yomitoku 0.4.0.post1.dev0__py3-none-any.whl

yomitoku/models/layers/rtdetrv2_decoder.py

@@ -0,0 +1,811 @@
+"""Copyright(c) 2023 lyuwenyu. All Rights Reserved."""
+
+import copy
+import functools
+import math
+from collections import OrderedDict
+from typing import List
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+import torch.nn.init as init
+from omegaconf import ListConfig
+
+from .activate import get_activation
+
+
+def bias_init_with_prob(prior_prob=0.01):
+    """initialize conv/fc bias value according to a given probability value."""
+    bias_init = float(-math.log((1 - prior_prob) / prior_prob))
+    return bias_init
+
+
+def inverse_sigmoid(x: torch.Tensor, eps: float = 1e-5) -> torch.Tensor:
+    x = x.clip(min=0.0, max=1.0)
+    return torch.log(x.clip(min=eps) / (1 - x).clip(min=eps))
+
+
+class MLP(nn.Module):
+    def __init__(self, input_dim, hidden_dim, output_dim, num_layers, act="relu"):
+        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.act = get_activation(act)
+
+    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)
+        return x
+
+
+class MSDeformableAttention(nn.Module):
+    def __init__(
+        self,
+        embed_dim=256,
+        num_heads=8,
+        num_levels=4,
+        num_points=4,
+        method="default",
+        offset_scale=0.5,
+    ):
+        """Multi-Scale Deformable Attention"""
+        super(MSDeformableAttention, self).__init__()
+        self.embed_dim = embed_dim
+        self.num_heads = num_heads
+        self.num_levels = num_levels
+        self.offset_scale = offset_scale
+
+        if isinstance(num_points, list):
+            assert len(num_points) == num_levels, ""
+            num_points_list = num_points
+        if isinstance(num_points, ListConfig):
+            num_points_list = list(num_points)
+        else:
+            num_points_list = [num_points for _ in range(num_levels)]
+
+        self.num_points_list = num_points_list
+
+        num_points_scale = [1 / n for n in num_points_list for _ in range(n)]
+        self.register_buffer(
+            "num_points_scale",
+            torch.tensor(num_points_scale, dtype=torch.float32),
+        )
+
+        self.total_points = num_heads * sum(num_points_list)
+        self.method = method
+
+        self.head_dim = embed_dim // num_heads
+        assert (
+            self.head_dim * num_heads == self.embed_dim
+        ), "embed_dim must be divisible by num_heads"
+
+        self.sampling_offsets = nn.Linear(embed_dim, self.total_points * 2)
+        self.attention_weights = nn.Linear(embed_dim, self.total_points)
+        self.value_proj = nn.Linear(embed_dim, embed_dim)
+        self.output_proj = nn.Linear(embed_dim, embed_dim)
+
+        self.ms_deformable_attn_core = functools.partial(
+            deformable_attention_core_func_v2, method=self.method
+        )
+
+        self._reset_parameters()
+
+        if method == "discrete":
+            for p in self.sampling_offsets.parameters():
+                p.requires_grad = False
+
+    def _reset_parameters(self):
+        # sampling_offsets
+        init.constant_(self.sampling_offsets.weight, 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).values
+        grid_init = grid_init.reshape(self.num_heads, 1, 2).tile(
+            [1, sum(self.num_points_list), 1]
+        )
+        scaling = torch.concat(
+            [torch.arange(1, n + 1) for n in self.num_points_list]
+        ).reshape(1, -1, 1)
+        grid_init *= scaling
+        self.sampling_offsets.bias.data[...] = grid_init.flatten()
+
+        # attention_weights
+        init.constant_(self.attention_weights.weight, 0)
+        init.constant_(self.attention_weights.bias, 0)
+
+        # proj
+        init.xavier_uniform_(self.value_proj.weight)
+        init.constant_(self.value_proj.bias, 0)
+        init.xavier_uniform_(self.output_proj.weight)
+        init.constant_(self.output_proj.bias, 0)
