 @@ +import cv2 +import numpy as np + +def resize_and_paste_back_with_repair_mask( + image_path, + mask_path, + scale_width=1.0, + scale_height=1.0, + output_image_path="output_with_resized_obj.jpg", + output_repair_mask_path="repair_mask.png" +): + """ + 抠出物体 → 缩放 → 贴回原图，并生成用于 AI 修复的 mask。 + + Returns: + output_img: 合成后的图像 + repair_mask: 修复用二值 mask（白色=需修复） + """ + # 1. 加载原图和掩码 + image = cv2.imread(image_path) + mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE) + if image is None or mask is None: + raise FileNotFoundError("Image or mask not found!") + + h, w = image.shape[:2] + assert mask.shape == (h, w), "Mask and image size mismatch!" + + # 2. 找到物体边界框 + coords = cv2.findNonZero(mask) + if coords is None: + raise ValueError("No object in mask!") + x, y, obj_w, obj_h = cv2.boundingRect(coords) + + # 3. 计算原物体中心 + center_x = x + obj_w // 2 + center_y = y + obj_h // 2 + + # 4. 抠出 RGBA 物体 + rgba = np.dstack([image, mask]) + obj_rgba = rgba[y:y+obj_h, x:x+obj_w] + + # 5. 缩放物体 + new_w = max(1, int(obj_w * scale_width)) + new_h = max(1, int(obj_h * scale_height)) + resized_obj = cv2.resize(obj_rgba, (new_w, new_h), interpolation=cv2.INTER_AREA) + + # 6. 计算新位置（保持中心对齐） + new_x = center_x - new_w // 2 + new_y = center_y - new_h // 2 + + # 7. 计算贴图的有效区域（保证 src 和 dst 尺寸一致） + dst_x1 = max(0, new_x) + dst_y1 = max(0, new_y) + dst_x2 = min(w, new_x + new_w) + dst_y2 = min(h, new_y + new_h) + + src_x1 = dst_x1 - new_x + src_y1 = dst_y1 - new_y + src_x2 = src_x1 + (dst_x2 - dst_x1) + src_y2 = src_y1 + (dst_y2 - dst_y1) + + # Clamp to resized_obj bounds + src_x1 = max(0, int(src_x1)) + src_y1 = max(0, int(src_y1)) + src_x2 = min(new_w, int(src_x2)) + src_y2 = min(new_h, int(src_y2)) + + # Update final coordinates + dst_x_start, dst_y_start = dst_x1, dst_y1 + dst_x_end, dst_y_end = dst_x2, dst_y2 + src_x_start, src_y_start = src_x1, src_y1 + src_x_end, src_y_end = src_x2, src_y2 + + # 8. 创建修复 mask + repair_mask = np.zeros((h, w), dtype=np.uint8) + repair_mask[mask > 0] = 255 # 原物体区域需修复 + + # 9. 合成图像 & 构建新物体 mask + background = image.copy() + background[mask > 0] = [255, 255, 255] # 白色填充原物体区域 + output_img = background.copy() + new_obj_mask = np.zeros((h, w), dtype=np.uint8) + + if src_x_end > src_x_start and src_y_end > src_y_start: + # 提取有效区域 + obj_part = resized_obj[src_y_start:src_y_end, src_x_start:src_x_end] + alpha = obj_part[:, :, 3].astype(np.float32) / 255.0 + alpha_uint8 = (alpha * 255).astype(np.uint8) + + # Alpha blending + bg_part = output_img[dst_y_start:dst_y_end, dst_x_start:dst_x_end] + fg_part = obj_part[:, :, :3] + blended = fg_part * alpha[..., None] + bg_part * (1 - alpha[..., None]) + output_img[dst_y_start:dst_y_end, dst_x_start:dst_x_end] = blended.astype(np.uint8) + + # 记录新物体覆盖区域 + new_obj_mask[dst_y_start:dst_y_end, dst_x_start:dst_x_end] = alpha_uint8 + + # 10. 生成 repair mask：原区域 - 新物体覆盖区域 + kernel = np.ones((5, 5), np.uint8) + new_obj_mask_dilated = cv2.dilate(new_obj_mask, kernel, iterations=1) + repair_mask = cv2.subtract(repair_mask, new_obj_mask_dilated) + repair_mask = np.clip(repair_mask, 0, 255).astype(np.uint8) + repair_mask = cv2.dilate(repair_mask, np.ones((3, 3), np.uint8), iterations=1) + + # 11. 保存 + cv2.imwrite(output_image_path, output_img) + cv2.imwrite(output_repair_mask_path, repair_mask) + print(f"✅ Image saved to: {output_image_path}") + print(f"✅ Repair mask saved to: {output_repair_mask_path}") + + return output_img, repair_mask + +img, repair_mask = resize_and_paste_back_with_repair_mask( + image_path="/mnt/prev_nas/qhy_1/datasets/flux_gen_images/allocentric_002.png", + mask_path="/mnt/prev_nas/qhy_1/datasets/flux_gen_images_masks/allocentric_002.png", + scale_width=1.0, + scale_height=1.4, + output_image_path="/mnt/prev_nas/qhy_1/GenSpace/example/imageedit/29/allocentric_002.png", + output_repair_mask_path="fatter_repair_mask.png" +) \ No newline at end of file diff --git a/trajectory_construction/mask_resize_batch.py b/trajectory_construction/mask_resize_batch.py new file mode 100644 index 0000000000000000000000000000000000000000..b1deb8405ba843dad7d9648efa9722c41ce98945 --- /dev/null +++ b/trajectory_construction/mask_resize_batch.py @@ -0,0 +1,208 @@ +import os +import json +import cv2 +import numpy as np +from pathlib import Path +import random + +OBJECT_SIZE_TEMPLATES = { + "28": [ + "There is a <>. Adjust the dimensions of <> to make it 1.2 times its original size.", + "There is a <>. Enlarge the <> such that it becomes 1.2 times its starting size.", + "There is a <>. Ensure the <> grows to precisely 1.2 times its original size.", + "There is a <>. Increase the size of <> to 1.2 times its original size.", + "There is a <>. Resize the <> to ensure it is 1.2 times its original dimensions.", + "There is a <>. Scale the <> up so that it reaches 1.2 times its initial dimensions.", + "There is a <>. Transform the <> by setting its size to 1.2 times its original value.", + ], + "29": [ + "There is a <>. Adjust the height of <> to be 20cm taller.", + "There is a <>. Enlarge the <> in height by 20cm.", + "There is a <>. Increase the height of <> by 20cm.", + "There is a <>. Raise <>'s height by 20cm", + ], + "30": [ + "There is a <>. Adjust the length of <> to be 50cm longer.", + "There is a <>. Enlarge the <> in length by 50cm.", + "There is a <>. Extend <>'s length by 50cm", + "There is a <>. Increase the length of <> by 50cm.", + ], + "31": [ + "There is a <>. Adjust the width of <> to be 40cm wider.", + "There is a <>. Enlarge the <> in width by 40cm.", + "There is a <>. Increase the width of <> by 40cm.", + "There is a <>. Widen <>'s width by 40cm", + ], +} + +OPERATIONS = { + "28": (1.3, 1.3), + "29": (1.0, 1.3), + "30": (1.3, 1.0), + "31": (1.3, 1.0), +} + +def is_mask_single_component(mask_path): + mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE) + if mask is None: + return False + _, binary = cv2.threshold(mask, 127, 255, cv2.THRESH_BINARY) + num_labels, _ = cv2.connectedComponents(binary) + return (num_labels - 1) == 1 + +def resize_and_paste_back_with_repair_mask( + image_path, mask_path, scale_width=1.0, scale_height=1.0, output_image_path="output.png" +): + image = cv2.imread(image_path) + mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE) + if image is None or mask is None: + raise FileNotFoundError("Image or mask not found!") + + h, w = image.shape[:2] + assert mask.shape == (h, w), "Mask and image size mismatch!" + + coords = cv2.findNonZero(mask) + if coords is None: + raise ValueError("No object in