diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..3c816fae0ebc4d745be77f2cb9111c2939d1940e 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,23 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/badges/teaser.jpg filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a0.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a1.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a10.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a11.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a2.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a3.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a4.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a5.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a6.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a7.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a8.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/a9.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/b0.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/b1.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/b2.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/b3.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/b4.png filter=lfs diff=lfs merge=lfs -text +DA-2-repo/assets/demos/b5.png filter=lfs diff=lfs merge=lfs -text +model.onnx.data filter=lfs diff=lfs merge=lfs -text diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..40e7c7b142404be00cb0a2d8fd1c3e1a4b5778a6 --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +venv/ +__pycache__/ +*.pyc +.DS_Store +*.safetensors +.vscode/ diff --git a/DA-2-repo/LICENSE b/DA-2-repo/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..261eeb9e9f8b2b4b0d119366dda99c6fd7d35c64 --- /dev/null +++ b/DA-2-repo/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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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 [yyyy] [name of copyright owner] + + 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. diff --git a/DA-2-repo/README.md b/DA-2-repo/README.md new file mode 100644 index 0000000000000000000000000000000000000000..27a93365b36e073d81c1b545de89fdb8c619bf56 --- /dev/null +++ b/DA-2-repo/README.md @@ -0,0 +1,103 @@ +# lotus DA2: Depth Anything in Any Direction + +[![Page](https://img.shields.io/badge/Project-Website-pink?logo=googlechrome&logoColor=white)](https://depth-any-in-any-dir.github.io/) +[![Paper](https://img.shields.io/badge/arXiv-Paper-b31b1b?logo=arxiv&logoColor=white)](http://arxiv.org/abs/2509.26618) +[![HuggingFace Demo](https://img.shields.io/badge/🤗%20HuggingFace-Demo%20-yellow)](https://huggingface.co/spaces/haodongli/DA-2) +[![Data](https://img.shields.io/badge/📂%20HuggingFace-Data-green)](https://huggingface.co/datasets/haodongli/DA-2) +[![Slides](https://img.shields.io/badge/Google-Slides-blue?logo=slideshare&logoColor=white)](https://docs.google.com/presentation/d/1QUonqLuYGEh0qcqY72pbTXsZimINlyN4rOogy7qX4GY/edit?usp=sharing) +[![BibTeX](https://img.shields.io/badge/BibTeX-grey?logo=googlescholar&logoColor=white)](https://depth-any-in-any-dir.github.io/bibtex.txt) + +[Haodong Li](https://haodong2000.github.io/)123§, +[Wangguangdong Zheng](https://wangguandongzheng.github.io/)1, +[Jing He](https://jingheya.github.io/)3, +[Yuhao Liu](https://yuhaoliu7456.github.io/)1, +[Xin Lin](https://linxin0.github.io/)2, +[Xin Yang](https://abnervictor.github.io/2023/06/12/Academic-Self-Intro.html)34,
+[Ying-Cong Chen](https://www.yingcong.me/)34✉, +[Chunchao Guo]()1✉ + +1Tencent Hunyuan +2UC San Diego +3HKUST(GZ) +4HKUST
+ + §Work primarily done during an internship at Tencent Hunyuan. + ✉Corresponding author. + + +![teaser](assets/badges/teaser.jpg) + +DA2 predicts dense, scale-invariant distance from a single 360° panorama in an end-to-end manner, with remarkable geometric fidelity and strong zero-shot generalization. + +## 📢 News +- 2025-10-10 The curated panoramic data is released on [huggingface](https://huggingface.co/datasets/haodongli/DA-2)! +- 2025-10-10 The evaluation code and the [testing data](https://huggingface.co/datasets/haodongli/DA-2-Evaluation) are released! +- 2025-10-04 The 🤗Huggingface Gradio demo ([online](https://huggingface.co/spaces/haodongli/DA-2) and [local](https://github.com/EnVision-Research/DA-2?tab=readme-ov-file#-gradio-demo)) are released! +- 2025-10-04 The inference code and the [model](https://huggingface.co/haodongli/DA-2) are released! +- 2025-10-01 [Paper](https://arxiv.org/abs/2509.26618) released on arXiv! + +## 🛠️ Setup +> This installation was tested on: Ubuntu 20.04 LTS, Python 3.12, CUDA 12.2, NVIDIA GeForce RTX 3090. + +1. Clone the repository: +``` +git clone https://github.com/EnVision-Research/DA-2.git +cd DA-2 +``` +2. Install dependencies using conda: +``` +conda create -n da-2 python=3.12 -y +conda activate da-2 +pip install -e src +``` +> For macOS users: Please remove `xformers==0.0.28.post2` (line 16) from `src/pyproject.toml` before `pip install -e src`, as [xFormers does not support macOS](https://github.com/facebookresearch/xformers/issues/775#issuecomment-1611284979). + +## 🤗 Gradio Demo +1. Online demo: [Hugggingface Space](https://huggingface.co/spaces/haodongli/DA-2) +2. Local demo: +``` +python app.py +``` + +## 🕹️ Inference +> We've pre-uploaded the cases appeared in the [project page](https://depth-any-in-any-dir.github.io/). So you can proceed directly to step 3. + +1. Images are placed in a directory, e.g., `assets/demos`. +2. (Optional) Masks (e.g., sky masks for outdoor images) in another directory, e.g., `assets/masks`. The filenames under both directories should be consistent. +3. Run the inference command: +``` +sh infer.sh +``` +4. The visualized distance and normal maps will be saved at `output/infer/vis_all.png`. The projected 3D point clouds will be saved at `output/infer/3dpc`. + +## 🚗 Evaluation +1. Download the evaluation datasets from [huggingface](https://huggingface.co/datasets/haodongli/DA-2-Evaluation): +``` +cd [YOUR_DATA_DIR] +huggingface-cli login +hf download --repo-type dataset haodongli/DA-2-Evaluation --local-dir [YOUR_DATA_DIR] +``` +2. Unzip the downloaded datasets: +``` +tar -zxvf [DATA_NAME].tar.gz +``` +3. Set the `datasets_dir` (line 20) in `configs/eval.json` with `YOUR_DATA_DIR`. +4. Run the evaluation command: +``` +sh eval.sh +``` +5. The results will be saved at `output/eval`. + +## 🎓 Citation +If you find our work useful in your research, please consider citing our paper🌹: +```bibtex +@article{li2025depth, + title={DA$^{2}$: Depth Anything in Any Direction}, + author={Li, Haodong and Zheng, Wangguangdong and He, Jing and Liu, Yuhao and Lin, Xin and Yang, Xin and Chen, Ying-Cong and Guo, Chunchao}, + journal={arXiv preprint arXiv:2509.26618}, + year={2025} +} +``` + +## 🤝 Acknowledgement +This implementation is impossible without the awesome contributions of [MoGe](https://wangrc.site/MoGePage/), [UniK3D](https://lpiccinelli-eth.github.io/pub/unik3d/), [Lotus](https://lotus3d.github.io/), [Marigold](https://marigoldmonodepth.github.io/), [DINOv2](https://github.com/facebookresearch/dinov2), [Accelerate](https://github.com/huggingface/accelerate), [Gradio](https://github.com/gradio-app/gradio), [HuggingFace Hub](https://github.com/huggingface/huggingface_hub), and [PyTorch](https://pytorch.org/) to the open-cource community. diff --git a/DA-2-repo/app.py b/DA-2-repo/app.py new file mode 100644 index 0000000000000000000000000000000000000000..e2952c5879bd150fda1f431e62f125ea35464a4d --- /dev/null +++ b/DA-2-repo/app.py @@ -0,0 +1,165 @@ +import os +from accelerate import Accelerator +from accelerate.logging import get_logger +from accelerate.utils import ( + InitProcessGroupKwargs, + ProjectConfiguration, + set_seed +) +import torch +from contextlib import nullcontext +import trimesh +import gradio as gr +from gradio_imageslider import ImageSlider +from da2.utils.base import load_config +from da2.utils.model import load_model +from da2.utils.io import ( + read_cv2_image, + torch_transform, + tensorize +) +from da2.utils.vis import colorize_distance +from da2.utils.d2pc import distance2pointcloud +from datetime import ( + timedelta, + datetime +) +import cv2 +import numpy as np + +last_glb_path = None + +def prepare_to_run_demo(): + config = load_config('configs/infer.json') + kwargs = InitProcessGroupKwargs(timeout=timedelta(seconds=config['accelerator']['timeout'])) + output_dir = f'output/infer' + if not os.path.exists(output_dir): os.makedirs(output_dir, exist_ok=True) + accu_steps = config['accelerator']['accumulation_nsteps'] + accelerator = Accelerator( + gradient_accumulation_steps=accu_steps, + mixed_precision=config['accelerator']['mixed_precision'], + log_with=config['accelerator']['report_to'], + project_config=ProjectConfiguration(project_dir=output_dir), + kwargs_handlers=[kwargs] + ) + logger = get_logger(__name__, log_level='INFO') + config['env']['logger'] = logger + set_seed(config['env']['seed']) + return config, accelerator + +def read_mask_demo(mask_path, shape): + if mask_path is None: + return np.ones(shape[1:]) > 0 + mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE) + mask = mask > 0 + return mask + +def load_infer_data_demo(image, mask, model_dtype, device): + cv2_image = read_cv2_image(image) + image = torch_transform(cv2_image) + mask = read_mask_demo(mask, image.shape) + image = tensorize(image, model_dtype, device) + return image, cv2_image, mask + +def ply2glb(ply_path, glb_path): + pcd = trimesh.load(ply_path) + points = np.asarray(pcd.vertices) + colors = np.asarray(pcd.visual.vertex_colors) + cloud = trimesh.points.PointCloud(vertices=points, colors=colors) + cloud.export(glb_path) + os.remove(ply_path) + +def fn(image_path, mask_path): + global last_glb_path + config, accelerator = prepare_to_run_demo() + model = load_model(config, accelerator) + image, cv2_image, mask = load_infer_data_demo(image_path, mask_path, + model_dtype=config['spherevit']['dtype'], device=accelerator.device) + if torch.backends.mps.is_available(): + autocast_ctx = nullcontext() + else: + autocast_ctx = torch.autocast(accelerator.device.type) + with autocast_ctx, torch.no_grad(): + distance = model(image).cpu().numpy()[0] + if last_glb_path is not None: + os.remove(last_glb_path) + distance_vis = colorize_distance(distance, mask) + save_path = f'cache/tmp_{datetime.now().strftime("%Y%m%d_%H%M%S")}.glb' + last_glb_path = save_path + normal_image = distance2pointcloud(distance, cv2_image, mask, save_path=save_path.replace('.glb', '.ply'), return_normal=True, save_distance=False) + ply2glb(save_path.replace('.glb', '.ply'), save_path) + return save_path, [distance_vis, normal_image] + +inputs = [ + gr.Image(label="Input Image", type="filepath"), + gr.Image(label="Input Mask", type="filepath"), +] +outputs = [ + gr.Model3D(clear_color=[0.0, 0.0, 0.0, 0.0], label="3D Point Cloud"), + gr.ImageSlider( + label="Output Depth / Normal (transformed from the depth)", + type="pil", + slider_position=75, + ) +] + +demo = gr.Interface( + fn=fn, + title="DA2: Depth Anything in Any Direction", + description=""" +

+ + + + + + + + badge-github-stars + + + social + + + social + +
+ Please consider starring ★ our GitHub Repo if you find this demo useful! +

+

Note: the "Input Mask" is optional, all pixels are assumed to be valid if mask is None.