+
+    def forward(
+        self,
+        query: torch.Tensor,
+        reference_points: torch.Tensor,
+        value: torch.Tensor,
+        value_spatial_shapes: List[int],
+        value_mask: torch.Tensor = None,
+    ):
+        """
+        Args:
+            query (Tensor): [bs, query_length, C]
+            reference_points (Tensor): [bs, query_length, n_levels, 2], range in [0, 1], top-left (0,0),
+                bottom-right (1, 1), including padding area
+            value (Tensor): [bs, value_length, C]
+            value_spatial_shapes (List): [n_levels, 2], [(H_0, W_0), (H_1, W_1), ..., (H_{L-1}, W_{L-1})]
+            value_mask (Tensor): [bs, value_length], True for non-padding elements, False for padding elements
+
+        Returns:
+            output (Tensor): [bs, Length_{query}, C]
+        """
+        bs, Len_q = query.shape[:2]
+        Len_v = value.shape[1]
+
+        value = self.value_proj(value)
+        if value_mask is not None:
+            value = value * value_mask.to(value.dtype).unsqueeze(-1)
+
+        value = value.reshape(bs, Len_v, self.num_heads, self.head_dim)
+
+        sampling_offsets: torch.Tensor = self.sampling_offsets(query)
+        sampling_offsets = sampling_offsets.reshape(
+            bs, Len_q, self.num_heads, sum(self.num_points_list), 2
+        )
+
+        attention_weights = self.attention_weights(query).reshape(
+            bs, Len_q, self.num_heads, sum(self.num_points_list)
+        )
+        attention_weights = F.softmax(attention_weights, dim=-1).reshape(
+            bs, Len_q, self.num_heads, sum(self.num_points_list)
+        )
+
+        if reference_points.shape[-1] == 2:
+            offset_normalizer = torch.tensor(value_spatial_shapes)
+            offset_normalizer = offset_normalizer.flip([1]).reshape(
+                1, 1, 1, self.num_levels, 1, 2
+            )
+            sampling_locations = (
+                reference_points.reshape(bs, Len_q, 1, self.num_levels, 1, 2)
+                + sampling_offsets / offset_normalizer
+            )
+        elif reference_points.shape[-1] == 4:
+            # reference_points [8, 480, None, 1,  4]
+            # sampling_offsets [8, 480, 8,    12, 2]
+            num_points_scale = self.num_points_scale.to(dtype=query.dtype).unsqueeze(-1)
+            offset = (
+                sampling_offsets
+                * num_points_scale
+                * reference_points[:, :, None, :, 2:]
+                * self.offset_scale
+            )
+            sampling_locations = reference_points[:, :, None, :, :2] + offset
+        else:
+            raise ValueError(
+                "Last dim of reference_points must be 2 or 4, but get {} instead.".format(
+                    reference_points.shape[-1]
+                )
+            )
+
+        output = self.ms_deformable_attn_core(
+            value,
+            value_spatial_shapes,
+            sampling_locations,
+            attention_weights,
+            self.num_points_list,
+        )
+
+        output = self.output_proj(output)
+
+        return output
+
+
+class TransformerDecoderLayer(nn.Module):
+    def __init__(
+        self,
+        d_model=256,
+        n_head=8,
+        dim_feedforward=1024,
+        dropout=0.0,
+        activation="relu",
+        n_levels=4,
+        n_points=4,
+        cross_attn_method="default",
+    ):
+        super(TransformerDecoderLayer, self).__init__()
+
+        # self attention
+        self.self_attn = nn.MultiheadAttention(
+            d_model, n_head, dropout=dropout, batch_first=True
+        )
+        self.dropout1 = nn.Dropout(dropout)
+        self.norm1 = nn.LayerNorm(d_model)
+
+        # cross attention
+        self.cross_attn = MSDeformableAttention(
+            d_model, n_head, n_levels, n_points, method=cross_attn_method
+        )
+        self.dropout2 = nn.Dropout(dropout)
+        self.norm2 = nn.LayerNorm(d_model)