mask!") + x, y, obj_w, obj_h = cv2.boundingRect(coords) + + center_x = x + obj_w // 2 + center_y = y + obj_h // 2 + + rgba = np.dstack([image, mask]) + obj_rgba = rgba[y:y+obj_h, x:x+obj_w] + + new_w = max(1, int(obj_w * scale_width)) + new_h = max(1, int(obj_h * scale_height)) + resized_obj = cv2.resize(obj_rgba, (new_w, new_h), interpolation=cv2.INTER_AREA) + + new_x = center_x - new_w // 2 + new_y = center_y - new_h // 2 + + dst_x_start = max(0, new_x) + dst_y_start = max(0, new_y) + dst_x_end = min(w, new_x + new_w) + dst_y_end = min(h, new_y + new_h) + + src_x_start = max(0, -new_x) + src_y_start = max(0, -new_y) + src_x_end = min(new_w, w - dst_x_start) + src_y_end = min(new_h, h - dst_y_start) + + background = image.copy() + background[mask > 0] = [255, 255, 255] + output_img = background.copy() + + if src_x_end > src_x_start and src_y_end > src_y_start: + obj_part = resized_obj[src_y_start:src_y_end, src_x_start:src_x_end] + alpha = obj_part[:, :, 3].astype(np.float32) / 255.0 + bg_part = output_img[dst_y_start:dst_y_end, dst_x_start:dst_x_end] + fg_part = obj_part[:, :, :3] + + # 防止任何极端情况下 shape 不一致 + hh = min(fg_part.shape[0], bg_part.shape[0], alpha.shape[0]) + ww = min(fg_part.shape[1], bg_part.shape[1], alpha.shape[1]) + fg_part = fg_part[:hh, :ww] + bg_part = bg_part[:hh, :ww] + alpha = alpha[:hh, :ww] + + blended = fg_part * alpha[..., None] + bg_part * (1 - alpha[..., None]) + output_img[dst_y_start:dst_y_start+hh, dst_x_start:dst_x_start+ww] = blended.astype(np.uint8) + + os.makedirs(os.path.dirname(output_image_path), exist_ok=True) + cv2.imwrite(output_image_path, output_img) + return output_img + +def load_object_class_mapping(genspace_json_path): + with open(genspace_json_path, "r", encoding="utf-8") as f: + data = json.load(f) + return {s["sample_id"]: s["object_class"] for s in data["samples"]} + +def main(): + MASK_DIR = "/mnt/prev_nas/qhy_1/datasets/flux_gen_images_masks" + IMAGE_DIR = "/mnt/prev_nas/qhy_1/datasets/flux_gen_images" + OUTPUT_DIR = "/mnt/prev_nas/qhy_1/datasets/flux_gen_images_size_change" + GENSPACE_JSON = "/mnt/prev_nas/qhy_1/datasets/unedit_image_prompts/genspace_prompts_vlm.json" + + OUTPUT_JSONL_PATH = os.path.join(OUTPUT_DIR, "size_edit_annotations.jsonl") + + os.makedirs(OUTPUT_DIR, exist_ok=True) + + obj_class_map = load_object_class_mapping(GENSPACE_JSON) + + mask_files = sorted([f for f in os.listdir(MASK_DIR) if f.endswith(".png")]) + print(f"Found {len(mask_files)} mask files.") + + num_imgs_generated = 0 + num_lines_written = 0 + num_skipped_multi = 0 + num_missing_img = 0 + + with open(OUTPUT_JSONL_PATH, "w", encoding="utf-8") as f_out: + for mask_file in mask_files: + mask_path = os.path.join(MASK_DIR, mask_file) + + if not is_mask_single_component(mask_path): + num_skipped_multi += 1 + print(f"💥 Skipping multi-component mask: {mask_file}") + continue + + stem = Path(mask_file).stem # e.g. allocentric_002 + + object_class = obj_class_map.get(stem, None) + if object_class is None: + # 没有对应 class 的就跳过 + print(f"💥 No class for {stem}") + continue + + image_path = os.path.join(IMAGE_DIR, mask_file) # same name + if not os.path.exists(image_path): + num_missing_img += 1 + print(f"💥 Missing image for {stem}") + continue + + for task_id, (scale_w, scale_h) in OPERATIONS.items(): + output_name = f"{stem}_{task_id}.png" + output_path = os.path.join(OUTPUT_DIR, output_name) + + # 1) 图片已存在：不再生成 + if not os.path.exists(output_path): + try: + resize_and_paste_back_with_repair_mask( + image_path=image_path, + mask_path=mask_path, + scale_width=scale_w, + scale_height=scale_h, + output_image_path=output_path, + ) + num_imgs_generated += 1 + except Exception as e: + print(f"💥 Error generating {output_name}: {e}") + continue + else: + print(f"✅ Already exists: {output_name}") + + # 2) 无论是否生成，jsonl 都写一条（只写需要内容） + template = random.choice(OBJECT_SIZE_TEMPLATES[task_id]) + instruction = template.replace("<>", f"<{object_class}>") + + item = { + "task_type": "edit", + "instruction": instruction, + "input_images": [image_path], + "output_image": output_path, + "object_class": object_class, + "task_id": int(task_id), + } + f_out.write(json.dumps(item, ensure_ascii=False) + "\n") + num_lines_written += 1 + + print("\nDone.") + print("images generated:", num_imgs_generated) + print("jsonl lines written:", num_lines_written) + print("skipped (multi-components):", num_skipped_multi) + print("missing images:", num_missing_img) + print("jsonl saved to:", OUTPUT_JSONL_PATH) + +if __name__ == "__main__": + main() diff --git a/trajectory_construction/plan_box.py b/trajectory_construction/plan_box.py new file mode 100644 index 0000000000000000000000000000000000000000..28b3c0fae198de2cd38da9102fd01e0832319af5 --- /dev/null +++ b/trajectory_construction/plan_box.py @@ -0,0 +1,276 @@ +import os +import cv2 +import numpy as np +import pandas as pd +import supervision as sv +import torch +from Grounded_SAM2.utils.track_utils import sample_points_from_masks +from Grounded_SAM2.sam2.sam2_image_predictor import SAM2ImagePredictor +from Grounded_SAM2.sam2.build_sam import build_sam2, build_sam2_video_predictor +from PIL import Image +from transformers import AutoModelForZeroShotObjectDetection, AutoProcessor +import argparse + +NUM_FRAMES = 49 + + +def segment( + text, + video_dir, + sam2_checkpoint="trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt", + model_cfg="sam2_hiera_l.yaml", +): + """ + Step 1: Environment settings and model initialization + """ + # use bfloat16 for the entire notebook + torch.autocast(device_type="cuda", dtype=torch.bfloat16).