+ """, + inputs=inputs, + outputs=outputs, + examples=[ + [os.path.join(os.path.dirname(__file__), "assets/demos/a1.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a2.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a3.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a4.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/b0.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b0.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/b1.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b1.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/a5.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a6.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a7.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a8.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/b2.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b2.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/b3.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b3.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/a9.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a10.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a11.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a0.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/b4.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b4.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/b5.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b5.png")], + ], + examples_per_page=20 +) + +demo.launch( + server_name="0.0.0.0", + server_port=6381, +) diff --git a/DA-2-repo/assets/badges/icon2.png b/DA-2-repo/assets/badges/icon2.png new file mode 100644 index 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b/DA-2-repo/configs/accelerate/1.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '1' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/DA-2-repo/configs/accelerate/2.yaml b/DA-2-repo/configs/accelerate/2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..618f82ef9d0477fb96a2bf9cdde71b748da27585 --- /dev/null +++ b/DA-2-repo/configs/accelerate/2.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '2' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/DA-2-repo/configs/accelerate/3.yaml b/DA-2-repo/configs/accelerate/3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1da170160278bf8b084cff4db7cd486ab63c609d --- /dev/null +++ b/DA-2-repo/configs/accelerate/3.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '3' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/DA-2-repo/configs/accelerate/4.yaml b/DA-2-repo/configs/accelerate/4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42d9ddaffa8fcde6285663fdd7967def76827bac --- /dev/null +++ b/DA-2-repo/configs/accelerate/4.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '4' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/DA-2-repo/configs/accelerate/5.yaml b/DA-2-repo/configs/accelerate/5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca7964b0d0a2bb5e1773cdeb52c080fde16c4314 --- /dev/null +++ b/DA-2-repo/configs/accelerate/5.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '5' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/DA-2-repo/configs/accelerate/6.yaml b/DA-2-repo/configs/accelerate/6.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96c634629d6c3fd3b96e56ce825f0c39d1043165 --- /dev/null +++ b/DA-2-repo/configs/accelerate/6.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '6' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/DA-2-repo/configs/accelerate/7.yaml b/DA-2-repo/configs/accelerate/7.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc70db0af759a30724e968cdee1ad2d945275af8 --- /dev/null +++ b/DA-2-repo/configs/accelerate/7.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '7' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/DA-2-repo/configs/eval.json b/DA-2-repo/configs/eval.json new file mode 100644 index 0000000000000000000000000000000000000000..e081d42239fa1433577387773e4dca20fd490552 --- /dev/null +++ b/DA-2-repo/configs/eval.json @@ -0,0 +1,76 @@ +{ + "env": { + "seed": 42, + "verbose": true + }, + "accelerator": { + "report_to": ["tensorboard"], + "mixed_precision": "fp16", + "accumulation_nsteps": 4, + "timeout": 36000 + }, + "inference": { + "images": "assets/demos", + "masks": "assets/masks", + "min_pixels": 580000, + "max_pixels": 620000 + }, + "evaluation": { + "alignment": "median", + "datasets_dir": "/home/haodong/data/DA-2/Evaluation", + "metric_names": [ + "abs_relative_difference", + "squared_relative_difference", + "rmse_linear", + "rmse_log", + "log10", + "delta1_acc", + "delta2_acc", + "delta3_acc", + "i_rmse", + "silog_rmse" + ], + "metric_show": { + "abs_relative_difference": "AbsRel", + "delta1_acc": "δ_1" + }, + "datasets": { + "2d3ds": { + "dir": "2D3DS/wo_xyz", + "filenames": "eval/datasets/splits/2d3ds.txt", + "alignment_max_res": 2048 + }, + "matterport3d": { + "dir": "Matterport3D", + "filenames": "eval/datasets/splits/matterport3d.txt", + "alignment_max_res": 2048 + }, + "panosuncg": { + "dir": "PanoSUNCG/rotated", + "filenames": "eval/datasets/splits/panosuncg.txt", + "alignment_max_res": 1024 + } + } + }, + "spherevit": { + "vit_w_esphere": { + "input_dims": [1024, 1024, 1024, 1024], + "hidden_dim": 512, + "num_heads": 8, + "expansion": 4, + "num_layers_head": [2, 2, 2], + "dropout": 0.0, + "layer_scale": 0.0001, + "out_dim": 64, + "kernel_size": 3, + "num_prompt_blocks": 1, + "use_norm": false + }, + "sphere": { + "width": 1092, + "height": 546, + "hfov": 6.2832, + "vfov": 3.1416 + } + } +} diff --git a/DA-2-repo/configs/infer.json b/DA-2-repo/configs/infer.json new file mode 100644 index 0000000000000000000000000000000000000000..55ecd9accb3d2562cb1a0c5e236bb49bcf0f1c65 --- /dev/null +++ b/DA-2-repo/configs/infer.json @@ -0,0 +1,39 @@ +{ + "env": { + "seed": 42, + "verbose": true + }, + "accelerator": { + "report_to": ["tensorboard"], + "mixed_precision": "fp16", + "accumulation_nsteps": 4, + "timeout": 36000 + }, + "inference": { + "images": "assets/demos", + "masks": "assets/masks", + "min_pixels": 580000, + "max_pixels": 620000 + }, + "spherevit": { + "vit_w_esphere": { + "input_dims": [1024, 1024, 1024, 1024], + "hidden_dim": 512, + "num_heads": 8, + "expansion": 4, + "num_layers_head": [2, 2, 2], + "dropout": 0.0, + "layer_scale": 0.0001, + "out_dim": 64, + "kernel_size": 3, + "num_prompt_blocks": 1, + "use_norm": false + }, + "sphere": { + "width": 1092, + "height": 546, + "hfov": 6.2832, + "vfov": 3.1416 + } + } +} diff --git a/DA-2-repo/eval.py b/DA-2-repo/eval.py new file mode 100644 index 0000000000000000000000000000000000000000..d4dc3301238266a73752fb3cc06a6592e5b2b439 --- /dev/null +++ b/DA-2-repo/eval.py @@ -0,0 +1,29 @@ +import os +import torch +from contextlib import nullcontext +from tqdm import tqdm +from da2 import ( + prepare_to_run, + load_model +) +from eval.utils import run_evaluation + + +def eval(model, config, accelerator, output_dir): + model = model.eval() + eval_datasets = config['evaluation']['datasets'] + if accelerator.is_main_process: + if torch.backends.mps.is_available(): + autocast_ctx = nullcontext() + else: + autocast_ctx = torch.autocast(accelerator.device.type) + with autocast_ctx, torch.no_grad(): + for dataset_name in eval_datasets.keys(): + metrics = run_evaluation(model, config, dataset_name, output_dir, accelerator.device) + for metric_name in config['evaluation']['metric_show']: + config['env']['logger'].info(f"\033[92mEVAL --> {dataset_name}: {config['evaluation']['metric_show'][metric_name]} = {metrics[metric_name]}.\033[0m") + +if __name__ == '__main__': + config, accelerator, output_dir = prepare_to_run() + model = load_model(config, accelerator) + eval(model, config, accelerator, output_dir) diff --git a/DA-2-repo/eval.sh b/DA-2-repo/eval.sh new file mode 100644 index 0000000000000000000000000000000000000000..6b459b2d322aca5849a89c8d4cc8495a529e2866 --- /dev/null +++ b/DA-2-repo/eval.sh @@ -0,0 +1,7 @@ +export CUDA=0 +export CONFIG_PATH="configs/eval.json" +accelerate launch \ + --config_file=configs/accelerate/$CUDA.yaml \ + --mixed_precision="fp16" \ + --main_process_port="12345" \ + eval.py --config_path=$CONFIG_PATH diff --git a/DA-2-repo/eval/__init__.py b/DA-2-repo/eval/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/DA-2-repo/eval/datasets/__init__.py b/DA-2-repo/eval/datasets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..a12fc4c80ef185a16a51e29740bd378dadfccd07 --- /dev/null +++ b/DA-2-repo/eval/datasets/__init__.py @@ -0,0 +1,35 @@ +# Authors: Bingxin Ke, Haodong Li +# Last modified: 2025-05-25 +# Note: Add PanoSUNCGDataset, Matterport3DDataset, Stanford2D3DSDataset for 360° depth (or distance) evaluation. + +import os + +from .base_depth_dataset import BaseDepthDataset, get_pred_name, DatasetMode +from .stanford2d3ds_dataset import Stanford2D3DSDataset +from .matterport3d_dataset import Matterport3DDataset +from .panosuncg_dataset import PanoSUNCGDataset + +dataset_name_class_dict = { + "2d3ds": Stanford2D3DSDataset, + "matterport3d": Matterport3DDataset, + "panosuncg": PanoSUNCGDataset +} + + +def get_dataset( + cfg_data_split, dataset_name, base_data_dir: str, mode: DatasetMode, **kwargs +) -> BaseDepthDataset: + if dataset_name in dataset_name_class_dict.keys(): + dataset_class = dataset_name_class_dict[dataset_name] + dataset = dataset_class( + mode=mode, + filename_ls_path=cfg_data_split['filenames'], + dataset_dir=os.path.join(base_data_dir, cfg_data_split['dir']), + disp_name=dataset_name, + **cfg_data_split, + **kwargs, + ) + else: + raise NotImplementedError + + return dataset diff --git a/DA-2-repo/eval/datasets/base_depth_dataset.py b/DA-2-repo/eval/datasets/base_depth_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..022a1b1146dccc3674cc8da0bd3fd568f1a36f00 --- /dev/null +++ b/DA-2-repo/eval/datasets/base_depth_dataset.py @@ -0,0 +1,268 @@ +# Author: Bingxin Ke +# Last modified: 2024-04-15 + +import io +import os +import random +import tarfile +from enum import Enum + +import numpy as np +import cv2 +import torch +from PIL import Image +from torch.utils.data import Dataset +from torchvision.transforms import InterpolationMode, Resize + + +class DatasetMode(Enum): + RGB_ONLY = "rgb_only" + EVAL = "evaluate" + TRAIN = "train" + + +def read_image_from_tar(tar_obj, img_rel_path): + image = tar_obj.extractfile("./" + img_rel_path) + image = image.read() + image = Image.open(io.BytesIO(image)) + + +class BaseDepthDataset(Dataset): + def __init__( + self, + mode: DatasetMode, + filename_ls_path: str, + dataset_dir: str, + disp_name: str, + min_depth, + max_depth, + has_filled_depth, + name_mode, + depth_transform=None, + augmentation_args: dict = None, + resize_to_hw=None, + move_invalid_to_far_plane: bool = True, + rgb_transform=lambda x: x / 255.0 * 2 - 1, # [0, 255] -> [-1, 1], + **kwargs, + ) -> None: + super().__init__() + self.mode = mode + # dataset info + self.filename_ls_path = filename_ls_path + self.dataset_dir = dataset_dir + self.disp_name = disp_name + self.has_filled_depth = has_filled_depth + self.name_mode: DepthFileNameMode = name_mode + self.min_depth = min_depth + self.max_depth = max_depth + + # training arguments + self.depth_transform = depth_transform + self.augm_args = augmentation_args + self.resize_to_hw = resize_to_hw + self.rgb_transform = rgb_transform + self.move_invalid_to_far_plane = move_invalid_to_far_plane + + # Load filenames + with open(self.filename_ls_path, "r") as f: + self.filenames = [ + s.split() for s in f.readlines() + ] # [['rgb.png', 'depth.tif'], [], ...] + + # Tar dataset + self.tar_obj = None + self.is_tar = ( + True + if os.path.isfile(dataset_dir) and tarfile.is_tarfile(dataset_dir) + else False + ) + + def __len__(self): + return len(self.filenames) + + def __getitem__(self, index): + rasters, other = self._get_data_item(index) + if DatasetMode.TRAIN == self.mode: + rasters = self._training_preprocess(rasters) + # merge + outputs = rasters + outputs.update(other) + return outputs + + def _get_data_item(self, index): + rgb_rel_path, depth_rel_path, filled_rel_path = self._get_data_path(index=index) + + rasters = {} + + # RGB data + rasters.update(self._load_rgb_data(rgb_rel_path=rgb_rel_path)) + + # Depth data + if DatasetMode.RGB_ONLY != self.mode: + # load data + depth_data = self._load_depth_data( + depth_rel_path=depth_rel_path, filled_rel_path=filled_rel_path + ) + rasters.update(depth_data) + # valid mask + rasters["valid_mask_raw"] = self._get_valid_mask( + rasters["depth_raw_linear"] + ).clone() + rasters["valid_mask_filled"] = self._get_valid_mask( + rasters["depth_filled_linear"] + ).clone() + + other = {"index": index, "rgb_relative_path": rgb_rel_path} + + return rasters, other + + def _load_rgb_data(self, rgb_rel_path): + # Read RGB data + rgb = self._read_rgb_file(rgb_rel_path) + + outputs = { + "rgb_int": torch.from_numpy(rgb).int(), + } + return outputs + + def _load_depth_data(self, depth_rel_path, filled_rel_path): + # Read depth data + outputs = {} + depth_raw = self._read_depth_file(depth_rel_path).squeeze() + depth_raw_linear = torch.from_numpy(depth_raw).float().unsqueeze(0) # [1, H, W] + outputs["depth_raw_linear"] = depth_raw_linear.clone() + + if self.has_filled_depth: + depth_filled = self._read_depth_file(filled_rel_path).squeeze() + depth_filled_linear = torch.from_numpy(depth_filled).float().unsqueeze(0) + outputs["depth_filled_linear"] = depth_filled_linear + else: + outputs["depth_filled_linear"] = depth_raw_linear.clone() + + return outputs + + def _get_data_path(self, index): + filename_line = self.filenames[index] + + # Get data path + rgb_rel_path = filename_line[0] + + depth_rel_path, filled_rel_path = None, None + if DatasetMode.RGB_ONLY != self.mode: + depth_rel_path = filename_line[1] + if self.has_filled_depth: + filled_rel_path = filename_line[2] + return rgb_rel_path, depth_rel_path, filled_rel_path + + def _read_image(self, img_rel_path) -> np.ndarray: + if self.is_tar: + if self.tar_obj is None: + self.tar_obj = tarfile.open(self.dataset_dir) + image = self.tar_obj.extractfile("./" + img_rel_path) + image = image.read() + image = Image.open(io.BytesIO(image)) # [H, W, rgb] + else: + img_path = os.path.join(self.dataset_dir, img_rel_path) + image = Image.open(img_path).convert('RGB') + image = np.asarray(image) + return image + + def _read_depth_cv2(self, img_rel_path) -> np.ndarray: + depth_path = os.path.join(self.dataset_dir, img_rel_path) + depth_in = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + if depth_in.shape[2] == 3: # If image has 3 channels + depth_in = depth_in[..., 0] # PANO + depth_in = depth_in.astype(np.float32) + return depth_in + + def _read_rgb_file(self, rel_path) -> np.ndarray: + rgb = self._read_image(rel_path) + # Handle RGBA images by converting to RGB + if rgb.shape[2] == 4: # If image has 4 channels (RGBA) + rgb = rgb[:, :, :3] # Take only the RGB channels + rgb = np.transpose(rgb, (2, 0, 1)).astype(int) # [rgb, H, W] + return rgb + + def _read_depth_file(self, rel_path): + depth_in = self._read_image(rel_path) + # Replace code below to decode depth according to dataset definition + depth_decoded = depth_in + + return depth_decoded + + def _get_valid_mask(self, depth: torch.Tensor): + valid_mask = torch.logical_and( + (depth > self.min_depth), (depth < self.max_depth) + ).bool() + return valid_mask + + def _training_preprocess(self, rasters): + # Augmentation + if self.augm_args is not None: + rasters = self._augment_data(rasters) + + # Normalization + rasters["depth_raw_norm"] = self.depth_transform( + rasters["depth_raw_linear"], rasters["valid_mask_raw"] + ).clone() + rasters["depth_filled_norm"] = self.depth_transform( + rasters["depth_filled_linear"], rasters["valid_mask_filled"] + ).clone() + + # Set invalid pixel to far plane + if self.move_invalid_to_far_plane: + if self.depth_transform.far_plane_at_max: + rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( + self.depth_transform.norm_max + ) + else: + rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( + self.depth_transform.norm_min + ) + + # Resize + if self.resize_to_hw is not None: + resize_transform = Resize( + size=self.resize_to_hw, interpolation=InterpolationMode.NEAREST_EXACT + ) + rasters = {k: resize_transform(v) for k, v in rasters.items()} + + return rasters + + def _augment_data(self, rasters_dict): + # lr flipping + lr_flip_p = self.augm_args.lr_flip_p + if random.random() < lr_flip_p: + rasters_dict = {k: v.flip(-1) for k, v in rasters_dict.items()} + + return rasters_dict + + def __del__(self): + if self.tar_obj is not None: + self.tar_obj.close() + self.tar_obj = None + + +# Prediction file naming modes +class DepthFileNameMode(Enum): + id = 1 # id.png + rgb_id = 2 # rgb_id.png + i_d_rgb = 3 # i_d_1_rgb.png + rgb_i_d = 4 + + +def get_pred_name(rgb_basename, name_mode, suffix=".png"): + if DepthFileNameMode.rgb_id == name_mode: + pred_basename = "pred_" + rgb_basename.split("_")[1] + elif DepthFileNameMode.i_d_rgb == name_mode: + pred_basename = rgb_basename.replace("_rgb.", "_pred.") + elif DepthFileNameMode.id == name_mode: + pred_basename = "pred_" + rgb_basename + elif DepthFileNameMode.rgb_i_d == name_mode: + pred_basename = "pred_" + "_".join(rgb_basename.split("_")[1:]) + else: + raise NotImplementedError + # change suffix + pred_basename = os.path.splitext(pred_basename)[0] + suffix + + return pred_basename diff --git a/DA-2-repo/eval/datasets/matterport3d_dataset.py b/DA-2-repo/eval/datasets/matterport3d_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..7cc9597c195b3533db8d27645eb8c50b99986a49 --- /dev/null +++ b/DA-2-repo/eval/datasets/matterport3d_dataset.py @@ -0,0 +1,25 @@ +# Author: Haodong Li +# Last modified: 2025-05-25 + +from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +import cv2 +import os + +class Matterport3DDataset(BaseDepthDataset): + def __init__( + self, + **kwargs, + ) -> None: + super().__init__( + min_depth=1e-3, + max_depth=5, + has_filled_depth=False, + name_mode=DepthFileNameMode.id, + **kwargs, + ) + + def _read_depth_file(self, rel_path): + img_path = os.path.join(self.dataset_dir, rel_path) + depth_in = cv2.imread(img_path, cv2.IMREAD_UNCHANGED) + depth_decoded = depth_in / 2560.0 + return depth_decoded diff --git a/DA-2-repo/eval/datasets/panosuncg_dataset.py b/DA-2-repo/eval/datasets/panosuncg_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..21fa29056185ffc88e1fda92199a497bdd63759e --- /dev/null +++ b/DA-2-repo/eval/datasets/panosuncg_dataset.py @@ -0,0 +1,26 @@ +# Author: Haodong Li +# Last modified: 2025-05-25 + +from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +import cv2 +import os + +class PanoSUNCGDataset(BaseDepthDataset): + def __init__( + self, + **kwargs, + ) -> None: + super().__init__( + min_depth=1e-3, + max_depth=5, + has_filled_depth=False, + name_mode=DepthFileNameMode.id, + **kwargs, + ) + + def _read_depth_file(self, rel_path): + img_path = os.path.join(self.dataset_dir, rel_path) + depth_in = cv2.imread(img_path, cv2.IMREAD_UNCHANGED) + depth_in = depth_in[..., 0] + depth_decoded = depth_in / 20.0 + return depth_decoded diff --git a/DA-2-repo/eval/datasets/splits/2d3ds.txt b/DA-2-repo/eval/datasets/splits/2d3ds.txt new file mode 100644 index 0000000000000000000000000000000000000000..9172cd20ea9813744526c01e4d0b082c53a77bf7 --- /dev/null +++ b/DA-2-repo/eval/datasets/splits/2d3ds.txt @@ -0,0 +1,1413 @@ 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b/DA-2-repo/eval/datasets/stanford2d3ds_dataset.py @@ -0,0 +1,25 @@ +# Author: Haodong Li +# Last modified: 2025-05-25 + +from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +import cv2 +import os + +class Stanford2D3DSDataset(BaseDepthDataset): + def __init__( + self, + **kwargs, + ) -> None: + super().__init__( + min_depth=1e-3, + max_depth=5, + has_filled_depth=False, + name_mode=DepthFileNameMode.id, + **kwargs, + ) + + def _read_depth_file(self, rel_path): + img_path = os.path.join(self.dataset_dir, rel_path) + depth_in = cv2.imread(img_path, cv2.IMREAD_UNCHANGED) + depth_decoded = depth_in / 1000.0 + return depth_decoded diff --git a/DA-2-repo/eval/utils/__init__.py b/DA-2-repo/eval/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..da38e5190312bd25da10cba09440f081b0567284 --- /dev/null +++ b/DA-2-repo/eval/utils/__init__.py @@ -0,0 +1,29 @@ +# Author: Haodong Li +# Last modified: 2025-10-10 + +from .alignment import ( + align_depth_least_square, + align_depth_median +) +from .metric import ( + MetricTracker +) +from .io import ( + init_per_sample_csv, + write_per_sample_csv, + write_metrics_txt +) +from .infer import ( + run_evaluation +) + + +__all__ = [ + 'align_depth_least_square', + 'align_depth_median', + 'MetricTracker', + 'init_per_sample_csv', + 'write_per_sample_csv', + 'write_metrics_txt', + 'run_evaluation' +] diff --git a/DA-2-repo/eval/utils/alignment.py b/DA-2-repo/eval/utils/alignment.py new file mode 100644 index 0000000000000000000000000000000000000000..ed65c723c4084ac6c4f6b13f390fffa49ed681de --- /dev/null +++ b/DA-2-repo/eval/utils/alignment.py @@ -0,0 +1,73 @@ +# Authors: Bingxin Ke, Haodong Li +# Last modified: 2025-05-25 +# Note: Add align_depth_median for scale-invariant depth (or distance) evaluation. + +import numpy as np +import torch + + +def align_depth_median( + gt_arr: np.ndarray, + pred_arr: np.ndarray, + valid_mask_arr: np.ndarray, + return_scale_shift=True, +): + gt_median = np.median(gt_arr[valid_mask_arr]) + pred_median = np.median(pred_arr[valid_mask_arr]) + scale = gt_median / pred_median + shift = 0 + aligned_pred = pred_arr * scale + shift + if return_scale_shift: + return aligned_pred, scale, shift + else: + return aligned_pred + + +def align_depth_least_square( + gt_arr: np.ndarray, + pred_arr: np.ndarray, + valid_mask_arr: np.ndarray, + return_scale_shift=True, + max_resolution=None, +): + ori_shape = pred_arr.shape + + gt = gt_arr.squeeze() + pred = pred_arr.squeeze() + valid_mask = valid_mask_arr.squeeze() + + # downsample + if max_resolution is not None: + scale_factor = np.min(max_resolution / np.array(ori_shape[-2:])) + if scale_factor < 1: + downscaler = torch.nn.Upsample(scale_factor=scale_factor, mode="nearest") + gt = downscaler(torch.as_tensor(gt).unsqueeze(0)).numpy() + pred = downscaler(torch.as_tensor(pred).unsqueeze(0)).numpy() + valid_mask = ( + downscaler(torch.as_tensor(valid_mask).unsqueeze(0).float()) + .bool() + .numpy() + ) + + assert ( + gt.shape == pred.shape == valid_mask.shape + ), f"{gt.shape}, {pred.shape}, {valid_mask.shape}" + + gt_masked = gt[valid_mask].reshape((-1, 1)) + pred_masked = pred[valid_mask].reshape((-1, 1)) + + # numpy solver + _ones = np.ones_like(pred_masked) + A = np.concatenate([pred_masked, _ones], axis=-1) + X = np.linalg.lstsq(A, gt_masked, rcond=None)[0] + scale, shift = X + + aligned_pred = pred_arr * scale + shift + + # restore dimensions + aligned_pred = aligned_pred.reshape(ori_shape) + + if return_scale_shift: + return aligned_pred, scale, shift + else: + return aligned_pred diff --git a/DA-2-repo/eval/utils/infer.py b/DA-2-repo/eval/utils/infer.py new file mode 100644 index 0000000000000000000000000000000000000000..f4a2eed6ebb92b9d524b385057349c88ea4bc313 --- /dev/null +++ b/DA-2-repo/eval/utils/infer.py @@ -0,0 +1,172 @@ +# Authors: Jing He, Haodong Li +# Last modified: 2025-10-10 + +import os +import torch +from torchvision.transforms import InterpolationMode +from torchvision.transforms.functional import resize +from torch.utils.data import DataLoader +from tqdm import tqdm +import numpy as np +from tabulate import tabulate +from eval.datasets import ( + BaseDepthDataset, + get_dataset, + DatasetMode, + get_pred_name +) +from eval.utils import ( + MetricTracker, + metric, + init_per_sample_csv, + write_per_sample_csv, + write_metrics_txt, + align_depth_least_square, + align_depth_median +) + + +def resize_max_res( + img: torch.Tensor, + max_edge_resolution: int, + resample_method: InterpolationMode = InterpolationMode.BILINEAR, +) -> torch.Tensor: + """ + Resize image to limit maximum edge length while keeping aspect ratio. + + Args: + img (`torch.Tensor`): + Image tensor to be resized. Expected shape: [B, C, H, W] + max_edge_resolution (`int`): + Maximum edge length (pixel). + resample_method (`PIL.Image.Resampling`): + Resampling method used to resize images. + + Returns: + `torch.Tensor`: Resized image. + """ + assert 4 == img.dim(), f"Invalid input shape {img.shape}" + + original_height, original_width = img.shape[-2:] + downscale_factor = min( + max_edge_resolution / original_width, max_edge_resolution / original_height + ) + + new_width = int(original_width * downscale_factor) + new_height = int(original_height * downscale_factor) + + resized_img = resize(img, (new_height, new_width), resample_method, antialias=True) + return resized_img + + +def run_evaluation(model, config, dataset_name, output_dir, device): + eval_dir = os.path.join(output_dir, dataset_name) + if not os.path.exists(eval_dir): os.makedirs(eval_dir) + + dataset_config = config['evaluation']['datasets'][dataset_name] + model_dtype = config['spherevit']['dtype'] + + dataset: BaseDepthDataset = get_dataset(dataset_config, dataset_name, + base_data_dir=config['evaluation']['datasets_dir'], mode=DatasetMode.EVAL) + dataloader = DataLoader(dataset, batch_size=1, num_workers=16, pin_memory=True) + + metric_funcs = [getattr(metric, _met) for _met in config['evaluation']['metric_names']] + metric_tracker = MetricTracker(*[m.__name__ for m in metric_funcs]) + metric_tracker.reset() + alignment = config['evaluation']['alignment'] + per_sample_csv = init_per_sample_csv(eval_dir, alignment, metric_funcs) + + for data in tqdm(dataloader, desc=f"Evaluating {dataset_name}"): + # GT data + depth_raw_ts = data["depth_raw_linear"].squeeze() + valid_mask_ts = data["valid_mask_raw"].squeeze() + rgb_name = data["rgb_relative_path"][0] + + depth_raw = depth_raw_ts.numpy() + valid_mask = valid_mask_ts.numpy() + + rgb_tmp = data["rgb_int"].squeeze() + if rgb_tmp.min() == 0: + rgb_tmp = rgb_tmp.float() + rgb_tmp = torch.mean(rgb_tmp, dim=0).cpu().numpy() + zero_mask = rgb_tmp != 0 + valid_mask = valid_mask & zero_mask + + depth_raw_ts = depth_raw_ts.to(device) + valid_mask_ts = valid_mask_ts.to(device) + + # Get predictions + rgb_basename = os.path.basename(rgb_name) + pred_basename = get_pred_name( + rgb_basename, dataset.name_mode, suffix="" + ) + pred_name = os.path.join(os.path.dirname(rgb_name), pred_basename) + # resize to processing_res + input_size = data["rgb_int"].shape + input_rgb = resize_max_res( + data["rgb_int"], + max_edge_resolution=1092, + ) + + input_rgb = input_rgb[0].to(device) + input_rgb = input_rgb / 255.0 + input_rgb = input_rgb.to(model_dtype) + + depth_pred = model(input_rgb.unsqueeze(0)) + depth_pred = depth_pred.unsqueeze(0) + depth_pred = resize(depth_pred, input_size[-2:], antialias=True) + depth_pred = depth_pred.squeeze().cpu().numpy() + + if "least_square" == alignment: + depth_pred = np.clip( + depth_pred, a_min=-1e6, a_max=1e6 + ) + depth_pred, _, _ = align_depth_least_square( + gt_arr=depth_raw, + pred_arr=depth_pred, + valid_mask_arr=valid_mask, + return_scale_shift=True, + max_resolution=dataset_config['alignment_max_res'], + ) + elif "median" == alignment: + depth_pred = np.clip( + depth_pred, a_min=-1e6, a_max=1e6 + ) + depth_pred, _, _ = align_depth_median( + gt_arr=depth_raw, + pred_arr=depth_pred, + valid_mask_arr=valid_mask, + return_scale_shift=True, + ) + elif "metric" == alignment: + pass + else: + raise NotImplementedError + + # Clip to dataset min max + depth_pred = np.clip( + depth_pred, a_min=dataset.min_depth, a_max=dataset.max_depth + ) + + # clip to d > 0 for evaluation + depth_pred = np.clip(depth_pred, a_min=1e-6, a_max=None) + + # Evaluate (using CUDA if available) + sample_metric = [] + depth_pred_ts = torch.from_numpy(depth_pred).to(device) + + for met_func in metric_funcs: + _metric_name = met_func.__name__ + _metric = met_func(depth_pred_ts, depth_raw_ts, valid_mask_ts).item() + sample_metric.append(_metric.__str__()) + metric_tracker.update(_metric_name, _metric) + + write_per_sample_csv(per_sample_csv, pred_name, sample_metric) + + # -------------------- Save metrics to file -------------------- + eval_text = tabulate( + [metric_tracker.result().keys(), metric_tracker.result().values()] + ) + write_metrics_txt(eval_dir, alignment, eval_text) + + return metric_tracker.result() diff --git a/DA-2-repo/eval/utils/io.py b/DA-2-repo/eval/utils/io.py new file mode 100644 index 0000000000000000000000000000000000000000..cce64286983c71b45ebef1d52b4879856256a1ab --- /dev/null +++ b/DA-2-repo/eval/utils/io.py @@ -0,0 +1,25 @@ +# Authors: Jing He, Haodong Li +# Last modified: 2025-10-10 + +import os + + +def init_per_sample_csv(output_dir, alignment, metric_funcs): + per_sample_csv = os.path.join(output_dir, f"per_sample_{alignment}.csv") + with open(per_sample_csv, "w+") as f: + f.write("filename,") + f.write(",".join([m.__name__ for m in metric_funcs])) + f.write("\n") + return per_sample_csv + +def write_per_sample_csv(per_sample_csv, pred_name, sample_metric): + with open(per_sample_csv, "a+") as f: + f.write(pred_name + ",") + f.write(",".join(sample_metric)) + f.write("\n") + +def write_metrics_txt(eval_dir, alignment, eval_text): + metrics_filename = f"eval_metrics_{alignment}.txt" + _save_to = os.path.join(eval_dir, metrics_filename) + with open(_save_to, "w+") as f: + f.write(eval_text) diff --git a/DA-2-repo/eval/utils/metric.py b/DA-2-repo/eval/utils/metric.py new file mode 100644 index 0000000000000000000000000000000000000000..5ce71ee423076c370fb2c796d31dde86c5319309 --- /dev/null +++ b/DA-2-repo/eval/utils/metric.py @@ -0,0 +1,192 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-15 + +import pandas as pd +import torch + + +# Adapted from: https://github.com/victoresque/pytorch-template/blob/master/utils/util.py +class MetricTracker: + def __init__(self, *keys, writer=None): + self.writer = writer + self._data = pd.DataFrame(index=keys, columns=["total", "counts", "average"]) + self.reset() + + def reset(self): + for col in self._data.columns: + self._data[col].values[:] = 0 + + def update(self, key, value, n=1): + if self.writer is not None: + self.writer.add_scalar(key, value) + self._data.loc[key, "total"] += value * n + self._data.loc[key, "counts"] += n + self._data.loc[key, "average"] = self._data.total[key] / self._data.counts[key] + + def avg(self, key): + return self._data.average[key] + + def result(self): + return dict(self._data.average) + +def pixel_mean(pred, gt, valid_mask): + if valid_mask is not None: + masked_pred = pred * valid_mask + masked_gt = gt * valid_mask + + valid_pixel_count = torch.sum(valid_mask, dim=(0,1)) + + pred_mean = torch.sum(masked_pred, dim=(0,1)) / valid_pixel_count + gt_mean = torch.sum(masked_gt, dim=(0,1)) / valid_pixel_count + else: + pred_mean = torch.mean(pred, dim=(0,1)) + gt_mean = torch.mean(gt, dim=(0,1)) + + mean_difference = torch.abs(pred_mean - gt_mean) + return mean_difference + +def pixel_var(pred, gt, valid_mask): + if valid_mask is not None: + masked_pred = pred * valid_mask + masked_gt = gt * valid_mask + + valid_pixel_count = torch.sum(valid_mask, dim=(0,1)) + + pred_mean = torch.sum(masked_pred, dim=(0,1)) / valid_pixel_count + gt_mean = torch.sum(masked_gt, dim=(0,1)) / valid_pixel_count + + pred_var = torch.sum(valid_mask * (pred - pred_mean)**2, dim=(0,1)) / valid_pixel_count + gt_var = torch.sum(valid_mask * (gt - gt_mean)**2, dim=(0,1)) / valid_pixel_count + else: + pred_var = torch.var(pred, dim=(0,1)) + gt_var = torch.var(gt, dim=(0,1)) + + var_difference = torch.abs(pred_var - gt_var) + + return var_difference + +def abs_relative_difference(output, target, valid_mask=None): + actual_output = output + actual_target = target + abs_relative_diff = torch.abs(actual_output - actual_target) / actual_target + if valid_mask is not None: + abs_relative_diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + abs_relative_diff = torch.sum(abs_relative_diff, (-1, -2)) / n + return abs_relative_diff.mean() + + +def squared_relative_difference(output, target, valid_mask=None): + actual_output = output + actual_target = target + square_relative_diff = ( + torch.pow(torch.abs(actual_output - actual_target), 2) / actual_target + ) + if valid_mask is not None: + square_relative_diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + square_relative_diff = torch.sum(square_relative_diff, (-1, -2)) / n + return square_relative_diff.mean() + + +def rmse_linear(output, target, valid_mask=None): + actual_output = output + actual_target = target + diff = actual_output - actual_target + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + diff2 = torch.pow(diff, 2) + mse = torch.sum(diff2, (-1, -2)) / n + rmse = torch.sqrt(mse) + return rmse.mean() + + +def rmse_log(output, target, valid_mask=None): + diff = torch.log(output) - torch.log(target) + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + diff2 = torch.pow(diff, 2) + mse = torch.sum(diff2, (-1, -2)) / n # [B] + rmse = torch.sqrt(mse) + return rmse.mean() + + +def log10(output, target, valid_mask=None): + if valid_mask is not None: + diff = torch.abs( + torch.log10(output[valid_mask]) - torch.log10(target[valid_mask]) + ) + else: + diff = torch.abs(torch.log10(output) - torch.log10(target)) + return diff.mean() + + +# adapt from: https://github.com/imran3180/depth-map-prediction/blob/master/main.py +def threshold_percentage(output, target, threshold_val, valid_mask=None): + d1 = output / target + d2 = target / output + max_d1_d2 = torch.max(d1, d2) + zero = torch.zeros(*output.shape) + one = torch.ones(*output.shape) + bit_mat = torch.where(max_d1_d2.cpu() < threshold_val, one, zero) + if valid_mask is not None: + bit_mat[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + count_mat = torch.sum(bit_mat, (-1, -2)) + threshold_mat = count_mat / n.cpu() + return threshold_mat.mean() + + +def delta1_acc(pred, gt, valid_mask): + return threshold_percentage(pred, gt, 1.25, valid_mask) + + +def delta2_acc(pred, gt, valid_mask): + return threshold_percentage(pred, gt, 1.25**2, valid_mask) + + +def delta3_acc(pred, gt, valid_mask): + return threshold_percentage(pred, gt, 1.25**3, valid_mask) + + +def i_rmse(output, target, valid_mask=None): + output_inv = 1.0 / output + target_inv = 1.0 / target + diff = output_inv - target_inv + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + diff2 = torch.pow(diff, 2) + mse = torch.sum(diff2, (-1, -2)) / n # [B] + rmse = torch.sqrt(mse) + return rmse.mean() + + +def silog_rmse(depth_pred, depth_gt, valid_mask=None): + diff = torch.log(depth_pred) - torch.log(depth_gt) + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = depth_gt.shape[-2] * depth_gt.shape[-1] + + diff2 = torch.pow(diff, 2) + + first_term = torch.sum(diff2, (-1, -2)) / n + second_term = torch.pow(torch.sum(diff, (-1, -2)), 2) / (n**2) + loss = torch.sqrt(torch.mean(first_term - second_term)) * 100 + return loss diff --git a/DA-2-repo/infer.py b/DA-2-repo/infer.py new file mode 100644 index 0000000000000000000000000000000000000000..e6ad21dc30eac40067c9bb6c18be7e32b5af51de --- /dev/null +++ b/DA-2-repo/infer.py @@ -0,0 +1,42 @@ +import os +import torch +from contextlib import nullcontext +from tqdm import tqdm +from da2 import ( + prepare_to_run, + load_model, + load_infer_data, + distance2pointcloud, + colorize_distance, + concatenate_images +) + + +def infer(model, config, accelerator, output_dir): + model.eval() + if accelerator.is_main_process: + if torch.backends.mps.is_available(): + autocast_ctx = nullcontext() + else: + autocast_ctx = torch.autocast(accelerator.device.type) + with autocast_ctx, torch.no_grad(): + infer_data = load_infer_data(config, accelerator.device) + pred_distances = [] + for i in tqdm(range(infer_data['size']), desc='Predicting 360° depth'): + distances = model(infer_data['images']['torch'][i]) + pred_distances.append(distances.cpu().numpy()) + pred_distance_images = [] + pred_normal_images = [] + for i in tqdm(range(infer_data['size']), desc='Visualizing 360° depth'): + pred_distance_images.append(colorize_distance(pred_distances[i], infer_data['masks'][i])) + for i in tqdm(range(infer_data['size']), desc='Saving 3D points'): + normal_image = distance2pointcloud(pred_distances[i], + infer_data['images']['cv2'][i], infer_data['masks'][i], + save_path=os.path.join(output_dir, f'3dpc/{infer_data['filenames'][i]}.ply'), return_normal=True, save_distance=True) + pred_normal_images.append(normal_image) + concatenate_images(infer_data['images']['PIL'], pred_distance_images, pred_normal_images).save(os.path.join(output_dir, 'vis_all.png')) + +if __name__ == '__main__': + config, accelerator, output_dir = prepare_to_run() + model = load_model(config, accelerator) + infer(model, config, accelerator, output_dir) diff --git a/DA-2-repo/infer.sh b/DA-2-repo/infer.sh new file mode 100644 index 0000000000000000000000000000000000000000..c33f1a1e0da0e5c42f6c1d0bfc47d833bc12a2e6 --- /dev/null +++ b/DA-2-repo/infer.sh @@ -0,0 +1,7 @@ +export CUDA=0 +export CONFIG_PATH="configs/infer.json" +accelerate launch \ + --config_file=configs/accelerate/$CUDA.yaml \ + --mixed_precision="fp16" \ + --main_process_port="12345" \ + infer.py --config_path=$CONFIG_PATH diff --git a/DA-2-repo/src/da2.egg-info/PKG-INFO b/DA-2-repo/src/da2.egg-info/PKG-INFO new file mode 100644 index 0000000000000000000000000000000000000000..740d63c92b41cb865c89ab6a7b2751025c3c4a7e --- /dev/null +++ b/DA-2-repo/src/da2.egg-info/PKG-INFO @@ -0,0 +1,24 @@ +Metadata-Version: 2.4 +Name: da2 +Version: 0.1.0 +Summary: For the implementation of DA^2: Depth Anything in Any Direction +Author-email: "H. Li" +Requires-Dist: torch==2.5.0 +Requires-Dist: torchvision==0.20.0 +Requires-Dist: torchaudio==2.5.0 +Requires-Dist: xformers==0.0.28.post2 +Requires-Dist: diffusers==0.32.0 +Requires-Dist: tensorboard==2.18.0 +Requires-Dist: utils3d@ git+https://github.com/EasternJournalist/utils3d.git@3913c65d81e05e47b9f367250cf8c0f7462a0900 +Requires-Dist: opencv-python==4.12.0.88 +Requires-Dist: gradio==5.49.0 +Requires-Dist: gradio-client==1.13.3 +Requires-Dist: gradio-imageslider==0.0.20 +Requires-Dist: accelerate==1.1.1 +Requires-Dist: omegaconf==2.3.0 +Requires-Dist: tabulate==0.9.0 +Requires-Dist: einops==0.8.0 +Requires-Dist: timm==1.0.15 +Requires-Dist: trimesh==4.5.2 +Requires-Dist: transformers==4.46.3 +Requires-Dist: matplotlib==3.9.2 diff --git a/DA-2-repo/src/da2.egg-info/SOURCES.txt b/DA-2-repo/src/da2.egg-info/SOURCES.txt new file mode 100644 index 0000000000000000000000000000000000000000..d75e99d41d9df2936757319c33ca8f10a772280e --- /dev/null +++ b/DA-2-repo/src/da2.egg-info/SOURCES.txt @@ -0,0 +1,28 @@ +pyproject.toml +da2/__init__.py +da2.egg-info/PKG-INFO +da2.egg-info/SOURCES.txt +da2.egg-info/dependency_links.txt +da2.egg-info/requires.txt +da2.egg-info/top_level.txt +da2/model/__init__.py +da2/model/base.py +da2/model/sphere.py +da2/model/spherevit.py +da2/model/vit_w_esphere.py +da2/model/dinov2/__init__.py +da2/model/dinov2/attention.py +da2/model/dinov2/block.py +da2/model/dinov2/dino_head.py +da2/model/dinov2/dinovit.py +da2/model/dinov2/drop_path.py +da2/model/dinov2/layer_scale.py +da2/model/dinov2/mlp.py +da2/model/dinov2/patch_embed.py +da2/model/dinov2/swiglu_ffn.py +da2/utils/__init__.py +da2/utils/base.py +da2/utils/d2pc.py +da2/utils/io.py +da2/utils/model.py +da2/utils/vis.py \ No newline at end of file diff --git a/DA-2-repo/src/da2.egg-info/dependency_links.txt b/DA-2-repo/src/da2.egg-info/dependency_links.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b137891791fe96927ad78e64b0aad7bded08bdc --- /dev/null +++ b/DA-2-repo/src/da2.