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+

Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data

-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference +[**Lihe Yang**](https://liheyoung.github.io/)1 · [**Bingyi Kang**](https://scholar.google.com/citations?user=NmHgX-wAAAAJ)2† · [**Zilong Huang**](http://speedinghzl.github.io/)2 · [**Xiaogang Xu**](https://xiaogang00.github.io/)3,4 · [**Jiashi Feng**](https://sites.google.com/site/jshfeng/)2 · [**Hengshuang Zhao**](https://hszhao.github.io/)1* + +1HKU    2TikTok    3CUHK    4ZJU + +†project lead *corresponding author + +**CVPR 2024** + +Paper PDF +Project Page + + +
+ +This work presents Depth Anything, a highly practical solution for robust monocular depth estimation by training on a combination of 1.5M labeled images and **62M+ unlabeled images**. + +![teaser](assets/teaser.png) + +
+ Try our latest Depth Anything V2 models!
+
+ +## News + +* **2024-06-14:** [Depth Anything V2](https://github.com/DepthAnything/Depth-Anything-V2) is released. +* **2024-02-27:** Depth Anything is accepted by CVPR 2024. +* **2024-02-05:** [Depth Anything Gallery](./gallery.md) is released. Thank all the users! +* **2024-02-02:** Depth Anything serves as the default depth processor for [InstantID](https://github.com/InstantID/InstantID) and [InvokeAI](https://github.com/invoke-ai/InvokeAI/releases/tag/v3.6.1). +* **2024-01-25:** Support [video depth visualization](./run_video.py). An [online demo for video](https://huggingface.co/spaces/JohanDL/Depth-Anything-Video) is also available. +* **2024-01-23:** The new ControlNet based on Depth Anything is integrated into [ControlNet WebUI](https://github.com/Mikubill/sd-webui-controlnet) and [ComfyUI's ControlNet](https://github.com/Fannovel16/comfyui_controlnet_aux). +* **2024-01-23:** Depth Anything [ONNX](https://github.com/fabio-sim/Depth-Anything-ONNX) and [TensorRT](https://github.com/spacewalk01/depth-anything-tensorrt) versions are supported. +* **2024-01-22:** Paper, project page, code, models, and demo ([HuggingFace](https://huggingface.co/spaces/LiheYoung/Depth-Anything), [OpenXLab](https://openxlab.org.cn/apps/detail/yyfan/depth_anything)) are released. + + +## Features of Depth Anything + +***If you need other features, please first check [existing community supports](#community-support).*** + +- **Relative depth estimation**: + + Our foundation models listed [here](https://huggingface.co/spaces/LiheYoung/Depth-Anything/tree/main/checkpoints) can provide relative depth estimation for any given image robustly. Please refer [here](#running) for details. + +- **Metric depth estimation** + + We fine-tune our Depth Anything model with metric depth information from NYUv2 or KITTI. It offers strong capabilities of both in-domain and zero-shot metric depth estimation. Please refer [here](./metric_depth) for details. + + +- **Better depth-conditioned ControlNet** + + We re-train **a better depth-conditioned ControlNet** based on Depth Anything. It offers more precise synthesis than the previous MiDaS-based ControlNet. Please refer [here](./controlnet/) for details. You can also use our new ControlNet based on Depth Anything in [ControlNet WebUI](https://github.com/Mikubill/sd-webui-controlnet) or [ComfyUI's ControlNet](https://github.com/Fannovel16/comfyui_controlnet_aux). + +- **Downstream high-level scene understanding** + + The Depth Anything encoder can be fine-tuned to downstream high-level perception tasks, *e.g.*, semantic segmentation, 86.2 mIoU on Cityscapes and 59.4 mIoU on ADE20K. Please refer [here](./semseg/) for details. + + +## Performance + +Here we compare our Depth Anything with the previously best MiDaS v3.1 BEiTL-512 model. + +Please note that the latest MiDaS is also trained on KITTI and NYUv2, while we do not. + +| Method | Params | KITTI || NYUv2 || Sintel || DDAD || ETH3D || DIODE || +|-|-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:| +| | | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | +| MiDaS | 345.0M | 0.127 | 0.850 | 0.048 | *0.980* | 0.587 | 0.699 | 0.251 | 0.766 | 0.139 | 0.867 | 0.075 | 0.942 | +| **Ours-S** | 24.8M | 0.080 | 0.936 | 0.053 | 0.972 | 0.464 | 0.739 | 0.247 | 0.768 | 0.127 | **0.885** | 0.076 | 0.939 | +| **Ours-B** | 97.5M | *0.080* | *0.939* | *0.046* | 0.979 | **0.432** | *0.756* | *0.232* | *0.786* | **0.126** | *0.884* | *0.069* | *0.946* | +| **Ours-L** | 335.3M | **0.076** | **0.947** | **0.043** | **0.981** | *0.458* | **0.760** | **0.230** | **0.789** | *0.127* | 0.882 | **0.066** | **0.952** | + +We highlight the **best** and *second best* results in **bold** and *italic* respectively (**better results**: AbsRel $\downarrow$ , $\delta_1 \uparrow$). + +## Pre-trained models + +We provide three models of varying scales for robust relative depth estimation: + +| Model | Params | Inference Time on V100 (ms) | A100 | RTX4090 ([TensorRT](https://github.com/spacewalk01/depth-anything-tensorrt)) | +|:-|-:|:-:|:-:|:-:| +| Depth-Anything-Small | 24.8M | 12 | 8 | 3 | +| Depth-Anything-Base | 97.5M | 13 | 9 | 6 | +| Depth-Anything-Large | 335.3M | 20 | 13 | 12 | + +Note that the V100 and A100 inference time (*without TensorRT*) is computed by excluding the pre-processing and post-processing stages, whereas the last column RTX4090 (*with TensorRT*) is computed by including these two stages (please refer to [Depth-Anything-TensorRT](https://github.com/spacewalk01/depth-anything-tensorrt)). + +You can easily load our pre-trained models by: +```python +from depth_anything.dpt import DepthAnything + +encoder = 'vits' # can also be 'vitb' or 'vitl' +depth_anything = DepthAnything.from_pretrained('LiheYoung/depth_anything_{:}14'.format(encoder)) +``` + +Depth Anything is also supported in [``transformers``](https://github.com/huggingface/transformers). You can use it for depth prediction within [3 lines of code](https://huggingface.co/docs/transformers/main/model_doc/depth_anything) (credit to [@niels](https://huggingface.co/nielsr)). + +### *No network connection, cannot load these models?* + +