+
+        # ffn
+        self.linear1 = nn.Linear(d_model, dim_feedforward)
+        self.activation = get_activation(activation)
+        self.dropout3 = nn.Dropout(dropout)
+        self.linear2 = nn.Linear(dim_feedforward, d_model)
+        self.dropout4 = nn.Dropout(dropout)
+        self.norm3 = nn.LayerNorm(d_model)
+
+        self._reset_parameters()
+
+    def _reset_parameters(self):
+        init.xavier_uniform_(self.linear1.weight)
+        init.xavier_uniform_(self.linear2.weight)
+
+    def with_pos_embed(self, tensor, pos):
+        return tensor if pos is None else tensor + pos
+
+    def forward_ffn(self, tgt):
+        return self.linear2(self.dropout3(self.activation(self.linear1(tgt))))
+
+    def forward(
+        self,
+        target,
+        reference_points,
+        memory,
+        memory_spatial_shapes,
+        attn_mask=None,
+        memory_mask=None,
+        query_pos_embed=None,
+    ):
+        # self attention
+        q = k = self.with_pos_embed(target, query_pos_embed)
+
+        target2, _ = self.self_attn(q, k, value=target, attn_mask=attn_mask)
+        target = target + self.dropout1(target2)
+        target = self.norm1(target)
+
+        # cross attention
+        target2 = self.cross_attn(
+            self.with_pos_embed(target, query_pos_embed),
+            reference_points,
+            memory,
+            memory_spatial_shapes,
+            memory_mask,
+        )
+        target = target + self.dropout2(target2)
+        target = self.norm2(target)
+
+        # ffn
+        target2 = self.forward_ffn(target)
+        target = target + self.dropout4(target2)
+        target = self.norm3(target)
+
+        return target
+
+
+def deformable_attention_core_func_v2(
+    value: torch.Tensor,
+    value_spatial_shapes,
+    sampling_locations: torch.Tensor,
+    attention_weights: torch.Tensor,
+    num_points_list: List[int],
+    method="default",
+):
+    """
+    Args:
+        value (Tensor): [bs, value_length, n_head, c]
+        value_spatial_shapes (Tensor|List): [n_levels, 2]
+        value_level_start_index (Tensor|List): [n_levels]
+        sampling_locations (Tensor): [bs, query_length, n_head, n_levels * n_points, 2]
+        attention_weights (Tensor): [bs, query_length, n_head, n_levels * n_points]
+
+    Returns:
+        output (Tensor): [bs, Length_{query}, C]
+    """
+    bs, _, n_head, c = value.shape
+    _, Len_q, _, _, _ = sampling_locations.shape
+
+    split_shape = [h * w for h, w in value_spatial_shapes]
+    value_list = value.permute(0, 2, 3, 1).flatten(0, 1).split(split_shape, dim=-1)
+
+    # sampling_offsets [8, 480, 8, 12, 2]
+    if method == "default":
+        sampling_grids = 2 * sampling_locations - 1
+
+    elif method == "discrete":
+        sampling_grids = sampling_locations
+
+    sampling_grids = sampling_grids.permute(0, 2, 1, 3, 4).flatten(0, 1)
+    sampling_locations_list = sampling_grids.split(num_points_list, dim=-2)
+
+    sampling_value_list = []
+    for level, (h, w) in enumerate(value_spatial_shapes):
+        value_l = value_list[level].reshape(bs * n_head, c, h, w)
+        sampling_grid_l: torch.Tensor = sampling_locations_list[level]
+
+        if method == "default":
+            sampling_value_l = F.grid_sample(
+                value_l,
+                sampling_grid_l,
+                mode="bilinear",
+                padding_mode="zeros",
+                align_corners=False,
+            )
+
+        elif method == "discrete":
+            # n * m, seq, n, 2
+            sampling_coord = (
+                sampling_grid_l * torch.tensor([[w, h]], device=value.device) + 0.5
+            ).to(torch.int64)
+
+            # FIX ME? for rectangle input
+            sampling_coord = sampling_coord.clamp(0, h - 1)
+            sampling_coord = sampling_coord.reshape(
+                bs * n_head, Len_q * num_points_list[level], 2
+            )
+
+            s_idx = (