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/DA-2-repo/src/da2.egg-info/requires.txt b/DA-2-repo/src/da2.egg-info/requires.txt new file mode 100644 index 0000000000000000000000000000000000000000..5fcd5cae84c1e6247c43af4d6f2250dae9516a99 --- /dev/null +++ b/DA-2-repo/src/da2.egg-info/requires.txt @@ -0,0 +1,19 @@ +torch==2.5.0 +torchvision==0.20.0 +torchaudio==2.5.0 +xformers==0.0.28.post2 +diffusers==0.32.0 +tensorboard==2.18.0 +utils3d@ git+https://github.com/EasternJournalist/utils3d.git@3913c65d81e05e47b9f367250cf8c0f7462a0900 +opencv-python==4.12.0.88 +gradio==5.49.0 +gradio-client==1.13.3 +gradio-imageslider==0.0.20 +accelerate==1.1.1 +omegaconf==2.3.0 +tabulate==0.9.0 +einops==0.8.0 +timm==1.0.15 +trimesh==4.5.2 +transformers==4.46.3 +matplotlib==3.9.2 diff --git a/DA-2-repo/src/da2.egg-info/top_level.txt b/DA-2-repo/src/da2.egg-info/top_level.txt new file mode 100644 index 0000000000000000000000000000000000000000..e9f3aca6d46fc8bd68eef426cddaa20a40de4253 --- /dev/null +++ b/DA-2-repo/src/da2.egg-info/top_level.txt @@ -0,0 +1 @@ +da2 diff --git a/DA-2-repo/src/da2/__init__.py b/DA-2-repo/src/da2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..7cb1dddc3c657f4ce1b627593983469f7fbfd94b --- /dev/null +++ b/DA-2-repo/src/da2/__init__.py @@ -0,0 +1,25 @@ +from .utils.base import ( + prepare_to_run +) +from .utils.model import ( + load_model +) +from .utils.io import ( + load_infer_data +) +from .utils.vis import ( + colorize_distance, + concatenate_images +) +from .utils.d2pc import ( + distance2pointcloud +) + +__all__ = [ + 'prepare_to_run', + 'load_model', + 'load_infer_data', + 'colorize_distance', + 'concatenate_images', + 'distance2pointcloud' +] diff --git a/DA-2-repo/src/da2/model/__init__.py b/DA-2-repo/src/da2/model/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..df880766b1a941dbe4e413c65aae041e5980c3e9 --- /dev/null +++ b/DA-2-repo/src/da2/model/__init__.py @@ -0,0 +1,11 @@ +from .spherevit import ( + SphereViT +) +from .vit_w_esphere import ( + ViT_w_Esphere +) + +__all__ = [ + 'SphereViT', + 'ViT_w_Esphere', +] diff --git a/DA-2-repo/src/da2/model/base.py b/DA-2-repo/src/da2/model/base.py new file mode 100644 index 0000000000000000000000000000000000000000..03d467f3184133b590f76af9ff453386719d0736 --- /dev/null +++ b/DA-2-repo/src/da2/model/base.py @@ -0,0 +1,393 @@ +import torch +import torch.nn as nn +from math import log2, pi +from typing import Tuple +import torch.nn.functional as F +from einops import rearrange +from functools import partial + + +def fourier_dimension_expansion( + x: torch.Tensor, + dim: int = 512, + max_freq: int = 64, + use_cos: bool = True, + use_log: bool = True, +): + device, dtype, input_dim = x.device, x.dtype, x.shape[-1] + # input_dim: 2 + num_bands = dim // (2 * input_dim) if use_cos else dim // input_dim + # num_bands = 512 // 2 = 256 + if use_log: + scales = 2.0 ** torch.linspace( + 0.0, log2(max_freq), steps=num_bands, device=device, dtype=dtype + ) + else: + scales = torch.linspace( + 1.0, max_freq / 2, num_bands, device=device, dtype=dtype + ) + x = x.unsqueeze(-1) + scales = scales[(*((None,) * (len(x.shape) - 1)), Ellipsis)] + x = x * scales * pi + x = torch.cat( + ( + [x.sin(), x.cos()] + if use_cos + else [ + x.sin(), + ] + ), + dim=-1, + ) + x = x.flatten(-2) + return x + +def flatten( + flat_tensor: torch.Tensor, + old: Tuple[int, int], + new: Tuple[int, int], +) -> torch.Tensor: + if old[0] == new[0] and old[1] == new[1]: + return flat_tensor + tensor = flat_tensor.view(flat_tensor.shape[0], old[0], old[1], -1).permute( + 0, 3, 1, 2 + ) # b c h w + tensor_interp = F.interpolate( + tensor, + size=(new[0], new[1]), + mode='nearest', + ) + flat_tensor_interp = tensor_interp.view( + flat_tensor.shape[0], -1, new[0] * new[1] + ).permute( + 0, 2, 1 + ) # b (h w) c + return flat_tensor_interp.contiguous() + + +class DimensionAligner(nn.Module): + def __init__(self, input_dims: list[int], hidden_dim: int): + super().__init__() + self.aligners = nn.ModuleList([]) + self.num_chunks = len(input_dims) + self.checkpoint = True + for input_dim in input_dims: + self.aligners.append(nn.Linear(input_dim, hidden_dim)) + + def forward(self, xs: torch.Tensor) -> torch.Tensor: + outs = [self.aligners[i](x) for i, x in enumerate(xs)] + return outs + + +class LayerScale(nn.Module): + def __init__( + self, + dim: int, + init_values: float | torch.Tensor = 1e-5, + inplace: bool = False, + ) -> None: + super().__init__() + self.inplace = inplace + self.gamma = nn.Parameter(init_values * torch.ones(dim)) + + def forward(self, x: torch.Tensor) -> torch.Tensor: + return x.mul_(self.gamma) if self.inplace else x * self.gamma + + +def exists(val): + return val is not None + +def default(val, d): + if exists(val): + return val + return d() if callable(d) else d + + +class SwiGLU(nn.Module): + def forward(self, x: torch.Tensor) -> torch.Tensor: + x, gates = x.chunk(2, dim=-1) + return x * F.silu(gates) + + +class MLP(nn.Module): + def __init__( + self, + input_dim: int, + expansion: int = 4, + dropout: float = 0.0, + gated: bool = False, + output_dim: int | None = None, + ): + super().__init__() + if gated: + expansion = int(expansion * 2 / 3) + hidden_dim = int(input_dim * expansion) + output_dim = default(output_dim, input_dim) + self.norm = nn.LayerNorm(input_dim) + self.proj1 = nn.Linear(input_dim, hidden_dim) + self.proj2 = nn.Linear(hidden_dim, output_dim) + self.act = nn.GELU() if not gated else SwiGLU() + self.dropout = nn.Dropout(dropout) if dropout > 0.0 else nn.Identity() + + def forward(self, x: torch.Tensor) -> torch.Tensor: + x = self.norm(x) + x = self.proj1(x) + x = self.act(x) + x = self.proj2(x) + x = self.dropout(x) + return x + + +class AttentionBlock(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 4, + expansion: int = 4, + dropout: float = 0.0, + cosine: bool = False, + gated: bool = False, + layer_scale: float = 1.0, + context_dim: int | None = None, + detach_query: bool = False, + residual_ls: bool = False, + ): + super().__init__() + self.dropout = dropout + self.num_heads = num_heads + self.hidden_dim = dim + context_dim = dim if context_dim is None else context_dim + self.mlp = MLP(dim, expansion=expansion, dropout=dropout, gated=gated) + self.kv = nn.Linear(context_dim, dim * 2, bias=False) + self.q = nn.Linear(dim, dim, bias=False) + self.norm_attnx = nn.LayerNorm(dim) + self.norm_attnctx = nn.LayerNorm(context_dim) + self.cosine = cosine + self.out = nn.Linear(dim, dim, bias=False) + self.ls1_1 = ( + LayerScale(dim, layer_scale) + if layer_scale > 0.0 and not residual_ls + else nn.Identity() + ) + self.ls1_2 = ( + LayerScale(dim, layer_scale) + if layer_scale > 0.0 and residual_ls + else nn.Identity() + ) + self.ls2 = LayerScale(dim, layer_scale) if layer_scale > 0.0 else nn.Identity() + self.detach_query = detach_query + + def attn( + self, + x: torch.Tensor, + attn_bias: torch.Tensor | None = None, + context: torch.Tensor | None = None, + pos_embed: torch.Tensor | None = None, + pos_embed_context: torch.Tensor | None = None, + rope: nn.Module | None = None, + rope_pos: torch.Tensor | None = None, + ) -> torch.Tensor: + if self.detach_query: + x = x.detach() + x = self.norm_attnx(x) + context = self.norm_attnctx(context) + k, v = rearrange( + self.kv(context), 'b n (kv h d) -> b h n d kv', h=self.num_heads, kv=2 + ).unbind(dim=-1) + q = rearrange(self.q(x), 'b n (h d) -> b h n d', h=self.num_heads) + + if rope is not None: + q = rope(q.permute(0, 2, 1, 3), input_pos=rope_pos).permute(0, 2, 1, 3) + k = rope(k.permute(0, 2, 1, 3), input_pos=rope_pos).permute(0, 2, 1, 3) + else: + if pos_embed is not None: + pos_embed = rearrange( + pos_embed, 'b n (h d) -> b h n d', h=self.num_heads + ) + q = q + pos_embed + if pos_embed_context is not None: + pos_embed_context = rearrange( + pos_embed_context, 'b n (h d) -> b h n d', h=self.num_heads + ) + k = k + pos_embed_context + + if self.cosine: + q, k = map(partial(F.normalize, p=2, dim=-1), (q, k)) # cosine sim + + x = F.scaled_dot_product_attention( + q, k, v, dropout_p=self.dropout, attn_mask=attn_bias + ) + x = rearrange(x, 'b h n d -> b n (h d)') + x = self.out(x) + return x + + def forward( + self, + x: torch.Tensor, + context: torch.Tensor | None = None, + pos_embed: torch.Tensor | None = None, + pos_embed_context: torch.Tensor | None = None, + attn_bias: torch.Tensor | None = None, + rope: nn.Module | None = None, + rope_pos: torch.Tensor | None = None, + ) -> torch.Tensor: + context = x if context is None else context + x = self.ls1_1( + self.attn( + x, + rope=rope, + rope_pos=rope_pos, + attn_bias=attn_bias, + context=context, + pos_embed=pos_embed, + pos_embed_context=pos_embed_context, + ) + ) + self.ls1_2(x) + x = self.ls2(self.mlp(x)) + x + return x + + +class AttentionSeq(nn.Module): + def __init__( + self, + num_blocks: int, + dim: int, + num_heads: int = 4, + expansion: int = 4, + dropout: float = 0.0, + cosine: bool = False, + gated: bool = False, + layer_scale: float = 1.0, + context_dim: int | None = None, + detach_query: bool = False, + residual_ls: bool = False, + ): + super().__init__() + self.layers = nn.ModuleList( + [ + AttentionBlock( + dim=dim, + num_heads=num_heads, + expansion=expansion, + dropout=dropout, + cosine=cosine, + gated=gated, + layer_scale=layer_scale, + context_dim=context_dim, + detach_query=detach_query, + residual_ls=residual_ls, + ) + for _ in range(num_blocks) + ] + ) + + def forward( + self, + x: torch.Tensor, + context: torch.Tensor | None = None, + pos_embed: torch.Tensor | None = None, + pos_embed_context: torch.Tensor | None = None, + attn_bias: torch.Tensor | None = None, + rope: nn.Module | None = None, + rope_pos: torch.Tensor | None = None, + ) -> torch.Tensor: + for layer in self.layers: + x = layer( + x, + context=context, + pos_embed=pos_embed, + pos_embed_context=pos_embed_context, + attn_bias=attn_bias, + rope=rope, + rope_pos=rope_pos, + ) + return x + + +class ResidualConvNet(nn.Module): + def __init__( + self, + dim, + kernel_size: int = 3, + padding_mode: str = 'zeros', + dilation: int = 1, + layer_scale: float = 1.0, + use_norm: bool = False, + ): + super().__init__() + self.conv1 = nn.Conv2d( + dim, + dim, + kernel_size=kernel_size, + padding=dilation * (kernel_size - 1) // 2, + dilation=dilation, + padding_mode=padding_mode, + ) + self.conv2 = nn.Conv2d( + dim, + dim, + kernel_size=kernel_size, + padding=dilation * (kernel_size - 1) // 2, + dilation=dilation, + padding_mode=padding_mode, + ) + self.activation = nn.LeakyReLU() + self.gamma = ( + nn.Parameter(layer_scale * torch.ones(1, dim, 1, 1)) + if layer_scale > 0.0 + else 1.0 + ) + self.norm1 = nn.GroupNorm(dim // 16, dim) if use_norm else nn.Identity() + self.norm2 = nn.GroupNorm(dim // 16, dim) if use_norm else nn.Identity() + + def forward(self, x): + out = self.activation(x) + out = self.conv1(out) + out = self.norm1(out) + out = self.activation(out) + out = self.conv2(out) + out = self.norm2(out) + return self.gamma * out + x + + +class ResidualUpsampler(nn.Module): + def __init__( + self, + hidden_dim, + output_dim: int = None, + num_layers: int = 2, + kernel_size: int = 3, + layer_scale: float = 1.0, + padding_mode: str = 'zeros', + use_norm: bool = False, + **kwargs, + ): + super().__init__() + output_dim = output_dim if output_dim is not None else hidden_dim // 2 + self.convs = nn.ModuleList([]) + for _ in range(num_layers): + self.convs.append( + ResidualConvNet( + hidden_dim, + kernel_size=kernel_size, + layer_scale=layer_scale, + padding_mode=padding_mode, + use_norm=use_norm, + ) + ) + self.up = nn.Sequential( + nn.Conv2d( + hidden_dim, + output_dim, + kernel_size=1, + padding=0, + padding_mode=padding_mode, + ), + nn.Upsample(scale_factor=2, mode='bilinear', align_corners=False), + ) + + def forward(self, x: torch.Tensor): + for conv in self.convs: + x = conv(x) + x = self.up(x) + return x diff --git a/DA-2-repo/src/da2/model/dinov2/__init__.py b/DA-2-repo/src/da2/model/dinov2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..89f2115deeced559d02bd871f98ec86e9ec6d97c --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/__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 .dinovit import ( + DINOViT +) + +__all__ = [ + 'DINOViT' +] diff --git a/DA-2-repo/src/da2/model/dinov2/attention.py b/DA-2-repo/src/da2/model/dinov2/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..8348acc8d18745a2275f6d76924c8a4e03ce324e --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/attention.py @@ -0,0 +1,79 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging + +import torch +import torch.nn as nn +import torch.nn.functional as F + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import fmha, memory_efficient_attention, unbind + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class Attention(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) if attn_drop > 0.0 else nn.Identity() + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) if proj_drop > 0.0 else nn.Identity() + + def forward(self, x: torch.Tensor) -> torch.Tensor: + 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) + ) + x = F.scaled_dot_product_attention(qkv[0], qkv[1], qkv[2]) + x = x.transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffAttention(Attention): + def forward(self, x: torch.Tensor, attn_bias=None) -> torch.Tensor: + if not XFORMERS_AVAILABLE or x.device.type == "cpu": + assert attn_bias is None, "xFormers is required for nested tensors usage" + return super().forward(x) + + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) + + q, k, v = unbind(qkv, 2) + + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x diff --git a/DA-2-repo/src/da2/model/dinov2/block.py b/DA-2-repo/src/da2/model/dinov2/block.py new file mode 100644 index 0000000000000000000000000000000000000000..e50619cc568d0a3c91e5630d9bec4a26212150c0 --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/block.py @@ -0,0 +1,280 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +import logging +from typing import Any, Callable, Dict, List, Tuple + +import torch +import torch.nn as nn + +from .attention import Attention, MemEffAttention +from .drop_path import DropPath +from .layer_scale import LayerScale +from .mlp import Mlp + +logger = logging.getLogger("dinov2") + +try: + from xformers.ops import fmha, index_select_cat, scaled_index_add + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class Block(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + drop: float = 0.0, + attn_drop: float = 0.0, + init_values=None, + drop_path: float = 0.0, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + ffn_layer: Callable[..., nn.Module] = Mlp, + ) -> None: + super().__init__() + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + attn_drop=attn_drop, + proj_drop=drop, + ) + self.ls1 = ( + LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + ) + self.drop_path1 = 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 = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + bias=ffn_bias, + ) + self.ls2 = ( + LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + ) + self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.sample_drop_ratio = drop_path + + def forward(self, x: torch.Tensor) -> torch.Tensor: + def attn_residual_func(x: torch.Tensor) -> torch.Tensor: + return self.ls1(self.attn(self.norm1(x))) + + def ffn_residual_func(x: torch.Tensor) -> torch.Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + if self.training and self.sample_drop_ratio > 0.1: + # the overhead is compensated only for a drop path rate larger than 0.1 + x = drop_add_residual_stochastic_depth( + x, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + x = drop_add_residual_stochastic_depth( + x, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + elif self.training and self.sample_drop_ratio > 0.0: + x = x + self.drop_path1(attn_residual_func(x)) + x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 + else: + x = x + attn_residual_func(x) + x = x + ffn_residual_func(x) + return x + + +def drop_add_residual_stochastic_depth( + x: torch.Tensor, + residual_func, #: Callable[[torch.Tensor], torch.Tensor], + sample_drop_ratio: float = 0.0, +) -> torch.Tensor: + # 1) extract subset using permutation + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + x_subset = x[brange] + + # 2) apply residual_func to get residual + residual = residual_func(x_subset) + + x_flat = x.flatten(1) + residual = residual.flatten(1) + + residual_scale_factor = b / sample_subset_size + + # 3) add the residual + x_plus_residual = torch.index_add( + x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor + ) + return x_plus_residual.view_as(x) + + +def get_branges_scales(x, sample_drop_ratio=0.0): + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + residual_scale_factor = b / sample_subset_size + return brange, residual_scale_factor + + +def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): + if scaling_vector is None: + x_flat = x.flatten(1) + residual = residual.flatten(1) + x_plus_residual = torch.index_add( + x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor + ) + else: + x_plus_residual = scaled_index_add( + x, + brange, + residual.to(dtype=x.dtype), + scaling=scaling_vector, + alpha=residual_scale_factor, + ) + return x_plus_residual + + +attn_bias_cache: Dict[Tuple, Any] = {} + + +def get_attn_bias_and_cat(x_list, branges=None): + """ + this will perform the index select, cat the tensors, and provide the attn_bias from cache + """ + batch_sizes = ( + [b.shape[0] for b in branges] + if branges is not None + else [x.shape[0] for x in x_list] + ) + all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) + if all_shapes not in attn_bias_cache.keys(): + seqlens = [] + for b, x in zip(batch_sizes, x_list): + for _ in range(b): + seqlens.append(x.shape[1]) + attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) + attn_bias._batch_sizes = batch_sizes + attn_bias_cache[all_shapes] = attn_bias + + if branges is not None: + cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view( + 1, -1, x_list[0].shape[-1] + ) + else: + tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) + cat_tensors = torch.cat(tensors_bs1, dim=1) + + return attn_bias_cache[all_shapes], cat_tensors + + +def drop_add_residual_stochastic_depth_list( + x_list: List[torch.Tensor], + residual_func, #: Callable[[torch.Tensor, Any], torch.Tensor], + sample_drop_ratio: float = 0.0, + scaling_vector=None, +) -> torch.Tensor: + # 1) generate random set of indices for dropping samples in the batch + branges_scales = [ + get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list + ] + branges = [s[0] for s in branges_scales] + residual_scale_factors = [s[1] for s in branges_scales] + + # 2) get attention bias and index+concat the tensors + attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) + + # 3) apply residual_func to get residual, and split the result + residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore + + outputs = [] + for x, brange, residual, residual_scale_factor in zip( + x_list, branges, residual_list, residual_scale_factors + ): + outputs.append( + add_residual( + x, brange, residual, residual_scale_factor, scaling_vector + ).view_as(x) + ) + return outputs + + +class NestedTensorBlock(Block): + def forward_nested(self, x_list: List[torch.Tensor]) -> List[torch.Tensor]: + """ + x_list contains a list of tensors to nest together and run + """ + assert isinstance(self.attn, MemEffAttention) + + if self.training and self.sample_drop_ratio > 0.0: + + def attn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.attn(self.norm1(x), attn_bias=attn_bias) + + def ffn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.mlp(self.norm2(x)) + + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=( + self.ls1.gamma if isinstance(self.ls1, LayerScale) else None + ), + ) + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=( + self.ls2.gamma if isinstance(self.ls1, LayerScale) else None + ), + ) + return x_list + else: + + def attn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) + + def ffn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + attn_bias, x = get_attn_bias_and_cat(x_list) + x = x + attn_residual_func(x, attn_bias=attn_bias) + x = x + ffn_residual_func(x) + return attn_bias.split(x) + + def forward(self, x_or_x_list): + if isinstance(x_or_x_list, torch.Tensor): + return super().forward(x_or_x_list) + elif isinstance(x_or_x_list, list): + assert ( + XFORMERS_AVAILABLE + ), "Please install xFormers for nested tensors usage" + return self.forward_nested(x_or_x_list) + else: + raise AssertionError diff --git a/DA-2-repo/src/da2/model/dinov2/dino_head.py b/DA-2-repo/src/da2/model/dinov2/dino_head.py new file mode 100644 index 0000000000000000000000000000000000000000..1147dd3a3c046aee8d427b42b1055f38a218275b --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/dino_head.py @@ -0,0 +1,68 @@ +# 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.nn as nn +from torch.nn.init import trunc_normal_ +from torch.nn.utils import weight_norm + + +class DINOHead(nn.Module): + def __init__( + self, + in_dim, + out_dim, + use_bn=False, + nlayers=3, + hidden_dim=2048, + bottleneck_dim=256, + mlp_bias=True, + ): + super().__init__() + nlayers = max(nlayers, 1) + self.mlp = _build_mlp( + nlayers, + in_dim, + bottleneck_dim, + hidden_dim=hidden_dim, + use_bn=use_bn, + bias=mlp_bias, + ) + self.apply(self._init_weights) + self.last_layer = weight_norm(nn.Linear(bottleneck_dim, out_dim, bias=False)) + self.last_layer.weight_g.data.fill_(1) + + def _init_weights(self, m): + if isinstance(m, nn.Linear): + trunc_normal_(m.weight, std=0.02) + if isinstance(m, nn.Linear) and m.bias is not None: + nn.init.constant_(m.bias, 0) + + def forward(self, x): + x = self.mlp(x) + eps = 1e-6 if x.dtype == torch.float16 else 1e-12 + x = nn.functional.normalize(x, dim=-1, p=2, eps=eps) + x = self.last_layer(x) + return x + + +def _build_mlp( + nlayers, in_dim, bottleneck_dim, hidden_dim=None, use_bn=False, bias=True +): + if nlayers == 1: + return nn.Linear(in_dim, bottleneck_dim, bias=bias) + else: + layers = [nn.Linear(in_dim, hidden_dim, bias=bias)] + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + for _ in range(nlayers - 2): + layers.append(nn.Linear(hidden_dim, hidden_dim, bias=bias)) + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + layers.append(nn.Linear(hidden_dim, bottleneck_dim, bias=bias)) + return nn.Sequential(*layers) diff --git a/DA-2-repo/src/da2/model/dinov2/dinovit.py b/DA-2-repo/src/da2/model/dinov2/dinovit.py new file mode 100644 index 0000000000000000000000000000000000000000..04e679d67ec8024c23f788d225656b621165825b --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/dinovit.py @@ -0,0 +1,223 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging + +import math +import torch +import torch.nn as nn +import contextlib +from functools import partial +from typing import Sequence +from .block import ( + Block +) +from .attention import ( + MemEffAttention +) +from .mlp import ( + Mlp +) +from .patch_embed import ( + PatchEmbed +) +from .swiglu_ffn import ( + SwiGLUFFNFused +) + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import fmha, memory_efficient_attention, unbind + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class DINOViT(nn.Module): + def __init__( + self, + img_size=518, + patch_size=14, + in_chans=3, + embed_dim=1024, + depth=24, + num_heads=16, + mlp_ratio=4, + qkv_bias=True, + ffn_bias=True, + proj_bias=True, + drop_path_rate=0.0, + drop_path_uniform=False, + init_values=1.0, + embed_layer=PatchEmbed, + act_layer=nn.GELU, + block_fn=partial(Block, attn_class=MemEffAttention), + ffn_layer="mlp", + block_chunks=0, + output_idx=[6, 12, 18, 24], + num_register_tokens=0, + interpolate_antialias=False, + use_norm=True, + frozen_stages=0, + ): + """ + Args: + img_size (int, tuple): input image size + patch_size (int, tuple): patch size + in_chans (int): number of input channels + embed_dim (int): embedding dimension + depth (int): depth of transformer + num_heads (int): number of attention heads + mlp_ratio (int): ratio of mlp hidden dim to embedding dim + qkv_bias (bool): enable bias for qkv if True + proj_bias (bool): enable bias for proj in attn if True + ffn_bias (bool): enable bias for ffn if True + drop_path_rate (float): stochastic depth rate + drop_path_uniform (bool): apply uniform drop rate across blocks + weight_init (str): weight init scheme + init_values (float): layer-scale init values + embed_layer (nn.Module): patch embedding layer + act_layer (nn.Module): MLP activation layer + block_fn (nn.Module): transformer block class + ffn_layer (str): "mlp", "swiglu", "swiglufused" or "identity" + block_chunks: (int) split block sequence into block_chunks units for FSDP wrap + """ + super().__init__() + self.frozen_stages = frozen_stages + self.patch_size = patch_size + self.output_idx = output_idx + self.num_register_tokens = num_register_tokens + self.interpolate_antialias = interpolate_antialias + + self.patch_embed = PatchEmbed( + img_size=img_size, + patch_size=patch_size, + in_chans=in_chans, + embed_dim=embed_dim, + ) + num_patches = self.patch_embed.num_patches + + self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) + self.pos_embed = nn.Parameter( + torch.zeros(1, num_patches + 1, embed_dim) + ) + assert num_register_tokens >= 0 + self.register_tokens = nn.Parameter( + torch.zeros(1, max(1, num_register_tokens), embed_dim) + ) + + if drop_path_uniform is True: + dpr = [drop_path_rate] * depth + else: + dpr = [ + x.item() for x in torch.linspace(0, drop_path_rate, depth) + ] + + if ffn_layer == "mlp": + ffn_layer = Mlp + elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": + ffn_layer = SwiGLUFFNFused + elif ffn_layer == "identity": + def f(): + return nn.Identity() + ffn_layer = f + else: + raise NotImplementedError + + blocks_list = [ + block_fn( + dim=embed_dim, + num_heads=num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + ffn_bias=ffn_bias, + drop_path=dpr[i], + norm_layer=nn.LayerNorm, + act_layer=act_layer, + ffn_layer=ffn_layer, + init_values=init_values, + ) + for i in range(depth) + ] + self.chunked_blocks = False + self.blocks = nn.ModuleList(blocks_list) + + self.norm = nn.LayerNorm(embed_dim) + self.use_norm = use_norm + self.head = nn.Identity() + self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) + + def interpolate_pos_encoding(self, x, W, H): + previous_dtype = x.dtype + N = self.pos_embed.shape[1] - 1 + pos_embed = self.pos_embed.float() + class_pos_embed = pos_embed[:, 0] + patch_pos_embed = pos_embed[:, 1:] + dim = x.shape[-1] + w0 = W // self.patch_size + h0 = H // self.patch_size + + M = int(math.sqrt(N)) + assert N == M * M + kwargs = {} + kwargs["size"] = (w0, h0) + + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape(1, M, M, dim).permute(0, 3, 1, 2), + mode="bicubic", + antialias=self.interpolate_antialias, + **kwargs, + ) + assert (w0, h0) == patch_pos_embed.shape[-2:] + + patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) + return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to( + previous_dtype + ) + + def tokenize(self, x): + _, _, W, H = x.shape + with torch.no_grad() if self.frozen_stages > -1 else contextlib.nullcontext(): + x = self.patch_embed(x) + x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) + dino_pos_embed = self.interpolate_pos_encoding(x, W, H) + x = x + dino_pos_embed + return x + + def forward_features(self, x): + shapes = [val // self.patch_size for val in x.shape[-2:]] + batch_size = x.shape[0] + features = [] + x = self.tokenize(x) + for i, blk in enumerate(self.blocks): + with ( + torch.no_grad() if i < self.frozen_stages else contextlib.nullcontext() + ): + x = blk(x) + features.append(x) + if self.use_norm: + with ( + torch.no_grad() + if self.frozen_stages >= len(self.blocks) + else contextlib.nullcontext() + ): + features = [self.norm(out) for out in features] + features = [out[:, self.num_register_tokens + 1 :] for out in features] + features = [out.reshape(batch_size, *shapes, -1) for out in features] + return features + + def forward(self, *args): + features = self.forward_features(*args) + return features diff --git a/DA-2-repo/src/da2/model/dinov2/drop_path.py b/DA-2-repo/src/da2/model/dinov2/drop_path.py new file mode 100644 index 0000000000000000000000000000000000000000..35b1a620d06ba862ea05297d271d8c2c625b5f93 --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/drop_path.py @@ -0,0 +1,37 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py + + +import torch.nn as nn + + +def drop_path(x, drop_prob: float = 0.0, training: bool = False): + if drop_prob == 0.0 or not training: + return x + keep_prob = 1 - drop_prob + shape = (x.shape[0],) + (1,) * ( + x.ndim - 1 + ) # work with diff dim tensors, not just 2D ConvNets + random_tensor = x.new_empty(shape).bernoulli_(keep_prob) + if keep_prob > 0.0: + random_tensor.div_(keep_prob) + output = x * random_tensor + return output + + +class DropPath(nn.Module): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" + + def __init__(self, drop_prob=None): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + + def forward(self, x): + return drop_path(x, self.drop_prob, self.training) diff --git a/DA-2-repo/src/da2/model/dinov2/layer_scale.py b/DA-2-repo/src/da2/model/dinov2/layer_scale.py new file mode 100644 index 0000000000000000000000000000000000000000..40d18b5427183534d5516652b076f9883a609fc6 --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/layer_scale.py @@ -0,0 +1,28 @@ +# 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. + +# Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110 + +from typing import Union + +import torch +import torch.nn as nn +from torch import Tensor + + +class LayerScale(nn.Module): + def __init__( + self, + dim: int, + init_values: Union[float, Tensor] = 1e-5, + inplace: bool = False, + ) -> None: + super().__init__() + self.inplace = inplace + self.gamma = nn.Parameter(init_values * torch.ones(dim)) + + def forward(self, x: Tensor) -> Tensor: + return x.mul_(self.gamma) if self.inplace else x * self.gamma diff --git a/DA-2-repo/src/da2/model/dinov2/mlp.py b/DA-2-repo/src/da2/model/dinov2/mlp.py new file mode 100644 index 0000000000000000000000000000000000000000..af598999855d897948142cc986fce82abc9e3b53 --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/mlp.py @@ -0,0 +1,41 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py + + +from typing import Callable, Optional + +from torch import Tensor, nn + + +class Mlp(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = nn.GELU, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.fc1 = nn.Linear(in_features, hidden_features, bias=bias) + self.act = act_layer() + self.fc2 = nn.Linear(hidden_features, out_features, bias=bias) + self.drop = nn.Dropout(drop) if drop > 0.0 else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + x = self.fc1(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + x = self.drop(x) + return x diff --git a/DA-2-repo/src/da2/model/dinov2/patch_embed.py b/DA-2-repo/src/da2/model/dinov2/patch_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..e5a56c02609e67922eb8f859588ef274e5298b55 --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/patch_embed.py @@ -0,0 +1,101 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +from typing import Callable, Optional, Tuple, Union + +import torch.nn as nn +from torch import Tensor + + +def make_2tuple(x): + if isinstance(x, tuple): + assert len(x) == 2 + return x + + assert isinstance(x, int) + return (x, x) + + +class PatchEmbed(nn.Module): + """ + 2D image to patch embedding: (B,C,H,W) -> (B,N,D) + + Args: + img_size: Image size. + patch_size: Patch token size. + in_chans: Number of input image channels. + embed_dim: Number of linear projection output channels. + norm_layer: Normalization layer. + """ + + def __init__( + self, + img_size: Union[int, Tuple[int, int]] = 224, + patch_size: Union[int, Tuple[int, int]] = 16, + in_chans: int = 3, + embed_dim: int = 768, + norm_layer: Optional[Callable] = None, + flatten_embedding: bool = True, + ) -> None: + super().__init__() + + image_HW = make_2tuple(img_size) + patch_HW = make_2tuple(patch_size) + patch_grid_size = ( + image_HW[0] // patch_HW[0], + image_HW[1] // patch_HW[1], + ) + + self.img_size = image_HW + self.patch_size = patch_HW + self.patches_resolution = patch_grid_size + self.num_patches = patch_grid_size[0] * patch_grid_size[1] + + self.in_chans = in_chans + self.embed_dim = embed_dim + + self.flatten_embedding = flatten_embedding + + self.proj = nn.Conv2d( + in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW + ) + self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + _, _, H, W = x.shape + patch_H, patch_W = self.patch_size + + assert ( + H % patch_H == 0 + ), f"Input image height {H} is not a multiple of patch height {patch_H}" + assert ( + W % patch_W == 0 + ), f"Input image width {W} is not a multiple of patch width: {patch_W}" + + x = self.proj(x) # B C H W + H, W = x.size(2), x.size(3) + x = x.flatten(2).transpose(1, 2) # B HW C + x = self.norm(x) + if not self.flatten_embedding: + x = x.reshape(-1, H, W, self.embed_dim) # B H W C + return x + + def flops(self) -> float: + Ho, Wo = self.patches_resolution + flops = ( + Ho + * Wo + * self.embed_dim + * self.in_chans + * (self.patch_size[0] * self.patch_size[1]) + ) + if self.norm is not None: + flops += Ho * Wo * self.embed_dim + return flops diff --git a/DA-2-repo/src/da2/model/dinov2/swiglu_ffn.py b/DA-2-repo/src/da2/model/dinov2/swiglu_ffn.py new file mode 100644 index 0000000000000000000000000000000000000000..e82999e9b09b41cd6aba9edbc4c05d51ab663a1e --- /dev/null +++ b/DA-2-repo/src/da2/model/dinov2/swiglu_ffn.py @@ -0,0 +1,63 @@ +# 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 Callable, Optional + +import torch.nn.functional as F +from torch import Tensor, nn + + +class SwiGLUFFN(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias) + self.w3 = nn.Linear(hidden_features, out_features, bias=bias) + + def forward(self, x: Tensor) -> Tensor: + x12 = self.w12(x) + x1, x2 = x12.chunk(2, dim=-1) + hidden = F.silu(x1) * x2 + return self.w3(hidden) + + +try: + from xformers.ops import SwiGLU + + XFORMERS_AVAILABLE = True +except ImportError: + SwiGLU = SwiGLUFFN + XFORMERS_AVAILABLE = False + + +class SwiGLUFFNFused(SwiGLU): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + out_features = out_features or in_features + hidden_features = hidden_features or in_features + hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8 + super().__init__( + in_features=in_features, + hidden_features=hidden_features, + out_features=out_features, + bias=bias, + ) diff --git a/DA-2-repo/src/da2/model/sphere.py b/DA-2-repo/src/da2/model/sphere.py new file mode 100644 index 0000000000000000000000000000000000000000..a969bdfffe707052793b9c399f9fdc6f54b96102 --- /dev/null +++ b/DA-2-repo/src/da2/model/sphere.py @@ -0,0 +1,30 @@ +import torch + + +def get_uv_gird(h, w, device): + pixel_coords_x = torch.linspace(0.5, w - 0.5, w, device=device) + pixel_coords_y = torch.linspace(0.5, h - 0.5, h, device=device) + stacks = [pixel_coords_x.repeat(h, 1), pixel_coords_y.repeat(w, 1).t()] + grid = torch.stack(stacks, dim=0).float() + grid = grid.to(device).unsqueeze(0) + return grid + + +class Sphere(): + def __init__(self, config, device): + self.config = config + self.device = device + + def get_directions(self, shape): + h, w = shape + uv = get_uv_gird(h, w, device=self.device) + u, v = uv.unbind(dim=1) + width, height = self.config['width'], self.config['height'] + hfov, vfov = self.config['hfov'], self.config['vfov'] + longitude = (u - width / 2) / width * hfov + latitude = (v - height / 2) / height * vfov + x = torch.cos(latitude) * torch.sin(longitude) + z = torch.cos(latitude) * torch.cos(longitude) + y = torch.sin(latitude) + sphere_directions = torch.stack([x, y, z], dim=1) + return sphere_directions diff --git a/DA-2-repo/src/da2/model/spherevit.py b/DA-2-repo/src/da2/model/spherevit.py new file mode 100644 index 0000000000000000000000000000000000000000..e3b5eeb1d3c8e6b135a1c85b24299b9a5bc8e07e --- /dev/null +++ b/DA-2-repo/src/da2/model/spherevit.py @@ -0,0 +1,71 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F +from copy import deepcopy +from math import ( + ceil, + sqrt +) +from huggingface_hub import PyTorchModelHubMixin +import torchvision.transforms.v2.functional as TF +from .dinov2 import DINOViT +from .vit_w_esphere import ViT_w_Esphere +from .sphere import Sphere + + +IMAGENET_DATASET_MEAN = (0.485, 0.456, 0.406) +IMAGENET_DATASET_STD = (0.229, 0.224, 0.225) + +class SphereViT(nn.Module, PyTorchModelHubMixin): + def __init__(self, config): + super().__init__() + self.config = config + self.dino = DINOViT() + self.vit_w_esphere = ViT_w_Esphere(config['spherevit']['vit_w_esphere']) + feature_slices = self.dino.output_idx + self.feature_slices = list( + zip([0, *feature_slices[:-1]], feature_slices) + ) + self.device = None + + def to(self, *args): + self.device = args[0] + return super().to(*args) + + def forward(self, images): + B, _, H, W = images.shape + current_pixels = H * W + target_pixels = min(self.config['inference']['max_pixels'], + max(self.config['inference']['min_pixels'], current_pixels)) + factor = sqrt(target_pixels / current_pixels) + sphere_config = deepcopy(self.config['spherevit']['sphere']) + sphere_config['width'] *= factor + sphere_config['height'] *= factor + sphere = Sphere(config=sphere_config, device=self.device) + H_new = int(H * factor) + W_new = int(W * factor) + DINO_patch_size = 14 # please see the line 51 of `src/da2/model/dinov2/dinovit.py` (I know it's a little ugly to hardcode it here T_T) + H_new = ceil(H_new / DINO_patch_size) * DINO_patch_size + W_new = ceil(W_new / DINO_patch_size) * DINO_patch_size + images = F.interpolate(images, size=(H_new, W_new), mode='bilinear', align_corners=False) + images = TF.normalize( + images, + mean=IMAGENET_DATASET_MEAN, + std=IMAGENET_DATASET_STD, + ) + print(f"DEBUG: images.dtype: {images.dtype}") + + sphere_dirs = sphere.get_directions(shape=(H_new, W_new)) + sphere_dirs = sphere_dirs.to(self.device) + sphere_dirs = sphere_dirs.to(dtype=images.dtype) + sphere_dirs = sphere_dirs.repeat(B, 1, 1, 1) + + features = self.dino(images) + features = [ + features[i:j][-1].contiguous() + for i, j in self.feature_slices + ] + distance = self.vit_w_esphere(images, features, sphere_dirs) + distance = F.interpolate(distance, size=(H, W), mode='bilinear', align_corners=False) + distance = distance.squeeze(dim=1) # (b, 1, h, w) -> (b, h, w) + return distance diff --git a/DA-2-repo/src/da2/model/vit_w_esphere.py b/DA-2-repo/src/da2/model/vit_w_esphere.py new file mode 100644 index 0000000000000000000000000000000000000000..0c4f43c8b152932e33159e5aef0aea25b2cfbff0 --- /dev/null +++ b/DA-2-repo/src/da2/model/vit_w_esphere.py @@ -0,0 +1,232 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F +from einops import rearrange +from .base import ( + fourier_dimension_expansion, + flatten, + DimensionAligner, + AttentionSeq, + ResidualUpsampler +) + + +class _ViT_w_Esphere(nn.Module): + def __init__( + self, + hidden_dim: int, + num_heads: int = 8, + expansion: int = 4, + num_layers_head: int | list[int] = 4, + dropout: float = 0.0, + kernel_size: int = 7, + layer_scale: float = 1.0, + out_dim: int = 1, + num_prompt_blocks: int = 1, + use_norm: bool = False, + **kwargs, + ) -> None: + super().