__enter__() + + if torch.cuda.get_device_properties(0).major >= 8: + # turn on tfloat32 for Ampere GPUs (https://pytorch.org/docs/stable/notes/cuda.html#tensorfloat-32-tf32-on-ampere-devices) + torch.backends.cuda.matmul.allow_tf32 = True + torch.backends.cudnn.allow_tf32 = True + + video_predictor = build_sam2_video_predictor(model_cfg, sam2_checkpoint) + sam2_image_model = build_sam2(model_cfg, sam2_checkpoint) + image_predictor = SAM2ImagePredictor(sam2_image_model) + + # init grounding dino model from huggingface + model_id = "IDEA-Research/grounding-dino-tiny" + device = "cuda" if torch.cuda.is_available() else "cpu" + processor = AutoProcessor.from_pretrained(model_id) + grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(model_id).to( + device + ) + + # scan all the JPEG frame names in this directory + frame_names = [ + p + for p in os.listdir(video_dir) + if os.path.splitext(p)[-1] in [".jpg", ".jpeg", ".JPG", ".JPEG"] + ] + frame_names.sort(key=lambda p: int(os.path.splitext(p)[0])) + + # init video predictor state + inference_state = video_predictor.init_state(video_path=video_dir) + + ann_frame_idx = 0 # the frame index we interact with + """ + Step 2: Prompt Grounding DINO and SAM image predictor to get the box and mask for specific frame + """ + + # prompt grounding dino to get the box coordinates on specific frame + img_path = os.path.join(video_dir, frame_names[ann_frame_idx]) + image = Image.open(img_path) + + # run Grounding DINO on the image + inputs = processor(images=image, text=text, return_tensors="pt").to(device) + with torch.no_grad(): + outputs = grounding_model(**inputs) + + results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=0.25, + text_threshold=0.3, + target_sizes=[image.size[::-1]], + ) + + # prompt SAM image predictor to get the mask for the object + image_predictor.set_image(np.array(image.convert("RGB"))) + + # process the detection results + input_boxes = results[0]["boxes"].cpu().numpy() + OBJECTS = results[0]["labels"] + + # prompt SAM 2 image predictor to get the mask for the object + masks, scores, logits = image_predictor.predict( + point_coords=None, + point_labels=None, + box=input_boxes, + multimask_output=False, + ) + + # convert the mask shape to (n, H, W) + if masks.ndim == 3: + masks = masks[None] + scores = scores[None] + logits = logits[None] + elif masks.ndim == 4: + masks = masks.squeeze(1) + + """ + Step 3: Register each object's positive points to video predictor with seperate add_new_points call + """ + + PROMPT_TYPE_FOR_VIDEO = "box" # or "point" + + assert PROMPT_TYPE_FOR_VIDEO in [ + "point", + "box", + "mask", + ], "SAM 2 video predictor only support point/box/mask prompt" + + # If you are using point prompts, we uniformly sample positive points based on the mask + if PROMPT_TYPE_FOR_VIDEO == "point": + # sample the positive points from mask for each objects + all_sample_points = sample_points_from_masks(masks=masks, num_points=10) + + for object_id, (label, points) in enumerate( + zip(OBJECTS, all_sample_points), start=1 + ): + labels = np.ones((points.shape[0]), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + points=points, + labels=labels, + ) + # Using box prompt + elif PROMPT_TYPE_FOR_VIDEO == "box": + for object_id, (label, box) in enumerate(zip(OBJECTS, input_boxes), start=1): + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + box=box, + ) + # Using mask prompt is a more straightforward way + elif PROMPT_TYPE_FOR_VIDEO == "mask": + for object_id, (label, mask) in enumerate(zip(OBJECTS, masks), start=1): + labels = np.ones((1), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_mask( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + mask=mask, + ) + else: + raise NotImplementedError( + "SAM 2 video predictor only support point/box/mask prompts" + ) + + """ + Step 4: Propagate the video predictor to get the segmentation results for each frame + """ + video_segments = {} # video_segments contains the per-frame segmentation results + for ( + out_frame_idx, + out_obj_ids, + out_mask_logits, + ) in video_predictor.propagate_in_video(inference_state): + video_segments[out_frame_idx] = { + out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy() + for i, out_obj_id in enumerate(out_obj_ids) + } + + """ + Step 5: Visualize the segment results across the video and save them + """ + annotated_frames = [] + + for frame_idx, segments in video_segments.items(): + img = cv2.imread(os.path.join(video_dir, frame_names[frame_idx])) + + object_ids = list(segments.keys()) + masks = list(segments.values()) + masks = np.concatenate(masks, axis=0) + + detections = sv.Detections( + xyxy=sv.mask_to_xyxy(masks), # (n, 4) + mask=masks, # (n, h, w) + class_id=np.array(object_ids, dtype=np.int32), + ) + mask_annotator = sv.MaskAnnotator() + annotated_frame = mask_annotator.annotate( + scene=np.zeros_like(img), detections=detections + ) + annotated_frames.append(annotated_frame) + return annotated_frames + + +def generate_frames_with_translated_boxes( + mask_image, unique_colors, translations, output_video_path, num_frames=NUM_FRAMES +): + boxes = {} + for color in unique_colors: + mask = cv2.inRange(mask_image, color, color) + x, y, w, h = cv2.boundingRect(mask) + boxes[tuple(map(int, color))] = (x, y, w, h) + + height, width, _ = mask_image.shape + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + video_writer = cv2.VideoWriter(output_video_path, fourcc, 10, (width, height)) + video_writer.write(mask_image) + + prev_boxes = boxes.copy() + for frame_idx in range(1, num_frames): + translated_image = np.zeros_like(mask_image) + for color, (x, y, w, h) in prev_boxes.items(): + translation = translations.get(color, [(0, 0, 0, 0)] * num_frames) + dx, dy, dw, dh = translation[frame_idx] + new_x, new_y = x + dx, y + dy + new_w, new_h = w + dw, h + dh + cv2.rectangle( + translated_image, + (new_x, new_y), + (new_x + new_w, new_y + new_h), + color, + thickness=min(mask_image.shape[0], mask_image.shape[1]) // 100, + ) + prev_boxes[color] = (new_x, new_y, new_w, new_h) + + video_writer.write(translated_image) + + video_writer.release() + print(f"Box Trajectory saved at {output_video_path}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Segment video frames using Grounded-SAM2 and save as a video." + ) + parser.add_argument( + "--text", type=str, required=True, help="The text prompt for Grounding DINO." + ) + parser.add_argument( + "--video_dir", type=str, required=True, help="The directory of JPEG frames." + ) + parser.add_argument( + "--output_video_path", + type=str, + required=True, + help="The path to save the output video.", + ) + args = parser.parse_args() + + annotated_frames = segment(args.text, args.video_dir) + output_video_path = args.output_video_path + + mask_image = annotated_frames[0] + df = pd.DataFrame(mask_image.reshape(-1, 3), columns=["R", "G", "B"]) + unique_colors_df = df.drop_duplicates() + unique_colors = unique_colors_df.to_numpy() + unique_colors = unique_colors[~np.all(unique_colors == [0, 0, 0], axis=1)] + + transformations = {} + # Define the (dx, dy, dw, dh) changes of each box (one box per color) in each frame + for idx, color in enumerate(unique_colors): + color_tuple = tuple(color) + transformations[color_tuple] = [] + if idx == 0: + for frame_idx in range(10): + transformations[color_tuple].append((-10, 10, 0, 0)) + for frame_idx in range(10, 20): + transformations[color_tuple].append((0, -10, 0, 