+                torch.arange(sampling_coord.shape[0], device=value.device)
+                .unsqueeze(-1)
+                .repeat(1, sampling_coord.shape[1])
+            )
+            sampling_value_l: torch.Tensor = value_l[
+                s_idx, :, sampling_coord[..., 1], sampling_coord[..., 0]
+            ]  # n l c
+
+            sampling_value_l = sampling_value_l.permute(0, 2, 1).reshape(
+                bs * n_head, c, Len_q, num_points_list[level]
+            )
+
+        sampling_value_list.append(sampling_value_l)
+
+    attn_weights = attention_weights.permute(0, 2, 1, 3).reshape(
+        bs * n_head, 1, Len_q, sum(num_points_list)
+    )
+    weighted_sample_locs = torch.concat(sampling_value_list, dim=-1) * attn_weights
+    output = weighted_sample_locs.sum(-1).reshape(bs, n_head * c, Len_q)
+
+    return output.permute(0, 2, 1)
+
+
+class TransformerDecoder(nn.Module):
+    def __init__(self, hidden_dim, decoder_layer, num_layers, eval_idx=-1):
+        super(TransformerDecoder, self).__init__()
+        self.layers = nn.ModuleList(
+            [copy.deepcopy(decoder_layer) for _ in range(num_layers)]
+        )
+        self.hidden_dim = hidden_dim
+        self.num_layers = num_layers
+        self.eval_idx = eval_idx if eval_idx >= 0 else num_layers + eval_idx
+
+    def forward(
+        self,
+        target,
+        ref_points_unact,
+        memory,
+        memory_spatial_shapes,
+        bbox_head,
+        score_head,
+        query_pos_head,
+        attn_mask=None,
+        memory_mask=None,
+    ):
+        dec_out_bboxes = []
+        dec_out_logits = []
+        ref_points_detach = F.sigmoid(ref_points_unact)
+
+        output = target
+        for i, layer in enumerate(self.layers):
+            ref_points_input = ref_points_detach.unsqueeze(2)
+            query_pos_embed = query_pos_head(ref_points_detach)
+
+            output = layer(
+                output,
+                ref_points_input,
+                memory,
+                memory_spatial_shapes,
+                attn_mask,
+                memory_mask,
+                query_pos_embed,
+            )
+
+            inter_ref_bbox = F.sigmoid(
+                bbox_head[i](output) + inverse_sigmoid(ref_points_detach)
+            )
+
+            if i == self.eval_idx:
+                dec_out_logits.append(score_head[i](output))
+                dec_out_bboxes.append(inter_ref_bbox)
+                break
+
+            ref_points_detach = inter_ref_bbox.detach()
+
+        return torch.stack(dec_out_bboxes), torch.stack(dec_out_logits)
+
+
+class RTDETRTransformerv2(nn.Module):
+    __share__ = ["num_classes", "eval_spatial_size"]
+
+    def __init__(
+        self,
+        num_classes=80,
+        hidden_dim=256,
+        num_queries=300,
+        feat_channels=[512, 1024, 2048],
+        feat_strides=[8, 16, 32],
+        num_levels=3,
+        num_points=4,
+        nhead=8,
+        num_layers=6,
+        dim_feedforward=1024,
+        dropout=0.0,
+        activation="relu",
+        num_denoising=100,
+        label_noise_ratio=0.5,
+        box_noise_scale=1.0,
+        learn_query_content=False,
+        eval_spatial_size=None,
+        eval_idx=-1,
+        eps=1e-2,
+        aux_loss=True,
+        cross_attn_method="default",
+        query_select_method="default",
+    ):
+        super().__init__()
+        assert len(feat_channels) <= num_levels
+        assert len(feat_strides) == len(feat_channels)
+
+        for _ in range(num_levels - len(feat_strides)):
+            feat_strides.append(feat_strides[-1] * 2)
+
+        self.hidden_dim = hidden_dim
+        self.nhead = nhead
+        self.feat_strides = feat_strides
+        self.num_levels = num_levels
+        self.num_classes = num_classes
+        self.num_queries = num_queries
+        self.eps = eps
+        self.num_layers = num_layers
+        self.eval_spatial_size = eval_spatial_size