__init__() + self.out_dim = out_dim + self.hidden_dim = hidden_dim + self.up_sampler = nn.ModuleList([]) + self.pred_head = nn.ModuleList([]) + self.process_features = nn.ModuleList([]) + self.prompt_camera = nn.ModuleList([]) + mult = 2 + self.to_latents = nn.Linear(hidden_dim, hidden_dim) + + for _ in range(4): + self.prompt_camera.append( + AttentionSeq( + num_blocks=num_prompt_blocks, + dim=hidden_dim, + num_heads=num_heads, + expansion=expansion, + dropout=dropout, + layer_scale=-1.0, + context_dim=hidden_dim, + ) + ) + + for i, depth in enumerate(num_layers_head): + current_dim = min(hidden_dim, mult * hidden_dim // int(2**i)) + next_dim = mult * hidden_dim // int(2 ** (i + 1)) + output_dim = max(next_dim, out_dim) + self.process_features.append( + nn.ConvTranspose2d( + hidden_dim, + current_dim, + kernel_size=max(1, 2 * i), + stride=max(1, 2 * i), + padding=0, + ) + ) + self.up_sampler.append( + ResidualUpsampler( + current_dim, + output_dim=output_dim, + expansion=expansion, + layer_scale=layer_scale, + kernel_size=kernel_size, + num_layers=depth, + use_norm=use_norm, + ) + ) + pred_head = ( + nn.Sequential(nn.LayerNorm(next_dim), nn.Linear(next_dim, output_dim)) + if i == len(num_layers_head) - 1 + else nn.Identity() + ) + self.pred_head.append(pred_head) + + self.to_depth_lr = nn.Conv2d( + output_dim, + output_dim // 2, + kernel_size=3, + padding=1, + padding_mode='reflect', + ) + self.to_confidence_lr = nn.Conv2d( + output_dim, + output_dim // 2, + kernel_size=3, + padding=1, + padding_mode='reflect', + ) + self.to_depth_hr = nn.Sequential( + nn.Conv2d( + output_dim // 2, 32, kernel_size=3, padding=1, padding_mode='reflect' + ), + nn.LeakyReLU(), + nn.Conv2d(32, 1, kernel_size=1), + ) + self.to_confidence_hr = nn.Sequential( + nn.Conv2d( + output_dim // 2, 32, kernel_size=3, padding=1, padding_mode='reflect' + ), + nn.LeakyReLU(), + nn.Conv2d(32, 1, kernel_size=1), + ) + + def set_original_shapes(self, shapes: tuple[int, int]): + self.original_shapes = shapes + + def set_shapes(self, shapes: tuple[int, int]): + self.shapes = shapes + + def embed_sphere_dirs(self, sphere_dirs): + sphere_embedding = flatten( + sphere_dirs, old=self.original_shapes, new=self.shapes + ) + # index 0 -> Y + # index 1 -> Z + # index 2 -> X + r1, r2, r3 = sphere_embedding[..., 0], sphere_embedding[..., 1], sphere_embedding[..., 2] + polar = torch.asin(r2) + # Explicitly cast constant to match dtype for ONNX export + min_val = torch.tensor([1e-5], dtype=r3.dtype, device=r3.device) + # Use max instead of clamp(min=...) to avoid Clip operator issues with mixed types + r3_abs = r3.abs() + r3_clipped = torch.max(r3_abs, min_val) * (2 * (r3 >= 0).to(r3.dtype) - 1) + azimuth = torch.atan2(r1, r3_clipped) + # [polar, azimuth] is the angle field + sphere_embedding = torch.stack([polar, azimuth], dim=-1) + # expand the dimension of the angle field to image feature dimensions, via sine-cosine basis embedding + sphere_embedding = fourier_dimension_expansion( + sphere_embedding, + dim=self.hidden_dim, + max_freq=max(self.shapes) // 2, + use_cos=False, + ) + return sphere_embedding + + def condition(self, feat, sphere_embeddings): + conditioned_features = [ + prompter(rearrange(feature, 'b h w c -> b (h w) c'), sphere_embeddings) + for prompter, feature in zip(self.prompt_camera, feat) + ] + return conditioned_features + + def process(self, features_list, sphere_embeddings): + conditioned_features = self.condition(features_list, sphere_embeddings) + init_latents = self.to_latents(conditioned_features[0]) + init_latents = rearrange( + init_latents, 'b (h w) c -> b c h w', h=self.shapes[0], w=self.shapes[1] + ).contiguous() + conditioned_features = [ + rearrange( + x, 'b (h w) c -> b c h w', h=self.shapes[0], w=self.shapes[1] + ).contiguous() + for x in conditioned_features + ] + latents = init_latents + + out_features = [] + # Pyramid-like multi-layer convolutional feature extraction + for i, up in enumerate(self.up_sampler): + latents = latents + self.process_features[i](conditioned_features[i + 1]) + latents = up(latents) + out_features.append(latents) + return out_features + + def prediction_head(self, out_features): + depths = [] + h_out, w_out = out_features[-1].shape[-2:] + for i, (layer, features) in enumerate(zip(self.pred_head, out_features)): + out_depth_features = layer(features.permute(0, 2, 3, 1)).permute(0, 3, 1, 2) + if i < len(self.pred_head) - 1: + continue + depths.append(out_depth_features) + out_depth_features = F.interpolate( + out_depth_features, size=(h_out, w_out), mode='bilinear', align_corners=True + ) + distance = self.to_depth_lr(out_depth_features) + distance = F.interpolate( + distance, size=self.original_shapes, mode='bilinear', align_corners=True + ) + distance = self.to_depth_hr(distance) + return distance + + def forward( + self, + features: list[torch.Tensor], + sphere_dirs: torch.Tensor + ) -> torch.Tensor: + sphere_embeddings = self.embed_sphere_dirs(sphere_dirs) + features = self.process(features, sphere_embeddings) + distance = self.prediction_head(features) + return distance + + +class ViT_w_Esphere(nn.Module): + def __init__(self, config): + super().__init__() + self.config = config + self.dim_aligner = DimensionAligner( + input_dims=config['input_dims'], + hidden_dim=config['hidden_dim'], + ) + self._vit_w_esphere = _ViT_w_Esphere(**config) + + def forward(self, images, features, sphere_dirs) -> torch.Tensor: + _, _, H, W = images.shape + sphere_dirs = sphere_dirs + common_shape = features[0].shape[1:3] + features = self.dim_aligner(features) + sphere_dirs = rearrange(sphere_dirs, 'b c h w -> b (h w) c') + + self._vit_w_esphere.set_shapes(common_shape) + self._vit_w_esphere.set_original_shapes((H, W)) + logdistance = self._vit_w_esphere( + features=features, + sphere_dirs=sphere_dirs, + ) + + min_val = torch.tensor([-8.0], dtype=logdistance.dtype, device=logdistance.device) + max_val = torch.tensor([8.0], dtype=logdistance.dtype, device=logdistance.device) + # Use max/min instead of clamp to avoid Clip operator issues + clamped_logdistance = torch.min(torch.max(logdistance, min_val), max_val) + distance = torch.exp(clamped_logdistance + 2.0) + # distance = distance / torch.quantile(distance, 0.98) + return distance diff --git a/DA-2-repo/src/da2/utils/__init__.py b/DA-2-repo/src/da2/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..ac61fb325760b9f30f6444fc386d07b9c23022f5 --- /dev/null +++ b/DA-2-repo/src/da2/utils/__init__.py @@ -0,0 +1,11 @@ +from .base import ( + prepare_to_run +) +from .model import ( + load_model +) + +__all__ = [ + 'prepare_to_run', + 'load_model' +] diff --git a/DA-2-repo/src/da2/utils/base.py b/DA-2-repo/src/da2/utils/base.py new file mode 100644 index 0000000000000000000000000000000000000000..148b261d5646947592c6cb00ed96eb8955c5bea6 --- /dev/null +++ b/DA-2-repo/src/da2/utils/base.py @@ -0,0 +1,56 @@ +import json +import argparse +import os +from accelerate import Accelerator +from accelerate.logging import get_logger +from accelerate.utils import ( + InitProcessGroupKwargs, + ProjectConfiguration, + set_seed +) +import logging +from datetime import ( + timedelta, + datetime +) + + +def load_config(config_path): + with open(config_path, 'r') as f: + config = json.load(f) + return config + +def arg_parser(): + parser = argparse.ArgumentParser() + parser.add_argument('--config_path', type=str, required=True) + args = parser.parse_args() + return args + +def prepare_to_run(): + args = arg_parser() + logging.basicConfig( + format='%(asctime)s --> %(message)s', + datefmt='%m/%d %H:%M:%S', + level=logging.INFO, + ) + config = load_config(args.config_path) + kwargs = InitProcessGroupKwargs(timeout=timedelta(seconds=config['accelerator']['timeout'])) + version = os.path.basename(args.config_path)[:-5] + output_dir = f'output/{version}_{datetime.now().strftime("%Y%m%d_%H%M%S")}' + if not os.path.exists(output_dir): os.makedirs(output_dir, exist_ok=True) + accu_steps = config['accelerator']['accumulation_nsteps'] + accelerator = Accelerator( + gradient_accumulation_steps=accu_steps, + mixed_precision=config['accelerator']['mixed_precision'], + log_with=config['accelerator']['report_to'], + project_config=ProjectConfiguration(project_dir=output_dir), + kwargs_handlers=[kwargs] + ) + logger = get_logger(__name__, log_level='INFO') + config['env']['logger'] = logger + set_seed(config['env']['seed']) + if config['env']['verbose']: + logger.info(f'Version: {version} (from {args.config_path})') + logger.info(f'Output dir: {output_dir}') + logger.info(f'Using {accelerator.num_processes} GPU' + ('s' if accelerator.num_processes > 1 else '')) + return config, accelerator, output_dir diff --git a/DA-2-repo/src/da2/utils/d2pc.py b/DA-2-repo/src/da2/utils/d2pc.py new file mode 100644 index 0000000000000000000000000000000000000000..e67c8f4c4387cfde4aac4a791428e4ee27df3742 --- /dev/null +++ b/DA-2-repo/src/da2/utils/d2pc.py @@ -0,0 +1,76 @@ +import os +import numpy as np +import utils3d +from plyfile import PlyData, PlyElement +from PIL import Image + + +def sphere_uv2dirs(uv: np.ndarray): + theta, phi = (1 - uv[..., 0]) * (2 * np.pi), uv[..., 1] * np.pi + directions = np.stack([np.sin(phi) * np.cos(theta), np.sin(phi) * np.sin(theta), np.cos(phi)], axis=-1) + return directions + +def save_3d_points(points: np.array, colors: np.array, mask: np.array, save_path: str): + points = points.reshape(-1, 3) + colors = colors.reshape(-1, 3) + mask = mask.reshape(-1, 1) + + vertex_data = np.empty(mask.sum(), dtype=[ + ('x', 'f4'), + ('y', 'f4'), + ('z', 'f4'), + ('red', 'u1'), + ('green', 'u1'), + ('blue', 'u1'), + ]) + vertex_data['x'] = [a for i, a in enumerate(points[:, 0]) if mask[i]] + vertex_data['y'] = [a for i, a in enumerate(points[:, 1]) if mask[i]] + vertex_data['z'] = [a for i, a in enumerate(points[:, 2]) if mask[i]] + vertex_data['red'] = [a for i, a in enumerate(colors[:, 0]) if mask[i]] + vertex_data['green'] = [a for i, a in enumerate(colors[:, 1]) if mask[i]] + vertex_data['blue'] = [a for i, a in enumerate(colors[:, 2]) if mask[i]] + + vertex_element = PlyElement.describe(vertex_data, 'vertex', comments=['vertices with color']) + save_dir = os.path.dirname(save_path) + if not os.path.exists(save_dir): os.makedirs(save_dir, exist_ok=True) + PlyData([vertex_element], text=True).write(save_path) + +def colorize_normal(normal: np.ndarray, normal_mask: np.ndarray): + normal_rgb = (((normal + 1) * 0.5) * 255).astype(np.uint8) + normal_mask = np.repeat(np.expand_dims(normal_mask, axis=-1), 3, axis=-1) + normal_mask = normal_mask.astype(np.uint8) + normal_rgb = normal_rgb * normal_mask + return normal_rgb + +def normal_normalize(normal: np.ndarray): + normal_norm = np.linalg.norm(normal, axis=-1, keepdims=True) + normal_norm[normal_norm < 1e-6] = 1e-6 + return normal / normal_norm + +def distance2pointcloud( + distance: np.ndarray, + image: np.ndarray, + mask: np.ndarray, + save_path: str = None, + return_normal: bool = False, + save_distance: bool = False +): + if distance.ndim >= 3: distance = distance.squeeze() + if save_distance: + save_path_dis = save_path.replace('3dpc', 'depth').replace('.ply', '.npy') + save_dir_dis = os.path.dirname(save_path_dis) + if not os.path.exists(save_dir_dis): os.makedirs(save_dir_dis, exist_ok=True) + np.save(save_path_dis, distance) + height, width = distance.shape[:2] + points = distance[:, :, None] * sphere_uv2dirs(utils3d.numpy.image_uv(width=width, height=height)) + save_3d_points(points, image, mask, save_path) + if return_normal: + normal, normal_mask = utils3d.numpy.points_to_normals(points, mask) + normal = normal * np.array([-1, -1, 1]) + normal = normal_normalize(normal) + normal_1 = normal[..., 0] + normal_2 = normal[..., 1] + normal_3 = normal[..., 2] + normal = np.stack([normal_1, normal_3, normal_2], axis=-1) + normal_img = colorize_normal(normal, normal_mask) + return Image.fromarray(normal_img) diff --git a/DA-2-repo/src/da2/utils/io.py b/DA-2-repo/src/da2/utils/io.py new file mode 100644 index 0000000000000000000000000000000000000000..ccaf2dc0034db8ae04d02f6c6a059b98827d1d4c --- /dev/null +++ b/DA-2-repo/src/da2/utils/io.py @@ -0,0 +1,63 @@ +import os +import cv2 +import torch +import numpy as np +from glob import glob +from PIL import Image + + +def torch_transform(image): + image = image / 255.0 + image = np.transpose(image, (2, 0, 1)) + return image + +def read_cv2_image(image_path): + image = cv2.imread(image_path) + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + return image + +def read_mask(mask_path, shape): + if not os.path.exists(mask_path): + return np.ones(shape[1:]) > 0 + mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE) + mask = mask > 0 + return mask + +def tensorize(array, model_dtype, device): + array = torch.from_numpy(array).to(device).to(model_dtype).unsqueeze(dim=0) + return array + +def load_infer_data(config, device): + image_dir = config['inference']['images'] + mask_dir = config['inference']['masks'] + + image_paths = glob(os.path.join(image_dir, '*.png')) + image_paths = sorted(image_paths) + filenames = [os.path.basename(image_path)[:-4] for image_path in image_paths] + cv2_images = [read_cv2_image(image_path) + for image_path in image_paths] + PIL_images = [Image.fromarray(cv2_image) for cv2_image in cv2_images] + images = [torch_transform(cv2_image) for cv2_image in cv2_images] + + mask_paths = [image_path.replace(image_dir, mask_dir) + for image_path in image_paths] + masks = [read_mask(mask_path, images[i].shape) + for (i, mask_path) in enumerate(mask_paths)] + + model_dtype = config['spherevit']['dtype'] + images = [tensorize(image, model_dtype, device) for image in images] + + infer_data = { + 'images': { + 'PIL': PIL_images, + 'cv2': cv2_images, + 'torch': images + }, + 'masks': masks, + 'filenames': filenames, + 'size': len(images) + } + if config['env']['verbose']: + s = 's' if len(images) > 1 else '' + config['env']['logger'].info(f'Loaded {len(images)} image{s} in {model_dtype}') + return infer_data diff --git a/DA-2-repo/src/da2/utils/model.py b/DA-2-repo/src/da2/utils/model.py new file mode 100644 index 0000000000000000000000000000000000000000..0088ab1e0a1dd995767ea8c107a40b6fb1c2e836 --- /dev/null +++ b/DA-2-repo/src/da2/utils/model.py @@ -0,0 +1,15 @@ +import torch +from ..model.spherevit import SphereViT + + +def load_model(config, accelerator): + model = SphereViT.from_pretrained('haodongli/DA-2', config=config) + model = model.to(accelerator.device) + torch.cuda.empty_cache() + model = accelerator.prepare(model) + if accelerator.num_processes > 1: + model = model.module + if config['env']['verbose']: + config['env']['logger'].info(f'Model\'s dtype: {next(model.parameters()).dtype}.') + config['spherevit']['dtype'] = next(model.parameters()).dtype + return model diff --git a/DA-2-repo/src/da2/utils/vis.py b/DA-2-repo/src/da2/utils/vis.py new file mode 100644 index 0000000000000000000000000000000000000000..6cbeab57788963cd0b7ff678979f8723d80911b9 --- /dev/null +++ b/DA-2-repo/src/da2/utils/vis.py @@ -0,0 +1,44 @@ +import torch +from PIL import Image +import numpy as np +import matplotlib +import cv2 + + +def concatenate_images(*image_lists): + max_width = 0 + total_height = 0 + row_widths = [] + row_heights = [] + + for i, image_list in enumerate(image_lists): + width = sum(img.width for img in image_list) + max_width = max(max_width, width) + row_widths.append(width) + # Assuming all images in the list have the same height + height = image_list[0].height + total_height += height + row_heights.append(height) + + new_image = Image.new('RGB', (max_width, total_height)) + y_offset = 0 + for i, image_list in enumerate(image_lists): + x_offset = 0 + for img in image_list: + new_image.paste(img, (x_offset, y_offset)) + x_offset += img.width + y_offset += row_heights[i] + return new_image + +def colorize_distance(distance, mask, cmap='Spectral'): + if distance.ndim >= 3: distance = distance.squeeze() + cm = matplotlib.colormaps[cmap] + valid_distance = distance[mask] + max_distance = np.quantile(valid_distance, 0.98) + min_distance = np.quantile(valid_distance, 0.02) + distance[~mask] = max_distance + distance = ((distance - min_distance) / (max_distance - min_distance)) + distance = np.clip(distance, 0, 1) + img_colored_np = cm(distance, bytes=False)[:, :, 0:3] + distance_colored = (img_colored_np * 255).astype(np.uint8) + return Image.fromarray(distance_colored) diff --git a/DA-2-repo/src/pyproject.toml b/DA-2-repo/src/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..933ef0b55c7b60e158160965754924062a83eacd --- /dev/null +++ b/DA-2-repo/src/pyproject.toml @@ -0,0 +1,35 @@ +[build-system] +requires = ["setuptools>=61.0"] +build-backend = "setuptools.build_meta" + +[project] +name = "da2" +version = "0.1.0" +description = "For the implementation of DA^2: Depth Anything in Any Direction" +authors = [ + { name="H. Li", email="hal211@ucsd.edu" } +] +dependencies = [ + "torch==2.5.0", + "torchvision==0.20.0", + "torchaudio==2.5.0", + "xformers==0.0.28.post2", + "diffusers==0.32.0", + "tensorboard==2.18.0", + "utils3d @ git+https://github.com/EasternJournalist/utils3d.git@3913c65d81e05e47b9f367250cf8c0f7462a0900", + "opencv-python==4.12.0.88", + "gradio==5.49.0", + "gradio-client==1.13.3", + "gradio-imageslider==0.0.20", + "accelerate==1.1.1", + "omegaconf==2.3.0", + "tabulate==0.9.0", + "einops==0.8.0", + "timm==1.0.15", + "trimesh==4.5.2", + "transformers==4.46.3", + "matplotlib==3.9.2" +] + +[tool.setuptools.packages.find] +where = ["."] \ No newline at end of file diff --git a/HF_MODEL_CARD.md b/HF_MODEL_CARD.md new file mode 100644 index 0000000000000000000000000000000000000000..25ce731e85799aabde21a12eef3ea41b81d275ad --- /dev/null +++ b/HF_MODEL_CARD.md @@ -0,0 +1,91 @@ +--- +license: apache-2.0 +library_name: onnx +tags: +- depth-estimation +- panoramic +- 360-degree +- webgpu +- onnx +pipeline_tag: depth-estimation +--- + +# DA-2: Depth Anything in Any Direction (ONNX WebGPU Version) + +This repository contains the **ONNX** weights for [DA-2: Depth Anything in Any Direction](https://github.com/EnVision-Research/DA-2), optimized for **WebGPU** inference in the browser. + +## Model Details + +- **Original Model:** [haodongli/DA-2](https://huggingface.co/haodongli/DA-2) +- **Framework:** ONNX (Opset 17) +- **Precision:** FP32 (Full Precision) +- **Input Resolution:** 1092x546 +- **Size:** ~1.4 GB + +## Conversion Details + +This model was converted from the original PyTorch weights to ONNX to enable client-side inference using `onnxruntime-web`. + +- **Optimization:** Constant folding applied. +- **Compatibility:** Verified with WebGPU backend. +- **Modifications:** + - Replaced `clamp` operators with `Max`/`Min` combinations to ensure WebGPU kernel compatibility. + - Removed internal normalization layers to allow raw 0-1 input from the browser. + +## Usage (Transformers.js) + +You can also run this model using [Transformers.js](https://huggingface.co/docs/transformers.js). + +```javascript +import { pipeline } from '@xenova/transformers'; + +// Initialize the pipeline +const depth_estimator = await pipeline('depth-estimation', 'phiph/DA-2-WebGPU', { + device: 'webgpu', + dtype: 'fp32', // Use FP32 as exported +}); + +// Run inference +const url = 'path/to/your/panorama.jpg'; +const output = await depth_estimator(url); +// output.depth is the raw tensor +// output.mask is the visualized depth map +``` + +## Usage (ONNX Runtime Web) + +You can run this model in the browser using `onnxruntime-web`. + +```javascript +import * as ort from 'onnxruntime-web/webgpu'; + +// 1. Initialize Session +// Note: Model is now in the 'onnx' subdirectory +const session = await ort.InferenceSession.create('https://huggingface.co/phiph/DA-2-WebGPU/resolve/main/onnx/model.onnx', { + executionProviders: ['webgpu'], + preferredOutputLocation: { last_hidden_state: 'gpu-buffer' } +}); + +// 2. Prepare Input (Float32, 0-1 range, NCHW) +// Note: Do NOT apply ImageNet mean/std normalization. The model expects raw 0-1 floats. +const tensor = new ort.Tensor('float32', float32Data, [1, 3, 546, 1092]); + +// 3. Run Inference +const results = await session.run({ images: tensor }); +const depthMap = results.depth; // Access output +``` + +## License + +This model is a derivative work of [DA-2](https://github.com/EnVision-Research/DA-2) and is distributed under the **Apache License 2.0**. + +Please cite the original authors if you use this model: + +```bibtex +@article{li2025depth, + title={DA$^{2}$: Depth Anything in Any Direction}, + author={Li, Haodong and Zheng, Wangguangdong and He, Jing and Liu, Yuhao and Lin, Xin and Yang, Xin and Chen, Ying-Cong and Guo, Chunchao}, + journal={arXiv preprint arXiv:2509.26618}, + year={2025} +} +``` diff --git a/README.md b/README.md index 7b95401dc46245ac339fc25059d4a56d90b4cde5..17e5c172d629b386b395cfa546d97e05bedcecd1 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,98 @@ ---- -license: apache-2.0 ---- +# DA-2 WebGPU Port + +This repository contains a port of the **DA-2 (Depth Anything in Any Direction)** model to run entirely in the browser using **WebGPU** and **ONNX Runtime**. + +The original work was developed by EnVision-Research. This port enables real-time, client-side depth estimation from panoramic images without requiring a backend server for inference. + +## 🔗 Original Work + +**DA2: Depth Anything in Any Direction** + +* **Repository:** [EnVision-Research/DA-2](https://github.com/EnVision-Research/DA-2) +* **Paper:** [arXiv:2509.26618](http://arxiv.org/abs/2509.26618) +* **Project Page:** [depth-any-in-any-dir.github.io](https://depth-any-in-any-dir.github.io/) + +Please cite the original paper if you use this work: + +```bibtex +@article{li2025da2, + title={DA2: Depth Anything in Any Direction}, + author={Li, Haodong and Zheng, Wangguangdong and He, Jing and Liu, Yuhao and Lin, Xin and Yang, Xin and Chen, Ying-Cong and Guo, Chunchao}, + journal={arXiv preprint arXiv:2509.26618}, + year={2025} +} +``` + +## 🚀 WebGPU Demo + +This project includes a web-based demo that runs the model directly in your browser. + +### Prerequisites + +* **Python 3.10+** (for model export) +* **Web Browser** with WebGPU support (Chrome 113+, Edge 113+, or Firefox Nightly). + +### Installation + +1. **Clone the repository:** + ```bash + git clone + cd DA-2-Web + ``` + +2. **Set up Python environment:** + ```bash + python3 -m venv venv + source venv/bin/activate # On Windows: venv\Scripts\activate + pip install -r requirements.txt + ``` + +### Model Preparation + +To run the demo, you first need to convert the PyTorch model to ONNX format. + +1. **Download the model weights:** + Download `model.safetensors` from the [HuggingFace repository](https://huggingface.co/haodongli/DA-2) and place it in the root directory of this project. + +2. **Export to ONNX:** + Run the export script. This script handles the conversion to FP16 and applies necessary fixes for WebGPU compatibility (e.g., replacing `clamp` with `max`/`min`). + ```bash + python export_onnx.py + ``` + This will generate `da2_model.onnx`. + +3. **Merge ONNX files:** + The export process might generate external data files. Use the merge script to create a single `.onnx` file for easier web loading. + ```bash + python merge_onnx.py + ``` + This will generate `da2_model_single.onnx`. + +### Running the Demo + +1. **Start a local web server:** + You need to serve the files over HTTP(S) for the browser to load the model and WebGPU context. + ```bash + python3 -m http.server 8000 + ``` + +2. **Open in Browser:** + Navigate to `http://localhost:8000/web/` in your WebGPU-compatible browser. + +3. **Usage:** + * Click "Choose File" to upload a panoramic image. + * Click "Run Inference" to generate the depth map. + * The process runs entirely locally on your GPU. + +## 🛠️ Technical Details of the Port + +* **Precision:** The model was converted to **FP16 (Half Precision)** to reduce file size (~1.4GB -> ~700MB) and improve performance on consumer GPUs. +* **Opset:** Exported using **ONNX Opset 17**. +* **Modifications:** + * The `SphereViT` and `ViT_w_Esphere` modules were modified to ensure strict FP16 compatibility. + * `torch.clamp` operations were replaced with `torch.max` and `torch.min` combinations to avoid `Clip` operator issues in `onnxruntime-web` when handling mixed scalar/tensor inputs. + * Sphere embeddings are pre-calculated and cast to FP16 within the model graph. + +## 📄 License + +This project follows the license of the original [DA-2 repository](https://github.com/EnVision-Research/DA-2). Please refer to the original repository for license details. diff --git a/check_onnx_inputs.py b/check_onnx_inputs.py new file mode 100644 index 0000000000000000000000000000000000000000..8e3b3df51cde7529b36de4fa2417fa13855ae2ce --- /dev/null +++ b/check_onnx_inputs.py @@ -0,0 +1,10 @@ +import onnx + +model = onnx.load("onnx/model.onnx") +print("Input names:") +for input in model.graph.input: + print(f"- {input.name}") + +print("\nOutput names:") +for output in model.graph.output: + print(f"- {output.name}") diff --git a/config.json b/config.json new file mode 100644 index 0000000000000000000000000000000000000000..89546f8ab43473af86bdf34b482ce526590b5efd --- /dev/null +++ b/config.json @@ -0,0 +1,14 @@ +{ + "architectures": [ + "DepthAnythingForDepthEstimation" + ], + "model_type": "depth_anything", + "transformers_version": "4.39.0", + "image_size": [ + 546, + 1092 + ], + "patch_size": 14, + "hidden_size": 384, + "num_channels": 3 +} \ No newline at end of file diff --git a/export_onnx.py b/export_onnx.py new file mode 100644 index 0000000000000000000000000000000000000000..437e1b769168259da349fd81d3e104d4efc148d2 --- /dev/null +++ b/export_onnx.py @@ -0,0 +1,84 @@ +import sys +import os +import torch +import json +from safetensors.torch import load_file + +# Add src to path +sys.path.append(os.path.join(os.getcwd(), 'DA-2-repo/src')) + +try: + from da2.model.spherevit import SphereViT +except ImportError as e: + print(f"Error importing SphereViT: {e}") + sys.exit(1) + +# Load config +config_path = 'DA-2-repo/configs/infer.json' +with open(config_path, 'r') as f: + config = json.load(f) + +# Adjust config for fixed size export +# Using 1092x546 (multiples of 14: 1092=78*14, 546=39*14) +# This is closer to the original config's ~600k pixels +H, W = 546, 1092 +config['inference']['min_pixels'] = H * W +config['inference']['max_pixels'] = H * W + +print(f"Initializing model with input size {W}x{H}...") +# Instantiate model +model = SphereViT(config) + +# Load weights +print("Loading weights from model.safetensors...") +try: + weights = load_file('model.safetensors') + missing, unexpected = model.load_state_dict(weights, strict=False) + if missing: + print(f"Missing keys: {len(missing)}") + # print(missing[:5]) + if unexpected: + print(f"Unexpected keys: {len(unexpected)}") + # print(unexpected[:5]) +except Exception as e: + print(f"Error loading weights: {e}") + sys.exit(1) + +print("Exporting model in FP32 (full precision)...") +model.eval() + +# Dummy input (float32) +dummy_input = torch.randn(1, 3, H, W) + +# Export +output_file = "model.onnx" +print(f"Exporting to {output_file}...") +try: + torch.onnx.export( + model, + dummy_input, + output_file, + opset_version=18, + input_names=["pixel_values"], + output_names=["predicted_depth"], + dynamic_axes={ + "pixel_values": {0: "batch_size"}, + "predicted_depth": {0: "batch_size"} + }, + export_params=True, + do_constant_folding=True, + verbose=False + ) + print(f"Successfully exported to {output_file}") + + # Force single file (merge external data if any) + import onnx + print("Ensuring single ONNX file...") + onnx_model = onnx.load(output_file) + onnx.save_model(onnx_model, output_file, save_as_external_data=False) + print("Saved as single file.") + +except Exception as e: + print(f"Error exporting to ONNX: {e}") + import traceback + traceback.print_exc() diff --git a/model.onnx b/model.onnx new file mode 100644 index 0000000000000000000000000000000000000000..4fe7c93d6aa1f1b9bf186c52363715ad88ac79c1 --- /dev/null +++ b/model.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb65b098fa6831a6c204decec3056120d9ca30fde8c3efaa58c7e6a2947b27d7 +size 1384894017 diff --git a/model.onnx.data b/model.onnx.data new file mode 100644 index 0000000000000000000000000000000000000000..6d96a8573e6c8afc9cd84ad7836ad0fabb42d011 --- /dev/null +++ b/model.onnx.data @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6901d9e835a9e15328a6afdd85c52553bae629cc3d449fd326ff2b5531ac3279 +size 1383006208 diff --git a/onnx/model.onnx b/onnx/model.onnx new file mode 100644 index 0000000000000000000000000000000000000000..4fe7c93d6aa1f1b9bf186c52363715ad88ac79c1 --- /dev/null +++ b/onnx/model.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb65b098fa6831a6c204decec3056120d9ca30fde8c3efaa58c7e6a2947b27d7 +size 1384894017 diff --git a/preprocessor_config.json b/preprocessor_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b5795a116c28b07cce67b15ef698599bcab7b268 --- /dev/null +++ b/preprocessor_config.json @@ -0,0 +1,12 @@ +{ + "do_normalize": false, + "do_pad": false, + "do_resize": true, + "size": { + "height": 546, + "width": 1092 + }, + "do_rescale": true, + "rescale_factor": 0.00392156862745098, + "image_processor_type": "DepthAnythingImageProcessor" +} \ No newline at end of file diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..30f67ca5a3dfb0e335e12290c5351826ff1ff201 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,68 @@ +accelerate==1.12.0 +antlr4-python3-runtime==4.9.3 +certifi==2025.11.12 +charset-normalizer==3.4.4 +contourpy==1.3.3 +cycler==0.12.1 +einops==0.8.1 +filelock==3.20.0 +fonttools==4.60.1 +fsspec==2025.10.0 +glcontext==3.0.0 +hf-xet==1.2.0 +huggingface-hub==0.36.0 +idna==3.11 +Jinja2==3.1.6 +kiwisolver==1.4.9 +MarkupSafe==3.0.3 +matplotlib==3.10.7 +ml_dtypes==0.5.4 +moderngl==5.12.0 +mpmath==1.3.0 +networkx==3.6 +numpy==2.2.6 +nvidia-cublas-cu12==12.4.5.8 +nvidia-cuda-cupti-cu12==12.4.127 +nvidia-cuda-nvrtc-cu12==12.4.127 +nvidia-cuda-runtime-cu12==12.4.127 +nvidia-cudnn-cu12==9.1.0.70 +nvidia-cufft-cu12==11.2.1.3 +nvidia-cufile-cu12==1.13.1.3 +nvidia-curand-cu12==10.3.5.147 +nvidia-cusolver-cu12==11.6.1.9 +nvidia-cusparse-cu12==12.3.1.170 +nvidia-cusparselt-cu12==0.6.2 +nvidia-nccl-cu12==2.21.5 +nvidia-nvjitlink-cu12==12.4.127 +nvidia-nvshmem-cu12==3.3.20 +nvidia-nvtx-cu12==12.4.127 +omegaconf==2.3.0 +onnx==1.19.1 +onnx-ir==0.1.12 +onnxscript==0.5.6 +opencv-python==4.12.0.88 +packaging==25.0 +pillow==12.0.0 +plyfile==1.1.3 +protobuf==6.33.1 +psutil==7.1.3 +pyparsing==3.2.5 +python-dateutil==2.9.0.post0 +PyYAML==6.0.3 +regex==2025.11.3 +requests==2.32.5 +safetensors==0.7.0 +scipy==1.16.3 +setuptools==80.9.0 +six==1.17.0 +sympy==1.13.1 +timm==1.0.22 +tokenizers==0.22.1 +torch==2.6.0 +torchvision==0.21.0 +tqdm==4.67.1 +transformers==4.57.3 +triton==3.2.0 +typing_extensions==4.15.0 +urllib3==2.5.0 +utils3d @ git+https://github.com/EasternJournalist/utils3d.git@3913c65d81e05e47b9f367250cf8c0f7462a0900 diff --git a/temp_hf_repo/.gitattributes b/temp_hf_repo/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..06a9d4e9769b67acd9687a9b82f261b1c8b189ed --- /dev/null +++ b/temp_hf_repo/.gitattributes @@ -0,0 +1,54 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs 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+1,6 @@ +venv/ +__pycache__/ +*.pyc +.DS_Store +*.safetensors +.vscode/ diff --git a/temp_hf_repo/DA-2-repo/LICENSE b/temp_hf_repo/DA-2-repo/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..261eeb9e9f8b2b4b0d119366dda99c6fd7d35c64 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/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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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 [yyyy] [name of copyright owner] + + 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. diff --git a/temp_hf_repo/DA-2-repo/README.md b/temp_hf_repo/DA-2-repo/README.md new file mode 100644 index 0000000000000000000000000000000000000000..27a93365b36e073d81c1b545de89fdb8c619bf56 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/README.md @@ -0,0 +1,103 @@ +# lotus DA2: Depth Anything in Any Direction + +[![Page](https://img.shields.io/badge/Project-Website-pink?logo=googlechrome&logoColor=white)](https://depth-any-in-any-dir.github.io/) +[![Paper](https://img.shields.io/badge/arXiv-Paper-b31b1b?logo=arxiv&logoColor=white)](http://arxiv.org/abs/2509.26618) +[![HuggingFace Demo](https://img.shields.io/badge/🤗%20HuggingFace-Demo%20-yellow)](https://huggingface.co/spaces/haodongli/DA-2) +[![Data](https://img.shields.io/badge/📂%20HuggingFace-Data-green)](https://huggingface.co/datasets/haodongli/DA-2) +[![Slides](https://img.shields.io/badge/Google-Slides-blue?logo=slideshare&logoColor=white)](https://docs.google.com/presentation/d/1QUonqLuYGEh0qcqY72pbTXsZimINlyN4rOogy7qX4GY/edit?usp=sharing) +[![BibTeX](https://img.shields.io/badge/BibTeX-grey?logo=googlescholar&logoColor=white)](https://depth-any-in-any-dir.github.io/bibtex.txt) + +[Haodong Li](https://haodong2000.github.io/)123§, +[Wangguangdong Zheng](https://wangguandongzheng.github.io/)1, +[Jing He](https://jingheya.github.io/)3, +[Yuhao Liu](https://yuhaoliu7456.github.io/)1, +[Xin Lin](https://linxin0.github.io/)2, +[Xin Yang](https://abnervictor.github.io/2023/06/12/Academic-Self-Intro.html)34,
+[Ying-Cong Chen](https://www.yingcong.me/)34✉, +[Chunchao Guo]()1✉ + +1Tencent Hunyuan +2UC San Diego +3HKUST(GZ) +4HKUST
+ + §Work primarily done during an internship at Tencent Hunyuan. + ✉Corresponding author. + + +![teaser](assets/badges/teaser.jpg) + +DA2 predicts dense, scale-invariant distance from a single 360° panorama in an end-to-end manner, with remarkable geometric fidelity and strong zero-shot generalization. + +## 📢 News +- 2025-10-10 The curated panoramic data is released on [huggingface](https://huggingface.co/datasets/haodongli/DA-2)! +- 2025-10-10 The evaluation code and the [testing data](https://huggingface.co/datasets/haodongli/DA-2-Evaluation) are released! +- 2025-10-04 The 🤗Huggingface Gradio demo ([online](https://huggingface.co/spaces/haodongli/DA-2) and [local](https://github.com/EnVision-Research/DA-2?tab=readme-ov-file#-gradio-demo)) are released! +- 2025-10-04 The inference code and the [model](https://huggingface.co/haodongli/DA-2) are released! +- 2025-10-01 [Paper](https://arxiv.org/abs/2509.26618) released on arXiv! + +## 🛠️ Setup +> This installation was tested on: Ubuntu 20.04 LTS, Python 3.12, CUDA 12.2, NVIDIA GeForce RTX 3090. + +1. Clone the repository: +``` +git clone https://github.com/EnVision-Research/DA-2.git +cd DA-2 +``` +2. Install dependencies using conda: +``` +conda create -n da-2 python=3.12 -y +conda activate da-2 +pip install -e src +``` +> For macOS users: Please remove `xformers==0.0.28.post2` (line 16) from `src/pyproject.toml` before `pip install -e src`, as [xFormers does not support macOS](https://github.com/facebookresearch/xformers/issues/775#issuecomment-1611284979). + +## 🤗 Gradio Demo +1. Online demo: [Hugggingface Space](https://huggingface.co/spaces/haodongli/DA-2) +2. Local demo: +``` +python app.py +``` + +## 🕹️ Inference +> We've pre-uploaded the cases appeared in the [project page](https://depth-any-in-any-dir.github.io/). So you can proceed directly to step 3. + +1. Images are placed in a directory, e.g., `assets/demos`. +2. (Optional) Masks (e.g., sky masks for outdoor images) in another directory, e.g., `assets/masks`. The filenames under both directories should be consistent. +3. Run the inference command: +``` +sh infer.sh +``` +4. The visualized distance and normal maps will be saved at `output/infer/vis_all.png`. The projected 3D point clouds will be saved at `output/infer/3dpc`. + +## 🚗 Evaluation +1. Download the evaluation datasets from [huggingface](https://huggingface.co/datasets/haodongli/DA-2-Evaluation): +``` +cd [YOUR_DATA_DIR] +huggingface-cli login +hf download --repo-type dataset haodongli/DA-2-Evaluation --local-dir [YOUR_DATA_DIR] +``` +2. Unzip the downloaded datasets: +``` +tar -zxvf [DATA_NAME].tar.gz +``` +3. Set the `datasets_dir` (line 20) in `configs/eval.json` with `YOUR_DATA_DIR`. +4. Run the evaluation command: +``` +sh eval.sh +``` +5. The results will be saved at `output/eval`. + +## 🎓 Citation +If you find our work useful in your research, please consider citing our paper🌹: +```bibtex +@article{li2025depth, + title={DA$^{2}$: Depth Anything in Any Direction}, + author={Li, Haodong and Zheng, Wangguangdong and He, Jing and Liu, Yuhao and Lin, Xin and Yang, Xin and Chen, Ying-Cong and Guo, Chunchao}, + journal={arXiv preprint arXiv:2509.26618}, + year={2025} +} +``` + +## 🤝 Acknowledgement +This implementation is impossible without the awesome contributions of [MoGe](https://wangrc.site/MoGePage/), [UniK3D](https://lpiccinelli-eth.github.io/pub/unik3d/), [Lotus](https://lotus3d.github.io/), [Marigold](https://marigoldmonodepth.github.io/), [DINOv2](https://github.com/facebookresearch/dinov2), [Accelerate](https://github.com/huggingface/accelerate), [Gradio](https://github.com/gradio-app/gradio), [HuggingFace Hub](https://github.com/huggingface/huggingface_hub), and [PyTorch](https://pytorch.org/) to the open-cource community. diff --git a/temp_hf_repo/DA-2-repo/app.py b/temp_hf_repo/DA-2-repo/app.py new file mode 100644 index 0000000000000000000000000000000000000000..e2952c5879bd150fda1f431e62f125ea35464a4d --- /dev/null +++ b/temp_hf_repo/DA-2-repo/app.py @@ -0,0 +1,165 @@ +import os +from accelerate import Accelerator +from accelerate.logging import get_logger +from accelerate.utils import ( + InitProcessGroupKwargs, + ProjectConfiguration, + set_seed +) +import torch +from contextlib import nullcontext +import trimesh +import gradio as gr +from gradio_imageslider import ImageSlider +from da2.utils.base import load_config +from da2.utils.model import load_model +from da2.utils.io import ( + read_cv2_image, + torch_transform, + tensorize +) +from da2.utils.vis import colorize_distance +from da2.utils.d2pc import distance2pointcloud +from datetime import ( + timedelta, + datetime +) +import cv2 +import numpy as np + +last_glb_path = None + +def prepare_to_run_demo(): + config = load_config('configs/infer.json') + kwargs = InitProcessGroupKwargs(timeout=timedelta(seconds=config['accelerator']['timeout'])) + output_dir = f'output/infer' + if not os.path.exists(output_dir): os.makedirs(output_dir, exist_ok=True) + accu_steps = config['accelerator']['accumulation_nsteps'] + accelerator = Accelerator( + gradient_accumulation_steps=accu_steps, + mixed_precision=config['accelerator']['mixed_precision'], + log_with=config['accelerator']['report_to'], + project_config=ProjectConfiguration(project_dir=output_dir), + kwargs_handlers=[kwargs] + ) + logger = get_logger(__name__, log_level='INFO') + config['env']['logger'] = logger + set_seed(config['env']['seed']) + return config, accelerator + +def read_mask_demo(mask_path, shape): + if mask_path is None: + return np.ones(shape[1:]) > 0 + mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE) + mask = mask > 0 + return mask + +def load_infer_data_demo(image, mask, model_dtype, device): + cv2_image = read_cv2_image(image) + image = torch_transform(cv2_image) + mask = read_mask_demo(mask, image.shape) + image = tensorize(image, model_dtype, device) + return image, cv2_image, mask + +def ply2glb(ply_path, glb_path): + pcd = trimesh.load(ply_path) + points = np.asarray(pcd.vertices) + colors = np.asarray(pcd.visual.vertex_colors) + cloud = trimesh.points.PointCloud(vertices=points, colors=colors) + cloud.export(glb_path) + os.remove(ply_path) + +def fn(image_path, mask_path): + global last_glb_path + config, accelerator = prepare_to_run_demo() + model = load_model(config, accelerator) + image, cv2_image, mask = load_infer_data_demo(image_path, mask_path, + model_dtype=config['spherevit']['dtype'], device=accelerator.device) + if torch.backends.mps.is_available(): + autocast_ctx = nullcontext() + else: + autocast_ctx = torch.autocast(accelerator.device.type) + with autocast_ctx, torch.no_grad(): + distance = model(image).cpu().numpy()[0] + if last_glb_path is not None: + os.remove(last_glb_path) + distance_vis = colorize_distance(distance, mask) + save_path = f'cache/tmp_{datetime.now().strftime("%Y%m%d_%H%M%S")}.glb' + last_glb_path = save_path + normal_image = distance2pointcloud(distance, cv2_image, mask, save_path=save_path.replace('.glb', '.ply'), return_normal=True, save_distance=False) + ply2glb(save_path.replace('.glb', '.ply'), save_path) + return save_path, [distance_vis, normal_image] + +inputs = [ + gr.Image(label="Input Image", type="filepath"), + gr.Image(label="Input Mask", type="filepath"), +] +outputs = [ + gr.Model3D(clear_color=[0.0, 0.0, 0.0, 0.0], label="3D Point Cloud"), + gr.ImageSlider( + label="Output Depth / Normal (transformed from the depth)", + type="pil", + slider_position=75, + ) +] + +demo = gr.Interface( + fn=fn, + title="DA2: Depth Anything in Any Direction", + description=""" +