0)) + for frame_idx in range(20, 30): + transformations[color_tuple].append((10, 10, 0, 0)) + for frame_idx in range(30, NUM_FRAMES): + transformations[color_tuple].append((0, -5, 0, 0)) + else: + raise ValueError(f"Unknown Color: {color_tuple}") + + generate_frames_with_translated_boxes( + mask_image, unique_colors, transformations, output_video_path + ) diff --git a/trajectory_construction/plan_mask.py b/trajectory_construction/plan_mask.py new file mode 100644 index 0000000000000000000000000000000000000000..d5d1728f1f71f88ae73304a40f6163a254785b3c --- /dev/null +++ b/trajectory_construction/plan_mask.py @@ -0,0 +1,367 @@ +import os +import sys +import gc +import shutil +from pathlib import Path + +# 先杀掉可能冲突的进程（可选） +os.system("pkill -f monitor_3.py") + +# 获取当前脚本所在目录，并添加 Grounded_SAM2 到路径 +current_dir = os.path.dirname(os.path.abspath(__file__)) +grounded_sam2_path = os.path.join(current_dir, "Grounded_SAM2") +if grounded_sam2_path not in sys.path: + sys.path.insert(0, grounded_sam2_path) + +import cv2 +import numpy as np +import supervision as sv +import torch +from PIL import Image +from transformers import AutoModelForZeroShotObjectDetection, AutoProcessor +from Grounded_SAM2.sam2.build_sam import build_sam2, build_sam2_video_predictor +from Grounded_SAM2.sam2.sam2_image_predictor import SAM2ImagePredictor +from Grounded_SAM2.utils.track_utils import sample_points_from_masks +import argparse + +# ======================== +# 配置参数 +# ======================== +JSON_PATH = "/mnt/prev_nas/qhy/datasets/miradata9k_trackable_objects.json" +VIDEO_ROOT_DIR = "/mnt/prev_nas/qhy/datasets/MiraData9K_download/zip/MiraData9K" +OUTPUT_DIR = "/ossfs/workspace" +PROGRESS_FILE = os.path.join(OUTPUT_DIR, "progress.json") # ← 进度文件路径 + +MODEL_CFG = "sam2_hiera_l.yaml" +CHECKPOINT = "/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt" +GROUNDING_MODEL_ID = "/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/grounding-dino-tiny" + +DEVICE = "cuda" if torch.cuda.is_available() else "cpu" +FPS = 16 + + +def load_progress(): + """加载 progress.json，如果不存在则返回空字典""" + if os.path.exists(PROGRESS_FILE): + with open(PROGRESS_FILE, 'r', encoding='utf-8') as f: + try: + return json.load(f) + except json.JSONDecodeError: + print(f"⚠️ {PROGRESS_FILE} 格式错误，将重建") + return {} + return {} + + +def save_progress(progress): + """保存进度到 JSON 文件""" + temp_file = PROGRESS_FILE + ".tmp" + with open(temp_file, 'w', encoding='utf-8') as f: + json.dump(progress, f, indent=2, ensure_ascii=False) + # 原子性替换，防止写入一半中断 + shutil.move(temp_file, PROGRESS_FILE) + + +def segment_core( + text, + video_dir, + inference_state, + video_predictor, + image_predictor, + grounding_model, + processor, + device="cuda" +): + """ + 核心分割逻辑：使用已初始化的模型和状态进行推理 + """ + # 获取帧名并排序 + frame_names = [ + p for p in os.listdir(video_dir) + if os.path.splitext(p)[-1].lower() in [".jpg", ".jpeg"] + ] + frame_names.sort(key=lambda p: int(os.path.splitext(p)[0])) + + ann_frame_idx = 0 # 用于 prompt 的第一帧 + img_path = os.path.join(video_dir, frame_names[ann_frame_idx]) + image = Image.open(img_path).convert("RGB") + + # Grounding DINO 推理 + inputs = processor(images=image, text=text, return_tensors="pt").to(device) + with torch.no_grad(): + outputs = grounding_model(**inputs) + results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=0.25, + text_threshold=0.3, + target_sizes=[image.size[::-1]], + ) + + input_boxes = results[0]["boxes"].cpu().numpy() + OBJECTS = results[0]["labels"] + + if len(input_boxes) == 0: + print(f"⚠️ Grounding DINO 未检测到任何对象: '{text}'") + return [] + + # 设置图像预测器 + image_predictor.set_image(np.array(image)) + + masks, _, _ = image_predictor.predict( + point_coords=None, + point_labels=None, + box=input_boxes, + multimask_output=False, + ) + + # 调整 mask 形状 (n, H, W) + if masks.ndim == 4: + masks = masks.squeeze(1) # (1, 1, H, W) -> (H, W) + elif masks.ndim == 3 and masks.shape[0] != len(OBJECTS): + masks = masks[None] # (H, W) -> (1, H, W) + + # 添加每个对象到视频预测器 + PROMPT_TYPE_FOR_VIDEO = "box" + + if PROMPT_TYPE_FOR_VIDEO == "point": + all_sample_points = sample_points_from_masks(masks=masks, num_points=10) + for obj_id, (label, points) in enumerate(zip(OBJECTS, all_sample_points), start=1): + labels = np.ones((points.shape[0]), dtype=np.int32) + video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=obj_id, + points=points, + labels=labels, + ) + elif PROMPT_TYPE_FOR_VIDEO == "box": + for obj_id, (label, box) in enumerate(zip(OBJECTS, input_boxes), start=1): + video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=obj_id, + box=box, + ) + elif PROMPT_TYPE_FOR_VIDEO == "mask": + for obj_id, (label, mask) in enumerate(zip(OBJECTS, masks), start=1): + video_predictor.add_new_mask( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=obj_id, + mask=mask, + ) + else: + raise NotImplementedError("Only support 'point', 'box', or 'mask'.") + + # 传播所有帧 + video_segments = {} + for out_frame_idx, out_obj_ids, out_mask_logits in video_predictor.propagate_in_video(inference_state): + video_segments[out_frame_idx] = { + out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy()[0] + for i, out_obj_id in enumerate(out_obj_ids) + } + + # 可视化结果 + annotated_frames = [] + for frame_idx in range(len(frame_names)): + frame_path = os.path.join(video_dir, frame_names[frame_idx]) + if not os.path.exists(frame_path): + continue + img = cv2.imread(frame_path) + if img is None: + continue + + if frame_idx not in video_segments or len(video_segments[frame_idx]) == 0: + annotated_frames.append(np.zeros_like(img)) + continue + + segments = video_segments[frame_idx] + object_ids = list(segments.keys()) + masks_list = list(segments.values()) + masks_array = np.stack(masks_list, axis=0) # (n, h, w) + + detections = sv.Detections( + xyxy=sv.mask_to_xyxy(masks_array), + mask=masks_array, + class_id=np.array(object_ids, dtype=int), + ) + mask_annotator = sv.MaskAnnotator() + annotated_frame = mask_annotator.annotate( + scene=np.zeros_like(img), detections=detections + ) + annotated_frames.append(annotated_frame) + + return annotated_frames + + +def save_video(frames, output_path, fps=16): + """保存帧为 MP4 视频""" + if not frames: + print(f"⚠️ 无帧可保存: {output_path}") + return + height, width, _ = frames[0].shape + fourcc = cv2.VideoWriter_fourcc(*'mp4v') + os.makedirs(os.path.dirname(output_path), exist_ok=True) + video_writer = cv2.VideoWriter(output_path, fourcc, fps, (width, height)) + for frame in frames: + video_writer.write(frame) + video_writer.release() + + +def extract_all_frames(video_path, output_dir=None, image_format="jpg"): + """ + 提取视频所有帧 + """ + video_path = str(video_path) + if not os.path.exists(video_path): + raise FileNotFoundError(f"视频不存在: {video_path}") + + if output_dir is None: + video_stem = Path(video_path).stem + parent_dir = Path(video_path).parent + output_dir = str(parent_dir / f"{video_stem}_frames") + + if os.path.exists(output_dir): + shutil.rmtree(output_dir) + os.makedirs(output_dir, exist_ok=False) + + cap = cv2.VideoCapture(video_path) + if not cap.isOpened(): + raise IOError(f"无法打开视频: {video_path}") + + total_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT)) + print(f"📽️ 处理视频: {video_path} ({total_frames} 帧)") + + saved_count = 0 + frame_idx = 0 + while True: + ret, frame = cap.read() + if not ret: + break + save_path = os.path.join(output_dir, f"{frame_idx:06d}.