+        self.aux_loss = aux_loss
+
+        assert query_select_method in ("default", "one2many", "agnostic"), ""
+        assert cross_attn_method in ("default", "discrete"), ""
+        self.cross_attn_method = cross_attn_method
+        self.query_select_method = query_select_method
+
+        # backbone feature projection
+        self._build_input_proj_layer(feat_channels)
+
+        # Transformer module
+        decoder_layer = TransformerDecoderLayer(
+            hidden_dim,
+            nhead,
+            dim_feedforward,
+            dropout,
+            activation,
+            num_levels,
+            num_points,
+            cross_attn_method=cross_attn_method,
+        )
+        self.decoder = TransformerDecoder(
+            hidden_dim, decoder_layer, num_layers, eval_idx
+        )
+
+        # denoising
+        self.num_denoising = num_denoising
+        self.label_noise_ratio = label_noise_ratio
+        self.box_noise_scale = box_noise_scale
+        if num_denoising > 0:
+            self.denoising_class_embed = nn.Embedding(
+                num_classes + 1, hidden_dim, padding_idx=num_classes
+            )
+            init.normal_(self.denoising_class_embed.weight[:-1])
+
+        # decoder embedding
+        self.learn_query_content = learn_query_content
+        if learn_query_content:
+            self.tgt_embed = nn.Embedding(num_queries, hidden_dim)
+        self.query_pos_head = MLP(4, 2 * hidden_dim, hidden_dim, 2)
+
+        # if num_select_queries != self.num_queries:
+        #     layer = TransformerEncoderLayer(hidden_dim, nhead, dim_feedforward, activation='gelu')
+        #     self.encoder = TransformerEncoder(layer, 1)
+
+        self.enc_output = nn.Sequential(
+            OrderedDict(
+                [
+                    ("proj", nn.Linear(hidden_dim, hidden_dim)),
+                    (
+                        "norm",
+                        nn.LayerNorm(
+                            hidden_dim,
+                        ),
+                    ),
+                ]
+            )
+        )
+
+        if query_select_method == "agnostic":
+            self.enc_score_head = nn.Linear(hidden_dim, 1)
+        else:
+            self.enc_score_head = nn.Linear(hidden_dim, num_classes)
+
+        self.enc_bbox_head = MLP(hidden_dim, hidden_dim, 4, 3)
+
+        # decoder head
+        self.dec_score_head = nn.ModuleList(
+            [nn.Linear(hidden_dim, num_classes) for _ in range(num_layers)]
+        )
+        self.dec_bbox_head = nn.ModuleList(
+            [MLP(hidden_dim, hidden_dim, 4, 3) for _ in range(num_layers)]
+        )
+
+        # init encoder output anchors and valid_mask
+        if self.eval_spatial_size:
+            anchors, valid_mask = self._generate_anchors()
+            self.register_buffer("anchors", anchors)
+            self.register_buffer("valid_mask", valid_mask)
+
+        self._reset_parameters()
+
+    def _reset_parameters(self):
+        bias = bias_init_with_prob(0.01)
+        init.constant_(self.enc_score_head.bias, bias)
+        init.constant_(self.enc_bbox_head.layers[-1].weight, 0)
+        init.constant_(self.enc_bbox_head.layers[-1].bias, 0)
+
+        for _cls, _reg in zip(self.dec_score_head, self.dec_bbox_head):
+            init.constant_(_cls.bias, bias)
+            init.constant_(_reg.layers[-1].weight, 0)
+            init.constant_(_reg.layers[-1].bias, 0)
+
+        init.xavier_uniform_(self.enc_output[0].weight)
+        if self.learn_query_content:
+            init.xavier_uniform_(self.tgt_embed.weight)
+        init.xavier_uniform_(self.query_pos_head.layers[0].weight)
+        init.xavier_uniform_(self.query_pos_head.layers[1].weight)
+        for m in self.input_proj:
+            init.xavier_uniform_(m[0].weight)
+
+    def _build_input_proj_layer(self, feat_channels):
+        self.input_proj = nn.ModuleList()
+        for in_channels in feat_channels:
+            self.input_proj.append(
+                nn.Sequential(
+                    OrderedDict(
+                        [
+                            (
+                                "conv",
+                                nn.Conv2d(in_channels, self.hidden_dim, 1, bias=False),
+                            ),
+                            (
+                                "norm",
+                                nn.BatchNorm2d(
+                                    self.hidden_dim,
+                                ),
+                            ),
+                        ]
+                    )
+                )
+            )
+
+        in_channels = feat_channels[-1]
+
+        for _ in range(self.num_levels - len(feat_channels)):
+            self.input_proj.append(
+                nn.Sequential(
+                    OrderedDict(
+                        [
+                            (
+                                "conv",
+                                nn.Conv2d(
+                                    in_channels,
+                                    self.hidden_dim,
+                                    3,
+                                    2,
+                                    padding=1,
+                                    bias=False,
+                                ),
+                            ),
+                            ("norm", nn.BatchNorm2d(self.hidden_dim)),
+                        ]
+                    )
+                )
+            )
+            in_channels = self.hidden_dim
+
+    def _get_encoder_input(self, feats: List[torch.Tensor]):
+        # get projection features
+        proj_feats = [self.input_proj[i](feat) for i, feat in enumerate(feats)]
+        if self.num_levels > len(proj_feats):
+            len_srcs = len(proj_feats)
+            for i in range(len_srcs, self.num_levels):
+                if i == len_srcs:
+                    proj_feats.append(self.input_proj[i](feats[-1]))
+                else:
+                    proj_feats.append(self.input_proj[i](proj_feats[-1]))
+
+        # get encoder inputs
+        feat_flatten = []
+        spatial_shapes = []
+        for i, feat in enumerate(proj_feats):
+            _, _, h, w = feat.shape
+            # [b, c, h, w] -> [b, h*w, c]
+            feat_flatten.append(feat.flatten(2).permute(0, 2, 1))
+            # [num_levels, 2]
+            spatial_shapes.append([h, w])
+        # [b, l, c]
+        feat_flatten = torch.concat(feat_flatten, 1)
+        return feat_flatten, spatial_shapes
+
+    def _generate_anchors(
+        self,
+        spatial_shapes=None,
+        grid_size=0.05,
+        dtype=torch.float32,
+        device="cpu",
+    ):
+        if spatial_shapes is None:
+            spatial_shapes = []
+            eval_h, eval_w = self.eval_spatial_size
+            for s in self.feat_strides:
+                spatial_shapes.append([int(eval_h / s), int(eval_w / s)])
+
+        anchors = []
+        for lvl, (h, w) in enumerate(spatial_shapes):
+            grid_y, grid_x = torch.meshgrid(
+                torch.arange(h), torch.arange(w), indexing="ij"
+            )
+            grid_xy = torch.stack([grid_x, grid_y], dim=-1)
+            grid_xy = (grid_xy.unsqueeze(0) + 0.5) / torch.tensor([w, h], dtype=dtype)
+            wh = torch.ones_like(grid_xy) * grid_size * (2.0**lvl)
+            lvl_anchors = torch.concat([grid_xy, wh], dim=-1).reshape(-1, h * w, 4)
+            anchors.append(lvl_anchors)
+
+        anchors = torch.concat(anchors, dim=1).to(device)
+        valid_mask = ((anchors > self.eps) * (anchors < 1 - self.eps)).all(
+            -1, keepdim=True
+        )
+        anchors = torch.log(anchors / (1 - anchors))
+        anchors = torch.where(valid_mask, anchors, torch.inf)
+
+        return anchors, valid_mask
+
+    def _get_decoder_input(
+        self,
+        memory: torch.Tensor,