+ + + + + + + + badge-github-stars + + + social + + + social + +
+ Please consider starring ★ our GitHub Repo if you find this demo useful! +

+

Note: the "Input Mask" is optional, all pixels are assumed to be valid if mask is None.

+ """, + inputs=inputs, + outputs=outputs, + examples=[ + [os.path.join(os.path.dirname(__file__), "assets/demos/a1.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a2.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a3.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a4.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/b0.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b0.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/b1.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b1.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/a5.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a6.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a7.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a8.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/b2.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b2.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/b3.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b3.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/a9.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a10.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a11.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/a0.png"), None], + [os.path.join(os.path.dirname(__file__), "assets/demos/b4.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b4.png")], + [os.path.join(os.path.dirname(__file__), "assets/demos/b5.png"), + os.path.join(os.path.dirname(__file__), "assets/masks/b5.png")], + ], + examples_per_page=20 +) + +demo.launch( + server_name="0.0.0.0", + server_port=6381, +) diff --git a/temp_hf_repo/DA-2-repo/assets/badges/icon2.png b/temp_hf_repo/DA-2-repo/assets/badges/icon2.png new file mode 100644 index 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0000000000000000000000000000000000000000..d585f18e1aa9880a8b04c29fbeee65ca0cb3e0b9 Binary files /dev/null and b/temp_hf_repo/DA-2-repo/assets/masks/b5.png differ diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/0.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/0.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6f7938e128402b64e2690255025224e303654b52 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/0.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '0' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/1.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/1.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dde8f650d40c4e1f32396bc61ff46ee0ff82e90d --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/1.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '1' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/2.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/2.yaml new file mode 100644 index 0000000000000000000000000000000000000000..618f82ef9d0477fb96a2bf9cdde71b748da27585 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/2.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '2' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/3.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/3.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1da170160278bf8b084cff4db7cd486ab63c609d --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/3.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '3' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/4.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/4.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42d9ddaffa8fcde6285663fdd7967def76827bac --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/4.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '4' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/5.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/5.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca7964b0d0a2bb5e1773cdeb52c080fde16c4314 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/5.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '5' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/6.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/6.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96c634629d6c3fd3b96e56ce825f0c39d1043165 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/6.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '6' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/accelerate/7.yaml b/temp_hf_repo/DA-2-repo/configs/accelerate/7.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc70db0af759a30724e968cdee1ad2d945275af8 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/accelerate/7.yaml @@ -0,0 +1,16 @@ +compute_environment: LOCAL_MACHINE +debug: false +distributed_type: 'NO' +downcast_bf16: 'no' +gpu_ids: '7' +machine_rank: 0 +main_training_function: main +mixed_precision: 'no' +num_machines: 1 +num_processes: 1 +rdzv_backend: static +same_network: true +tpu_env: [] +tpu_use_cluster: false +tpu_use_sudo: false +use_cpu: false diff --git a/temp_hf_repo/DA-2-repo/configs/eval.json b/temp_hf_repo/DA-2-repo/configs/eval.json new file mode 100644 index 0000000000000000000000000000000000000000..e081d42239fa1433577387773e4dca20fd490552 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/eval.json @@ -0,0 +1,76 @@ +{ + "env": { + "seed": 42, + "verbose": true + }, + "accelerator": { + "report_to": ["tensorboard"], + "mixed_precision": "fp16", + "accumulation_nsteps": 4, + "timeout": 36000 + }, + "inference": { + "images": "assets/demos", + "masks": "assets/masks", + "min_pixels": 580000, + "max_pixels": 620000 + }, + "evaluation": { + "alignment": "median", + "datasets_dir": "/home/haodong/data/DA-2/Evaluation", + "metric_names": [ + "abs_relative_difference", + "squared_relative_difference", + "rmse_linear", + "rmse_log", + "log10", + "delta1_acc", + "delta2_acc", + "delta3_acc", + "i_rmse", + "silog_rmse" + ], + "metric_show": { + "abs_relative_difference": "AbsRel", + "delta1_acc": "δ_1" + }, + "datasets": { + "2d3ds": { + "dir": "2D3DS/wo_xyz", + "filenames": "eval/datasets/splits/2d3ds.txt", + "alignment_max_res": 2048 + }, + "matterport3d": { + "dir": "Matterport3D", + "filenames": "eval/datasets/splits/matterport3d.txt", + "alignment_max_res": 2048 + }, + "panosuncg": { + "dir": "PanoSUNCG/rotated", + "filenames": "eval/datasets/splits/panosuncg.txt", + "alignment_max_res": 1024 + } + } + }, + "spherevit": { + "vit_w_esphere": { + "input_dims": [1024, 1024, 1024, 1024], + "hidden_dim": 512, + "num_heads": 8, + "expansion": 4, + "num_layers_head": [2, 2, 2], + "dropout": 0.0, + "layer_scale": 0.0001, + "out_dim": 64, + "kernel_size": 3, + "num_prompt_blocks": 1, + "use_norm": false + }, + "sphere": { + "width": 1092, + "height": 546, + "hfov": 6.2832, + "vfov": 3.1416 + } + } +} diff --git a/temp_hf_repo/DA-2-repo/configs/infer.json b/temp_hf_repo/DA-2-repo/configs/infer.json new file mode 100644 index 0000000000000000000000000000000000000000..55ecd9accb3d2562cb1a0c5e236bb49bcf0f1c65 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/configs/infer.json @@ -0,0 +1,39 @@ +{ + "env": { + "seed": 42, + "verbose": true + }, + "accelerator": { + "report_to": ["tensorboard"], + "mixed_precision": "fp16", + "accumulation_nsteps": 4, + "timeout": 36000 + }, + "inference": { + "images": "assets/demos", + "masks": "assets/masks", + "min_pixels": 580000, + "max_pixels": 620000 + }, + "spherevit": { + "vit_w_esphere": { + "input_dims": [1024, 1024, 1024, 1024], + "hidden_dim": 512, + "num_heads": 8, + "expansion": 4, + "num_layers_head": [2, 2, 2], + "dropout": 0.0, + "layer_scale": 0.0001, + "out_dim": 64, + "kernel_size": 3, + "num_prompt_blocks": 1, + "use_norm": false + }, + "sphere": { + "width": 1092, + "height": 546, + "hfov": 6.2832, + "vfov": 3.1416 + } + } +} diff --git a/temp_hf_repo/DA-2-repo/eval.py b/temp_hf_repo/DA-2-repo/eval.py new file mode 100644 index 0000000000000000000000000000000000000000..d4dc3301238266a73752fb3cc06a6592e5b2b439 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval.py @@ -0,0 +1,29 @@ +import os +import torch +from contextlib import nullcontext +from tqdm import tqdm +from da2 import ( + prepare_to_run, + load_model +) +from eval.utils import run_evaluation + + +def eval(model, config, accelerator, output_dir): + model = model.eval() + eval_datasets = config['evaluation']['datasets'] + if accelerator.is_main_process: + if torch.backends.mps.is_available(): + autocast_ctx = nullcontext() + else: + autocast_ctx = torch.autocast(accelerator.device.type) + with autocast_ctx, torch.no_grad(): + for dataset_name in eval_datasets.keys(): + metrics = run_evaluation(model, config, dataset_name, output_dir, accelerator.device) + for metric_name in config['evaluation']['metric_show']: + config['env']['logger'].info(f"\033[92mEVAL --> {dataset_name}: {config['evaluation']['metric_show'][metric_name]} = {metrics[metric_name]}.\033[0m") + +if __name__ == '__main__': + config, accelerator, output_dir = prepare_to_run() + model = load_model(config, accelerator) + eval(model, config, accelerator, output_dir) diff --git a/temp_hf_repo/DA-2-repo/eval.sh b/temp_hf_repo/DA-2-repo/eval.sh new file mode 100644 index 0000000000000000000000000000000000000000..6b459b2d322aca5849a89c8d4cc8495a529e2866 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval.sh @@ -0,0 +1,7 @@ +export CUDA=0 +export CONFIG_PATH="configs/eval.json" +accelerate launch \ + --config_file=configs/accelerate/$CUDA.yaml \ + --mixed_precision="fp16" \ + --main_process_port="12345" \ + eval.py --config_path=$CONFIG_PATH diff --git a/temp_hf_repo/DA-2-repo/eval/__init__.py b/temp_hf_repo/DA-2-repo/eval/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/temp_hf_repo/DA-2-repo/eval/datasets/__init__.py b/temp_hf_repo/DA-2-repo/eval/datasets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..a12fc4c80ef185a16a51e29740bd378dadfccd07 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/datasets/__init__.py @@ -0,0 +1,35 @@ +# Authors: Bingxin Ke, Haodong Li +# Last modified: 2025-05-25 +# Note: Add PanoSUNCGDataset, Matterport3DDataset, Stanford2D3DSDataset for 360° depth (or distance) evaluation. + +import os + +from .base_depth_dataset import BaseDepthDataset, get_pred_name, DatasetMode +from .stanford2d3ds_dataset import Stanford2D3DSDataset +from .matterport3d_dataset import Matterport3DDataset +from .panosuncg_dataset import PanoSUNCGDataset + +dataset_name_class_dict = { + "2d3ds": Stanford2D3DSDataset, + "matterport3d": Matterport3DDataset, + "panosuncg": PanoSUNCGDataset +} + + +def get_dataset( + cfg_data_split, dataset_name, base_data_dir: str, mode: DatasetMode, **kwargs +) -> BaseDepthDataset: + if dataset_name in dataset_name_class_dict.keys(): + dataset_class = dataset_name_class_dict[dataset_name] + dataset = dataset_class( + mode=mode, + filename_ls_path=cfg_data_split['filenames'], + dataset_dir=os.path.join(base_data_dir, cfg_data_split['dir']), + disp_name=dataset_name, + **cfg_data_split, + **kwargs, + ) + else: + raise NotImplementedError + + return dataset diff --git a/temp_hf_repo/DA-2-repo/eval/datasets/base_depth_dataset.py b/temp_hf_repo/DA-2-repo/eval/datasets/base_depth_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..022a1b1146dccc3674cc8da0bd3fd568f1a36f00 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/datasets/base_depth_dataset.py @@ -0,0 +1,268 @@ +# Author: Bingxin Ke +# Last modified: 2024-04-15 + +import io +import os +import random +import tarfile +from enum import Enum + +import numpy as np +import cv2 +import torch +from PIL import Image +from torch.utils.data import Dataset +from torchvision.transforms import InterpolationMode, Resize + + +class DatasetMode(Enum): + RGB_ONLY = "rgb_only" + EVAL = "evaluate" + TRAIN = "train" + + +def read_image_from_tar(tar_obj, img_rel_path): + image = tar_obj.extractfile("./" + img_rel_path) + image = image.read() + image = Image.open(io.BytesIO(image)) + + +class BaseDepthDataset(Dataset): + def __init__( + self, + mode: DatasetMode, + filename_ls_path: str, + dataset_dir: str, + disp_name: str, + min_depth, + max_depth, + has_filled_depth, + name_mode, + depth_transform=None, + augmentation_args: dict = None, + resize_to_hw=None, + move_invalid_to_far_plane: bool = True, + rgb_transform=lambda x: x / 255.0 * 2 - 1, # [0, 255] -> [-1, 1], + **kwargs, + ) -> None: + super().__init__() + self.mode = mode + # dataset info + self.filename_ls_path = filename_ls_path + self.dataset_dir = dataset_dir + self.disp_name = disp_name + self.has_filled_depth = has_filled_depth + self.name_mode: DepthFileNameMode = name_mode + self.min_depth = min_depth + self.max_depth = max_depth + + # training arguments + self.depth_transform = depth_transform + self.augm_args = augmentation_args + self.resize_to_hw = resize_to_hw + self.rgb_transform = rgb_transform + self.move_invalid_to_far_plane = move_invalid_to_far_plane + + # Load filenames + with open(self.filename_ls_path, "r") as f: + self.filenames = [ + s.split() for s in f.readlines() + ] # [['rgb.png', 'depth.tif'], [], ...] + + # Tar dataset + self.tar_obj = None + self.is_tar = ( + True + if os.path.isfile(dataset_dir) and tarfile.is_tarfile(dataset_dir) + else False + ) + + def __len__(self): + return len(self.filenames) + + def __getitem__(self, index): + rasters, other = self._get_data_item(index) + if DatasetMode.TRAIN == self.mode: + rasters = self._training_preprocess(rasters) + # merge + outputs = rasters + outputs.update(other) + return outputs + + def _get_data_item(self, index): + rgb_rel_path, depth_rel_path, filled_rel_path = self._get_data_path(index=index) + + rasters = {} + + # RGB data + rasters.update(self._load_rgb_data(rgb_rel_path=rgb_rel_path)) + + # Depth data + if DatasetMode.RGB_ONLY != self.mode: + # load data + depth_data = self._load_depth_data( + depth_rel_path=depth_rel_path, filled_rel_path=filled_rel_path + ) + rasters.update(depth_data) + # valid mask + rasters["valid_mask_raw"] = self._get_valid_mask( + rasters["depth_raw_linear"] + ).clone() + rasters["valid_mask_filled"] = self._get_valid_mask( + rasters["depth_filled_linear"] + ).clone() + + other = {"index": index, "rgb_relative_path": rgb_rel_path} + + return rasters, other + + def _load_rgb_data(self, rgb_rel_path): + # Read RGB data + rgb = self._read_rgb_file(rgb_rel_path) + + outputs = { + "rgb_int": torch.from_numpy(rgb).int(), + } + return outputs + + def _load_depth_data(self, depth_rel_path, filled_rel_path): + # Read depth data + outputs = {} + depth_raw = self._read_depth_file(depth_rel_path).squeeze() + depth_raw_linear = torch.from_numpy(depth_raw).float().unsqueeze(0) # [1, H, W] + outputs["depth_raw_linear"] = depth_raw_linear.clone() + + if self.has_filled_depth: + depth_filled = self._read_depth_file(filled_rel_path).squeeze() + depth_filled_linear = torch.from_numpy(depth_filled).float().unsqueeze(0) + outputs["depth_filled_linear"] = depth_filled_linear + else: + outputs["depth_filled_linear"] = depth_raw_linear.clone() + + return outputs + + def _get_data_path(self, index): + filename_line = self.filenames[index] + + # Get data path + rgb_rel_path = filename_line[0] + + depth_rel_path, filled_rel_path = None, None + if DatasetMode.RGB_ONLY != self.mode: + depth_rel_path = filename_line[1] + if self.has_filled_depth: + filled_rel_path = filename_line[2] + return rgb_rel_path, depth_rel_path, filled_rel_path + + def _read_image(self, img_rel_path) -> np.ndarray: + if self.is_tar: + if self.tar_obj is None: + self.tar_obj = tarfile.open(self.dataset_dir) + image = self.tar_obj.extractfile("./" + img_rel_path) + image = image.read() + image = Image.open(io.BytesIO(image)) # [H, W, rgb] + else: + img_path = os.path.join(self.dataset_dir, img_rel_path) + image = Image.open(img_path).convert('RGB') + image = np.asarray(image) + return image + + def _read_depth_cv2(self, img_rel_path) -> np.ndarray: + depth_path = os.path.join(self.dataset_dir, img_rel_path) + depth_in = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + if depth_in.shape[2] == 3: # If image has 3 channels + depth_in = depth_in[..., 0] # PANO + depth_in = depth_in.astype(np.float32) + return depth_in + + def _read_rgb_file(self, rel_path) -> np.ndarray: + rgb = self._read_image(rel_path) + # Handle RGBA images by converting to RGB + if rgb.shape[2] == 4: # If image has 4 channels (RGBA) + rgb = rgb[:, :, :3] # Take only the RGB channels + rgb = np.transpose(rgb, (2, 0, 1)).astype(int) # [rgb, H, W] + return rgb + + def _read_depth_file(self, rel_path): + depth_in = self._read_image(rel_path) + # Replace code below to decode depth according to dataset definition + depth_decoded = depth_in + + return depth_decoded + + def _get_valid_mask(self, depth: torch.Tensor): + valid_mask = torch.logical_and( + (depth > self.min_depth), (depth < self.max_depth) + ).bool() + return valid_mask + + def _training_preprocess(self, rasters): + # Augmentation + if self.augm_args is not None: + rasters = self._augment_data(rasters) + + # Normalization + rasters["depth_raw_norm"] = self.depth_transform( + rasters["depth_raw_linear"], rasters["valid_mask_raw"] + ).clone() + rasters["depth_filled_norm"] = self.depth_transform( + rasters["depth_filled_linear"], rasters["valid_mask_filled"] + ).clone() + + # Set invalid pixel to far plane + if self.move_invalid_to_far_plane: + if self.depth_transform.far_plane_at_max: + rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( + self.depth_transform.norm_max + ) + else: + rasters["depth_filled_norm"][~rasters["valid_mask_filled"]] = ( + self.depth_transform.norm_min + ) + + # Resize + if self.resize_to_hw is not None: + resize_transform = Resize( + size=self.resize_to_hw, interpolation=InterpolationMode.NEAREST_EXACT + ) + rasters = {k: resize_transform(v) for k, v in rasters.items()} + + return rasters + + def _augment_data(self, rasters_dict): + # lr flipping + lr_flip_p = self.augm_args.lr_flip_p + if random.random() < lr_flip_p: + rasters_dict = {k: v.flip(-1) for k, v in rasters_dict.items()} + + return rasters_dict + + def __del__(self): + if self.tar_obj is not None: + self.tar_obj.close() + self.tar_obj = None + + +# Prediction file naming modes +class DepthFileNameMode(Enum): + id = 1 # id.png + rgb_id = 2 # rgb_id.png + i_d_rgb = 3 # i_d_1_rgb.png + rgb_i_d = 4 + + +def get_pred_name(rgb_basename, name_mode, suffix=".png"): + if DepthFileNameMode.rgb_id == name_mode: + pred_basename = "pred_" + rgb_basename.split("_")[1] + elif DepthFileNameMode.i_d_rgb == name_mode: + pred_basename = rgb_basename.replace("_rgb.", "_pred.") + elif DepthFileNameMode.id == name_mode: + pred_basename = "pred_" + rgb_basename + elif DepthFileNameMode.rgb_i_d == name_mode: + pred_basename = "pred_" + "_".join(rgb_basename.split("_")[1:]) + else: + raise NotImplementedError + # change suffix + pred_basename = os.path.splitext(pred_basename)[0] + suffix + + return pred_basename diff --git a/temp_hf_repo/DA-2-repo/eval/datasets/matterport3d_dataset.py b/temp_hf_repo/DA-2-repo/eval/datasets/matterport3d_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..7cc9597c195b3533db8d27645eb8c50b99986a49 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/datasets/matterport3d_dataset.py @@ -0,0 +1,25 @@ +# Author: Haodong Li +# Last modified: 2025-05-25 + +from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +import cv2 +import os + +class Matterport3DDataset(BaseDepthDataset): + def __init__( + self, + **kwargs, + ) -> None: + super().__init__( + min_depth=1e-3, + max_depth=5, + has_filled_depth=False, + name_mode=DepthFileNameMode.id, + **kwargs, + ) + + def _read_depth_file(self, rel_path): + img_path = os.path.join(self.dataset_dir, rel_path) + depth_in = cv2.imread(img_path, cv2.IMREAD_UNCHANGED) + depth_decoded = depth_in / 2560.0 + return depth_decoded diff --git a/temp_hf_repo/DA-2-repo/eval/datasets/panosuncg_dataset.py b/temp_hf_repo/DA-2-repo/eval/datasets/panosuncg_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..21fa29056185ffc88e1fda92199a497bdd63759e --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/datasets/panosuncg_dataset.py @@ -0,0 +1,26 @@ +# Author: Haodong Li +# Last modified: 2025-05-25 + +from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +import cv2 +import os + +class PanoSUNCGDataset(BaseDepthDataset): + def __init__( + self, + **kwargs, + ) -> None: + super().__init__( + min_depth=1e-3, + max_depth=5, + has_filled_depth=False, + name_mode=DepthFileNameMode.id, + **kwargs, + ) + + def _read_depth_file(self, rel_path): + img_path = os.path.join(self.dataset_dir, rel_path) + depth_in = cv2.imread(img_path, cv2.IMREAD_UNCHANGED) + depth_in = depth_in[..., 0] + depth_decoded = depth_in / 20.0 + return depth_decoded diff --git a/temp_hf_repo/DA-2-repo/eval/datasets/splits/2d3ds.txt b/temp_hf_repo/DA-2-repo/eval/datasets/splits/2d3ds.txt new file mode 100644 index 0000000000000000000000000000000000000000..9172cd20ea9813744526c01e4d0b082c53a77bf7 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/datasets/splits/2d3ds.txt @@ -0,0 +1,1413 @@ +area_5a/pano/rgb/camera_029bb1440fca47e2886a88559bbf8d00_hallway_1_frame_equirectangular_domain_rgb.png 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+# Last modified: 2025-05-25 + +from .base_depth_dataset import BaseDepthDataset, DepthFileNameMode +import cv2 +import os + +class Stanford2D3DSDataset(BaseDepthDataset): + def __init__( + self, + **kwargs, + ) -> None: + super().__init__( + min_depth=1e-3, + max_depth=5, + has_filled_depth=False, + name_mode=DepthFileNameMode.id, + **kwargs, + ) + + def _read_depth_file(self, rel_path): + img_path = os.path.join(self.dataset_dir, rel_path) + depth_in = cv2.imread(img_path, cv2.IMREAD_UNCHANGED) + depth_decoded = depth_in / 1000.0 + return depth_decoded diff --git a/temp_hf_repo/DA-2-repo/eval/utils/__init__.py b/temp_hf_repo/DA-2-repo/eval/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..da38e5190312bd25da10cba09440f081b0567284 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/utils/__init__.py @@ -0,0 +1,29 @@ +# Author: Haodong Li +# Last modified: 2025-10-10 + +from .alignment import ( + align_depth_least_square, + align_depth_median +) +from .metric import ( + MetricTracker +) +from .io import ( + init_per_sample_csv, + write_per_sample_csv, + write_metrics_txt +) +from .infer import ( + run_evaluation +) + + +__all__ = [ + 'align_depth_least_square', + 'align_depth_median', + 'MetricTracker', + 'init_per_sample_csv', + 'write_per_sample_csv', + 'write_metrics_txt', + 'run_evaluation' +] diff --git a/temp_hf_repo/DA-2-repo/eval/utils/alignment.py b/temp_hf_repo/DA-2-repo/eval/utils/alignment.py new file mode 100644 index 0000000000000000000000000000000000000000..ed65c723c4084ac6c4f6b13f390fffa49ed681de --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/utils/alignment.py @@ -0,0 +1,73 @@ +# Authors: Bingxin Ke, Haodong Li +# Last modified: 2025-05-25 +# Note: Add align_depth_median for scale-invariant depth (or distance) evaluation. + +import numpy as np +import torch + + +def align_depth_median( + gt_arr: np.ndarray, + pred_arr: np.ndarray, + valid_mask_arr: np.ndarray, + return_scale_shift=True, +): + gt_median = np.median(gt_arr[valid_mask_arr]) + pred_median = np.median(pred_arr[valid_mask_arr]) + scale = gt_median / pred_median + shift = 0 + aligned_pred = pred_arr * scale + shift + if return_scale_shift: + return aligned_pred, scale, shift + else: + return aligned_pred + + +def align_depth_least_square( + gt_arr: np.ndarray, + pred_arr: np.ndarray, + valid_mask_arr: np.ndarray, + return_scale_shift=True, + max_resolution=None, +): + ori_shape = pred_arr.shape + + gt = gt_arr.squeeze() + pred = pred_arr.squeeze() + valid_mask = valid_mask_arr.squeeze() + + # downsample + if max_resolution is not None: + scale_factor = np.min(max_resolution / np.array(ori_shape[-2:])) + if scale_factor < 1: + downscaler = torch.nn.Upsample(scale_factor=scale_factor, mode="nearest") + gt = downscaler(torch.as_tensor(gt).unsqueeze(0)).numpy() + pred = downscaler(torch.as_tensor(pred).unsqueeze(0)).numpy() + valid_mask = ( + downscaler(torch.as_tensor(valid_mask).unsqueeze(0).float()) + .bool() + .numpy() + ) + + assert ( + gt.shape == pred.shape == valid_mask.shape + ), f"{gt.shape}, {pred.shape}, {valid_mask.shape}" + + gt_masked = gt[valid_mask].reshape((-1, 1)) + pred_masked = pred[valid_mask].reshape((-1, 1)) + + # numpy solver + _ones = np.ones_like(pred_masked) + A = np.concatenate([pred_masked, _ones], axis=-1) + X = np.linalg.lstsq(A, gt_masked, rcond=None)[0] + scale, shift = X + + aligned_pred = pred_arr * scale + shift + + # restore dimensions + aligned_pred = aligned_pred.reshape(ori_shape) + + if return_scale_shift: + return aligned_pred, scale, shift + else: + return aligned_pred diff --git a/temp_hf_repo/DA-2-repo/eval/utils/infer.py b/temp_hf_repo/DA-2-repo/eval/utils/infer.py new file mode 100644 index 0000000000000000000000000000000000000000..f4a2eed6ebb92b9d524b385057349c88ea4bc313 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/utils/infer.py @@ -0,0 +1,172 @@ +# Authors: Jing He, Haodong Li +# Last modified: 2025-10-10 + +import os +import torch +from torchvision.transforms import InterpolationMode +from torchvision.transforms.functional import resize +from torch.utils.data import DataLoader +from tqdm import tqdm +import numpy as np +from tabulate import tabulate +from eval.datasets import ( + BaseDepthDataset, + get_dataset, + DatasetMode, + get_pred_name +) +from eval.utils import ( + MetricTracker, + metric, + init_per_sample_csv, + write_per_sample_csv, + write_metrics_txt, + align_depth_least_square, + align_depth_median +) + + +def resize_max_res( + img: torch.Tensor, + max_edge_resolution: int, + resample_method: InterpolationMode = InterpolationMode.BILINEAR, +) -> torch.Tensor: + """ + Resize image to limit maximum edge length while keeping aspect ratio. + + Args: + img (`torch.Tensor`): + Image tensor to be resized. Expected shape: [B, C, H, W] + max_edge_resolution (`int`): + Maximum edge length (pixel). + resample_method (`PIL.Image.Resampling`): + Resampling method used to resize images. + + Returns: + `torch.Tensor`: Resized image. + """ + assert 4 == img.dim(), f"Invalid input shape {img.shape}" + + original_height, original_width = img.shape[-2:] + downscale_factor = min( + max_edge_resolution / original_width, max_edge_resolution / original_height + ) + + new_width = int(original_width * downscale_factor) + new_height = int(original_height * downscale_factor) + + resized_img = resize(img, (new_height, new_width), resample_method, antialias=True) + return resized_img + + +def run_evaluation(model, config, dataset_name, output_dir, device): + eval_dir = os.path.join(output_dir, dataset_name) + if not os.path.exists(eval_dir): os.makedirs(eval_dir) + + dataset_config = config['evaluation']['datasets'][dataset_name] + model_dtype = config['spherevit']['dtype'] + + dataset: BaseDepthDataset = get_dataset(dataset_config, dataset_name, + base_data_dir=config['evaluation']['datasets_dir'], mode=DatasetMode.EVAL) + dataloader = DataLoader(dataset, batch_size=1, num_workers=16, pin_memory=True) + + metric_funcs = [getattr(metric, _met) for _met in config['evaluation']['metric_names']] + metric_tracker = MetricTracker(*[m.__name__ for m in metric_funcs]) + metric_tracker.reset() + alignment = config['evaluation']['alignment'] + per_sample_csv = init_per_sample_csv(eval_dir, alignment, metric_funcs) + + for data in tqdm(dataloader, desc=f"Evaluating {dataset_name}"): + # GT data + depth_raw_ts = data["depth_raw_linear"].squeeze() + valid_mask_ts = data["valid_mask_raw"].squeeze() + rgb_name = data["rgb_relative_path"][0] + + depth_raw = depth_raw_ts.numpy() + valid_mask = valid_mask_ts.numpy() + + rgb_tmp = data["rgb_int"].squeeze() + if rgb_tmp.min() == 0: + rgb_tmp = rgb_tmp.float() + rgb_tmp = torch.mean(rgb_tmp, dim=0).cpu().numpy() + zero_mask = rgb_tmp != 0 + valid_mask = valid_mask & zero_mask + + depth_raw_ts = depth_raw_ts.to(device) + valid_mask_ts = valid_mask_ts.to(device) + + # Get predictions + rgb_basename = os.path.basename(rgb_name) + pred_basename = get_pred_name( + rgb_basename, dataset.name_mode, suffix="" + ) + pred_name = os.path.join(os.path.dirname(rgb_name), pred_basename) + # resize to processing_res + input_size = data["rgb_int"].shape + input_rgb = resize_max_res( + data["rgb_int"], + max_edge_resolution=1092, + ) + + input_rgb = input_rgb[0].to(device) + input_rgb = input_rgb / 255.0 + input_rgb = input_rgb.to(model_dtype) + + depth_pred = model(input_rgb.unsqueeze(0)) + depth_pred = depth_pred.unsqueeze(0) + depth_pred = resize(depth_pred, input_size[-2:], antialias=True) + depth_pred = depth_pred.squeeze().cpu().numpy() + + if "least_square" == alignment: + depth_pred = np.clip( + depth_pred, a_min=-1e6, a_max=1e6 + ) + depth_pred, _, _ = align_depth_least_square( + gt_arr=depth_raw, + pred_arr=depth_pred, + valid_mask_arr=valid_mask, + return_scale_shift=True, + max_resolution=dataset_config['alignment_max_res'], + ) + elif "median" == alignment: + depth_pred = np.clip( + depth_pred, a_min=-1e6, a_max=1e6 + ) + depth_pred, _, _ = align_depth_median( + gt_arr=depth_raw, + pred_arr=depth_pred, + valid_mask_arr=valid_mask, + return_scale_shift=True, + ) + elif "metric" == alignment: + pass + else: + raise NotImplementedError + + # Clip to dataset min max + depth_pred = np.clip( + depth_pred, a_min=dataset.min_depth, a_max=dataset.max_depth + ) + + # clip to d > 0 for evaluation + depth_pred = np.clip(depth_pred, a_min=1e-6, a_max=None) + + # Evaluate (using CUDA if available) + sample_metric = [] + depth_pred_ts = torch.from_numpy(depth_pred).to(device) + + for met_func in metric_funcs: + _metric_name = met_func.__name__ + _metric = met_func(depth_pred_ts, depth_raw_ts, valid_mask_ts).item() + sample_metric.append(_metric.__str__()) + metric_tracker.update(_metric_name, _metric) + + write_per_sample_csv(per_sample_csv, pred_name, sample_metric) + + # -------------------- Save metrics to file -------------------- + eval_text = tabulate( + [metric_tracker.result().keys(), metric_tracker.result().values()] + ) + write_metrics_txt(eval_dir, alignment, eval_text) + + return metric_tracker.result() diff --git a/temp_hf_repo/DA-2-repo/eval/utils/io.py b/temp_hf_repo/DA-2-repo/eval/utils/io.py new file mode 100644 index 0000000000000000000000000000000000000000..cce64286983c71b45ebef1d52b4879856256a1ab --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/utils/io.py @@ -0,0 +1,25 @@ +# Authors: Jing He, Haodong Li +# Last modified: 2025-10-10 + +import os + + +def init_per_sample_csv(output_dir, alignment, metric_funcs): + per_sample_csv = os.path.join(output_dir, f"per_sample_{alignment}.csv") + with open(per_sample_csv, "w+") as f: + f.write("filename,") + f.write(",".join([m.__name__ for m in metric_funcs])) + f.write("\n") + return per_sample_csv + +def write_per_sample_csv(per_sample_csv, pred_name, sample_metric): + with open(per_sample_csv, "a+") as f: + f.write(pred_name + ",") + f.write(",".join(sample_metric)) + f.write("\n") + +def write_metrics_txt(eval_dir, alignment, eval_text): + metrics_filename = f"eval_metrics_{alignment}.txt" + _save_to = os.path.join(eval_dir, metrics_filename) + with open(_save_to, "w+") as f: + f.write(eval_text) diff --git a/temp_hf_repo/DA-2-repo/eval/utils/metric.py b/temp_hf_repo/DA-2-repo/eval/utils/metric.py new file mode 100644 index 0000000000000000000000000000000000000000..5ce71ee423076c370fb2c796d31dde86c5319309 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/eval/utils/metric.py @@ -0,0 +1,192 @@ +# Author: Bingxin Ke +# Last modified: 2024-02-15 + +import pandas as pd +import torch + + +# Adapted from: https://github.com/victoresque/pytorch-template/blob/master/utils/util.py +class MetricTracker: + def __init__(self, *keys, writer=None): + self.writer = writer + self._data = pd.DataFrame(index=keys, columns=["total", "counts", "average"]) + self.reset() + + def reset(self): + for col in self._data.columns: + self._data[col].values[:] = 0 + + def update(self, key, value, n=1): + if self.writer is not None: + self.writer.add_scalar(key, value) + self._data.loc[key, "total"] += value * n + self._data.loc[key, "counts"] += n + self._data.loc[key, "average"] = self._data.total[key] / self._data.counts[key] + + def avg(self, key): + return self._data.average[key] + + def result(self): + return dict(self._data.average) + +def pixel_mean(pred, gt, valid_mask): + if valid_mask is not None: + masked_pred = pred * valid_mask + masked_gt = gt * valid_mask + + valid_pixel_count = torch.sum(valid_mask, dim=(0,1)) + + pred_mean = torch.sum(masked_pred, dim=(0,1)) / valid_pixel_count + gt_mean = torch.sum(masked_gt, dim=(0,1)) / valid_pixel_count + else: + pred_mean = torch.mean(pred, dim=(0,1)) + gt_mean = torch.mean(gt, dim=(0,1)) + + mean_difference = torch.abs(pred_mean - gt_mean) + return mean_difference + +def pixel_var(pred, gt, valid_mask): + if valid_mask is not None: + masked_pred = pred * valid_mask + masked_gt = gt * valid_mask + + valid_pixel_count = torch.sum(valid_mask, dim=(0,1)) + + pred_mean = torch.sum(masked_pred, dim=(0,1)) / valid_pixel_count + gt_mean = torch.sum(masked_gt, dim=(0,1)) / valid_pixel_count + + pred_var = torch.sum(valid_mask * (pred - pred_mean)**2, dim=(0,1)) / valid_pixel_count + gt_var = torch.sum(valid_mask * (gt - gt_mean)**2, dim=(0,1)) / valid_pixel_count + else: + pred_var = torch.var(pred, dim=(0,1)) + gt_var = torch.var(gt, dim=(0,1)) + + var_difference = torch.abs(pred_var - gt_var) + + return var_difference + +def abs_relative_difference(output, target, valid_mask=None): + actual_output = output + actual_target = target + abs_relative_diff = torch.abs(actual_output - actual_target) / actual_target + if valid_mask is not None: + abs_relative_diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + abs_relative_diff = torch.sum(abs_relative_diff, (-1, -2)) / n + return abs_relative_diff.mean() + + +def squared_relative_difference(output, target, valid_mask=None): + actual_output = output + actual_target = target + square_relative_diff = ( + torch.pow(torch.abs(actual_output - actual_target), 2) / actual_target + ) + if valid_mask is not None: + square_relative_diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + square_relative_diff = torch.sum(square_relative_diff, (-1, -2)) / n + return square_relative_diff.mean() + + +def rmse_linear(output, target, valid_mask=None): + actual_output = output + actual_target = target + diff = actual_output - actual_target + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + diff2 = torch.pow(diff, 2) + mse = torch.sum(diff2, (-1, -2)) / n + rmse = torch.sqrt(mse) + return rmse.mean() + + +def rmse_log(output, target, valid_mask=None): + diff = torch.log(output) - torch.log(target) + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + diff2 = torch.pow(diff, 2) + mse = torch.sum(diff2, (-1, -2)) / n # [B] + rmse = torch.sqrt(mse) + return rmse.mean() + + +def log10(output, target, valid_mask=None): + if valid_mask is not None: + diff = torch.abs( + torch.log10(output[valid_mask]) - torch.log10(target[valid_mask]) + ) + else: + diff = torch.abs(torch.log10(output) - torch.log10(target)) + return diff.mean() + + +# adapt from: https://github.com/imran3180/depth-map-prediction/blob/master/main.py +def threshold_percentage(output, target, threshold_val, valid_mask=None): + d1 = output / target + d2 = target / output + max_d1_d2 = torch.max(d1, d2) + zero = torch.zeros(*output.shape) + one = torch.ones(*output.shape) + bit_mat = torch.where(max_d1_d2.cpu() < threshold_val, one, zero) + if valid_mask is not None: + bit_mat[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + count_mat = torch.sum(bit_mat, (-1, -2)) + threshold_mat = count_mat / n.cpu() + return threshold_mat.mean() + + +def delta1_acc(pred, gt, valid_mask): + return threshold_percentage(pred, gt, 1.25, valid_mask) + + +def delta2_acc(pred, gt, valid_mask): + return threshold_percentage(pred, gt, 1.25**2, valid_mask) + + +def delta3_acc(pred, gt, valid_mask): + return threshold_percentage(pred, gt, 1.25**3, valid_mask) + + +def i_rmse(output, target, valid_mask=None): + output_inv = 1.0 / output + target_inv = 1.0 / target + diff = output_inv - target_inv + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = output.shape[-1] * output.shape[-2] + diff2 = torch.pow(diff, 2) + mse = torch.sum(diff2, (-1, -2)) / n # [B] + rmse = torch.sqrt(mse) + return rmse.mean() + + +def silog_rmse(depth_pred, depth_gt, valid_mask=None): + diff = torch.log(depth_pred) - torch.log(depth_gt) + if valid_mask is not None: + diff[~valid_mask] = 0 + n = valid_mask.sum((-1, -2)) + else: + n = depth_gt.shape[-2] * depth_gt.shape[-1] + + diff2 = torch.pow(diff, 2) + + first_term = torch.sum(diff2, (-1, -2)) / n + second_term = torch.pow(torch.sum(diff, (-1, -2)), 2) / (n**2) + loss = torch.sqrt(torch.mean(first_term - second_term)) * 100 + return loss diff --git a/temp_hf_repo/DA-2-repo/infer.py b/temp_hf_repo/DA-2-repo/infer.py new file mode 100644 index 0000000000000000000000000000000000000000..e6ad21dc30eac40067c9bb6c18be7e32b5af51de --- /dev/null +++ b/temp_hf_repo/DA-2-repo/infer.py @@ -0,0 +1,42 @@ +import os +import torch +from contextlib import nullcontext +from tqdm import tqdm +from da2 import ( + prepare_to_run, + load_model, + load_infer_data, + distance2pointcloud, + colorize_distance, + concatenate_images +) + + +def infer(model, config, accelerator, output_dir): + model.eval() + if accelerator.is_main_process: + if torch.backends.mps.is_available(): + autocast_ctx = nullcontext() + else: + autocast_ctx = torch.autocast(accelerator.device.type) + with autocast_ctx, torch.no_grad(): + infer_data = load_infer_data(config, accelerator.device) + pred_distances = [] + for i in tqdm(range(infer_data['size']), desc='Predicting 360° depth'): + distances = model(infer_data['images']['torch'][i]) + pred_distances.append(distances.cpu().numpy()) + pred_distance_images = [] + pred_normal_images = [] + for i in tqdm(range(infer_data['size']), desc='Visualizing 360° depth'): + pred_distance_images.append(colorize_distance(pred_distances[i], infer_data['masks'][i])) + for i in tqdm(range(infer_data['size']), desc='Saving 3D points'): + normal_image = distance2pointcloud(pred_distances[i], + infer_data['images']['cv2'][i], infer_data['masks'][i], + save_path=os.path.join(output_dir, f'3dpc/{infer_data['filenames'][i]}.ply'), return_normal=True, save_distance=True) + pred_normal_images.append(normal_image) + concatenate_images(infer_data['images']['PIL'], pred_distance_images, pred_normal_images).save(os.path.join(output_dir, 'vis_all.png')) + +if __name__ == '__main__': + config, accelerator, output_dir = prepare_to_run() + model = load_model(config, accelerator) + infer(model, config, accelerator, output_dir) diff --git a/temp_hf_repo/DA-2-repo/infer.sh b/temp_hf_repo/DA-2-repo/infer.sh new file mode 100644 index 0000000000000000000000000000000000000000..c33f1a1e0da0e5c42f6c1d0bfc47d833bc12a2e6 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/infer.sh @@ -0,0 +1,7 @@ +export CUDA=0 +export CONFIG_PATH="configs/infer.json" +accelerate launch \ + --config_file=configs/accelerate/$CUDA.yaml \ + --mixed_precision="fp16" \ + --main_process_port="12345" \ + infer.py --config_path=$CONFIG_PATH diff --git a/temp_hf_repo/DA-2-repo/src/da2/__init__.py b/temp_hf_repo/DA-2-repo/src/da2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..7cb1dddc3c657f4ce1b627593983469f7fbfd94b --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/__init__.py @@ -0,0 +1,25 @@ +from .utils.base import ( + prepare_to_run +) +from .utils.model import ( + load_model +) +from .utils.io import ( + load_infer_data +) +from .utils.vis import ( + colorize_distance, + concatenate_images +) +from .utils.d2pc import ( + distance2pointcloud +) + +__all__ = [ + 'prepare_to_run', + 'load_model', + 'load_infer_data', + 'colorize_distance', + 'concatenate_images', + 'distance2pointcloud' +] diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/__init__.py b/temp_hf_repo/DA-2-repo/src/da2/model/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..df880766b1a941dbe4e413c65aae041e5980c3e9 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/__init__.py @@ -0,0 +1,11 @@ +from .spherevit import ( + SphereViT +) +from .vit_w_esphere import ( + ViT_w_Esphere +) + +__all__ = [ + 'SphereViT', + 'ViT_w_Esphere', +] diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/base.py b/temp_hf_repo/DA-2-repo/src/da2/model/base.py new file mode 100644 index 0000000000000000000000000000000000000000..03d467f3184133b590f76af9ff453386719d0736 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/base.py @@ -0,0 +1,393 @@ +import torch +import torch.nn as nn +from math import log2, pi +from typing import Tuple +import torch.nn.functional as F +from einops import rearrange +from functools import partial + + +def fourier_dimension_expansion( + x: torch.Tensor, + dim: int = 512, + max_freq: int = 64, + use_cos: bool = True, + use_log: bool = True, +): + device, dtype, input_dim = x.device, x.dtype, x.shape[-1] + # input_dim: 2 + num_bands = dim // (2 * input_dim) if use_cos else dim // input_dim + # num_bands = 512 // 2 = 256 + if use_log: + scales = 2.0 ** torch.linspace( + 0.0, log2(max_freq), steps=num_bands, device=device, dtype=dtype + ) + else: + scales = torch.linspace( + 1.0, max_freq / 2, num_bands, device=device, dtype=dtype + ) + x = x.unsqueeze(-1) + scales = scales[(*((None,) * (len(x.shape) - 1)), Ellipsis)] + x = x * scales * pi + x = torch.cat( + ( + [x.sin(), x.cos()] + if use_cos + else [ + x.sin(), + ] + ), + dim=-1, + ) + x = x.flatten(-2) + return x + +def flatten( + flat_tensor: torch.Tensor, + old: Tuple[int, int], + new: Tuple[int, int], +) -> torch.Tensor: + if old[0] == new[0] and old[1] == new[1]: + return flat_tensor + tensor = flat_tensor.view(flat_tensor.shape[0], old[0], old[1], -1).permute( + 0, 3, 1, 2 + ) # b c h w + tensor_interp = F.interpolate( + tensor, + size=(new[0], new[1]), + mode='nearest', + ) + flat_tensor_interp = tensor_interp.view( + flat_tensor.shape[0], -1, new[0] * new[1] + ).permute( + 0, 2, 1 + ) # b (h w) c + return flat_tensor_interp.contiguous() + + +class DimensionAligner(nn.Module): + def __init__(self, input_dims: list[int], hidden_dim: int): + super().__init__() + self.aligners = nn.ModuleList([]) + self.num_chunks = len(input_dims) + self.checkpoint = True + for input_dim in input_dims: + self.aligners.append(nn.Linear(input_dim, hidden_dim)) + + def forward(self, xs: torch.Tensor) -> torch.Tensor: + outs = [self.aligners[i](x) for i, x in enumerate(xs)] + return outs + + +class LayerScale(nn.Module): + def __init__( + self, + dim: int, + init_values: float | torch.Tensor = 1e-5, + inplace: bool = False, + ) -> None: + super().__init__() + self.inplace = inplace + self.gamma = nn.Parameter(init_values * torch.ones(dim)) + + def forward(self, x: torch.Tensor) -> torch.Tensor: + return x.mul_(self.gamma) if self.inplace else x * self.gamma + + +def exists(val): + return val is not None + +def default(val, d): + if exists(val): + return val + return d() if callable(d) else d + + +class SwiGLU(nn.Module): + def forward(self, x: torch.Tensor) -> torch.Tensor: + x, gates = x.chunk(2, dim=-1) + return x * F.silu(gates) + + +class MLP(nn.Module): + def __init__( + self, + input_dim: int, + expansion: int = 4, + dropout: float = 0.0, + gated: bool = False, + output_dim: int | None = None, + ): + super().__init__() + if gated: + expansion = int(expansion * 2 / 3) + hidden_dim = int(input_dim * expansion) + output_dim = default(output_dim, input_dim) + self.norm = nn.LayerNorm(input_dim) + self.proj1 = nn.Linear(input_dim, hidden_dim) + self.proj2 = nn.Linear(hidden_dim, output_dim) + self.act = nn.GELU() if not gated else SwiGLU() + self.dropout = nn.Dropout(dropout) if dropout > 0.0 else nn.Identity() + + def forward(self, x: torch.Tensor) -> torch.Tensor: + x = self.norm(x) + x = self.proj1(x) + x = self.act(x) + x = self.proj2(x) + x = self.dropout(x) + return x + + +class AttentionBlock(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 4, + expansion: int = 4, + dropout: float = 0.0, + cosine: bool = False, + gated: bool = False, + layer_scale: float = 1.0, + context_dim: int | None = None, + detach_query: bool = False, + residual_ls: bool = False, + ): + super().__init__() + self.dropout = dropout + self.num_heads = num_heads + self.hidden_dim = dim + context_dim = dim if context_dim is None else context_dim + self.mlp = MLP(dim, expansion=expansion, dropout=dropout, gated=gated) + self.kv = nn.Linear(context_dim, dim * 2, bias=False) + self.q = nn.Linear(dim, dim, bias=False) + self.norm_attnx = nn.LayerNorm(dim) + self.norm_attnctx = nn.LayerNorm(context_dim) + self.cosine = cosine + self.out = nn.Linear(dim, dim, bias=False) + self.ls1_1 = ( + LayerScale(dim, layer_scale) + if layer_scale > 0.0 and not residual_ls + else nn.Identity() + ) + self.ls1_2 = ( + LayerScale(dim, layer_scale) + if layer_scale > 0.0 and residual_ls + else nn.Identity() + ) + self.ls2 = LayerScale(dim, layer_scale) if layer_scale > 0.0 else nn.Identity() + self.detach_query = detach_query + + def attn( + self, + x: torch.Tensor, + attn_bias: torch.Tensor | None = None, + context: torch.Tensor | None = None, + pos_embed: torch.Tensor | None = None, + pos_embed_context: torch.Tensor | None = None, + rope: nn.Module | None = None, + rope_pos: torch.Tensor | None = None, + ) -> torch.Tensor: + if self.detach_query: + x = x.detach() + x = self.norm_attnx(x) + context = self.norm_attnctx(context) + k, v = rearrange( + self.kv(context), 'b n (kv h d) -> b h n d kv', h=self.num_heads, kv=2 + ).unbind(dim=-1) + q = rearrange(self.q(x), 'b n (h d) -> b h n d', h=self.num_heads) + + if rope is not None: + q = rope(q.permute(0, 2, 1, 3), input_pos=rope_pos).permute(0, 2, 1, 3) + k = rope(k.permute(0, 2, 1, 3), input_pos=rope_pos).permute(0, 2, 1, 3) + else: + if pos_embed is not None: + pos_embed = rearrange( + pos_embed, 'b n (h d) -> b h n d', h=self.num_heads + ) + q = q + pos_embed + if pos_embed_context is not None: + pos_embed_context = rearrange( + pos_embed_context, 'b n (h d) -> b h n d', h=self.num_heads + ) + k = k + pos_embed_context + + if self.cosine: + q, k = map(partial(F.normalize, p=2, dim=-1), (q, k)) # cosine sim + + x = F.scaled_dot_product_attention( + q, k, v, dropout_p=self.dropout, attn_mask=attn_bias + ) + x = rearrange(x, 'b h n d -> b n (h d)') + x = self.out(x) + return x + + def forward( + self, + x: torch.Tensor, + context: torch.Tensor | None = None, + pos_embed: torch.Tensor | None = None, + pos_embed_context: torch.Tensor | None = None, + attn_bias: torch.Tensor | None = None, + rope: nn.Module | None = None, + rope_pos: torch.Tensor | None = None, + ) -> torch.Tensor: + context = x if context is None else context + x = self.ls1_1( + self.attn( + x, + rope=rope, + rope_pos=rope_pos, + attn_bias=attn_bias, + context=context, + pos_embed=pos_embed, + pos_embed_context=pos_embed_context, + ) + ) + self.ls1_2(x) + x = self.ls2(self.mlp(x)) + x + return x + + +class AttentionSeq(nn.Module): + def __init__( + self, + num_blocks: int, + dim: int, + num_heads: int = 4, + expansion: int = 4, + dropout: float = 0.0, + cosine: bool = False, + gated: bool = False, + layer_scale: float = 1.0, + context_dim: int | None = None, + detach_query: bool = False, + residual_ls: bool = False, + ): + super().__init__() + self.layers = nn.ModuleList( + [ + AttentionBlock( + dim=dim, + num_heads=num_heads, + expansion=expansion, + dropout=dropout, + cosine=cosine, + gated=gated, + layer_scale=layer_scale, + context_dim=context_dim, + detach_query=detach_query, + residual_ls=residual_ls, + ) + for _ in range(num_blocks) + ] + ) + + def forward( + self, + x: torch.Tensor, + context: torch.Tensor | None = None, + pos_embed: torch.Tensor | None = None, + pos_embed_context: torch.Tensor | None = None, + attn_bias: torch.Tensor | None = None, + rope: nn.Module | None = None, + rope_pos: torch.Tensor | None = None, + ) -> torch.Tensor: + for layer in self.layers: + x = layer( + x, + context=context, + pos_embed=pos_embed, + pos_embed_context=pos_embed_context, + attn_bias=attn_bias, + rope=rope, + rope_pos=rope_pos, + ) + return x + + +class ResidualConvNet(nn.Module): + def __init__( + self, + dim, + kernel_size: int = 3, + padding_mode: str = 'zeros', + dilation: int = 1, + layer_scale: float = 1.0, + use_norm: bool = False, + ): + super().__init__() + self.conv1 = nn.Conv2d( + dim, + dim, + kernel_size=kernel_size, + padding=dilation * (kernel_size - 1) // 2, + dilation=dilation, + padding_mode=padding_mode, + ) + self.conv2 = nn.Conv2d( + dim, + dim, + kernel_size=kernel_size, + padding=dilation * (kernel_size - 1) // 2, + dilation=dilation, + padding_mode=padding_mode, + ) + self.activation = nn.LeakyReLU() + self.gamma = ( + nn.Parameter(layer_scale * torch.ones(1, dim, 1, 1)) + if layer_scale > 0.0 + else 1.0 + ) + self.norm1 = nn.GroupNorm(dim // 16, dim) if use_norm else nn.Identity() + self.norm2 = nn.GroupNorm(dim // 16, dim) if use_norm else nn.Identity() + + def forward(self, x): + out = self.activation(x) + out = self.conv1(out) + out = self.norm1(out) + out = self.activation(out) + out = self.conv2(out) + out = self.norm2(out) + return self.gamma * out + x + + +class ResidualUpsampler(nn.Module): + def __init__( + self, + hidden_dim, + output_dim: int = None, + num_layers: int = 2, + kernel_size: int = 3, + layer_scale: float = 1.0, + padding_mode: str = 'zeros', + use_norm: bool = False, + **kwargs, + ): + super().__init__() + output_dim = output_dim if output_dim is not None else hidden_dim // 2 + self.convs = nn.ModuleList([]) + for _ in range(num_layers): + self.convs.append( + ResidualConvNet( + hidden_dim, + kernel_size=kernel_size, + layer_scale=layer_scale, + padding_mode=padding_mode, + use_norm=use_norm, + ) + ) + self.up = nn.Sequential( + nn.Conv2d( + hidden_dim, + output_dim, + kernel_size=1, + padding=0, + padding_mode=padding_mode, + ), + nn.Upsample(scale_factor=2, mode='bilinear', align_corners=False), + ) + + def forward(self, x: torch.Tensor): + for conv in self.convs: + x = conv(x) + x = self.up(x) + return x diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/__init__.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..89f2115deeced559d02bd871f98ec86e9ec6d97c --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/__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 .dinovit import ( + DINOViT +) + +__all__ = [ + 'DINOViT' +] diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/attention.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..8348acc8d18745a2275f6d76924c8a4e03ce324e --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/attention.py @@ -0,0 +1,79 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging + +import torch +import torch.nn as nn +import torch.nn.functional as F + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import fmha, memory_efficient_attention, unbind + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class Attention(nn.Module): + def __init__( + self, + dim: int, + num_heads: int = 8, + qkv_bias: bool = False, + proj_bias: bool = True, + attn_drop: float = 0.0, + proj_drop: float = 0.0, + ) -> None: + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) if attn_drop > 0.0 else nn.Identity() + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) if proj_drop > 0.0 else nn.Identity() + + def forward(self, x: torch.Tensor) -> torch.Tensor: + 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) + ) + x = F.scaled_dot_product_attention(qkv[0], qkv[1], qkv[2]) + x = x.transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffAttention(Attention): + def forward(self, x: torch.Tensor, attn_bias=None) -> torch.Tensor: + if not XFORMERS_AVAILABLE or x.device.type == "cpu": + assert attn_bias is None, "xFormers is required for nested tensors usage" + return super().forward(x) + + B, N, C = x.shape + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads) + + q, k, v = unbind(qkv, 2) + + x = memory_efficient_attention(q, k, v, attn_bias=attn_bias) + x = x.reshape([B, N, C]) + + x = self.proj(x) + x = self.proj_drop(x) + return x diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/block.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/block.py new file mode 100644 index 0000000000000000000000000000000000000000..e50619cc568d0a3c91e5630d9bec4a26212150c0 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/block.py @@ -0,0 +1,280 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +import logging +from typing import Any, Callable, Dict, List, Tuple + +import torch +import torch.nn as nn + +from .attention import Attention, MemEffAttention +from .drop_path import DropPath +from .layer_scale import LayerScale +from .mlp import Mlp + +logger = logging.getLogger("dinov2") + +try: + from xformers.ops import fmha, index_select_cat, scaled_index_add + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class Block(nn.Module): + def __init__( + self, + dim: int, + num_heads: int, + mlp_ratio: float = 4.0, + qkv_bias: bool = False, + proj_bias: bool = True, + ffn_bias: bool = True, + drop: float = 0.0, + attn_drop: float = 0.0, + init_values=None, + drop_path: float = 0.0, + act_layer: Callable[..., nn.Module] = nn.GELU, + norm_layer: Callable[..., nn.Module] = nn.LayerNorm, + attn_class: Callable[..., nn.Module] = Attention, + ffn_layer: Callable[..., nn.Module] = Mlp, + ) -> None: + super().__init__() + self.norm1 = norm_layer(dim) + self.attn = attn_class( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + attn_drop=attn_drop, + proj_drop=drop, + ) + self.ls1 = ( + LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + ) + self.drop_path1 = 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 = ffn_layer( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + bias=ffn_bias, + ) + self.ls2 = ( + LayerScale(dim, init_values=init_values) if init_values else nn.Identity() + ) + self.drop_path2 = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + + self.sample_drop_ratio = drop_path + + def forward(self, x: torch.Tensor) -> torch.Tensor: + def attn_residual_func(x: torch.Tensor) -> torch.Tensor: + return self.ls1(self.attn(self.norm1(x))) + + def ffn_residual_func(x: torch.Tensor) -> torch.Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + if self.training and self.sample_drop_ratio > 0.1: + # the overhead is compensated only for a drop path rate larger than 0.1 + x = drop_add_residual_stochastic_depth( + x, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + x = drop_add_residual_stochastic_depth( + x, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + ) + elif self.training and self.sample_drop_ratio > 0.0: + x = x + self.drop_path1(attn_residual_func(x)) + x = x + self.drop_path1(ffn_residual_func(x)) # FIXME: drop_path2 + else: + x = x + attn_residual_func(x) + x = x + ffn_residual_func(x) + return x + + +def drop_add_residual_stochastic_depth( + x: torch.Tensor, + residual_func, #: Callable[[torch.Tensor], torch.Tensor], + sample_drop_ratio: float = 0.0, +) -> torch.Tensor: + # 1) extract subset using permutation + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + x_subset = x[brange] + + # 2) apply residual_func to get residual + residual = residual_func(x_subset) + + x_flat = x.flatten(1) + residual = residual.flatten(1) + + residual_scale_factor = b / sample_subset_size + + # 3) add the residual + x_plus_residual = torch.index_add( + x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor + ) + return x_plus_residual.view_as(x) + + +def get_branges_scales(x, sample_drop_ratio=0.0): + b, n, d = x.shape + sample_subset_size = max(int(b * (1 - sample_drop_ratio)), 1) + brange = (torch.randperm(b, device=x.device))[:sample_subset_size] + residual_scale_factor = b / sample_subset_size + return brange, residual_scale_factor + + +def add_residual(x, brange, residual, residual_scale_factor, scaling_vector=None): + if scaling_vector is None: + x_flat = x.flatten(1) + residual = residual.flatten(1) + x_plus_residual = torch.index_add( + x_flat, 0, brange, residual.to(dtype=x.dtype), alpha=residual_scale_factor + ) + else: + x_plus_residual = scaled_index_add( + x, + brange, + residual.to(dtype=x.dtype), + scaling=scaling_vector, + alpha=residual_scale_factor, + ) + return x_plus_residual + + +attn_bias_cache: Dict[Tuple, Any] = {} + + +def get_attn_bias_and_cat(x_list, branges=None): + """ + this will perform the index select, cat the tensors, and provide the attn_bias from cache + """ + batch_sizes = ( + [b.shape[0] for b in branges] + if branges is not None + else [x.shape[0] for x in x_list] + ) + all_shapes = tuple((b, x.shape[1]) for b, x in zip(batch_sizes, x_list)) + if all_shapes not in attn_bias_cache.keys(): + seqlens = [] + for b, x in zip(batch_sizes, x_list): + for _ in range(b): + seqlens.append(x.shape[1]) + attn_bias = fmha.BlockDiagonalMask.from_seqlens(seqlens) + attn_bias._batch_sizes = batch_sizes + attn_bias_cache[all_shapes] = attn_bias + + if branges is not None: + cat_tensors = index_select_cat([x.flatten(1) for x in x_list], branges).view( + 1, -1, x_list[0].shape[-1] + ) + else: + tensors_bs1 = tuple(x.reshape([1, -1, *x.shape[2:]]) for x in x_list) + cat_tensors = torch.cat(tensors_bs1, dim=1) + + return attn_bias_cache[all_shapes], cat_tensors + + +def drop_add_residual_stochastic_depth_list( + x_list: List[torch.Tensor], + residual_func, #: Callable[[torch.Tensor, Any], torch.Tensor], + sample_drop_ratio: float = 0.0, + scaling_vector=None, +) -> torch.Tensor: + # 1) generate random set of indices for dropping samples in the batch + branges_scales = [ + get_branges_scales(x, sample_drop_ratio=sample_drop_ratio) for x in x_list + ] + branges = [s[0] for s in branges_scales] + residual_scale_factors = [s[1] for s in branges_scales] + + # 2) get attention bias and index+concat the tensors + attn_bias, x_cat = get_attn_bias_and_cat(x_list, branges) + + # 3) apply residual_func to get residual, and split the result + residual_list = attn_bias.split(residual_func(x_cat, attn_bias=attn_bias)) # type: ignore + + outputs = [] + for x, brange, residual, residual_scale_factor in zip( + x_list, branges, residual_list, residual_scale_factors + ): + outputs.append( + add_residual( + x, brange, residual, residual_scale_factor, scaling_vector + ).view_as(x) + ) + return outputs + + +class NestedTensorBlock(Block): + def forward_nested(self, x_list: List[torch.Tensor]) -> List[torch.Tensor]: + """ + x_list contains a list of tensors to nest together and run + """ + assert isinstance(self.attn, MemEffAttention) + + if self.training and self.sample_drop_ratio > 0.0: + + def attn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.attn(self.norm1(x), attn_bias=attn_bias) + + def ffn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.mlp(self.norm2(x)) + + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=attn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=( + self.ls1.gamma if isinstance(self.ls1, LayerScale) else None + ), + ) + x_list = drop_add_residual_stochastic_depth_list( + x_list, + residual_func=ffn_residual_func, + sample_drop_ratio=self.sample_drop_ratio, + scaling_vector=( + self.ls2.gamma if isinstance(self.ls1, LayerScale) else None + ), + ) + return x_list + else: + + def attn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) + + def ffn_residual_func(x: torch.Tensor, attn_bias=None) -> torch.Tensor: + return self.ls2(self.mlp(self.norm2(x))) + + attn_bias, x = get_attn_bias_and_cat(x_list) + x = x + attn_residual_func(x, attn_bias=attn_bias) + x = x + ffn_residual_func(x) + return attn_bias.split(x) + + def forward(self, x_or_x_list): + if isinstance(x_or_x_list, torch.Tensor): + return super().forward(x_or_x_list) + elif isinstance(x_or_x_list, list): + assert ( + XFORMERS_AVAILABLE + ), "Please install xFormers for nested tensors usage" + return self.forward_nested(x_or_x_list) + else: + raise AssertionError diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/dino_head.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/dino_head.py new file mode 100644 index 0000000000000000000000000000000000000000..1147dd3a3c046aee8d427b42b1055f38a218275b --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/dino_head.py @@ -0,0 +1,68 @@ +# 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.nn as nn +from torch.nn.init import trunc_normal_ +from torch.nn.utils import weight_norm + + +class DINOHead(nn.Module): + def __init__( + self, + in_dim, + out_dim, + use_bn=False, + nlayers=3, + hidden_dim=2048, + bottleneck_dim=256, + mlp_bias=True, + ): + super().__init__() + nlayers = max(nlayers, 1) + self.mlp = _build_mlp( + nlayers, + in_dim, + bottleneck_dim, + hidden_dim=hidden_dim, + use_bn=use_bn, + bias=mlp_bias, + ) + self.apply(self._init_weights) + self.last_layer = weight_norm(nn.Linear(bottleneck_dim, out_dim, bias=False)) + self.last_layer.weight_g.data.fill_(1) + + def _init_weights(self, m): + if isinstance(m, nn.Linear): + trunc_normal_(m.weight, std=0.02) + if isinstance(m, nn.Linear) and m.bias is not None: + nn.init.constant_(m.bias, 0) + + def forward(self, x): + x = self.mlp(x) + eps = 1e-6 if x.dtype == torch.float16 else 1e-12 + x = nn.functional.normalize(x, dim=-1, p=2, eps=eps) + x = self.last_layer(x) + return x + + +def _build_mlp( + nlayers, in_dim, bottleneck_dim, hidden_dim=None, use_bn=False, bias=True +): + if nlayers == 1: + return nn.Linear(in_dim, bottleneck_dim, bias=bias) + else: + layers = [nn.Linear(in_dim, hidden_dim, bias=bias)] + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + for _ in range(nlayers - 2): + layers.append(nn.Linear(hidden_dim, hidden_dim, bias=bias)) + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + layers.append(nn.Linear(hidden_dim, bottleneck_dim, bias=bias)) + return nn.Sequential(*layers) diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/dinovit.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/dinovit.py new file mode 100644 index 0000000000000000000000000000000000000000..04e679d67ec8024c23f788d225656b621165825b --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/dinovit.py @@ -0,0 +1,223 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +import logging + +import math +import torch +import torch.nn as nn +import contextlib +from functools import partial +from typing import Sequence +from .block import ( + Block +) +from .attention import ( + MemEffAttention +) +from .mlp import ( + Mlp +) +from .patch_embed import ( + PatchEmbed +) +from .swiglu_ffn import ( + SwiGLUFFNFused +) + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import fmha, memory_efficient_attention, unbind + + XFORMERS_AVAILABLE = True +except ImportError: + logger.warning("xFormers not available") + XFORMERS_AVAILABLE = False + + +class DINOViT(nn.Module): + def __init__( + self, + img_size=518, + patch_size=14, + in_chans=3, + embed_dim=1024, + depth=24, + num_heads=16, + mlp_ratio=4, + qkv_bias=True, + ffn_bias=True, + proj_bias=True, + drop_path_rate=0.0, + drop_path_uniform=False, + init_values=1.0, + embed_layer=PatchEmbed, + act_layer=nn.GELU, + block_fn=partial(Block, attn_class=MemEffAttention), + ffn_layer="mlp", + block_chunks=0, + output_idx=[6, 12, 18, 24], + num_register_tokens=0, + interpolate_antialias=False, + use_norm=True, + frozen_stages=0, + ): + """ + Args: + img_size (int, tuple): input image size + patch_size (int, tuple): patch size + in_chans (int): number of input channels + embed_dim (int): embedding dimension + depth (int): depth of transformer + num_heads (int): number of attention heads + mlp_ratio (int): ratio of mlp hidden dim to embedding dim + qkv_bias (bool): enable bias for qkv if True + proj_bias (bool): enable bias for proj in attn if True + ffn_bias (bool): enable bias for ffn if True + drop_path_rate (float): stochastic depth rate + drop_path_uniform (bool): apply uniform drop rate across blocks + weight_init (str): weight init scheme + init_values (float): layer-scale init values + embed_layer (nn.Module): patch embedding layer + act_layer (nn.Module): MLP activation layer + block_fn (nn.Module): transformer block class + ffn_layer (str): "mlp", "swiglu", "swiglufused" or "identity" + block_chunks: (int) split block sequence into block_chunks units for FSDP wrap + """ + super().__init__() + self.frozen_stages = frozen_stages + self.patch_size = patch_size + self.output_idx = output_idx + self.num_register_tokens = num_register_tokens + self.interpolate_antialias = interpolate_antialias + + self.patch_embed = PatchEmbed( + img_size=img_size, + patch_size=patch_size, + in_chans=in_chans, + embed_dim=embed_dim, + ) + num_patches = self.patch_embed.num_patches + + self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) + self.pos_embed = nn.Parameter( + torch.zeros(1, num_patches + 1, embed_dim) + ) + assert num_register_tokens >= 0 + self.register_tokens = nn.Parameter( + torch.zeros(1, max(1, num_register_tokens), embed_dim) + ) + + if drop_path_uniform is True: + dpr = [drop_path_rate] * depth + else: + dpr = [ + x.item() for x in torch.linspace(0, drop_path_rate, depth) + ] + + if ffn_layer == "mlp": + ffn_layer = Mlp + elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": + ffn_layer = SwiGLUFFNFused + elif ffn_layer == "identity": + def f(): + return nn.Identity() + ffn_layer = f + else: + raise NotImplementedError + + blocks_list = [ + block_fn( + dim=embed_dim, + num_heads=num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + proj_bias=proj_bias, + ffn_bias=ffn_bias, + drop_path=dpr[i], + norm_layer=nn.LayerNorm, + act_layer=act_layer, + ffn_layer=ffn_layer, + init_values=init_values, + ) + for i in range(depth) + ] + self.chunked_blocks = False + self.blocks = nn.ModuleList(blocks_list) + + self.norm = nn.LayerNorm(embed_dim) + self.use_norm = use_norm + self.head = nn.Identity() + self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) + + def interpolate_pos_encoding(self, x, W, H): + previous_dtype = x.dtype + N = self.pos_embed.shape[1] - 1 + pos_embed = self.pos_embed.float() + class_pos_embed = pos_embed[:, 0] + patch_pos_embed = pos_embed[:, 1:] + dim = x.shape[-1] + w0 = W // self.patch_size + h0 = H // self.patch_size + + M = int(math.sqrt(N)) + assert N == M * M + kwargs = {} + kwargs["size"] = (w0, h0) + + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape(1, M, M, dim).permute(0, 3, 1, 2), + mode="bicubic", + antialias=self.interpolate_antialias, + **kwargs, + ) + assert (w0, h0) == patch_pos_embed.shape[-2:] + + patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) + return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1).to( + previous_dtype + ) + + def tokenize(self, x): + _, _, W, H = x.shape + with torch.no_grad() if self.frozen_stages > -1 else contextlib.nullcontext(): + x = self.patch_embed(x) + x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) + dino_pos_embed = self.interpolate_pos_encoding(x, W, H) + x = x + dino_pos_embed + return x + + def forward_features(self, x): + shapes = [val // self.patch_size for val in x.shape[-2:]] + batch_size = x.shape[0] + features = [] + x = self.tokenize(x) + for i, blk in enumerate(self.blocks): + with ( + torch.no_grad() if i < self.frozen_stages else contextlib.nullcontext() + ): + x = blk(x) + features.append(x) + if self.use_norm: + with ( + torch.no_grad() + if self.frozen_stages >= len(self.blocks) + else contextlib.nullcontext() + ): + features = [self.norm(out) for out in features] + features = [out[:, self.num_register_tokens + 1 :] for out in features] + features = [out.reshape(batch_size, *shapes, -1) for out in features] + return features + + def forward(self, *args): + features = self.forward_features(*args) + return features diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/drop_path.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/drop_path.py new file mode 100644 index 0000000000000000000000000000000000000000..35b1a620d06ba862ea05297d271d8c2c625b5f93 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/drop_path.py @@ -0,0 +1,37 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/drop.py + + +import torch.nn as nn + + +def drop_path(x, drop_prob: float = 0.0, training: bool = False): + if drop_prob == 0.0 or not training: + return x + keep_prob = 1 - drop_prob + shape = (x.shape[0],) + (1,) * ( + x.ndim - 1 + ) # work with diff dim tensors, not just 2D ConvNets + random_tensor = x.new_empty(shape).bernoulli_(keep_prob) + if keep_prob > 0.0: + random_tensor.div_(keep_prob) + output = x * random_tensor + return output + + +class DropPath(nn.Module): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" + + def __init__(self, drop_prob=None): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + + def forward(self, x): + return drop_path(x, self.drop_prob, self.training) diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/layer_scale.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/layer_scale.py new file mode 100644 index 0000000000000000000000000000000000000000..40d18b5427183534d5516652b076f9883a609fc6 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/layer_scale.py @@ -0,0 +1,28 @@ +# 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. + +# Modified from: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L103-L110 + +from typing import Union + +import torch +import torch.nn as nn +from torch import Tensor + + +class LayerScale(nn.Module): + def __init__( + self, + dim: int, + init_values: Union[float, Tensor] = 1e-5, + inplace: bool = False, + ) -> None: + super().__init__() + self.inplace = inplace + self.gamma = nn.Parameter(init_values * torch.ones(dim)) + + def forward(self, x: Tensor) -> Tensor: + return x.mul_(self.gamma) if self.inplace else x * self.gamma diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/mlp.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/mlp.py new file mode 100644 index 0000000000000000000000000000000000000000..af598999855d897948142cc986fce82abc9e3b53 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/mlp.py @@ -0,0 +1,41 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/mlp.py + + +from typing import Callable, Optional + +from torch import Tensor, nn + + +class Mlp(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = nn.GELU, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.fc1 = nn.Linear(in_features, hidden_features, bias=bias) + self.act = act_layer() + self.fc2 = nn.Linear(hidden_features, out_features, bias=bias) + self.drop = nn.Dropout(drop) if drop > 0.0 else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + x = self.fc1(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + x = self.drop(x) + return x diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/patch_embed.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/patch_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..e5a56c02609e67922eb8f859588ef274e5298b55 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/patch_embed.py @@ -0,0 +1,101 @@ +# 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. + +# References: +# https://github.com/facebookresearch/dino/blob/master/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/layers/patch_embed.py + +from typing import Callable, Optional, Tuple, Union + +import torch.nn as nn +from torch import Tensor + + +def make_2tuple(x): + if isinstance(x, tuple): + assert len(x) == 2 + return x + + assert isinstance(x, int) + return (x, x) + + +class PatchEmbed(nn.Module): + """ + 2D image to patch embedding: (B,C,H,W) -> (B,N,D) + + Args: + img_size: Image size. + patch_size: Patch token size. + in_chans: Number of input image channels. + embed_dim: Number of linear projection output channels. + norm_layer: Normalization layer. + """ + + def __init__( + self, + img_size: Union[int, Tuple[int, int]] = 224, + patch_size: Union[int, Tuple[int, int]] = 16, + in_chans: int = 3, + embed_dim: int = 768, + norm_layer: Optional[Callable] = None, + flatten_embedding: bool = True, + ) -> None: + super().