+Click here for solutions + +- First, manually download the three checkpoints: [depth-anything-large](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints/depth_anything_vitl14.pth), [depth-anything-base](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints/depth_anything_vitb14.pth), and [depth-anything-small](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints/depth_anything_vits14.pth). + +- Second, upload the folder containing the checkpoints to your remote server. + +- Lastly, load the model locally: +```python +from depth_anything.dpt import DepthAnything + +model_configs = { + 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, + 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, + 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]} +} + +encoder = 'vitl' # or 'vitb', 'vits' +depth_anything = DepthAnything(model_configs[encoder]) +depth_anything.load_state_dict(torch.load(f'./checkpoints/depth_anything_{encoder}14.pth')) +``` +Note that in this locally loading manner, you also do not have to install the ``huggingface_hub`` package. In this way, please feel free to delete this [line](https://github.com/LiheYoung/Depth-Anything/blob/e7ef4b4b7a0afd8a05ce9564f04c1e5b68268516/depth_anything/dpt.py#L5) and the ``PyTorchModelHubMixin`` in this [line](https://github.com/LiheYoung/Depth-Anything/blob/e7ef4b4b7a0afd8a05ce9564f04c1e5b68268516/depth_anything/dpt.py#L169). +
+ + +## Usage + +### Installation + +```bash +git clone https://github.com/LiheYoung/Depth-Anything +cd Depth-Anything +pip install -r requirements.txt +``` + +### Running + +```bash +python run.py --encoder --img-path --outdir [--pred-only] [--grayscale] +``` +Arguments: +- ``--img-path``: you can either 1) point it to an image directory storing all interested images, 2) point it to a single image, or 3) point it to a text file storing all image paths. +- ``--pred-only`` is set to save the predicted depth map only. Without it, by default, we visualize both image and its depth map side by side. +- ``--grayscale`` is set to save the grayscale depth map. Without it, by default, we apply a color palette to the depth map. + +For example: +```bash +python run.py --encoder vitl --img-path assets/examples --outdir depth_vis +``` + +**If you want to use Depth Anything on videos:** +```bash +python run_video.py --encoder vitl --video-path assets/examples_video --outdir video_depth_vis +``` + +### Gradio demo + +To use our gradio demo locally: + +```bash +python app.py +``` + +You can also try our [online demo](https://huggingface.co/spaces/LiheYoung/Depth-Anything). + +### Import Depth Anything to your project + +If you want to use Depth Anything in your own project, you can simply follow [``run.py``](run.py) to load our models and define data pre-processing. + +
+Code snippet (note the difference between our data pre-processing and that of MiDaS) + +```python +from depth_anything.dpt import DepthAnything +from depth_anything.util.transform import Resize, NormalizeImage, PrepareForNet + +import cv2 +import torch +from torchvision.transforms import Compose + +encoder = 'vits' # can also be 'vitb' or 'vitl' +depth_anything = DepthAnything.from_pretrained('LiheYoung/depth_anything_{:}14'.format(encoder)).eval() + +transform = Compose([ + Resize( + width=518, + height=518, + resize_target=False, + keep_aspect_ratio=True, + ensure_multiple_of=14, + resize_method='lower_bound', + image_interpolation_method=cv2.INTER_CUBIC, + ), + NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), + PrepareForNet(), +]) + +image = cv2.cvtColor(cv2.imread('your image path'), cv2.COLOR_BGR2RGB) / 255.0 +image = transform({'image': image})['image'] +image = torch.from_numpy(image).unsqueeze(0) + +# depth shape: 1xHxW +depth = depth_anything(image) +``` +
+ +### Do not want to define image pre-processing or download model definition files? + +Easily use Depth Anything through [``transformers``](https://github.com/huggingface/transformers) within 3 lines of code! Please refer to [these instructions](https://huggingface.co/docs/transformers/main/model_doc/depth_anything) (credit to [@niels](https://huggingface.co/nielsr)). + +**Note:** If you encounter ``KeyError: 'depth_anything'``, please install the latest [``transformers``](https://github.com/huggingface/transformers) from source: +```bash +pip install git+https://github.com/huggingface/transformers.git +``` +
+Click here for a brief demo: + +```python +from transformers import pipeline +from PIL import Image + +image = Image.open('Your-image-path') +pipe = pipeline(task="depth-estimation", model="LiheYoung/depth-anything-small-hf") +depth = pipe(image)["depth"] +``` +