{image_format}") + success = cv2.imwrite(save_path, frame) + if success: + saved_count += 1 + frame_idx += 1 + cap.release() + + print(f"✅ 已提取 {saved_count} 帧到: {output_dir}") + return output_dir + + +def main(): + # 加载进度 + progress = load_progress() + print(f"📁 已加载 {len(progress)} 条处理记录") + + # 加载任务列表 + with open(JSON_PATH, 'r', encoding='utf-8') as f: + data = json.load(f) + print(f"📋 共 {len(data)} 个视频待处理") + # ======================== + # 初始化模型（只加载一次） + # ======================== + print("🚀 正在加载模型...") + torch.autocast(device_type="cuda", enabled=(DEVICE=="cuda"), dtype=torch.bfloat16).__enter__() + + if torch.cuda.is_available(): + torch.backends.cuda.matmul.allow_tf32 = True + torch.backends.cudnn.allow_tf32 = True + + # 构建视频和图像预测器 + video_predictor = build_sam2_video_predictor(MODEL_CFG, CHECKPOINT).to(DEVICE) + sam2_image_model = build_sam2(MODEL_CFG, CHECKPOINT).to(DEVICE) + image_predictor = SAM2ImagePredictor(sam2_image_model) + + # 加载 Grounding DINO + processor = AutoProcessor.from_pretrained(GROUNDING_MODEL_ID) + grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(GROUNDING_MODEL_ID).to(DEVICE) + + print("✅ 模型加载完成") + + # ======================== + # 加载数据并处理 + # ======================== + with open(JSON_PATH, 'r', encoding='utf-8') as f: + data = json.load(f) + + os.makedirs(OUTPUT_DIR, exist_ok=True) + print(f"Loaded {len(data)} videos") + + for item in data: + video_path = item["video_path"] # e.g., MiraData9K/xxx/yyy.mp4 + trackable_objects = item["trackable_objects"] + output_video_path = os.path.join(OUTPUT_DIR, video_path.replace(".mp4", ".mp4")) + output_video_path = output_video_path.replace("MiraData9K/", "") # 清理路径 + local_video_path = os.path.join(VIDEO_ROOT_DIR, video_path) + + # 输出文件存在且未在 progress 中？→ 补录为 done + if os.path.exists(output_video_path) and video_path not in progress: + progress[video_path] = {"status": "done"} + print(f"🔍 发现已存在结果，标记为完成: {video_path}") + continue + + # 检查是否已完成 + if progress.get(video_path, {}).get("status") == "done": + print(f"⏭️ 已完成，跳过: {video_path}") + continue + + if not trackable_objects: + progress[video_path] = {"status": "skipped"} + print(f"⏭️ 无跟踪对象，跳过: {video_path}") + continue + + + print(f"🎬 Processing: {video_path}") + print(f" Objects: {trackable_objects}") + + try: + # 1. 提取帧 + frame_dir = extract_all_frames(local_video_path) + + # 2. 初始化视频状态（关键：每次新建） + inference_state = video_predictor.init_state(video_path=frame_dir) + + # 3. 执行分割 + text_prompt = ".".join(trackable_objects) + "." + annotated_frames = segment_core( + text=text_prompt, + video_dir=frame_dir, + inference_state=inference_state, + video_predictor=video_predictor, + image_predictor=image_predictor, + grounding_model=grounding_model, + processor=processor, + device=DEVICE + ) + + if not annotated_frames: + print(f"❌ 分割结果为空: {video_path}") + continue + + # 4. 保存轨迹视频 + save_video(annotated_frames, output_video_path, fps=FPS) + progress[video_path] = {"status": "done"} + print(f"✅ 成功保存: {output_video_path}") + + except Exception as e: + print(f"❌ 处理失败 {video_path}: {str(e)}") + progress[video_path] = {"status": "failed", "error": str(e)} + + finally: + # ✅ 关键：释放 inference_state 和临时资源 + if 'inference_state' in locals(): + video_predictor.reset_state(inference_state) + del inference_state + if 'frame_dir' in locals() and os.path.exists(frame_dir): + shutil.rmtree(frame_dir) + torch.cuda.empty_cache() + gc.collect() + save_progress(progress) + + print("🎉 所有视频处理完成！") + + +if __name__ == "__main__": + import json + main() diff --git a/trajectory_construction/plan_mask0.py b/trajectory_construction/plan_mask0.py new file mode 100644 index 0000000000000000000000000000000000000000..83ab30b541925b01b158d4700b195e29c8e68b27 --- /dev/null +++ b/trajectory_construction/plan_mask0.py @@ -0,0 +1,232 @@ +import os +import sys +# 获取当前脚本所在目录 +current_dir = os.path.dirname(os.path.abspath(__file__)) + +# 拼接 Grounded_SAM2 的路径 +grounded_sam2_path = os.path.join(current_dir, "Grounded_SAM2") + +# 添加到模块搜索路径（如果还没加过） +if grounded_sam2_path not in sys.path: + sys.path.insert(0, grounded_sam2_path) +import cv2 +import numpy as np +import pandas as pd +import supervision as sv +import torch +from Grounded_SAM2.utils.track_utils import sample_points_from_masks +from Grounded_SAM2.sam2.sam2_image_predictor import SAM2ImagePredictor +from Grounded_SAM2.sam2.build_sam import build_sam2, build_sam2_video_predictor +from PIL import Image +from transformers import AutoModelForZeroShotObjectDetection, AutoProcessor +import argparse + + +def segment( + text, + video_dir, + sam2_checkpoint="/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt", + model_cfg="sam2_hiera_l.yaml", +): + """ + Step 1: Environment settings and model initialization + """ + # use bfloat16 for the entire notebook + torch.autocast(device_type="cuda", dtype=torch.bfloat16).