+        spatial_shapes,
+        denoising_logits=None,
+        denoising_bbox_unact=None,
+    ):
+        # prepare input for decoder
+        anchors = self.anchors
+        valid_mask = self.valid_mask
+
+        # memory = torch.where(valid_mask, memory, 0)
+        # TODO fix type error for onnx export
+        memory = valid_mask.to(memory.dtype) * memory
+
+        output_memory: torch.Tensor = self.enc_output(memory)
+        enc_outputs_logits: torch.Tensor = self.enc_score_head(output_memory)
+        enc_outputs_coord_unact: torch.Tensor = (
+            self.enc_bbox_head(output_memory) + anchors
+        )
+
+        enc_topk_bboxes_list, enc_topk_logits_list = [], []
+        enc_topk_memory, enc_topk_logits, enc_topk_bbox_unact = self._select_topk(
+            output_memory,
+            enc_outputs_logits,
+            enc_outputs_coord_unact,
+            self.num_queries,
+        )
+
+        # if self.num_select_queries != self.num_queries:
+        #     raise NotImplementedError('')
+
+        if self.learn_query_content:
+            content = self.tgt_embed.weight.unsqueeze(0).tile([memory.shape[0], 1, 1])
+        else:
+            content = enc_topk_memory.detach()
+
+        enc_topk_bbox_unact = enc_topk_bbox_unact.detach()
+
+        if denoising_bbox_unact is not None:
+            enc_topk_bbox_unact = torch.concat(
+                [denoising_bbox_unact, enc_topk_bbox_unact], dim=1
+            )
+            content = torch.concat([denoising_logits, content], dim=1)
+
+        return (
+            content,
+            enc_topk_bbox_unact,
+            enc_topk_bboxes_list,
+            enc_topk_logits_list,
+        )
+
+    def _select_topk(
+        self,
+        memory: torch.Tensor,
+        outputs_logits: torch.Tensor,
+        outputs_coords_unact: torch.Tensor,
+        topk: int,
+    ):
+        if self.query_select_method == "default":
+            _, topk_ind = torch.topk(outputs_logits.max(-1).values, topk, dim=-1)
+
+        elif self.query_select_method == "one2many":
+            _, topk_ind = torch.topk(outputs_logits.flatten(1), topk, dim=-1)
+            topk_ind = topk_ind // self.num_classes
+
+        elif self.query_select_method == "agnostic":
+            _, topk_ind = torch.topk(outputs_logits.squeeze(-1), topk, dim=-1)
+
+        topk_ind: torch.Tensor
+
+        topk_coords = outputs_coords_unact.gather(
+            dim=1,
+            index=topk_ind.unsqueeze(-1).repeat(1, 1, outputs_coords_unact.shape[-1]),
+        )
+
+        topk_logits = outputs_logits.gather(
+            dim=1,
+            index=topk_ind.unsqueeze(-1).repeat(1, 1, outputs_logits.shape[-1]),
+        )
+
+        topk_memory = memory.gather(
+            dim=1, index=topk_ind.unsqueeze(-1).repeat(1, 1, memory.shape[-1])
+        )
+
+        return topk_memory, topk_logits, topk_coords
+
+    def forward(self, feats, targets=None):
+        # input projection and embedding
+        memory, spatial_shapes = self._get_encoder_input(feats)
+        denoising_logits, denoising_bbox_unact, attn_mask = (
+            None,
+            None,
+            None,
+        )
+
+        (
+            init_ref_contents,
+            init_ref_points_unact,
+            enc_topk_bboxes_list,
+            enc_topk_logits_list,
+        ) = self._get_decoder_input(
+            memory, spatial_shapes, denoising_logits, denoising_bbox_unact
+        )
+
+        # decoder
+        out_bboxes, out_logits = self.decoder(
+            init_ref_contents,
+            init_ref_points_unact,
+            memory,
+            spatial_shapes,
+            self.dec_bbox_head,
+            self.dec_score_head,
+            self.query_pos_head,
+            attn_mask=attn_mask,
+        )
+
+        out = {"pred_logits": out_logits[-1], "pred_boxes": out_bboxes[-1]}
+
+        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, outputs_coord)
+        ]