+ +## Community Support + +**We sincerely appreciate all the extensions built on our Depth Anything from the community. Thank you a lot!** + +Here we list the extensions we have found: +- Depth Anything TensorRT: + - https://github.com/spacewalk01/depth-anything-tensorrt + - https://github.com/thinvy/DepthAnythingTensorrtDeploy + - https://github.com/daniel89710/trt-depth-anything +- Depth Anything ONNX: https://github.com/fabio-sim/Depth-Anything-ONNX +- Depth Anything in Transformers.js (3D visualization): https://huggingface.co/spaces/Xenova/depth-anything-web +- Depth Anything for video (online demo): https://huggingface.co/spaces/JohanDL/Depth-Anything-Video +- Depth Anything in ControlNet WebUI: https://github.com/Mikubill/sd-webui-controlnet +- Depth Anything in ComfyUI's ControlNet: https://github.com/Fannovel16/comfyui_controlnet_aux +- Depth Anything in X-AnyLabeling: https://github.com/CVHub520/X-AnyLabeling +- Depth Anything in OpenXLab: https://openxlab.org.cn/apps/detail/yyfan/depth_anything +- Depth Anything in OpenVINO: https://github.com/openvinotoolkit/openvino_notebooks/tree/main/notebooks/280-depth-anything +- Depth Anything ROS: + - https://github.com/scepter914/DepthAnything-ROS + - https://github.com/polatztrk/depth_anything_ros +- Depth Anything Android: + - https://github.com/FeiGeChuanShu/ncnn-android-depth_anything + - https://github.com/shubham0204/Depth-Anything-Android +- Depth Anything in TouchDesigner: https://github.com/olegchomp/TDDepthAnything +- LearnOpenCV research article on Depth Anything: https://learnopencv.com/depth-anything +- Learn more about the DPT architecture we used: https://github.com/heyoeyo/muggled_dpt +- Depth Anything in NVIDIA Jetson Orin: https://github.com/ZhuYaoHui1998/jetson-examples/blob/main/reComputer/scripts/depth-anything + + +If you have your amazing projects supporting or improving (*e.g.*, speed) Depth Anything, please feel free to drop an issue. We will add them here. + + +## Acknowledgement + +We would like to express our deepest gratitude to [AK(@_akhaliq)](https://twitter.com/_akhaliq) and the awesome HuggingFace team ([@niels](https://huggingface.co/nielsr), [@hysts](https://huggingface.co/hysts), and [@yuvraj](https://huggingface.co/ysharma)) for helping improve the online demo and build the HF models. + +Besides, we thank the [MagicEdit](https://magic-edit.github.io/) team for providing some video examples for video depth estimation, and [Tiancheng Shen](https://scholar.google.com/citations?user=iRY1YVoAAAAJ) for evaluating the depth maps with MagicEdit. + +## Citation + +If you find this project useful, please consider citing: + +```bibtex +@inproceedings{depthanything, + title={Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data}, + author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang}, + booktitle={CVPR}, + year={2024} +} +``` diff --git a/controlnet/README.md b/controlnet/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ce0c909020b1654ad41e6348a46c3ed7f88106c6 --- /dev/null +++ b/controlnet/README.md @@ -0,0 +1,15 @@ +## Depth-Conditioned ControlNet based on Depth Anything + +We use [Diffusers](https://github.com/huggingface/diffusers/tree/main) to re-train a better depth-conditioned ControlNet based on our Depth Anything. + +Please download our [config file](./config.json) and [pre-trained weights](https://huggingface.co/spaces/LiheYoung/Depth-Anything/tree/main/checkpoints_controlnet), then follow the [instructions](https://github.com/huggingface/diffusers/tree/main/examples/controlnet) in Diffusers for inference. + +## Depth-to-Image Synthesis + +![demo2](../assets/controlnet_demo1.png) +![demo1](../assets/controlnet_demo2.png) + + +## Video Editing + +Please refer to our [project page](https://depth-anything.github.io/). We use [MagicEdit](https://github.com/magic-research/magic-edit) to show demos of video editing based on depth information. diff --git a/controlnet/config.json b/controlnet/config.json new file mode 100644 index 0000000000000000000000000000000000000000..c50f0e99e8a1fa9a3a5fbf1838a7249e7d9d48cf --- /dev/null +++ b/controlnet/config.json @@ -0,0 +1,51 @@ +{ + "_class_name": "ControlNetModel", + "_diffusers_version": "0.26.0.dev0", + "act_fn": "silu", + "addition_embed_type": null, + "addition_embed_type_num_heads": 64, + "addition_time_embed_dim": null, + "attention_head_dim": 8, + "block_out_channels": [ + 320, + 640, + 1280, + 1280 + ], + "class_embed_type": null, + "conditioning_channels": 3, + "conditioning_embedding_out_channels": [ + 16, + 32, + 96, + 256 + ], + "controlnet_conditioning_channel_order": "rgb", + "cross_attention_dim": 768, + "down_block_types": [ + "CrossAttnDownBlock2D", + "CrossAttnDownBlock2D", + "CrossAttnDownBlock2D", + "DownBlock2D" + ], + "downsample_padding": 1, + "encoder_hid_dim": null, + "encoder_hid_dim_type": null, + "flip_sin_to_cos": true, + "freq_shift": 0, + "global_pool_conditions": false, + "in_channels": 4, + "layers_per_block": 2, + "mid_block_scale_factor": 1, + "mid_block_type": "UNetMidBlock2DCrossAttn", + "norm_eps": 1e-05, + "norm_num_groups": 32, + "num_attention_heads": null, + "num_class_embeds": null, + "only_cross_attention": false, + "projection_class_embeddings_input_dim": null, + "resnet_time_scale_shift": "default", + "transformer_layers_per_block": 1, + "upcast_attention": false, + "use_linear_projection": false +} diff --git a/depth_anything/__pycache__/blocks.cpython-310.pyc b/depth_anything/__pycache__/blocks.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..fce48f805bd9bc751ee1e830eb4cafd1b3c63def Binary files /dev/null and b/depth_anything/__pycache__/blocks.cpython-310.pyc differ diff --git a/depth_anything/__pycache__/dpt.cpython-310.pyc b/depth_anything/__pycache__/dpt.