dgenerate-ultralytics-headless 8.3.214__py3-none-any.whl → 8.4.7__py3-none-any.whl

ultralytics/models/sam/sam3/vitdet.py

@@ -0,0 +1,547 @@
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
+
+# Copyright (c) Meta Platforms, Inc. and affiliates. All Rights Reserved
+
+"""
+ViTDet backbone adapted from Detectron2.
+This module implements Vision Transformer (ViT) backbone for object detection.
+
+Rope embedding code adopted 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
+"""
+
+from __future__ import annotations
+
+import math
+from functools import partial
+from typing import Callable
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+import torch.utils.checkpoint as checkpoint
+from torch import Tensor
+
+from ultralytics.models.sam.modules.blocks import PatchEmbed
+from ultralytics.models.sam.modules.utils import (
+    apply_rotary_enc,
+    compute_axial_cis,
+    concat_rel_pos,
+    get_abs_pos,
+    window_partition,
+    window_unpartition,
+)
+from ultralytics.utils.checks import check_requirements
+
+from .model_misc import LayerScale
+
+
+class Attention(nn.Module):
+    """Multi-head Attention block with relative position embeddings and 2d-rope."""
+
+    def __init__(
+        self,
+        dim: int,
+        num_heads: int = 8,
+        qkv_bias: bool = True,
+        use_rel_pos: bool = False,
+        rel_pos_zero_init: bool = True,
+        input_size: tuple[int, int] | None = None,
+        cls_token: bool = False,
+        use_rope: bool = False,
+        rope_theta: float = 10000.0,
+        rope_pt_size: tuple[int, int] | None = None,
+        rope_interp: bool = False,
+    ):
+        """
+        Args:
+            dim (int): Number of input channels.
+            num_heads (int): Number of attention heads.
+            qkv_bias (bool): If True, add a learnable bias to query, key, value.
+            rel_pos (bool): If True, add relative positional embeddings to the attention map.
+            rel_pos_zero_init (bool): If True, zero initialize relative positional parameters.
+            input_size (int or None): Input resolution for calculating the relative positional parameter size or rope
+                size.
+            attn_type: Type of attention operation, e.g. "vanilla", "vanilla-xformer".
+            cls_token: whether a cls_token is present.
+            use_rope: whether to use rope 2d (indep of use_rel_pos, as it can be used together)
+            use_rel_pos: whether to use relative positional embeddings
+            rope_theta: control frequencies of rope
+            rope_pt_size: size of rope in previous stage of training, needed for interpolation or tiling
+            rope_interp: whether to interpolate (or extrapolate) rope to match input size.
+        """
+        super().__init__()
+        self.num_heads = num_heads
+        self.head_dim = dim // num_heads
+        self.scale = self.head_dim**-0.5
+        self.cls_token = cls_token
+
+        self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias)
+        self.proj = nn.Linear(dim, dim)
+
+        # rel_pos embeddings and rope
+        self.use_rel_pos = use_rel_pos
+        self.input_size = input_size
+
+        self.use_rope = use_rope
+        self.rope_theta = rope_theta
+        self.rope_pt_size = rope_pt_size
+        self.rope_interp = rope_interp
+
+        # init rel_pos embeddings and rope
+        self._setup_rel_pos(rel_pos_zero_init, input_size)
+        self._setup_rope_freqs(input_size)
+
+    def _setup_rel_pos(self, rel_pos_zero_init: bool = True, input_size: tuple[int, int] | None = None) -> None:
+        """Setup relative positional embeddings."""
+        if not self.use_rel_pos:
+            self.rel_pos_h = None
+            self.rel_pos_w = None
+            return
+
+        assert input_size is not None
+        assert self.cls_token is False, "not supported"
+        # initialize relative positional embeddings
+        self.rel_pos_h = nn.Parameter(torch.zeros(2 * input_size[0] - 1, self.head_dim))
+        self.rel_pos_w = nn.Parameter(torch.zeros(2 * input_size[1] - 1, self.head_dim))
+
+        if not rel_pos_zero_init:
+            nn.init.trunc_normal_(self.rel_pos_h, std=0.02)
+            nn.init.trunc_normal_(self.rel_pos_w, std=0.02)
+
+        # Precompute the relative coords
+        H, W = input_size
+        q_coords = torch.arange(H)[:, None]
+        k_coords = torch.arange(W)[None, :]
+        relative_coords = (q_coords - k_coords) + (H - 1)
+        self.relative_coords = relative_coords.long()
+
+    def _setup_rope_freqs(self, input_size: tuple[int, int] | None = None) -> None:
+        """Setup 2d-rope frequencies."""