__enter__() + + if torch.cuda.get_device_properties(0).major >= 8: + # turn on tfloat32 for Ampere GPUs (https://pytorch.org/docs/stable/notes/cuda.html#tensorfloat-32-tf32-on-ampere-devices) + torch.backends.cuda.matmul.allow_tf32 = True + torch.backends.cudnn.allow_tf32 = True + + video_predictor = build_sam2_video_predictor(model_cfg, sam2_checkpoint) + sam2_image_model = build_sam2(model_cfg, sam2_checkpoint) + image_predictor = SAM2ImagePredictor(sam2_image_model) + + # init grounding dino model from huggingface + model_id = "IDEA-Research/grounding-dino-tiny" + device = "cuda" if torch.cuda.is_available() else "cpu" + processor = AutoProcessor.from_pretrained(model_id) + grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(model_id).to( + device + ) + + # scan all the JPEG frame names in this directory + frame_names = [ + p + for p in os.listdir(video_dir) + if os.path.splitext(p)[-1] in [".jpg", ".jpeg", ".JPG", ".JPEG"] + ] + frame_names.sort(key=lambda p: int(os.path.splitext(p)[0])) + + # init video predictor state + inference_state = video_predictor.init_state(video_path=video_dir) + + ann_frame_idx = 0 # the frame index we interact with + """ + Step 2: Prompt Grounding DINO and SAM image predictor to get the box and mask for specific frame + """ + + # prompt grounding dino to get the box coordinates on specific frame + img_path = os.path.join(video_dir, frame_names[ann_frame_idx]) + image = Image.open(img_path) + + # run Grounding DINO on the image + inputs = processor(images=image, text=text, return_tensors="pt").to(device) + with torch.no_grad(): + outputs = grounding_model(**inputs) + + results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=0.25, + text_threshold=0.3, + target_sizes=[image.size[::-1]], + ) + + # prompt SAM image predictor to get the mask for the object + image_predictor.set_image(np.array(image.convert("RGB"))) + + # process the detection results + input_boxes = results[0]["boxes"].cpu().numpy() + OBJECTS = results[0]["labels"] + + # prompt SAM 2 image predictor to get the mask for the object + masks, scores, logits = image_predictor.predict( + point_coords=None, + point_labels=None, + box=input_boxes, + multimask_output=False, + ) + + # convert the mask shape to (n, H, W) + if masks.ndim == 3: + masks = masks[None] + scores = scores[None] + logits = logits[None] + elif masks.ndim == 4: + masks = masks.squeeze(1) + + """ + Step 3: Register each object's positive points to video predictor with seperate add_new_points call + """ + + PROMPT_TYPE_FOR_VIDEO = "box" # or "point" + + assert PROMPT_TYPE_FOR_VIDEO in [ + "point", + "box", + "mask", + ], "SAM 2 video predictor only support point/box/mask prompt" + + # If you are using point prompts, we uniformly sample positive points based on the mask + if PROMPT_TYPE_FOR_VIDEO == "point": + # sample the positive points from mask for each objects + all_sample_points = sample_points_from_masks(masks=masks, num_points=10) + + for object_id, (label, points) in enumerate( + zip(OBJECTS, all_sample_points), start=1 + ): + labels = np.ones((points.shape[0]), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + points=points, + labels=labels, + ) + # Using box prompt + elif PROMPT_TYPE_FOR_VIDEO == "box": + for object_id, (label, box) in enumerate(zip(OBJECTS, input_boxes), start=1): + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + box=box, + ) + # Using mask prompt is a more straightforward way + elif PROMPT_TYPE_FOR_VIDEO == "mask": + for object_id, (label, mask) in enumerate(zip(OBJECTS, masks), start=1): + labels = np.ones((1), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_mask( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + mask=mask, + ) + else: + raise NotImplementedError( + "SAM 2 video predictor only support point/box/mask prompts" + ) + + """ + Step 4: Propagate the video predictor to get the segmentation results for each frame + """ + video_segments = {} # video_segments contains the per-frame segmentation results + for ( + out_frame_idx, + out_obj_ids, + out_mask_logits, + ) in video_predictor.propagate_in_video(inference_state): + video_segments[out_frame_idx] = { + out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy() + for i, out_obj_id in enumerate(out_obj_ids) + } + + """ + Step 5: Visualize the segment results across the video and save them + """ + annotated_frames = [] + + for frame_idx, segments in video_segments.items(): + img = cv2.imread(os.path.join(video_dir, frame_names[frame_idx])) + + object_ids = list(segments.keys()) + masks = list(segments.values()) + masks = np.concatenate(masks, axis=0) + + detections = sv.Detections( + xyxy=sv.mask_to_xyxy(masks), # (n, 4) + mask=masks, # (n, h, w) + class_id=np.array(object_ids, dtype=np.int32), + ) + mask_annotator = sv.MaskAnnotator() + annotated_frame = mask_annotator.annotate( + scene=np.zeros_like(img), detections=detections + ) + annotated_frames.append(annotated_frame) + return annotated_frames + + +def save_video(frames, output_path, fps=10): + height, width, _ = frames[0].shape + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + video_writer = cv2.VideoWriter(output_path, fourcc, fps, (width, height)) + + for frame in frames: + video_writer.write(frame) + + video_writer.release() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Segment video frames using Grounded-SAM2 and save as a video." + ) + parser.add_argument( + "--text", type=str, required=True, help="The text prompt for Grounding DINO." + ) + parser.add_argument( + "--video_dir", type=str, required=True, help="The directory of JPEG frames." + ) + parser.add_argument( + "--output_video_path", + type=str, + required=True, + help="The path to save the output video.", + ) + args = parser.parse_args() + + annotated_frames = segment(args.text, args.video_dir) + save_video(annotated_frames, args.output_video_path) + print(f"Video saved to {args.output_video_path}") \ No newline at end of file diff --git a/trajectory_construction/plan_sparse_box.py b/trajectory_construction/plan_sparse_box.py new file mode 100644 index 0000000000000000000000000000000000000000..06d04ad2a111ee034e9db14a0588b6d0627861ef --- /dev/null +++ b/trajectory_construction/plan_sparse_box.py @@ -0,0 +1,288 @@ +import os +import cv2 +import numpy as np +import pandas as pd +import supervision as sv +import torch +from Grounded_SAM2.utils.track_utils import sample_points_from_masks +from Grounded_SAM2.sam2.sam2_image_predictor import SAM2ImagePredictor +from Grounded_SAM2.sam2.build_sam import build_sam2, build_sam2_video_predictor +from PIL import Image +from transformers import AutoModelForZeroShotObjectDetection, AutoProcessor +import argparse + +NUM_FRAMES = 49 + + +def segment( + text, + video_dir, + sam2_checkpoint="trajectory_construction/Grounded_SAM2/checkpoints/sam2_hiera_large.pt", + model_cfg="sam2_hiera_l.yaml", +): + """ + Step 1: Environment settings and model initialization + """ + # use bfloat16 for the entire notebook + torch.autocast(device_type="cuda", dtype=torch.bfloat16).