__init__() + + image_HW = make_2tuple(img_size) + patch_HW = make_2tuple(patch_size) + patch_grid_size = ( + image_HW[0] // patch_HW[0], + image_HW[1] // patch_HW[1], + ) + + self.img_size = image_HW + self.patch_size = patch_HW + self.patches_resolution = patch_grid_size + self.num_patches = patch_grid_size[0] * patch_grid_size[1] + + self.in_chans = in_chans + self.embed_dim = embed_dim + + self.flatten_embedding = flatten_embedding + + self.proj = nn.Conv2d( + in_chans, embed_dim, kernel_size=patch_HW, stride=patch_HW + ) + self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity() + + def forward(self, x: Tensor) -> Tensor: + _, _, H, W = x.shape + patch_H, patch_W = self.patch_size + + assert ( + H % patch_H == 0 + ), f"Input image height {H} is not a multiple of patch height {patch_H}" + assert ( + W % patch_W == 0 + ), f"Input image width {W} is not a multiple of patch width: {patch_W}" + + x = self.proj(x) # B C H W + H, W = x.size(2), x.size(3) + x = x.flatten(2).transpose(1, 2) # B HW C + x = self.norm(x) + if not self.flatten_embedding: + x = x.reshape(-1, H, W, self.embed_dim) # B H W C + return x + + def flops(self) -> float: + Ho, Wo = self.patches_resolution + flops = ( + Ho + * Wo + * self.embed_dim + * self.in_chans + * (self.patch_size[0] * self.patch_size[1]) + ) + if self.norm is not None: + flops += Ho * Wo * self.embed_dim + return flops diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/swiglu_ffn.py b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/swiglu_ffn.py new file mode 100644 index 0000000000000000000000000000000000000000..e82999e9b09b41cd6aba9edbc4c05d51ab663a1e --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/dinov2/swiglu_ffn.py @@ -0,0 +1,63 @@ +# 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 Callable, Optional + +import torch.nn.functional as F +from torch import Tensor, nn + + +class SwiGLUFFN(nn.Module): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.w12 = nn.Linear(in_features, 2 * hidden_features, bias=bias) + self.w3 = nn.Linear(hidden_features, out_features, bias=bias) + + def forward(self, x: Tensor) -> Tensor: + x12 = self.w12(x) + x1, x2 = x12.chunk(2, dim=-1) + hidden = F.silu(x1) * x2 + return self.w3(hidden) + + +try: + from xformers.ops import SwiGLU + + XFORMERS_AVAILABLE = True +except ImportError: + SwiGLU = SwiGLUFFN + XFORMERS_AVAILABLE = False + + +class SwiGLUFFNFused(SwiGLU): + def __init__( + self, + in_features: int, + hidden_features: Optional[int] = None, + out_features: Optional[int] = None, + act_layer: Callable[..., nn.Module] = None, + drop: float = 0.0, + bias: bool = True, + ) -> None: + out_features = out_features or in_features + hidden_features = hidden_features or in_features + hidden_features = (int(hidden_features * 2 / 3) + 7) // 8 * 8 + super().__init__( + in_features=in_features, + hidden_features=hidden_features, + out_features=out_features, + bias=bias, + ) diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/sphere.py b/temp_hf_repo/DA-2-repo/src/da2/model/sphere.py new file mode 100644 index 0000000000000000000000000000000000000000..a969bdfffe707052793b9c399f9fdc6f54b96102 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/sphere.py @@ -0,0 +1,30 @@ +import torch + + +def get_uv_gird(h, w, device): + pixel_coords_x = torch.linspace(0.5, w - 0.5, w, device=device) + pixel_coords_y = torch.linspace(0.5, h - 0.5, h, device=device) + stacks = [pixel_coords_x.repeat(h, 1), pixel_coords_y.repeat(w, 1).t()] + grid = torch.stack(stacks, dim=0).float() + grid = grid.to(device).unsqueeze(0) + return grid + + +class Sphere(): + def __init__(self, config, device): + self.config = config + self.device = device + + def get_directions(self, shape): + h, w = shape + uv = get_uv_gird(h, w, device=self.device) + u, v = uv.unbind(dim=1) + width, height = self.config['width'], self.config['height'] + hfov, vfov = self.config['hfov'], self.config['vfov'] + longitude = (u - width / 2) / width * hfov + latitude = (v - height / 2) / height * vfov + x = torch.cos(latitude) * torch.sin(longitude) + z = torch.cos(latitude) * torch.cos(longitude) + y = torch.sin(latitude) + sphere_directions = torch.stack([x, y, z], dim=1) + return sphere_directions diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/spherevit.py b/temp_hf_repo/DA-2-repo/src/da2/model/spherevit.py new file mode 100644 index 0000000000000000000000000000000000000000..e3b5eeb1d3c8e6b135a1c85b24299b9a5bc8e07e --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/spherevit.py @@ -0,0 +1,71 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F +from copy import deepcopy +from math import ( + ceil, + sqrt +) +from huggingface_hub import PyTorchModelHubMixin +import torchvision.transforms.v2.functional as TF +from .dinov2 import DINOViT +from .vit_w_esphere import ViT_w_Esphere +from .sphere import Sphere + + +IMAGENET_DATASET_MEAN = (0.485, 0.456, 0.406) +IMAGENET_DATASET_STD = (0.229, 0.224, 0.225) + +class SphereViT(nn.Module, PyTorchModelHubMixin): + def __init__(self, config): + super().__init__() + self.config = config + self.dino = DINOViT() + self.vit_w_esphere = ViT_w_Esphere(config['spherevit']['vit_w_esphere']) + feature_slices = self.dino.output_idx + self.feature_slices = list( + zip([0, *feature_slices[:-1]], feature_slices) + ) + self.device = None + + def to(self, *args): + self.device = args[0] + return super().to(*args) + + def forward(self, images): + B, _, H, W = images.shape + current_pixels = H * W + target_pixels = min(self.config['inference']['max_pixels'], + max(self.config['inference']['min_pixels'], current_pixels)) + factor = sqrt(target_pixels / current_pixels) + sphere_config = deepcopy(self.config['spherevit']['sphere']) + sphere_config['width'] *= factor + sphere_config['height'] *= factor + sphere = Sphere(config=sphere_config, device=self.device) + H_new = int(H * factor) + W_new = int(W * factor) + DINO_patch_size = 14 # please see the line 51 of `src/da2/model/dinov2/dinovit.py` (I know it's a little ugly to hardcode it here T_T) + H_new = ceil(H_new / DINO_patch_size) * DINO_patch_size + W_new = ceil(W_new / DINO_patch_size) * DINO_patch_size + images = F.interpolate(images, size=(H_new, W_new), mode='bilinear', align_corners=False) + images = TF.normalize( + images, + mean=IMAGENET_DATASET_MEAN, + std=IMAGENET_DATASET_STD, + ) + print(f"DEBUG: images.dtype: {images.dtype}") + + sphere_dirs = sphere.get_directions(shape=(H_new, W_new)) + sphere_dirs = sphere_dirs.to(self.device) + sphere_dirs = sphere_dirs.to(dtype=images.dtype) + sphere_dirs = sphere_dirs.repeat(B, 1, 1, 1) + + features = self.dino(images) + features = [ + features[i:j][-1].contiguous() + for i, j in self.feature_slices + ] + distance = self.vit_w_esphere(images, features, sphere_dirs) + distance = F.interpolate(distance, size=(H, W), mode='bilinear', align_corners=False) + distance = distance.squeeze(dim=1) # (b, 1, h, w) -> (b, h, w) + return distance diff --git a/temp_hf_repo/DA-2-repo/src/da2/model/vit_w_esphere.py b/temp_hf_repo/DA-2-repo/src/da2/model/vit_w_esphere.py new file mode 100644 index 0000000000000000000000000000000000000000..0c4f43c8b152932e33159e5aef0aea25b2cfbff0 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/model/vit_w_esphere.py @@ -0,0 +1,232 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F +from einops import rearrange +from .base import ( + fourier_dimension_expansion, + flatten, + DimensionAligner, + AttentionSeq, + ResidualUpsampler +) + + +class _ViT_w_Esphere(nn.Module): + def __init__( + self, + hidden_dim: int, + num_heads: int = 8, + expansion: int = 4, + num_layers_head: int | list[int] = 4, + dropout: float = 0.0, + kernel_size: int = 7, + layer_scale: float = 1.0, + out_dim: int = 1, + num_prompt_blocks: int = 1, + use_norm: bool = False, + **kwargs, + ) -> None: + super().__init__() + self.out_dim = out_dim + self.hidden_dim = hidden_dim + self.up_sampler = nn.ModuleList([]) + self.pred_head = nn.ModuleList([]) + self.process_features = nn.ModuleList([]) + self.prompt_camera = nn.ModuleList([]) + mult = 2 + self.to_latents = nn.Linear(hidden_dim, hidden_dim) + + for _ in range(4): + self.prompt_camera.append( + AttentionSeq( + num_blocks=num_prompt_blocks, + dim=hidden_dim, + num_heads=num_heads, + expansion=expansion, + dropout=dropout, + layer_scale=-1.0, + context_dim=hidden_dim, + ) + ) + + for i, depth in enumerate(num_layers_head): + current_dim = min(hidden_dim, mult * hidden_dim // int(2**i)) + next_dim = mult * hidden_dim // int(2 ** (i + 1)) + output_dim = max(next_dim, out_dim) + self.process_features.append( + nn.ConvTranspose2d( + hidden_dim, + current_dim, + kernel_size=max(1, 2 * i), + stride=max(1, 2 * i), + padding=0, + ) + ) + self.up_sampler.append( + ResidualUpsampler( + current_dim, + output_dim=output_dim, + expansion=expansion, + layer_scale=layer_scale, + kernel_size=kernel_size, + num_layers=depth, + use_norm=use_norm, + ) + ) + pred_head = ( + nn.Sequential(nn.LayerNorm(next_dim), nn.Linear(next_dim, output_dim)) + if i == len(num_layers_head) - 1 + else nn.Identity() + ) + self.pred_head.append(pred_head) + + self.to_depth_lr = nn.Conv2d( + output_dim, + output_dim // 2, + kernel_size=3, + padding=1, + padding_mode='reflect', + ) + self.to_confidence_lr = nn.Conv2d( + output_dim, + output_dim // 2, + kernel_size=3, + padding=1, + padding_mode='reflect', + ) + self.to_depth_hr = nn.Sequential( + nn.Conv2d( + output_dim // 2, 32, kernel_size=3, padding=1, padding_mode='reflect' + ), + nn.LeakyReLU(), + nn.Conv2d(32, 1, kernel_size=1), + ) + self.to_confidence_hr = nn.Sequential( + nn.Conv2d( + output_dim // 2, 32, kernel_size=3, padding=1, padding_mode='reflect' + ), + nn.LeakyReLU(), + nn.Conv2d(32, 1, kernel_size=1), + ) + + def set_original_shapes(self, shapes: tuple[int, int]): + self.original_shapes = shapes + + def set_shapes(self, shapes: tuple[int, int]): + self.shapes = shapes + + def embed_sphere_dirs(self, sphere_dirs): + sphere_embedding = flatten( + sphere_dirs, old=self.original_shapes, new=self.shapes + ) + # index 0 -> Y + # index 1 -> Z + # index 2 -> X + r1, r2, r3 = sphere_embedding[..., 0], sphere_embedding[..., 1], sphere_embedding[..., 2] + polar = torch.asin(r2) + # Explicitly cast constant to match dtype for ONNX export + min_val = torch.tensor([1e-5], dtype=r3.dtype, device=r3.device) + # Use max instead of clamp(min=...) to avoid Clip operator issues with mixed types + r3_abs = r3.abs() + r3_clipped = torch.max(r3_abs, min_val) * (2 * (r3 >= 0).to(r3.dtype) - 1) + azimuth = torch.atan2(r1, r3_clipped) + # [polar, azimuth] is the angle field + sphere_embedding = torch.stack([polar, azimuth], dim=-1) + # expand the dimension of the angle field to image feature dimensions, via sine-cosine basis embedding + sphere_embedding = fourier_dimension_expansion( + sphere_embedding, + dim=self.hidden_dim, + max_freq=max(self.shapes) // 2, + use_cos=False, + ) + return sphere_embedding + + def condition(self, feat, sphere_embeddings): + conditioned_features = [ + prompter(rearrange(feature, 'b h w c -> b (h w) c'), sphere_embeddings) + for prompter, feature in zip(self.prompt_camera, feat) + ] + return conditioned_features + + def process(self, features_list, sphere_embeddings): + conditioned_features = self.condition(features_list, sphere_embeddings) + init_latents = self.to_latents(conditioned_features[0]) + init_latents = rearrange( + init_latents, 'b (h w) c -> b c h w', h=self.shapes[0], w=self.shapes[1] + ).contiguous() + conditioned_features = [ + rearrange( + x, 'b (h w) c -> b c h w', h=self.shapes[0], w=self.shapes[1] + ).contiguous() + for x in conditioned_features + ] + latents = init_latents + + out_features = [] + # Pyramid-like multi-layer convolutional feature extraction + for i, up in enumerate(self.up_sampler): + latents = latents + self.process_features[i](conditioned_features[i + 1]) + latents = up(latents) + out_features.append(latents) + return out_features + + def prediction_head(self, out_features): + depths = [] + h_out, w_out = out_features[-1].shape[-2:] + for i, (layer, features) in enumerate(zip(self.pred_head, out_features)): + out_depth_features = layer(features.permute(0, 2, 3, 1)).permute(0, 3, 1, 2) + if i < len(self.pred_head) - 1: + continue + depths.append(out_depth_features) + out_depth_features = F.interpolate( + out_depth_features, size=(h_out, w_out), mode='bilinear', align_corners=True + ) + distance = self.to_depth_lr(out_depth_features) + distance = F.interpolate( + distance, size=self.original_shapes, mode='bilinear', align_corners=True + ) + distance = self.to_depth_hr(distance) + return distance + + def forward( + self, + features: list[torch.Tensor], + sphere_dirs: torch.Tensor + ) -> torch.Tensor: + sphere_embeddings = self.embed_sphere_dirs(sphere_dirs) + features = self.process(features, sphere_embeddings) + distance = self.prediction_head(features) + return distance + + +class ViT_w_Esphere(nn.Module): + def __init__(self, config): + super().__init__() + self.config = config + self.dim_aligner = DimensionAligner( + input_dims=config['input_dims'], + hidden_dim=config['hidden_dim'], + ) + self._vit_w_esphere = _ViT_w_Esphere(**config) + + def forward(self, images, features, sphere_dirs) -> torch.Tensor: + _, _, H, W = images.shape + sphere_dirs = sphere_dirs + common_shape = features[0].shape[1:3] + features = self.dim_aligner(features) + sphere_dirs = rearrange(sphere_dirs, 'b c h w -> b (h w) c') + + self._vit_w_esphere.set_shapes(common_shape) + self._vit_w_esphere.set_original_shapes((H, W)) + logdistance = self._vit_w_esphere( + features=features, + sphere_dirs=sphere_dirs, + ) + + min_val = torch.tensor([-8.0], dtype=logdistance.dtype, device=logdistance.device) + max_val = torch.tensor([8.0], dtype=logdistance.dtype, device=logdistance.device) + # Use max/min instead of clamp to avoid Clip operator issues + clamped_logdistance = torch.min(torch.max(logdistance, min_val), max_val) + distance = torch.exp(clamped_logdistance + 2.0) + # distance = distance / torch.quantile(distance, 0.98) + return distance diff --git a/temp_hf_repo/DA-2-repo/src/da2/utils/__init__.py b/temp_hf_repo/DA-2-repo/src/da2/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..ac61fb325760b9f30f6444fc386d07b9c23022f5 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/utils/__init__.py @@ -0,0 +1,11 @@ +from .base import ( + prepare_to_run +) +from .model import ( + load_model +) + +__all__ = [ + 'prepare_to_run', + 'load_model' +] diff --git a/temp_hf_repo/DA-2-repo/src/da2/utils/base.py b/temp_hf_repo/DA-2-repo/src/da2/utils/base.py new file mode 100644 index 0000000000000000000000000000000000000000..148b261d5646947592c6cb00ed96eb8955c5bea6 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/utils/base.py @@ -0,0 +1,56 @@ +import json +import argparse +import os +from accelerate import Accelerator +from accelerate.logging import get_logger +from accelerate.utils import ( + InitProcessGroupKwargs, + ProjectConfiguration, + set_seed +) +import logging +from datetime import ( + timedelta, + datetime +) + + +def load_config(config_path): + with open(config_path, 'r') as f: + config = json.load(f) + return config + +def arg_parser(): + parser = argparse.ArgumentParser() + parser.add_argument('--config_path', type=str, required=True) + args = parser.parse_args() + return args + +def prepare_to_run(): + args = arg_parser() + logging.basicConfig( + format='%(asctime)s --> %(message)s', + datefmt='%m/%d %H:%M:%S', + level=logging.INFO, + ) + config = load_config(args.config_path) + kwargs = InitProcessGroupKwargs(timeout=timedelta(seconds=config['accelerator']['timeout'])) + version = os.path.basename(args.config_path)[:-5] + output_dir = f'output/{version}_{datetime.now().strftime("%Y%m%d_%H%M%S")}' + if not os.path.exists(output_dir): os.makedirs(output_dir, exist_ok=True) + accu_steps = config['accelerator']['accumulation_nsteps'] + accelerator = Accelerator( + gradient_accumulation_steps=accu_steps, + mixed_precision=config['accelerator']['mixed_precision'], + log_with=config['accelerator']['report_to'], + project_config=ProjectConfiguration(project_dir=output_dir), + kwargs_handlers=[kwargs] + ) + logger = get_logger(__name__, log_level='INFO') + config['env']['logger'] = logger + set_seed(config['env']['seed']) + if config['env']['verbose']: + logger.info(f'Version: {version} (from {args.config_path})') + logger.info(f'Output dir: {output_dir}') + logger.info(f'Using {accelerator.num_processes} GPU' + ('s' if accelerator.num_processes > 1 else '')) + return config, accelerator, output_dir diff --git a/temp_hf_repo/DA-2-repo/src/da2/utils/d2pc.py b/temp_hf_repo/DA-2-repo/src/da2/utils/d2pc.py new file mode 100644 index 0000000000000000000000000000000000000000..e67c8f4c4387cfde4aac4a791428e4ee27df3742 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/utils/d2pc.py @@ -0,0 +1,76 @@ +import os +import numpy as np +import utils3d +from plyfile import PlyData, PlyElement +from PIL import Image + + +def sphere_uv2dirs(uv: np.ndarray): + theta, phi = (1 - uv[..., 0]) * (2 * np.pi), uv[..., 1] * np.pi + directions = np.stack([np.sin(phi) * np.cos(theta), np.sin(phi) * np.sin(theta), np.cos(phi)], axis=-1) + return directions + +def save_3d_points(points: np.array, colors: np.array, mask: np.array, save_path: str): + points = points.reshape(-1, 3) + colors = colors.reshape(-1, 3) + mask = mask.reshape(-1, 1) + + vertex_data = np.empty(mask.sum(), dtype=[ + ('x', 'f4'), + ('y', 'f4'), + ('z', 'f4'), + ('red', 'u1'), + ('green', 'u1'), + ('blue', 'u1'), + ]) + vertex_data['x'] = [a for i, a in enumerate(points[:, 0]) if mask[i]] + vertex_data['y'] = [a for i, a in enumerate(points[:, 1]) if mask[i]] + vertex_data['z'] = [a for i, a in enumerate(points[:, 2]) if mask[i]] + vertex_data['red'] = [a for i, a in enumerate(colors[:, 0]) if mask[i]] + vertex_data['green'] = [a for i, a in enumerate(colors[:, 1]) if mask[i]] + vertex_data['blue'] = [a for i, a in enumerate(colors[:, 2]) if mask[i]] + + vertex_element = PlyElement.describe(vertex_data, 'vertex', comments=['vertices with color']) + save_dir = os.path.dirname(save_path) + if not os.path.exists(save_dir): os.makedirs(save_dir, exist_ok=True) + PlyData([vertex_element], text=True).write(save_path) + +def colorize_normal(normal: np.ndarray, normal_mask: np.ndarray): + normal_rgb = (((normal + 1) * 0.5) * 255).astype(np.uint8) + normal_mask = np.repeat(np.expand_dims(normal_mask, axis=-1), 3, axis=-1) + normal_mask = normal_mask.astype(np.uint8) + normal_rgb = normal_rgb * normal_mask + return normal_rgb + +def normal_normalize(normal: np.ndarray): + normal_norm = np.linalg.norm(normal, axis=-1, keepdims=True) + normal_norm[normal_norm < 1e-6] = 1e-6 + return normal / normal_norm + +def distance2pointcloud( + distance: np.ndarray, + image: np.ndarray, + mask: np.ndarray, + save_path: str = None, + return_normal: bool = False, + save_distance: bool = False +): + if distance.ndim >= 3: distance = distance.squeeze() + if save_distance: + save_path_dis = save_path.replace('3dpc', 'depth').replace('.ply', '.npy') + save_dir_dis = os.path.dirname(save_path_dis) + if not os.path.exists(save_dir_dis): os.makedirs(save_dir_dis, exist_ok=True) + np.save(save_path_dis, distance) + height, width = distance.shape[:2] + points = distance[:, :, None] * sphere_uv2dirs(utils3d.numpy.image_uv(width=width, height=height)) + save_3d_points(points, image, mask, save_path) + if return_normal: + normal, normal_mask = utils3d.numpy.points_to_normals(points, mask) + normal = normal * np.array([-1, -1, 1]) + normal = normal_normalize(normal) + normal_1 = normal[..., 0] + normal_2 = normal[..., 1] + normal_3 = normal[..., 2] + normal = np.stack([normal_1, normal_3, normal_2], axis=-1) + normal_img = colorize_normal(normal, normal_mask) + return Image.fromarray(normal_img) diff --git a/temp_hf_repo/DA-2-repo/src/da2/utils/io.py b/temp_hf_repo/DA-2-repo/src/da2/utils/io.py new file mode 100644 index 0000000000000000000000000000000000000000..ccaf2dc0034db8ae04d02f6c6a059b98827d1d4c --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/utils/io.py @@ -0,0 +1,63 @@ +import os +import cv2 +import torch +import numpy as np +from glob import glob +from PIL import Image + + +def torch_transform(image): + image = image / 255.0 + image = np.transpose(image, (2, 0, 1)) + return image + +def read_cv2_image(image_path): + image = cv2.imread(image_path) + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) + return image + +def read_mask(mask_path, shape): + if not os.path.exists(mask_path): + return np.ones(shape[1:]) > 0 + mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE) + mask = mask > 0 + return mask + +def tensorize(array, model_dtype, device): + array = torch.from_numpy(array).to(device).to(model_dtype).unsqueeze(dim=0) + return array + +def load_infer_data(config, device): + image_dir = config['inference']['images'] + mask_dir = config['inference']['masks'] + + image_paths = glob(os.path.join(image_dir, '*.png')) + image_paths = sorted(image_paths) + filenames = [os.path.basename(image_path)[:-4] for image_path in image_paths] + cv2_images = [read_cv2_image(image_path) + for image_path in image_paths] + PIL_images = [Image.fromarray(cv2_image) for cv2_image in cv2_images] + images = [torch_transform(cv2_image) for cv2_image in cv2_images] + + mask_paths = [image_path.replace(image_dir, mask_dir) + for image_path in image_paths] + masks = [read_mask(mask_path, images[i].shape) + for (i, mask_path) in enumerate(mask_paths)] + + model_dtype = config['spherevit']['dtype'] + images = [tensorize(image, model_dtype, device) for image in images] + + infer_data = { + 'images': { + 'PIL': PIL_images, + 'cv2': cv2_images, + 'torch': images + }, + 'masks': masks, + 'filenames': filenames, + 'size': len(images) + } + if config['env']['verbose']: + s = 's' if len(images) > 1 else '' + config['env']['logger'].info(f'Loaded {len(images)} image{s} in {model_dtype}') + return infer_data diff --git a/temp_hf_repo/DA-2-repo/src/da2/utils/model.py b/temp_hf_repo/DA-2-repo/src/da2/utils/model.py new file mode 100644 index 0000000000000000000000000000000000000000..0088ab1e0a1dd995767ea8c107a40b6fb1c2e836 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/utils/model.py @@ -0,0 +1,15 @@ +import torch +from ..model.spherevit import SphereViT + + +def load_model(config, accelerator): + model = SphereViT.from_pretrained('haodongli/DA-2', config=config) + model = model.to(accelerator.device) + torch.cuda.empty_cache() + model = accelerator.prepare(model) + if accelerator.num_processes > 1: + model = model.module + if config['env']['verbose']: + config['env']['logger'].info(f'Model\'s dtype: {next(model.parameters()).dtype}.') + config['spherevit']['dtype'] = next(model.parameters()).dtype + return model diff --git a/temp_hf_repo/DA-2-repo/src/da2/utils/vis.py b/temp_hf_repo/DA-2-repo/src/da2/utils/vis.py new file mode 100644 index 0000000000000000000000000000000000000000..6cbeab57788963cd0b7ff678979f8723d80911b9 --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/da2/utils/vis.py @@ -0,0 +1,44 @@ +import torch +from PIL import Image +import numpy as np +import matplotlib +import cv2 + + +def concatenate_images(*image_lists): + max_width = 0 + total_height = 0 + row_widths = [] + row_heights = [] + + for i, image_list in enumerate(image_lists): + width = sum(img.width for img in image_list) + max_width = max(max_width, width) + row_widths.append(width) + # Assuming all images in the list have the same height + height = image_list[0].height + total_height += height + row_heights.append(height) + + new_image = Image.new('RGB', (max_width, total_height)) + y_offset = 0 + for i, image_list in enumerate(image_lists): + x_offset = 0 + for img in image_list: + new_image.paste(img, (x_offset, y_offset)) + x_offset += img.width + y_offset += row_heights[i] + return new_image + +def colorize_distance(distance, mask, cmap='Spectral'): + if distance.ndim >= 3: distance = distance.squeeze() + cm = matplotlib.colormaps[cmap] + valid_distance = distance[mask] + max_distance = np.quantile(valid_distance, 0.98) + min_distance = np.quantile(valid_distance, 0.02) + distance[~mask] = max_distance + distance = ((distance - min_distance) / (max_distance - min_distance)) + distance = np.clip(distance, 0, 1) + img_colored_np = cm(distance, bytes=False)[:, :, 0:3] + distance_colored = (img_colored_np * 255).astype(np.uint8) + return Image.fromarray(distance_colored) diff --git a/temp_hf_repo/DA-2-repo/src/pyproject.toml b/temp_hf_repo/DA-2-repo/src/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..933ef0b55c7b60e158160965754924062a83eacd --- /dev/null +++ b/temp_hf_repo/DA-2-repo/src/pyproject.toml @@ -0,0 +1,35 @@ +[build-system] +requires = ["setuptools>=61.0"] +build-backend = "setuptools.build_meta" + +[project] +name = "da2" +version = "0.1.0" +description = "For the implementation of DA^2: Depth Anything in Any Direction" +authors = [ + { name="H. Li", email="hal211@ucsd.edu" } +] +dependencies = [ + "torch==2.5.0", + "torchvision==0.20.0", + "torchaudio==2.5.0", + "xformers==0.0.28.post2", + "diffusers==0.32.0", + "tensorboard==2.18.0", + "utils3d @ git+https://github.com/EasternJournalist/utils3d.git@3913c65d81e05e47b9f367250cf8c0f7462a0900", + "opencv-python==4.12.0.88", + "gradio==5.49.0", + "gradio-client==1.13.3", + "gradio-imageslider==0.0.20", + "accelerate==1.1.1", + "omegaconf==2.3.0", + "tabulate==0.9.0", + "einops==0.8.0", + "timm==1.0.15", + "trimesh==4.5.2", + "transformers==4.46.3", + "matplotlib==3.9.2" +] + +[tool.setuptools.packages.find] +where = ["."] \ No newline at end of file diff --git a/temp_hf_repo/HF_MODEL_CARD.md b/temp_hf_repo/HF_MODEL_CARD.md new file mode 100644 index 0000000000000000000000000000000000000000..25ce731e85799aabde21a12eef3ea41b81d275ad --- /dev/null +++ b/temp_hf_repo/HF_MODEL_CARD.md @@ -0,0 +1,91 @@ +--- +license: apache-2.0 +library_name: onnx +tags: +- depth-estimation +- panoramic +- 360-degree +- webgpu +- onnx +pipeline_tag: depth-estimation +--- + +# DA-2: Depth Anything in Any Direction (ONNX WebGPU Version) + +This repository contains the **ONNX** weights for [DA-2: Depth Anything in Any Direction](https://github.com/EnVision-Research/DA-2), optimized for **WebGPU** inference in the browser. + +## Model Details + +- **Original Model:** [haodongli/DA-2](https://huggingface.co/haodongli/DA-2) +- **Framework:** ONNX (Opset 17) +- **Precision:** FP32 (Full Precision) +- **Input Resolution:** 1092x546 +- **Size:** ~1.4 GB + +## Conversion Details + +This model was converted from the original PyTorch weights to ONNX to enable client-side inference using `onnxruntime-web`. + +- **Optimization:** Constant folding applied. +- **Compatibility:** Verified with WebGPU backend. +- **Modifications:** + - Replaced `clamp` operators with `Max`/`Min` combinations to ensure WebGPU kernel compatibility. + - Removed internal normalization layers to allow raw 0-1 input from the browser. + +## Usage (Transformers.js) + +You can also run this model using [Transformers.js](https://huggingface.co/docs/transformers.js). + +```javascript +import { pipeline } from '@xenova/transformers'; + +// Initialize the pipeline +const depth_estimator = await pipeline('depth-estimation', 'phiph/DA-2-WebGPU', { + device: 'webgpu', + dtype: 'fp32', // Use FP32 as exported +}); + +// Run inference +const url = 'path/to/your/panorama.jpg'; +const output = await depth_estimator(url); +// output.depth is the raw tensor +// output.mask is the visualized depth map +``` + +## Usage (ONNX Runtime Web) + +You can run this model in the browser using `onnxruntime-web`. + +```javascript +import * as ort from 'onnxruntime-web/webgpu'; + +// 1. Initialize Session +// Note: Model is now in the 'onnx' subdirectory +const session = await ort.InferenceSession.create('https://huggingface.co/phiph/DA-2-WebGPU/resolve/main/onnx/model.onnx', { + executionProviders: ['webgpu'], + preferredOutputLocation: { last_hidden_state: 'gpu-buffer' } +}); + +// 2. Prepare Input (Float32, 0-1 range, NCHW) +// Note: Do NOT apply ImageNet mean/std normalization. The model expects raw 0-1 floats. +const tensor = new ort.Tensor('float32', float32Data, [1, 3, 546, 1092]); + +// 3. Run Inference +const results = await session.run({ images: tensor }); +const depthMap = results.depth; // Access output +``` + +## License + +This model is a derivative work of [DA-2](https://github.com/EnVision-Research/DA-2) and is distributed under the **Apache License 2.0**. + +Please cite the original authors if you use this model: + +```bibtex +@article{li2025depth, + title={DA$^{2}$: Depth Anything in Any Direction}, + author={Li, Haodong and Zheng, Wangguangdong and He, Jing and Liu, Yuhao and Lin, Xin and Yang, Xin and Chen, Ying-Cong and Guo, Chunchao}, + journal={arXiv preprint arXiv:2509.26618}, + year={2025} +} +``` diff --git a/temp_hf_repo/README.md b/temp_hf_repo/README.md new file mode 100644 index 0000000000000000000000000000000000000000..25ce731e85799aabde21a12eef3ea41b81d275ad --- /dev/null +++ b/temp_hf_repo/README.md @@ -0,0 +1,91 @@ +--- +license: apache-2.0 +library_name: onnx +tags: +- depth-estimation +- panoramic +- 360-degree +- webgpu +- onnx +pipeline_tag: depth-estimation +--- + +# DA-2: Depth Anything in Any Direction (ONNX WebGPU Version) + +This repository contains the **ONNX** weights for [DA-2: Depth Anything in Any Direction](https://github.com/EnVision-Research/DA-2), optimized for **WebGPU** inference in the browser. + +## Model Details + +- **Original Model:** [haodongli/DA-2](https://huggingface.co/haodongli/DA-2) +- **Framework:** ONNX (Opset 17) +- **Precision:** FP32 (Full Precision) +- **Input Resolution:** 1092x546 +- **Size:** ~1.4 GB + +## Conversion Details + +This model was converted from the original PyTorch weights to ONNX to enable client-side inference using `onnxruntime-web`. + +- **Optimization:** Constant folding applied. +- **Compatibility:** Verified with WebGPU backend. +- **Modifications:** + - Replaced `clamp` operators with `Max`/`Min` combinations to ensure WebGPU kernel compatibility. + - Removed internal normalization layers to allow raw 0-1 input from the browser. + +## Usage (Transformers.js) + +You can also run this model using [Transformers.js](https://huggingface.co/docs/transformers.js). + +```javascript +import { pipeline } from '@xenova/transformers'; + +// Initialize the pipeline +const depth_estimator = await pipeline('depth-estimation', 'phiph/DA-2-WebGPU', { + device: 'webgpu', + dtype: 'fp32', // Use FP32 as exported +}); + +// Run inference +const url = 'path/to/your/panorama.jpg'; +const output = await depth_estimator(url); +// output.depth is the raw tensor +// output.mask is the visualized depth map +``` + +## Usage (ONNX Runtime Web) + +You can run this model in the browser using `onnxruntime-web`. + +```javascript +import * as ort from 'onnxruntime-web/webgpu'; + +// 1. Initialize Session +// Note: Model is now in the 'onnx' subdirectory +const session = await ort.InferenceSession.create('https://huggingface.co/phiph/DA-2-WebGPU/resolve/main/onnx/model.onnx', { + executionProviders: ['webgpu'], + preferredOutputLocation: { last_hidden_state: 'gpu-buffer' } +}); + +// 2. Prepare Input (Float32, 0-1 range, NCHW) +// Note: Do NOT apply ImageNet mean/std normalization. The model expects raw 0-1 floats. +const tensor = new ort.Tensor('float32', float32Data, [1, 3, 546, 1092]); + +// 3. Run Inference +const results = await session.run({ images: tensor }); +const depthMap = results.depth; // Access output +``` + +## License + +This model is a derivative work of [DA-2](https://github.com/EnVision-Research/DA-2) and is distributed under the **Apache License 2.0**. + +Please cite the original authors if you use this model: + +```bibtex +@article{li2025depth, + title={DA$^{2}$: Depth Anything in Any Direction}, + author={Li, Haodong and Zheng, Wangguangdong and He, Jing and Liu, Yuhao and Lin, Xin and Yang, Xin and Chen, Ying-Cong and Guo, Chunchao}, + journal={arXiv preprint arXiv:2509.26618}, + year={2025} +} +``` diff --git a/temp_hf_repo/config.json b/temp_hf_repo/config.json new file mode 100644 index 0000000000000000000000000000000000000000..89546f8ab43473af86bdf34b482ce526590b5efd --- /dev/null +++ b/temp_hf_repo/config.json @@ -0,0 +1,14 @@ +{ + "architectures": [ + "DepthAnythingForDepthEstimation" + ], + "model_type": "depth_anything", + "transformers_version": "4.39.0", + "image_size": [ + 546, + 1092 + ], + "patch_size": 14, + "hidden_size": 384, + "num_channels": 3 +} \ No newline at end of file diff --git a/temp_hf_repo/export_onnx.py b/temp_hf_repo/export_onnx.py new file mode 100644 index 0000000000000000000000000000000000000000..ec98cf536bf7b2700596d94fea9b36001f796049 --- /dev/null +++ b/temp_hf_repo/export_onnx.py @@ -0,0 +1,76 @@ +import sys +import os +import torch +import json +from safetensors.torch import load_file + +# Add src to path +sys.path.append(os.path.join(os.getcwd(), 'DA-2-repo/src')) + +try: + from da2.model.spherevit import SphereViT +except ImportError as e: + print(f"Error importing SphereViT: {e}") + sys.exit(1) + +# Load config +config_path = 'DA-2-repo/configs/infer.json' +with open(config_path, 'r') as f: + config = json.load(f) + +# Adjust config for fixed size export +# Using 1092x546 (multiples of 14: 1092=78*14, 546=39*14) +# This is closer to the original config's ~600k pixels +H, W = 546, 1092 +config['inference']['min_pixels'] = H * W +config['inference']['max_pixels'] = H * W + +print(f"Initializing model with input size {W}x{H}...") +# Instantiate model +model = SphereViT(config) + +# Load weights +print("Loading weights from model.safetensors...") +try: + weights = load_file('model.safetensors') + missing, unexpected = model.load_state_dict(weights, strict=False) + if missing: + print(f"Missing keys: {len(missing)}") + # print(missing[:5]) + if unexpected: + print(f"Unexpected keys: {len(unexpected)}") + # print(unexpected[:5]) +except Exception as e: + print(f"Error loading weights: {e}") + sys.exit(1) + +print("Exporting model in FP32 (full precision)...") +model.eval() + +# Dummy input (float32) +dummy_input = torch.randn(1, 3, H, W) + +# Export +output_file = "model.onnx" +print(f"Exporting to {output_file}...") +try: + torch.onnx.export( + model, + dummy_input, + output_file, + opset_version=17, + input_names=["input_image"], + output_names=["depth_map"], + dynamic_axes={ + "input_image": {0: "batch_size"}, + "depth_map": {0: "batch_size"} + }, + export_params=True, + do_constant_folding=True, + verbose=False + ) + print(f"Successfully exported to {output_file}") +except Exception as e: + print(f"Error exporting to ONNX: {e}") + import traceback + traceback.print_exc() diff --git a/temp_hf_repo/onnx/model.onnx b/temp_hf_repo/onnx/model.onnx new file mode 100644 index 0000000000000000000000000000000000000000..306b0c3fb65a47da8fc5bfb4acba0adcbc8adcec --- /dev/null +++ b/temp_hf_repo/onnx/model.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab6d5e5564de3079a6fc02bf0023e014d94a0134bc3e1b4d7f10f566119daeb5 +size 135 diff --git a/temp_hf_repo/preprocessor_config.json b/temp_hf_repo/preprocessor_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b5795a116c28b07cce67b15ef698599bcab7b268 --- /dev/null +++ b/temp_hf_repo/preprocessor_config.json @@ -0,0 +1,12 @@ +{ + "do_normalize": false, + "do_pad": false, + "do_resize": true, + "size": { + "height": 546, + "width": 1092 + }, + "do_rescale": true, + "rescale_factor": 0.00392156862745098, + "image_processor_type": "DepthAnythingImageProcessor" +} \ No newline at end of file diff --git a/temp_hf_repo/requirements.txt b/temp_hf_repo/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..30f67ca5a3dfb0e335e12290c5351826ff1ff201 --- /dev/null +++ b/temp_hf_repo/requirements.txt @@ -0,0 +1,68 @@ +accelerate==1.12.0 +antlr4-python3-runtime==4.9.3 +certifi==2025.11.12 +charset-normalizer==3.4.4 +contourpy==1.3.3 +cycler==0.12.1 +einops==0.8.1 +filelock==3.20.0 +fonttools==4.60.1 +fsspec==2025.10.0 +glcontext==3.0.0 +hf-xet==1.2.0 +huggingface-hub==0.36.0 +idna==3.11 +Jinja2==3.1.6 +kiwisolver==1.4.9 +MarkupSafe==3.0.3 +matplotlib==3.10.7 +ml_dtypes==0.5.4 +moderngl==5.12.0 +mpmath==1.3.0 +networkx==3.6 +numpy==2.2.6 +nvidia-cublas-cu12==12.4.5.8 +nvidia-cuda-cupti-cu12==12.4.127 +nvidia-cuda-nvrtc-cu12==12.4.127 +nvidia-cuda-runtime-cu12==12.4.127 +nvidia-cudnn-cu12==9.1.0.70 +nvidia-cufft-cu12==11.2.1.3 +nvidia-cufile-cu12==1.13.1.3 +nvidia-curand-cu12==10.3.5.147 +nvidia-cusolver-cu12==11.6.1.9 +nvidia-cusparse-cu12==12.3.1.170 +nvidia-cusparselt-cu12==0.6.2 +nvidia-nccl-cu12==2.21.5 +nvidia-nvjitlink-cu12==12.4.127 +nvidia-nvshmem-cu12==3.3.20 +nvidia-nvtx-cu12==12.4.127 +omegaconf==2.3.0 +onnx==1.19.1 +onnx-ir==0.1.12 +onnxscript==0.5.6 +opencv-python==4.12.0.88 +packaging==25.0 +pillow==12.0.0 +plyfile==1.1.3 +protobuf==6.33.1 +psutil==7.1.3 +pyparsing==3.2.5 +python-dateutil==2.9.0.post0 +PyYAML==6.0.3 +regex==2025.11.3 +requests==2.32.5 +safetensors==0.7.0 +scipy==1.16.3 +setuptools==80.9.0 +six==1.17.0 +sympy==1.13.1 +timm==1.0.22 +tokenizers==0.22.1 +torch==2.6.0 +torchvision==0.21.0 +tqdm==4.67.1 +transformers==4.57.3 +triton==3.2.0 +typing_extensions==4.15.0 +urllib3==2.5.0 +utils3d @ git+https://github.com/EasternJournalist/utils3d.git@3913c65d81e05e47b9f367250cf8c0f7462a0900 diff --git a/temp_hf_repo/web/index.html b/temp_hf_repo/web/index.html new file mode 100644 index 0000000000000000000000000000000000000000..928648a03a720c75a6bd77702825ac04dad37ce2 --- /dev/null +++ b/temp_hf_repo/web/index.html @@ -0,0 +1,41 @@ + + + + + + DA-2 WebGPU Demo + + + + + +