+        if not self.use_rope:
+            self.freqs_cis = None
+            return
+
+        assert input_size is not None
+        # determine rope input size
+        if self.rope_pt_size is None:
+            self.rope_pt_size = input_size
+
+        # initialize 2d rope freqs
+        self.compute_cis = partial(
+            compute_axial_cis,
+            dim=self.head_dim,
+            theta=self.rope_theta,
+        )
+
+        # interpolate rope
+        scale_pos = 1.0
+        if self.rope_interp:
+            scale_pos = self.rope_pt_size[0] / input_size[0]
+        # get scaled freqs_cis
+        freqs_cis = self.compute_cis(
+            end_x=input_size[0],
+            end_y=input_size[1],
+            scale_pos=scale_pos,
+        )
+        if self.cls_token:
+            t = torch.zeros(
+                self.head_dim // 2,
+                dtype=torch.float32,
+                device=freqs_cis.device,
+            )
+            cls_freqs_cis = torch.polar(torch.ones_like(t), t)[None, :]
+            freqs_cis = torch.cat([cls_freqs_cis, freqs_cis], dim=0)
+
+        self.freqs_cis = freqs_cis
+
+    def _apply_rope(self, q, k) -> tuple[Tensor, Tensor]:
+        """Apply 2d-rope to q and k."""
+        if not self.use_rope:
+            return q, k
+
+        assert self.freqs_cis is not None
+        return apply_rotary_enc(q, k, freqs_cis=self.freqs_cis.to(q.device))
+
+    def forward(self, x: Tensor) -> Tensor:
+        """Forward pass of attention block."""
+        s = 1 if self.cls_token else 0  # used to exclude cls_token
+        if x.ndim == 4:
+            B, H, W, _ = x.shape
+            assert s == 0  # no cls_token
+            L = H * W
+            ndim = 4
+        else:
+            assert x.ndim == 3
+            B, L, _ = x.shape
+            ndim = 3
+            H = W = math.sqrt(L - s)
+
+        # qkv with shape (3, B, nHead, L, C)
+        qkv = self.qkv(x).reshape(B, L, 3, self.num_heads, -1)
+        # q, k, v with shape (B, nHead, L, C)
+        q, k, v = qkv.permute(2, 0, 3, 1, 4).unbind(0)
+
+        # handle rope and rel pos embeddings
+        q, k = self._apply_rope(q, k)
+        if self.use_rel_pos:
+            q, k = concat_rel_pos(
+                q.flatten(0, 1),
+                k.flatten(0, 1),
+                (H, W),
+                x.shape[1:3],
+                self.rel_pos_h,
+                self.rel_pos_w,
+                rescale=True,
+                relative_coords=self.relative_coords,
+            )
+
+            # sdpa expects [B, nheads, H*W, C] so we transpose back
+            q = q.reshape(B, self.num_heads, H * W, -1)
+            k = k.reshape(B, self.num_heads, H * W, -1)
+
+        x = F.scaled_dot_product_attention(q, k, v)
+
+        if ndim == 4:
+            x = x.view(B, self.num_heads, H, W, -1).permute(0, 2, 3, 1, 4).reshape(B, H, W, -1)
+        else:
+            x = x.view(B, self.num_heads, L, -1).permute(0, 2, 1, 3).reshape(B, L, -1)
+
+        x = self.proj(x)
+
+        return x
+
+
+class Block(nn.Module):
+    """Transformer blocks with support of window attention."""
+
+    def __init__(
+        self,
+        dim: int,
+        num_heads: int,
+        mlp_ratio: float = 4.0,
+        qkv_bias: bool = True,
+        drop_path: float = 0.0,
+        norm_layer: Callable[..., nn.Module] = nn.LayerNorm,
+        act_layer: Callable[..., nn.Module] = nn.GELU,
+        use_rel_pos: bool = False,
+        rel_pos_zero_init: bool = True,
+        window_size: int = 0,
+        input_size: tuple[int, int] | None = None,
+        use_rope: bool = False,
+        rope_pt_size: tuple[int, int] | None = None,
+        rope_interp: bool = False,
+        cls_token: bool = False,
+        dropout: float = 0.0,
+        init_values: float | None = None,
+    ):
+        """
+        Args:
+            dim (int): Number of input channels.
