tracker/model/aux_modules.py

"""
For computing auxiliary outputs for auxiliary losses
"""
from typing import Dict
from omegaconf import DictConfig
import torch
import torch.nn as nn

from tracker.model.group_modules import GConv2d
from tracker.utils.tensor_utils import aggregate


class LinearPredictor(nn.Module):
    def __init__(self, x_dim: int, pix_dim: int):
        super().__init__()
        self.projection = GConv2d(x_dim, pix_dim + 1, kernel_size=1)

    def forward(self, pix_feat: torch.Tensor, x: torch.Tensor) -> torch.Tensor:
        # pixel_feat: B*pix_dim*H*W
        # x: B*num_objects*x_dim*H*W
        num_objects = x.shape[1]
        x = self.projection(x)

        pix_feat = pix_feat.unsqueeze(1).expand(-1, num_objects, -1, -1, -1)
        logits = (pix_feat * x[:, :, :-1]).sum(dim=2) + x[:, :, -1]
        return logits


class DirectPredictor(nn.Module):
    def __init__(self, x_dim: int):
        super().__init__()
        self.projection = GConv2d(x_dim, 1, kernel_size=1)

    def forward(self, x: torch.Tensor) -> torch.Tensor:
        # x: B*num_objects*x_dim*H*W
        logits = self.projection(x).squeeze(2)
        return logits


class AuxComputer(nn.Module):
    def __init__(self, cfg: DictConfig):
        super().__init__()

        use_sensory_aux = cfg.model.aux_loss.sensory.enabled
        self.use_query_aux = cfg.model.aux_loss.query.enabled

        sensory_dim = cfg.model.sensory_dim
        embed_dim = cfg.model.embed_dim

        if use_sensory_aux:
            self.sensory_aux = LinearPredictor(sensory_dim, embed_dim)
        else:
            self.sensory_aux = None

    def _aggregate_with_selector(self, logits: torch.Tensor, selector: torch.Tensor) -> torch.Tensor:
        prob = torch.sigmoid(logits)
        if selector is not None:
            prob = prob * selector
        logits = aggregate(prob, dim=1)
        return logits

    def forward(self, pix_feat: torch.Tensor, aux_input: Dict[str, torch.Tensor],
                selector: torch.Tensor) -> Dict[str, torch.Tensor]:
        sensory = aux_input['sensory']
        q_logits = aux_input['q_logits']

        aux_output = {}
        aux_output['attn_mask'] = aux_input['attn_mask']

        if self.sensory_aux is not None:
            # B*num_objects*H*W
            logits = self.sensory_aux(pix_feat, sensory)
            aux_output['sensory_logits'] = self._aggregate_with_selector(logits, selector)
        if self.use_query_aux:
            # B*num_objects*num_levels*H*W
            aux_output['q_logits'] = self._aggregate_with_selector(
                torch.stack(q_logits, dim=2),
                selector.unsqueeze(2) if selector is not None else None)

        return aux_output