__enter__() + + if torch.cuda.get_device_properties(0).major >= 8: + # turn on tfloat32 for Ampere GPUs (https://pytorch.org/docs/stable/notes/cuda.html#tensorfloat-32-tf32-on-ampere-devices) + torch.backends.cuda.matmul.allow_tf32 = True + torch.backends.cudnn.allow_tf32 = True + + video_predictor = build_sam2_video_predictor(model_cfg, sam2_checkpoint) + sam2_image_model = build_sam2(model_cfg, sam2_checkpoint) + image_predictor = SAM2ImagePredictor(sam2_image_model) + + # init grounding dino model from huggingface + model_id = "IDEA-Research/grounding-dino-tiny" + device = "cuda" if torch.cuda.is_available() else "cpu" + processor = AutoProcessor.from_pretrained(model_id) + grounding_model = AutoModelForZeroShotObjectDetection.from_pretrained(model_id).to( + device + ) + + # scan all the JPEG frame names in this directory + frame_names = [ + p + for p in os.listdir(video_dir) + if os.path.splitext(p)[-1] in [".jpg", ".jpeg", ".JPG", ".JPEG"] + ] + frame_names.sort(key=lambda p: int(os.path.splitext(p)[0])) + + # init video predictor state + inference_state = video_predictor.init_state(video_path=video_dir) + + ann_frame_idx = 0 # the frame index we interact with + """ + Step 2: Prompt Grounding DINO and SAM image predictor to get the box and mask for specific frame + """ + + # prompt grounding dino to get the box coordinates on specific frame + img_path = os.path.join(video_dir, frame_names[ann_frame_idx]) + image = Image.open(img_path) + + # run Grounding DINO on the image + inputs = processor(images=image, text=text, return_tensors="pt").to(device) + with torch.no_grad(): + outputs = grounding_model(**inputs) + + results = processor.post_process_grounded_object_detection( + outputs, + inputs.input_ids, + box_threshold=0.25, + text_threshold=0.3, + target_sizes=[image.size[::-1]], + ) + + # prompt SAM image predictor to get the mask for the object + image_predictor.set_image(np.array(image.convert("RGB"))) + + # process the detection results + input_boxes = results[0]["boxes"].cpu().numpy() + OBJECTS = results[0]["labels"] + + # prompt SAM 2 image predictor to get the mask for the object + masks, scores, logits = image_predictor.predict( + point_coords=None, + point_labels=None, + box=input_boxes, + multimask_output=False, + ) + + # convert the mask shape to (n, H, W) + if masks.ndim == 3: + masks = masks[None] + scores = scores[None] + logits = logits[None] + elif masks.ndim == 4: + masks = masks.squeeze(1) + + """ + Step 3: Register each object's positive points to video predictor with seperate add_new_points call + """ + + PROMPT_TYPE_FOR_VIDEO = "box" # or "point" + + assert PROMPT_TYPE_FOR_VIDEO in [ + "point", + "box", + "mask", + ], "SAM 2 video predictor only support point/box/mask prompt" + + # If you are using point prompts, we uniformly sample positive points based on the mask + if PROMPT_TYPE_FOR_VIDEO == "point": + # sample the positive points from mask for each objects + all_sample_points = sample_points_from_masks(masks=masks, num_points=10) + + for object_id, (label, points) in enumerate( + zip(OBJECTS, all_sample_points), start=1 + ): + labels = np.ones((points.shape[0]), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + points=points, + labels=labels, + ) + # Using box prompt + elif PROMPT_TYPE_FOR_VIDEO == "box": + for object_id, (label, box) in enumerate(zip(OBJECTS, input_boxes), start=1): + _, out_obj_ids, out_mask_logits = video_predictor.add_new_points_or_box( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + box=box, + ) + # Using mask prompt is a more straightforward way + elif PROMPT_TYPE_FOR_VIDEO == "mask": + for object_id, (label, mask) in enumerate(zip(OBJECTS, masks), start=1): + labels = np.ones((1), dtype=np.int32) + _, out_obj_ids, out_mask_logits = video_predictor.add_new_mask( + inference_state=inference_state, + frame_idx=ann_frame_idx, + obj_id=object_id, + mask=mask, + ) + else: + raise NotImplementedError( + "SAM 2 video predictor only support point/box/mask prompts" + ) + + """ + Step 4: Propagate the video predictor to get the segmentation results for each frame + """ + video_segments = {} # video_segments contains the per-frame segmentation results + for ( + out_frame_idx, + out_obj_ids, + out_mask_logits, + ) in video_predictor.propagate_in_video(inference_state): + video_segments[out_frame_idx] = { + out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy() + for i, out_obj_id in enumerate(out_obj_ids) + } + + """ + Step 5: Visualize the segment results across the video and save them + """ + annotated_frames = [] + + for frame_idx, segments in video_segments.items(): + img = cv2.imread(os.path.join(video_dir, frame_names[frame_idx])) + + object_ids = list(segments.keys()) + masks = list(segments.values()) + masks = np.concatenate(masks, axis=0) + + detections = sv.Detections( + xyxy=sv.mask_to_xyxy(masks), # (n, 4) + mask=masks, # (n, h, w) + class_id=np.array(object_ids, dtype=np.int32), + ) + mask_annotator = sv.MaskAnnotator() + annotated_frame = mask_annotator.annotate( + scene=np.zeros_like(img), detections=detections + ) + annotated_frames.append(annotated_frame) + return annotated_frames + + +def generate_frames_with_translated_boxes( + mask_image, + unique_colors, + translations, + output_video_path, + sparse_box_index, + num_frames=NUM_FRAMES, +): + boxes = {} + for color in unique_colors: + mask = cv2.inRange(mask_image, color, color) + x, y, w, h = cv2.boundingRect(mask) + boxes[tuple(map(int, color))] = (x, y, w, h) + + height, width, _ = mask_image.shape + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + video_writer = cv2.VideoWriter(output_video_path, fourcc, 10, (width, height)) + video_writer.write(mask_image) + + prev_boxes = boxes.copy() + for frame_idx in range(1, num_frames): + translated_image = np.zeros_like(mask_image) + for color, (x, y, w, h) in prev_boxes.items(): + translation = translations.get(color, [(0, 0, 0, 0)] * num_frames) + dx, dy, dw, dh = translation[frame_idx] + new_x, new_y = x + dx, y + dy + new_w, new_h = w + dw, h + dh + cv2.rectangle( + translated_image, + (new_x, new_y), + (new_x + new_w, new_y + new_h), + color, + thickness=min(mask_image.shape[0], mask_image.shape[1]) // 100, + ) + prev_boxes[color] = (new_x, new_y, new_w, new_h) + if frame_idx in sparse_box_index: + video_writer.write(translated_image) + else: + video_writer.write(np.zeros_like(mask_image)) + + video_writer.release() + print(f"Box Trajectory saved at {output_video_path}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Segment video frames using Grounded-SAM2 and save as a video." + ) + parser.add_argument( + "--text", type=str, required=True, help="The text prompt for Grounding DINO." + ) + parser.add_argument( + "--video_dir", type=str, required=True, help="The directory of JPEG