+            num_heads (int): Number of attention heads in each ViT block.
+            mlp_ratio (float): Ratio of mlp hidden dim to embedding dim.
+            qkv_bias (bool): If True, add a learnable bias to query, key, value.
+            drop_path (float): Stochastic depth rate.
+            norm_layer (nn.Module): Normalization layer.
+            act_layer (nn.Module): Activation layer.
+            use_rel_pos (bool): If True, add relative positional embeddings to the attention map.
+            rel_pos_zero_init (bool): If True, zero initialize relative positional parameters.
+            window_size (int): Window size for window attention blocks. If it equals 0, then not use window attention.
+            input_size (int or None): Input resolution for calculating the relative positional parameter size.
+            dropout (float): Dropout rate.
+            cls_token: whether a cls_token is present.
+            use_rope: whether to use rope 2d (indep of use_rel_pos, as it can be used together)
+            rope_pt_size: size of rope in previous stage of training, needed for interpolation or tiling
+            rope_interp: whether to interpolate (or extrapolate) rope to match target input size, expected to specify
+                source size as rope_pt_size.
+            init_values: layer scale init, None for no layer scale.
+        """
+        super().__init__()
+
+        check_requirements("timm")
+        from timm.layers import DropPath, Mlp
+
+        self.norm1 = norm_layer(dim)
+        self.attn = Attention(
+            dim,
+            num_heads=num_heads,
+            qkv_bias=qkv_bias,
+            use_rel_pos=use_rel_pos,
+            rel_pos_zero_init=rel_pos_zero_init,
+            input_size=input_size if window_size == 0 else (window_size, window_size),
+            use_rope=use_rope,
+            rope_pt_size=rope_pt_size,
+            rope_interp=rope_interp,
+            cls_token=cls_token,
+        )
+        self.ls1 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity()
+        self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity()
+
+        self.norm2 = norm_layer(dim)
+        self.mlp = Mlp(
+            in_features=dim,
+            hidden_features=int(dim * mlp_ratio),
+            act_layer=act_layer,
+            drop=(dropout, 0.0),
+        )
+        self.ls2 = LayerScale(dim, init_values=init_values) if init_values else nn.Identity()
+        self.dropout = nn.Dropout(dropout)
+        self.window_size = window_size
+
+    def forward(self, x: Tensor) -> Tensor:
+        """Forward pass of the transformer block."""
+        shortcut = x
+        x = self.norm1(x)
+        # Window partition
+        if self.window_size > 0:
+            H, W = x.shape[1], x.shape[2]
+            x, pad_hw = window_partition(x, self.window_size)
+
+        x = self.ls1(self.attn(x))
+        # Reverse window partition
+        if self.window_size > 0:
+            x = window_unpartition(x, self.window_size, pad_hw, (H, W))
+
+        x = shortcut + self.dropout(self.drop_path(x))
+        x = x + self.dropout(self.drop_path(self.ls2(self.mlp(self.norm2(x)))))
+
+        return x
+
+
+class ViT(nn.Module):
+    """This module implements Vision Transformer (ViT) backbone in :paper:`vitdet`. "Exploring Plain Vision Transformer
+    Backbones for Object Detection", https://arxiv.org/abs/2203.16527.
+    """
+
+    def __init__(
+        self,
+        img_size: int = 1024,
+        patch_size: int = 16,
+        in_chans: int = 3,
+        embed_dim: int = 768,
+        depth: int = 12,
+        num_heads: int = 12,
+        mlp_ratio: float = 4.0,
+        qkv_bias: bool = True,
+        drop_path_rate: float = 0.0,
+        norm_layer: Callable[..., nn.Module] | str = "LayerNorm",
+        act_layer: Callable[..., nn.Module] = nn.GELU,
+        use_abs_pos: bool = True,
+        tile_abs_pos: bool = True,
+        rel_pos_blocks: tuple[int, ...] | bool = (2, 5, 8, 11),
+        rel_pos_zero_init: bool = True,
+        window_size: int = 14,
+        global_att_blocks: tuple[int, ...] = (2, 5, 8, 11),
+        use_rope: bool = False,
+        rope_pt_size: int | None = None,
+        use_interp_rope: bool = False,
+        pretrain_img_size: int = 224,
+        pretrain_use_cls_token: bool = True,
+        retain_cls_token: bool = True,
+        dropout: float = 0.0,
+        return_interm_layers: bool = False,
+        init_values: float | None = None,  # for layerscale
+        ln_pre: bool = False,
+        ln_post: bool = False,
+        bias_patch_embed: bool = True,
+        compile_mode: str | None = None,
+        use_act_checkpoint: bool = True,
+    ):
+        """
+        Args:
+            img_size (int): Input image size. Only relevant for rel pos or rope.