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..3df948d49d59a9dfb56333079ee88197cb09dfe5 Binary files /dev/null and b/depth_anything/__pycache__/dpt.cpython-310.pyc differ diff --git a/depth_anything/blocks.py b/depth_anything/blocks.py new file mode 100644 index 0000000000000000000000000000000000000000..38dbcfeffc0c38ef51bcb20dfd347e50b2a60616 --- /dev/null +++ b/depth_anything/blocks.py @@ -0,0 +1,153 @@ +import torch.nn as nn + + +def _make_scratch(in_shape, out_shape, groups=1, expand=False): + scratch = nn.Module() + + out_shape1 = out_shape + out_shape2 = out_shape + out_shape3 = out_shape + if len(in_shape) >= 4: + out_shape4 = out_shape + + if expand: + out_shape1 = out_shape + out_shape2 = out_shape*2 + out_shape3 = out_shape*4 + if len(in_shape) >= 4: + out_shape4 = out_shape*8 + + scratch.layer1_rn = nn.Conv2d( + in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + scratch.layer2_rn = nn.Conv2d( + in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + scratch.layer3_rn = nn.Conv2d( + in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + if len(in_shape) >= 4: + scratch.layer4_rn = nn.Conv2d( + in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + + return scratch + + +class ResidualConvUnit(nn.Module): + """Residual convolution module. + """ + + def __init__(self, features, activation, bn): + """Init. + + Args: + features (int): number of features + """ + super().__init__() + + self.bn = bn + + self.groups=1 + + self.conv1 = nn.Conv2d( + features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups + ) + + self.conv2 = nn.Conv2d( + features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups + ) + + if self.bn==True: + self.bn1 = nn.BatchNorm2d(features) + self.bn2 = nn.BatchNorm2d(features) + + self.activation = activation + + self.skip_add = nn.quantized.FloatFunctional() + + def forward(self, x): + """Forward pass. + + Args: + x (tensor): input + + Returns: + tensor: output + """ + + out = self.activation(x) + out = self.conv1(out) + if self.bn==True: + out = self.bn1(out) + + out = self.activation(out) + out = self.conv2(out) + if self.bn==True: + out = self.bn2(out) + + if self.groups > 1: + out = self.conv_merge(out) + + return self.skip_add.add(out, x) + + +class FeatureFusionBlock(nn.Module): + """Feature fusion block. + """ + + def __init__(self, features, activation, deconv=False, bn=False, expand=False, align_corners=True, size=None): + """Init. + + Args: + features (int): number of features + """ + super(FeatureFusionBlock, self).__init__() + + self.deconv = deconv + self.align_corners = align_corners + + self.groups=1 + + self.expand = expand + out_features = features + if self.expand==True: + out_features = features//2 + + self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1) + + self.resConfUnit1 = ResidualConvUnit(features, activation, bn) + self.resConfUnit2 = ResidualConvUnit(features, activation, bn) + + self.skip_add = nn.quantized.FloatFunctional() + + self.size=size + + def forward(self, *xs, size=None): + """Forward pass. + + Returns: + tensor: output + """ + output = xs[0] + + if len(xs) == 2: + res = self.resConfUnit1(xs[1]) + output = self.skip_add.add(output, res) + + output = self.resConfUnit2(output) + + if (size is None) and (self.size is None): + modifier = {"scale_factor": 2} + elif size is None: + modifier = {"size": self.size} + else: + modifier = {"size": size} + + output = nn.functional.interpolate( + output, **modifier, mode="bilinear", align_corners=self.align_corners + ) + + output = self.out_conv(output) + + return output diff --git a/depth_anything/dpt.py b/depth_anything/dpt.py new file mode 100644 index 0000000000000000000000000000000000000000..56b9545cb2cd787bb9e1c5a85cb6001f038f50b4 --- /dev/null +++ b/depth_anything/dpt.py @@ -0,0 +1,187 @@ +import argparse +import torch +import torch.nn as nn +import torch.nn.functional as F +from huggingface_hub import PyTorchModelHubMixin, hf_hub_download + +from depth_anything.blocks import FeatureFusionBlock, _make_scratch + + +def _make_fusion_block(features, use_bn, size = None): + return FeatureFusionBlock( + features, + nn.ReLU(False), + deconv=False, + bn=use_bn, + expand=False, + align_corners=True, + size=size, + ) + + +class DPTHead(nn.Module): + def __init__(self, nclass, in_channels, features=256, use_bn=False, out_channels=[256, 512, 1024, 1024], use_clstoken=False): + super(DPTHead, self).__init__() + + self.nclass = nclass + self.use_clstoken = use_clstoken + + self.projects = nn.ModuleList([ + nn.Conv2d( + in_channels=in_channels, + out_channels=out_channel, + kernel_size=1, + stride=1, + padding=0, + ) for out_channel in out_channels + ]) + + self.resize_layers = nn.ModuleList([ + nn.ConvTranspose2d( + in_channels=out_channels[0], + out_channels=out_channels[0], + kernel_size=4, + stride=4, + padding=0), + nn.ConvTranspose2d( + in_channels=out_channels[1], + out_channels=out_channels[1], + kernel_size=2, + stride=2, + padding=0), + nn.Identity(), + nn.Conv2d( + in_channels=out_channels[3], + out_channels=out_channels[3], + kernel_size=3, + stride=2, + padding=1) + ]) + + if use_clstoken: + self.readout_projects = nn.ModuleList() + for _ in range(len(self.projects)): + self.readout_projects.append( + nn.Sequential( + nn.Linear(2 * in_channels, in_channels), + nn.GELU())) + + self.scratch = _make_scratch( + out_channels, + features, + groups=1, + expand=False, + ) + + self.scratch.stem_transpose = None + + self.scratch.refinenet1 = _make_fusion_block(features, use_bn) + self.scratch.refinenet2 = _make_fusion_block(features, use_bn) + self.scratch.refinenet3 = _make_fusion_block(features, use_bn) + self.scratch.refinenet4 = _make_fusion_block(features, use_bn) + + head_features_1 = features + head_features_2 = 32 + + if nclass > 1: + self.scratch.output_conv = nn.Sequential( + nn.Conv2d(head_features_1, head_features_1, kernel_size=3, stride=1, padding=1), + nn.ReLU(True), + nn.Conv2d(head_features_1, nclass, kernel_size=1, stride=1, padding=0), + ) + else: + self.scratch.output_conv1 = nn.Conv2d(head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1) + + self.scratch.output_conv2 = nn.Sequential( + nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1), + nn.ReLU(True), + nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0), + nn.ReLU(True), + nn.Identity(), + ) + + def forward(self, out_features, patch_h, patch_w): + out = [] + for i, x in enumerate(out_features): + if self.use_clstoken: + x, cls_token = x[0], x[1] + readout = cls_token.unsqueeze(1).expand_as(x) + x = self.readout_projects[i](torch.cat((x, readout), -1)) + else: + x = x[0] + + x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w)) + + x = self.projects[i](x) + x = self.resize_layers[i](x) + + out.append(x) + + layer_1, layer_2, layer_3, layer_4 = out + + layer_1_rn = self.scratch.layer1_rn(layer_1) + layer_2_rn = self.scratch.layer2_rn(layer_2) + layer_3_rn = self.scratch.layer3_rn(layer_3) + layer_4_rn = self.scratch.layer4_rn(layer_4) + + path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:]) + path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:]) + path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:]) + path_1 = self.scratch.refinenet1(path_2, layer_1_rn) + + out = self.scratch.output_conv1(path_1) + out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode="bilinear", align_corners=True) + out = self.scratch.output_conv2(out) + + return out + + +class DPT_DINOv2(nn.Module): + def __init__(self, encoder='vitl', features=256, out_channels=[256, 512, 1024, 1024], use_bn=False, use_clstoken=False, localhub=True): + super(DPT_DINOv2, self).__init__() + + assert encoder in ['vits', 'vitb', 'vitl'] + + # in case the Internet connection is not stable, please load the DINOv2 locally + if localhub: + self.pretrained = torch.hub.load('torchhub/facebookresearch_dinov2_main', 'dinov2_{:}14'.format(encoder), source='local', pretrained=False) + else: + self.pretrained = torch.hub.load('facebookresearch/dinov2', 'dinov2_{:}14'.format(encoder)) + + dim = self.pretrained.blocks[0].attn.qkv.in_features + + self.depth_head = DPTHead(1, dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken) + + def forward(self, x): + h, w = x.shape[-2:] + + features = self.pretrained.get_intermediate_layers(x, 4, return_class_token=True) + + patch_h, patch_w = h // 14, w // 14 + + depth = self.depth_head(features, patch_h, patch_w) + depth = F.interpolate(depth, size=(h, w), mode="bilinear", align_corners=True) + depth = F.relu(depth) + + return depth.squeeze(1) + + +class DepthAnything(DPT_DINOv2, PyTorchModelHubMixin): + def __init__(self, config): + super().__init__(**config) + + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument( + "--encoder", + default="vits", + type=str, + choices=["vits", "vitb", "vitl"], + ) + args = parser.parse_args() + + model = DepthAnything.from_pretrained("LiheYoung/depth_anything_{:}14".format(args.encoder)) + + print(model) + \ No newline at end of file diff --git a/depth_anything/util/__pycache__/transform.cpython-310.pyc b/depth_anything/util/__pycache__/transform.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..04749357dad749bb7f3efe33e188009053968c8e Binary files /dev/null and b/depth_anything/util/__pycache__/transform.cpython-310.pyc differ diff --git a/depth_anything/util/transform.py b/depth_anything/util/transform.py new file mode 100644 index 0000000000000000000000000000000000000000..7beab14a9a1e18a8e46e7666fe5bdec223074155 --- /dev/null +++ b/depth_anything/util/transform.py @@ -0,0 +1,248 @@ +import random +from PIL import Image, ImageOps, ImageFilter +import torch +from torchvision import transforms +import torch.nn.functional as F + +import numpy as np +import cv2 +import math + + +def apply_min_size(sample, size, image_interpolation_method=cv2.INTER_AREA): + """Rezise the sample to ensure the given size. Keeps aspect ratio. + + Args: + sample (dict): sample + size (tuple): image size + + Returns: + tuple: new size + """ + shape = list(sample["disparity"].shape) + + if shape[0] >= size[0] and shape[1] >= size[1]: + return sample + + scale = [0, 0] + scale[0] = size[0] / shape[0] + scale[1] = size[1] / shape[1] + + scale = max(scale) + + shape[0] = math.ceil(scale * shape[0]) + shape[1] = math.ceil(scale * shape[1]) + + # resize + sample["image"] = cv2.resize( + sample["image"], tuple(shape[::-1]), interpolation=image_interpolation_method + ) + + sample["disparity"] = cv2.resize( + sample["disparity"], tuple(shape[::-1]), interpolation=cv2.INTER_NEAREST + ) + sample["mask"] = cv2.resize( + sample["mask"].astype(np.float32), + tuple(shape[::-1]), + interpolation=cv2.INTER_NEAREST, + ) + sample["mask"] = sample["mask"].astype(bool) + + return tuple(shape) + + +class Resize(object): + """Resize sample to given size (width, height). + """ + + def __init__( + self, + width, + height, + resize_target=True, + keep_aspect_ratio=False, + ensure_multiple_of=1, + resize_method="lower_bound", + image_interpolation_method=cv2.INTER_AREA, + ): + """Init. + + Args: + width (int): desired output width + height (int): desired output height + resize_target (bool, optional): + True: Resize the full sample (image, mask, target). + False: Resize image only. + Defaults to True. + keep_aspect_ratio (bool, optional): + True: Keep the aspect ratio of the input sample. + Output sample might not have the given width and height, and + resize behaviour depends on the parameter 'resize_method'. + Defaults to False. + ensure_multiple_of (int, optional): + Output width and height is constrained to be multiple of this parameter. + Defaults to 1. + resize_method (str, optional): + "lower_bound": Output will be at least as large as the given size. + "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) + "minimal": Scale as least as possible. (Output size might be smaller than given size.) + Defaults to "lower_bound". + """ + self.__width = width + self.__height = height + + self.__resize_target = resize_target + self.__keep_aspect_ratio = keep_aspect_ratio + self.__multiple_of = ensure_multiple_of + self.__resize_method = resize_method + self.__image_interpolation_method = image_interpolation_method + + def constrain_to_multiple_of(self, x, min_val=0, max_val=None): + y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) + + if max_val is not None and y > max_val: + y = (np.floor(x / self.__multiple_of) * self.__multiple_of).astype(int) + + if y < min_val: + y = (np.ceil(x / self.__multiple_of) * self.__multiple_of).astype(int) + + return y + + def get_size(self, width, height): + # determine new height and width + scale_height = self.__height / height + scale_width = self.__width / width + + if self.__keep_aspect_ratio: + if self.__resize_method == "lower_bound": + # scale such that output size is lower bound + if scale_width > scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "upper_bound": + # scale such that output size is upper bound + if scale_width < scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "minimal": + # scale as least as possbile + if abs(1 - scale_width) < abs(1 - scale_height): + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + else: + raise ValueError( + f"resize_method {self.__resize_method} not implemented" + ) + + if self.__resize_method == "lower_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, min_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, min_val=self.__width + ) + elif self.__resize_method == "upper_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, max_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, max_val=self.__width + ) + elif self.__resize_method == "minimal": + new_height = self.constrain_to_multiple_of(scale_height * height) + new_width = self.constrain_to_multiple_of(scale_width * width) + else: + raise ValueError(f"resize_method {self.__resize_method} not implemented") + + return (new_width, new_height) + + def __call__(self, sample): + width, height = self.get_size( + sample["image"].shape[1], sample["image"].shape[0] + ) + + # resize sample + sample["image"] = cv2.resize( + sample["image"], + (width, height), + interpolation=self.__image_interpolation_method, + ) + + if self.__resize_target: + if "disparity" in sample: + sample["disparity"] = cv2.resize( + sample["disparity"], + (width, height), + interpolation=cv2.INTER_NEAREST, + ) + + if "depth" in sample: + sample["depth"] = cv2.resize( + sample["depth"], (width, height), interpolation=cv2.INTER_NEAREST + ) + + if "semseg_mask" in sample: + # sample["semseg_mask"] = cv2.resize( + # sample["semseg_mask"], (width, height), interpolation=cv2.INTER_NEAREST + # ) + sample["semseg_mask"] = F.interpolate(torch.from_numpy(sample["semseg_mask"]).float()[None, None, ...], (height, width), mode='nearest').numpy()[0, 0] + + if "mask" in sample: + sample["mask"] = cv2.resize( + sample["mask"].astype(np.float32), + (width, height), + interpolation=cv2.INTER_NEAREST, + ) + # sample["mask"] = sample["mask"].astype(bool) + + # print(sample['image'].shape, sample['depth'].shape) + return sample + + +class NormalizeImage(object): + """Normlize image by given mean and std. + """ + + def __init__(self, mean, std): + self.__mean = mean + self.__std = std + + def __call__(self, sample): + sample["image"] = (sample["image"] - self.__mean) / self.__std + + return sample + + +class PrepareForNet(object): + """Prepare sample for usage as network input. + """ + + def __init__(self): + pass + + def __call__(self, sample): + image = np.transpose(sample["image"], (2, 0, 1)) + sample["image"] = np.ascontiguousarray(image).astype(np.float32) + + if "mask" in sample: + sample["mask"] = sample["mask"].astype(np.float32) + sample["mask"] = np.ascontiguousarray(sample["mask"]) + + if "depth" in sample: + depth = sample["depth"].astype(np.float32) + sample["depth"] = np.ascontiguousarray(depth) + + if "semseg_mask" in sample: + sample["semseg_mask"] = sample["semseg_mask"].astype(np.float32) + sample["semseg_mask"] = np.ascontiguousarray(sample["semseg_mask"]) + + return sample diff --git a/depthanything_server.py b/depthanything_server.py new file mode 100644 index 0000000000000000000000000000000000000000..4cf8f6a290d551b87392472c39536d07dc08bfda --- /dev/null +++ b/depthanything_server.py @@ -0,0 +1,61 @@ +import gradio as gr +import cv2 +import numpy as np +import os +from PIL import Image +import torch +import torch.nn.functional as F +from torchvision.transforms import Compose + +from depth_anything.dpt import DepthAnything +from depth_anything.util.transform import