DA-2 Depth Estimation (WebGPU)

+

Upload a 360° panorama image to estimate depth.

+ +
+ + + Initializing... +
+ +
+
+

Input Image

+ +
+
+

Depth Map

+ +
+
+ + + + \ No newline at end of file diff --git a/temp_hf_repo/web/script.js b/temp_hf_repo/web/script.js new file mode 100644 index 0000000000000000000000000000000000000000..a610f522586ecd7a3e77cfda3d5b7f4cb22aa00d --- /dev/null +++ b/temp_hf_repo/web/script.js @@ -0,0 +1,140 @@ +const MODEL_PATH = '../onnx/model.onnx'; // Relative path to the model +const INPUT_WIDTH = 1092; +const INPUT_HEIGHT = 546; + +let session = null; +const statusElement = document.getElementById('status'); +const runBtn = document.getElementById('runBtn'); +const imageInput = document.getElementById('imageInput'); +const inputCanvas = document.getElementById('inputCanvas'); +const outputCanvas = document.getElementById('outputCanvas'); +const inputCtx = inputCanvas.getContext('2d'); +const outputCtx = outputCanvas.getContext('2d'); + +// Initialize ONNX Runtime +async function init() { + try { + // Enable verbose logging + ort.env.debug = true; + ort.env.logLevel = 'verbose'; + + statusElement.textContent = 'Loading model... (this may take a while)'; + // Configure session options for WebGPU + const options = { + executionProviders: ['webgpu'], + }; + session = await ort.InferenceSession.create(MODEL_PATH, options); + statusElement.textContent = 'Model loaded. Ready.'; + runBtn.disabled = false; + } catch (e) { + console.error(e); + statusElement.textContent = 'Error loading model: ' + e.message; + // Fallback to wasm if webgpu fails + try { + statusElement.textContent = 'WebGPU failed, trying WASM...'; + session = await ort.InferenceSession.create(MODEL_PATH, { executionProviders: ['wasm'] }); + statusElement.textContent = 'Model loaded (WASM). Ready.'; + runBtn.disabled = false; + } catch (e2) { + statusElement.textContent = 'Error loading model (WASM): ' + e2.message; + } + } +} + +imageInput.addEventListener('change', (e) => { + const file = e.target.files[0]; + if (!file) return; + + const img = new Image(); + img.onload = () => { + inputCanvas.width = INPUT_WIDTH; + inputCanvas.height = INPUT_HEIGHT; + inputCtx.drawImage(img, 0, 0, INPUT_WIDTH, INPUT_HEIGHT); + + // Clear output + outputCanvas.width = INPUT_WIDTH; + outputCanvas.height = INPUT_HEIGHT; + outputCtx.clearRect(0, 0, INPUT_WIDTH, INPUT_HEIGHT); + }; + img.src = URL.createObjectURL(file); +}); + +runBtn.addEventListener('click', async () => { + if (!session) return; + + statusElement.textContent = 'Running inference...'; + runBtn.disabled = true; + + try { + // Preprocess + const imageData = inputCtx.getImageData(0, 0, INPUT_WIDTH, INPUT_HEIGHT); + const tensor = preprocess(imageData); + + // Run inference + const feeds = { input_image: tensor }; + const results = await session.run(feeds); + const output = results.depth_map; + + // Postprocess and visualize + visualize(output.data, INPUT_WIDTH, INPUT_HEIGHT); + statusElement.textContent = 'Done.'; + } catch (e) { + console.error(e); + statusElement.textContent = 'Error running inference: ' + e.message; + } finally { + runBtn.disabled = false; + } +}); + +function preprocess(imageData) { + const { data, width, height } = imageData; + const float32Data = new Float32Array(3 * width * height); + + // The model expects 0-1 inputs and handles normalization internally + for (let i = 0; i < width * height; i++) { + const r = data[i * 4] / 255.0; + const g = data[i * 4 + 1] / 255.0; + const b = data[i * 4 + 2] / 255.0; + + float32Data[i] = r; // R + float32Data[width * height + i] = g; // G + float32Data[2 * width * height + i] = b; // B + } + + return new ort.Tensor('float32', float32Data, [1, 3, height, width]); +} + +function visualize(data, width, height) { + // Find min and max for normalization + let min = Infinity; + let max = -Infinity; + for (let i = 0; i < data.length; i++) { + if (data[i] < min) min = data[i]; + if (data[i] > max) max = data[i]; + } + + const range = max - min; + const imageData = outputCtx.createImageData(width, height); + + for (let i = 0; i < data.length; i++) { + // Normalize to 0-1 + const val = (data[i] - min) / (range || 1); + + // Simple heatmap (Magma-like or just grayscale) + // Let's do grayscale for simplicity, or a simple color map + // Inverted depth usually looks better (closer is brighter) + // But here it's distance, so closer is smaller value. + // If we map min (close) to 255 (white) and max (far) to 0 (black) + + const pixelVal = Math.floor((1 - val) * 255); + + imageData.data[i * 4] = pixelVal; // R + imageData.data[i * 4 + 1] = pixelVal; // G + imageData.data[i * 4 + 2] = pixelVal; // B + imageData.data[i * 4 + 3] = 255; // Alpha + } + + outputCtx.putImageData(imageData, 0, 0); +} + +init(); \ No newline at end of file diff --git a/web/index.html b/web/index.html new file mode 100644 index 0000000000000000000000000000000000000000..928648a03a720c75a6bd77702825ac04dad37ce2 --- /dev/null +++ b/web/index.html @@ -0,0 +1,41 @@ + + + + + + DA-2 WebGPU Demo + + + + + +

DA-2 Depth Estimation (WebGPU)

+

Upload a 360° panorama image to estimate depth.

+ +
+ + + Initializing... +
+ +
+
+

Input Image

+ +
+
+

Depth Map

+ +
+
+ + + + \ No newline at end of file diff --git a/web/script.js b/web/script.js new file mode 100644 index 0000000000000000000000000000000000000000..a610f522586ecd7a3e77cfda3d5b7f4cb22aa00d --- /dev/null +++ b/web/script.js @@ -0,0 +1,140 @@ +const MODEL_PATH = '../onnx/model.onnx'; // Relative path to the model +const INPUT_WIDTH = 1092; +const INPUT_HEIGHT = 546; + +let session = null; +const statusElement = document.getElementById('status'); +const runBtn = document.getElementById('runBtn'); +const imageInput = document.getElementById('imageInput'); +const inputCanvas = document.getElementById('inputCanvas'); +const outputCanvas = document.getElementById('outputCanvas'); +const inputCtx = inputCanvas.getContext('2d'); +const outputCtx = outputCanvas.getContext('2d'); + +// Initialize ONNX Runtime +async function init() { + try { + // Enable verbose logging + ort.env.debug = true; + ort.env.logLevel = 'verbose'; + + statusElement.textContent = 'Loading model... (this may take a while)'; + // Configure session options for WebGPU + const options = { + executionProviders: ['webgpu'], + }; + session = await ort.InferenceSession.create(MODEL_PATH, options); + statusElement.textContent = 'Model loaded. Ready.'; + runBtn.disabled = false; + } catch (e) { + console.error(e); + statusElement.textContent = 'Error loading model: ' + e.message; + // Fallback to wasm if webgpu fails + try { + statusElement.textContent = 'WebGPU failed, trying WASM...'; + session = await ort.InferenceSession.create(MODEL_PATH, { executionProviders: ['wasm'] }); + statusElement.textContent = 'Model loaded (WASM). Ready.'; + runBtn.disabled = false; + } catch (e2) { + statusElement.textContent = 'Error loading model (WASM): ' + e2.message; + } + } +} + +imageInput.addEventListener('change', (e) => { + const file = e.target.files[0]; + if (!file) return; + + const img = new Image(); + img.onload = () => { + inputCanvas.width = INPUT_WIDTH; + inputCanvas.height = INPUT_HEIGHT; + inputCtx.drawImage(img, 0, 0, INPUT_WIDTH, INPUT_HEIGHT); + + // Clear output + outputCanvas.width = INPUT_WIDTH; + outputCanvas.height = INPUT_HEIGHT; + outputCtx.clearRect(0, 0, INPUT_WIDTH, INPUT_HEIGHT); + }; + img.src = URL.createObjectURL(file); +}); + +runBtn.addEventListener('click', async () => { + if (!session) return; + + statusElement.textContent = 'Running inference...'; + runBtn.disabled = true; + + try { + // Preprocess + const imageData = inputCtx.getImageData(0, 0, INPUT_WIDTH, INPUT_HEIGHT); + const tensor = preprocess(imageData); + + // Run inference + const feeds = { input_image: tensor }; + const results = await session.run(feeds); + const output = results.depth_map; + + // Postprocess and visualize + visualize(output.data, INPUT_WIDTH, INPUT_HEIGHT); + statusElement.textContent = 'Done.'; + } catch (e) { + console.error(e); + statusElement.textContent = 'Error running inference: ' + e.message; + } finally { + runBtn.disabled = false; + } +}); + +function preprocess(imageData) { + const { data, width, height } = imageData; + const float32Data = new Float32Array(3 * width * height); + + // The model expects 0-1 inputs and handles normalization internally + for (let i = 0; i < width * height; i++) { + const r = data[i * 4] / 255.0; + const g = data[i * 4 + 1] / 255.0; + const b = data[i * 4 + 2] / 255.0; + + float32Data[i] = r; // R + float32Data[width * height + i] = g; // G + float32Data[2 * width * height + i] = b; // B + } + + return new ort.Tensor('float32', float32Data, [1, 3, height, width]); +} + +function visualize(data, width, height) { + // Find min and max for normalization + let min = Infinity; + let max = -Infinity; + for (let i = 0; i < data.length; i++) { + if (data[i] < min) min = data[i]; + if (data[i] > max) max = data[i]; + } + + const range = max - min; + const imageData = outputCtx.createImageData(width, height); + + for (let i = 0; i < data.length; i++) { + // Normalize to 0-1 + const val = (data[i] - min) / (range || 1); + + // Simple heatmap (Magma-like or just grayscale) + // Let's do grayscale for simplicity, or a simple color map + // Inverted depth usually looks better (closer is brighter) + // But here it's distance, so closer is smaller value. + // If we map min (close) to 255 (white) and max (far) to 0 (black) + + const pixelVal = Math.floor((1 - val) * 255); + + imageData.data[i * 4] = pixelVal; // R + imageData.data[i * 4 + 1] = pixelVal; // G + imageData.data[i * 4 + 2] = pixelVal; // B + imageData.data[i * 4 + 3] = 255; // Alpha + } + + outputCtx.putImageData(imageData, 0, 0); +} + +init(); \ No newline at end of file