+            patch_size (int): Patch size.
+            in_chans (int): Number of input image channels.
+            embed_dim (int): Patch embedding dimension.
+            depth (int): Depth of ViT.
+            num_heads (int): Number of attention heads in each ViT block.
+            mlp_ratio (float): Ratio of mlp hidden dim to embedding dim.
+            qkv_bias (bool): If True, add a learnable bias to query, key, value.
+            drop_path_rate (float): Stochastic depth rate.
+            norm_layer (nn.Module): Normalization layer.
+            act_layer (nn.Module): Activation layer.
+            use_abs_pos (bool): If True, use absolute positional embeddings.
+            tile_abs_pos (bool): If True, tile absolute positional embeddings instead of interpolation.
+            rel_pos_blocks (list): Blocks which have rel pos embeddings.
+            rel_pos_zero_init (bool): If True, zero initialize relative positional parameters.
+            window_size (int): Window size for window attention blocks.
+            global_att_blocks (list): Indexes for blocks using global attention (other blocks use window attention).
+            use_rope (bool): whether to use rope 2d (indep of rel_pos_blocks, as it can be used together).
+            rope_pt_size (int): size of rope in previous stage of training, needed for interpolation or tiling.
+            use_interp_rope: whether to interpolate (or extrapolate) rope to match target input size, expected to
+                specify source size as rope_pt_size.
+            use_act_checkpoint (bool): If True, use activation checkpointing.
+            pretrain_img_size (int): input image size for pretraining models.
+            pretrain_use_cls_token (bool): If True, pretraining models use class token.
+            retain_cls_token: whether cls_token should be retained.
+            dropout (float): Dropout rate. Applied in residual blocks of attn, mlp and inside the mlp.
+            return_interm_layers (bool): Whether to return intermediate layers (all global attention blocks).
+            init_values: layer scale init, None for no layer scale.
+            ln_pre (bool): If True, apply layer norm before transformer blocks.
+            ln_post (bool): If True, apply layer norm after transformer blocks.
+            bias_patch_embed (bool): bias in conv for patch embed?
+            compile_mode (str): mode to compile the forward.
+        """
+        super().__init__()
+        self.pretrain_use_cls_token = pretrain_use_cls_token
+
+        window_block_indexes = [i for i in range(depth) if i not in global_att_blocks]
+        self.full_attn_ids = list(global_att_blocks)
+        self.rel_pos_blocks = [False] * depth
+        if isinstance(rel_pos_blocks, bool) and rel_pos_blocks:
+            self.rel_pos_blocks = [True] * depth
+        else:
+            for i in rel_pos_blocks:
+                self.rel_pos_blocks[i] = True
+
+        self.retain_cls_token = retain_cls_token
+        if self.retain_cls_token:
+            assert pretrain_use_cls_token
+            assert len(window_block_indexes) == 0, "windowing not supported with cls token"
+
+            assert sum(self.rel_pos_blocks) == 0, "rel pos not supported with cls token"
+
+            scale = embed_dim**-0.5
+            self.class_embedding = nn.Parameter(scale * torch.randn(1, 1, embed_dim))
+
+        if isinstance(norm_layer, str):
+            norm_layer = partial(getattr(nn, norm_layer), eps=1e-5)
+
+        self.patch_embed = PatchEmbed(
+            kernel_size=(patch_size, patch_size),
+            stride=(patch_size, patch_size),
+            in_chans=in_chans,
+            embed_dim=embed_dim,
+            bias=bias_patch_embed,
+        )
+
+        # Handle absolute positional embedding
+        self.tile_abs_pos = tile_abs_pos
+        self.use_abs_pos = use_abs_pos
+        if self.tile_abs_pos:
+            assert self.use_abs_pos
+
+        if self.use_abs_pos:
+            # Initialize absolute positional embedding with pretrain image size.