Resize, NormalizeImage, PrepareForNet + + +transform = Compose([ + Resize( + width=518, + height=518, + resize_target=False, + keep_aspect_ratio=True, + ensure_multiple_of=14, + resize_method='lower_bound', + image_interpolation_method=cv2.INTER_CUBIC, + ), + NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), + PrepareForNet(), +]) + +DEVICE = 'cuda' if torch.cuda.is_available() else 'cpu' +model = DepthAnything.from_pretrained('LiheYoung/depth_anything_vits14').to(DEVICE).eval() + + +def predict_depthmap(image): + original_image = image.copy() + + h, w = image.shape[:2] + + image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) / 255.0 + image = transform({'image': image})['image'] + image = torch.from_numpy(image).unsqueeze(0).to(DEVICE) + + with torch.no_grad(): + depth = model(image) + depth = F.interpolate(depth[None], (h, w), mode='bilinear', align_corners=False)[0, 0] + depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 + depth = depth.cpu().numpy().astype(np.uint8) + colored_depth = cv2.applyColorMap(depth, cv2.COLORMAP_INFERNO)[:, :, ::-1] + + # colored_depth = Image.fromarray(cv2.cvtColor(colored_depth, cv2.COLOR_BGR2RGB)) + corlored_depth = Image.fromarray(colored_depth) + + return colored_depth + + +demo = gr.Interface(fn=predict_depthmap, inputs=[gr.Image()], + outputs=[gr.Image(type="pil")] + ) + +demo.launch(share=True, server_name="localhost", server_port=8082) + + + diff --git a/gallery.md b/gallery.md new file mode 100644 index 0000000000000000000000000000000000000000..43b35b09e32d6e59b41df41c4a9d8582c1705804 --- /dev/null +++ b/gallery.md @@ -0,0 +1,160 @@ +# $Depth$ $Anything$ ${\color{crimson}G\color{coral}a\color{royalblue}l\color{olive}l\color{teal}e\color{navy}r\color{plum}y}$ + + + +Here we exhibit awesome community showcases of Depth Anything. Thank all the users for sharing them on the Internet (mainly from Twitter). + +We organize these cases into three groups: [**image**](#image), [**video**](#video), and [**3D**](#3d). + + +## Image + +You can click on the titles below to be directed to corresponding source pages. + +### [Monument Valley](https://twitter.com/weebney/status/1749541957108441309) + + + +### [Cyber rabbit monitoring screens](https://twitter.com/hayas1357/status/1749298607260316139) + + + +### [Astronaut cat](https://twitter.com/nanase_ja/status/1749653152406884392) + + + +### [Animation images](https://twitter.com/PlayShingo/status/1750368475867128200) + + + +### [DALL·E bear](https://twitter.com/letalvoj/status/1749341999646347741) + + + +### [Cat](https://twitter.com/sajilobroker/status/1749364184419016846) + + + +### [Surprised bald man](https://twitter.com/mayfer/status/1749712454408679780) + + + +### [Minecraft](https://twitter.com/BarlowTwin/status/1749353070008693224) + + + +### [Robotic knight amidst lightning](https://twitter.com/IterIntellectus/status/1749432836158021738) + + + +### [Football game](https://twitter.com/AB9Mamun/status/1751202608545456235) + + + +### [Classical raft painting](https://twitter.com/acidbjazz/status/1749491155698331774) + + + +### [Diner scene](https://twitter.com/R0b0tSp1der/status/1749301061964435846) + + + +### [Elon Musk](https://twitter.com/ai_for_success/status/1749304903418482954) + + + +### [Painted tunnel](https://twitter.com/NodiMend/status/1750800040304492814) + + + +### [Iron man](https://twitter.com/ai_for_success/status/1749304906664808751) + + + +### [Skull](https://twitter.com/ai_for_success/status/1749304909730906381) + + + +### [Chibi cat-eared character](https://twitter.com/nanase_ja/status/1749484958522204605) + + + +### [Exuberant gamer celebration](https://twitter.com/hmaon/status/1749372352016625748) + + + +### [Ocean](https://twitter.com/jarrahorphin/status/1749878678111309870) + + + +### [Aerial images](https://twitter.com/lTlanual/status/1749641678124892384) + + + +### [Grilled chicken skewers](https://twitter.com/promptlord/status/1752323556409856157) + + + +### [Artistic images](https://twitter.com/ZainHasan6/status/1753553755998416933) + + + +### [Iconic distracted man](https://twitter.com/ZainHasan6/status/1749308193237303620) + + + +### [Eye-stalked](https://twitter.com/RJdoesVR/status/1749494967800590780) + + + +### [Tearful green frog](https://twitter.com/qsdnl/status/1749298425064313080) + + + + +## Video + +For more online showcases, please refer to https://twitter.com/WilliamLamkin/status/1755623301907460582. + +The videos below may be slow to load. Please wait a moment. + +### [Racing game](https://twitter.com/i/status/1750683014152040853) + + + +### [Building](https://twitter.com/WayneINR/status/1750945037863551247) + + + +### [nuScenes](https://github.com/scepter914/DepthAnything-ROS) + + + +### [Indoor moving](https://twitter.com/PINTO03091/status/1750162506453041437) + + + + +## 3D + +The videos below may be slow to load. Please wait a moment. + +### [3D visualization](https://twitter.com/victormustar/status/1753008143469093212) + +