frames." + ) + parser.add_argument( + "--output_video_path", + type=str, + required=True, + help="The path to save the output video.", + ) + parser.add_argument( + "--sparse_box_index", + type=int, + nargs="+", + required=True, + help="The indices of frames to retain the box trajectories.", + ) + args = parser.parse_args() + + annotated_frames = segment(args.text, args.video_dir) + output_video_path = args.output_video_path + + mask_image = annotated_frames[0] + df = pd.DataFrame(mask_image.reshape(-1, 3), columns=["R", "G", "B"]) + unique_colors_df = df.drop_duplicates() + unique_colors = unique_colors_df.to_numpy() + unique_colors = unique_colors[~np.all(unique_colors == [0, 0, 0], axis=1)] + + transformations = {} + # Define the (dx, dy, dw, dh) changes of each box (one box per color) in each frame + for idx, color in enumerate(unique_colors): + color_tuple = tuple(color) + transformations[color_tuple] = [] + if idx == 0: + for frame_idx in range(NUM_FRAMES): + transformations[color_tuple].append((0, 10, 0, -10)) + else: + raise ValueError(f"Unknown Color: {color_tuple}") + + generate_frames_with_translated_boxes( + mask_image, + unique_colors, + transformations, + output_video_path, + args.sparse_box_index, + ) diff --git a/trajectory_construction/qwen_fix.py b/trajectory_construction/qwen_fix.py new file mode 100644 index 0000000000000000000000000000000000000000..2fad1d978d2f7426d2aab2b6c2e76990d8fbf740 --- /dev/null +++ b/trajectory_construction/qwen_fix.py @@ -0,0 +1,122 @@ +import os, math, argparse, random +from PIL import Image +import torch +import numpy as np +from diffusers import FlowMatchEulerDiscreteScheduler +from qwenimage.pipeline_qwenimage_edit_plus import QwenImageEditPlusPipeline +from qwenimage.transformer_qwenimage import QwenImageTransformer2DModel + +IMG_EXTS = {".jpg", ".jpeg", ".png", ".webp", ".bmp"} +dtype = torch.bfloat16 + +scheduler_config = { + "base_image_seq_len": 256, + "base_shift": math.log(3), + "invert_sigmas": False, + "max_image_seq_len": 8192, + "max_shift": math.log(3), + "num_train_timesteps": 1000, + "shift": 1.0, + "shift_terminal": None, + "stochastic_sampling": False, + "time_shift_type": "exponential", + "use_beta_sigmas": False, + "use_dynamic_shifting": True, + "use_exponential_sigmas": False, + "use_karras_sigmas": False, +} + +FIX_PROMPT = ("seamlessly blend the object into the background, remove white sides and artifacts, " + "smooth jagged edges, natural lighting and color consistency, photorealistic") + +def iter_images(root_dir): + for root, _, files in os.walk(root_dir): + for fn in files: + ext = os.path.splitext(fn)[1].lower() + if ext in IMG_EXTS: + yield os.path.join(root, fn) + +def load_pipeline(base_model_path, lora_dir, lora_weight_name, device): + scheduler = FlowMatchEulerDiscreteScheduler.from_config(scheduler_config) + pipe = QwenImageEditPlusPipeline.from_pretrained( + base_model_path, scheduler=scheduler, torch_dtype=dtype + ).to(device) + pipe.load_lora_weights(lora_dir, weight_name=lora_weight_name) + pipe.fuse_lora(lora_scale=1.0) + pipe.transformer.__class__ = QwenImageTransformer2DModel + return pipe + +@torch.no_grad() +def generate_single(pipe, input_image, prompt, seed, steps, true_cfg, device): + generator = torch.Generator(device=device).manual_seed(seed) + out = pipe( + image=[input_image], + prompt=prompt, + negative_prompt=" ", + num_inference_steps=steps, + generator=generator, + true_cfg_scale=true_cfg, + num_images_per_prompt=1, + ).images[0] + return out + +def main(): + p = argparse.ArgumentParser() + p.add_argument("--in_dir", default="/mnt/prev_nas/qhy_1/datasets/flux_gen_images_size_change") + p.add_argument("--out_dir", default="/mnt/prev_nas/qhy_1/datasets/flux_gen_images_size_change_fixed") + p.add_argument("--base_model_path", default="/mnt/5T_nas/cwl/model/Qwen-Image-Edit-2509") + p.add_argument("--lora_dir", default="/mnt/prev_nas/qhy/Qwen-Edit-2509-Multiple-angles") + p.add_argument("--lora_weight_name", default="Qwen-Image-Edit-2509-Lightning-4steps-V1.0-bf16_dim1.safetensors") + p.add_argument("--steps", type=int, default=4) + p.add_argument("--true_cfg", type=float, default=1.0) + p.add_argument("--seed", type=int, default=0, help=">=0 固定；<0 随机") + p.add_argument("--overwrite", action="store_true") + + # 分卡参数 + p.add_argument("--rank", type=int, default=0) + p.add_argument("--world_size", type=int, default=1) + args = p.parse_args() + + assert 0 <= args.rank < args.world_size + + device = "cuda" if torch.cuda.is_available() else "cpu" + os.makedirs(args.out_dir, exist_ok=True) + + pipe = load_pipeline(args.base_model_path, args.lora_dir, args.lora_weight_name, device) + + all_imgs = sorted(list(iter_images(args.in_dir))) + print(f"rank {args.rank}/{args.world_size} total imgs: {len(all_imgs)}") + + max_seed = np.iinfo(np.int32).max + + for i, img_path in enumerate(all_imgs): + if (i % args.world_size) != args.rank: + continue + + rel = os.path.relpath(img_path, args.in_dir) + out_path = os.path.join(args.out_dir, rel) + os.makedirs(os.path.dirname(out_path), exist_ok=True) + + if (not args.overwrite) and os.path.exists(out_path): + continue + + try: + img = Image.open(img_path).convert("RGB") + except Exception as e: + print("open failed:", img_path, e) + continue + + seed = args.seed if args.seed >= 0 else random.randint(0, max_seed) + + try: + out_img = generate_single(pipe, img, FIX_PROMPT, seed, args.steps, args.true_cfg, device) + except Exception as e: + print("gen failed:", img_path, e) + continue + + out_img.save(out_path) + + print(f"rank {args.rank} done.") + +if __name__ == "__main__": + main() diff --git a/trajectory_construction/qwen_fix.sh b/trajectory_construction/qwen_fix.sh new file mode 100644 index 0000000000000000000000000000000000000000..f20dd706d66692d8eff84711f32702e837b26b16 --- /dev/null +++ b/trajectory_construction/qwen_fix.sh @@ -0,0 +1,20 @@ +#!/usr/bin/env bash +conda activate /mnt/5T_nas/cwl/env/Qwen-Edit +cd /mnt/prev_nas/qhy_1/datasets/unedit_image_prompts/Qwen-Image-2509-MultipleAngles + +SCRIPT=/mnt/prev_nas/qhy/MagicMotion/trajectory_construction/qwen_fix.py +IN_DIR=/mnt/prev_nas/qhy_1/datasets/flux_gen_images_size_change +OUT_DIR=/mnt/prev_nas/qhy_1/datasets/flux_gen_images_size_change_fixed + +for RANK in 0 1 2 3 4 5 6 7; do + echo "launch rank ${RANK} on GPU ${RANK}" + CUDA_VISIBLE_DEVICES=${RANK} \ + python $SCRIPT \ + --in_dir "${IN_DIR}" \ + --out_dir "${OUT_DIR}" \ + --rank "${RANK}" \ + --world_size 8 & +done + +wait +echo "all done"