+            num_patches = (pretrain_img_size // patch_size) * (pretrain_img_size // patch_size)
+            num_positions = (num_patches + 1) if pretrain_use_cls_token else num_patches
+            self.pos_embed = nn.Parameter(torch.zeros(1, num_positions, embed_dim))
+        else:
+            self.pos_embed = None
+
+        # stochastic depth decay rule
+        dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)]
+
+        self.patch_size = patch_size
+        self.window_size = window_size
+        self.blocks = nn.ModuleList()
+        cur_stage = 1
+        for i in range(depth):
+            block = Block(
+                dim=embed_dim,
+                num_heads=num_heads,
+                mlp_ratio=mlp_ratio,
+                qkv_bias=qkv_bias,
+                drop_path=dpr[i],
+                norm_layer=norm_layer,
+                act_layer=act_layer,
+                use_rel_pos=self.rel_pos_blocks[i],
+                rel_pos_zero_init=rel_pos_zero_init,
+                window_size=window_size if i in window_block_indexes else 0,
+                input_size=(img_size // patch_size, img_size // patch_size),
+                use_rope=use_rope,
+                rope_pt_size=((window_size, window_size) if rope_pt_size is None else (rope_pt_size, rope_pt_size)),
+                rope_interp=use_interp_rope,
+                cls_token=self.retain_cls_token,
+                dropout=dropout,
+                init_values=init_values,
+            )
+
+            if i not in window_block_indexes:
+                cur_stage += 1
+
+            self.use_act_checkpoint = use_act_checkpoint
+
+            self.blocks.append(block)
+
+        self.return_interm_layers = return_interm_layers
+        self.channel_list = [embed_dim] * len(self.full_attn_ids) if return_interm_layers else [embed_dim]
+
+        if self.pos_embed is not None:
+            nn.init.trunc_normal_(self.pos_embed, std=0.02)
+
+        self.ln_pre = norm_layer(embed_dim) if ln_pre else nn.Identity()
+        self.ln_post = norm_layer(embed_dim) if ln_post else nn.Identity()
+
+        self.apply(self._init_weights)
+
+        if compile_mode is not None:
+            self.forward = torch.compile(self.forward, mode=compile_mode, fullgraph=True)
+            if self.use_act_checkpoint and self.training:
+                torch._dynamo.config.optimize_ddp = False
+
+    @staticmethod
+    def _init_weights(m: nn.Module) -> None:
+        """Initialize the weights."""
+        if isinstance(m, nn.Linear):
+            nn.init.trunc_normal_(m.weight, std=0.02)
+            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)
+
+    def forward(self, x: torch.Tensor) -> list[torch.Tensor]:
+        """Vit forward path and get feature maps."""
+        x = self.patch_embed(x)
+        h, w = x.shape[1], x.shape[2]
+
+        s = 0
+        if self.retain_cls_token:
+            # If cls_token is retained, we don't
+            # maintain spatial shape
+            x = torch.cat([self.class_embedding, x.flatten(1, 2)], dim=1)
+            s = 1
+
+        if self.pos_embed is not None:
+            x = x + get_abs_pos(
+                self.pos_embed,
+                self.pretrain_use_cls_token,
+                (h, w),
+                self.retain_cls_token,
+                tiling=self.tile_abs_pos,
+            )
+
+        x = self.ln_pre(x)
+
+        outputs = []
+        for i, blk in enumerate(self.blocks):
+            if self.use_act_checkpoint and self.training:
+                x = checkpoint.checkpoint(blk, x, use_reentrant=False)
+            else:
+                x = blk(x)
+            if (i == self.full_attn_ids[-1]) or (self.return_interm_layers and i in self.full_attn_ids):
+                if i == self.full_attn_ids[-1]:
+                    x = self.ln_post(x)
+
+                feats = x[:, s:]
+                if feats.ndim == 4:
+                    feats = feats.permute(0, 3, 1, 2)
+                else:
+                    assert feats.ndim == 3
+                    h = w = math.sqrt(feats.shape[1])
+                    feats = feats.reshape(feats.shape[0], h, w, feats.shape[-1]).permute(0, 3, 1, 2)
+
+                outputs.append(feats)
+
+        return outputs
+
+    def set_imgsz(self, imgsz: list[int] = [1008, 1008]):
+        """Setup rel pos embeddings and rope freqs for a new input image size."""
+        for block in self.blocks:
+            if block.window_size != 0:
+                continue
+            block.attn._setup_rel_pos(input_size=(imgsz[0] // self.patch_size, imgsz[1] // self.patch_size))
+            block.attn._setup_rope_freqs(input_size=(imgsz[0] // self.patch_size, imgsz[1] // self.patch_size))