+ + +### [2D videos to 3D videos](https://twitter.com/stspanho/status/1751709292913143895) + + + +### Reconstruction + +- [case1](https://twitter.com/Artoid_XYZ/status/1751542601772421378) + + + +- [case2](https://twitter.com/DennisLoevlie/status/1753846358463709489) + + + diff --git a/metric_depth/README.md b/metric_depth/README.md new file mode 100644 index 0000000000000000000000000000000000000000..323d2a0a9d5809c934148e251fbb5412bed192be --- /dev/null +++ b/metric_depth/README.md @@ -0,0 +1,89 @@ +# Depth Anything for Metric Depth Estimation + +Our Depth Anything models primarily focus on robust *relative* depth estimation. To achieve *metric* depth estimation, we follow ZoeDepth to fine-tune from our Depth Anything pre-trained encoder with metric depth information from NYUv2 or KITTI. + + +## Performance + +### *In-domain* metric depth estimation + +#### NYUv2 + +| Method | $\delta_1 \uparrow$ | $\delta_2 \uparrow$ | $\delta_3 \uparrow$ | AbsRel $\downarrow$ | RMSE $\downarrow$ | log10 $\downarrow$ | +|:-:|:-:|:-:|:-:|:-:|:-:|:-:| +| ZoeDepth | 0.951 | 0.994 | 0.999 | 0.077 | 0.282 | 0.033 | +| Depth Anything | **0.984** | **0.998** | **1.000** | **0.056** | **0.206** | **0.024** | + + +#### KITTI + +| Method | $\delta_1 \uparrow$ | $\delta_2 \uparrow$ | $\delta_3 \uparrow$ | AbsRel $\downarrow$ | RMSE $\downarrow$ | log10 $\downarrow$ | +|:-:|:-:|:-:|:-:|:-:|:-:|:-:| +| ZoeDepth | 0.971 | 0.996 | 0.999 | 0.054 | 2.281 | 0.082 | +| Depth Anything | **0.982** | **0.998** | **1.000** | **0.046** | **1.896** | **0.069** | + + +### *Zero-shot* metric depth estimation + +Indoor: NYUv2 $\rightarrow$ SUN RGB-D, iBims-1, and HyperSim
+Outdoor: KITTI $\rightarrow$ Virtual KITTI 2 and DIODE Outdoor + + +| Method | SUN || iBims || HyperSim || vKITTI || DIODE Outdoor || +|-|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:|:-:| +| | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | AbsRel | $\delta_1$ | +| ZoeDepth | 0.520 | 0.545 | 0.169 | 0.656 | 0.407 | 0.302 | 0.106 | 0.844 | 0.814 | 0.237 | +| Depth Anything | **0.500** | **0.660** | **0.150** | **0.714** | **0.363** | **0.361** | **0.085** | **0.913** | **0.794** | **0.288** | + + + + +## Pre-trained metric depth estimation models + +We provide [two pre-trained models](https://huggingface.co/spaces/LiheYoung/Depth-Anything/tree/main/checkpoints_metric_depth), one for *indoor* metric depth estimation trained on NYUv2, and the other for *outdoor* metric depth estimation trained on KITTI. + +## Installation + +```bash +conda env create -n depth_anything_metric --file environment.yml +conda activate depth_anything_metric +``` + +Please follow [ZoeDepth](https://github.com/isl-org/ZoeDepth) to prepare the training and test datasets. + +## Evaluation + +Make sure you have downloaded our pre-trained metric-depth models [here](https://huggingface.co/spaces/LiheYoung/Depth-Anything/tree/main/checkpoints_metric_depth) (for evaluation) and pre-trained relative-depth model [here](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints/depth_anything_vitl14.pth) (for initializing the encoder) and put them under the ``checkpoints`` directory. + +Indoor: +```bash +python evaluate.py -m zoedepth --pretrained_resource="local::./checkpoints/depth_anything_metric_depth_indoor.pt" -d +``` + +Outdoor: +```bash +python evaluate.py -m zoedepth --pretrained_resource="local::./checkpoints/depth_anything_metric_depth_outdoor.pt" -d +``` + +## Training + +Please first download our Depth Anything pre-trained model [here](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints/depth_anything_vitl14.pth), and put it under the ``checkpoints`` directory. + +```bash +python train_mono.py -m zoedepth -d --pretrained_resource="" +``` + +This will automatically use our Depth Anything pre-trained ViT-L encoder. + +## Citation + +If you find this project useful, please consider citing: + +```bibtex +@article{depthanything, + title={Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data}, + author={Yang, Lihe and Kang, Bingyi and Huang, Zilong and Xu, Xiaogang and Feng, Jiashi and Zhao, Hengshuang}, + journal={arXiv:2401.10891}, + year={2024}, +} +``` diff --git a/metric_depth/depth_to_pointcloud.py b/metric_depth/depth_to_pointcloud.py new file mode 100644 index 0000000000000000000000000000000000000000..33b263a61e3b09d1b57ddf83041d2eab68790a3c --- /dev/null +++ b/metric_depth/depth_to_pointcloud.py @@ -0,0 +1,79 @@ +# Born out of Issue 36. +# Allows the user to set up own test files to infer on (Create a folder my_test and add subfolder input and output in the metric_depth directory before running this script.) +# Make sure you have the necessary libraries +# Code by @1ssb + +import argparse +import os +import glob +import torch +import numpy as np +from PIL import Image +import torchvision.transforms as transforms +import open3d as o3d +from tqdm import tqdm +from zoedepth.models.builder import build_model +from zoedepth.utils.config import get_config + +# Global settings +FL = 715.0873 +FY = 256 * 0.6 +FX = 256 * 0.6 +NYU_DATA = False +FINAL_HEIGHT = 256 +FINAL_WIDTH = 256 +INPUT_DIR = './my_test/input' +OUTPUT_DIR = './my_test/output' +DATASET = 'nyu' # Lets not pick a fight with the model's dataloader + +def process_images(model): + if not os.path.exists(OUTPUT_DIR): + os.makedirs(OUTPUT_DIR) + + image_paths = glob.glob(os.path.join(INPUT_DIR, '*.png')) + glob.glob(os.path.join(INPUT_DIR, '*.jpg')) + for image_path in tqdm(image_paths, desc="Processing Images"): + try: + color_image = Image.open(image_path).convert('RGB') + original_width, original_height = color_image.size + image_tensor = transforms.ToTensor()(color_image).unsqueeze(0).to('cuda' if torch.cuda.is_available() else 'cpu') + + pred = model(image_tensor, dataset=DATASET) + if isinstance(pred, dict): + pred = pred.get('metric_depth', pred.get('out')) + elif isinstance(pred, (list, tuple)): + pred = pred[-1] + pred = pred.squeeze().detach().cpu().numpy() + + # Resize color image and depth to final size + resized_color_image = color_image.resize((FINAL_WIDTH, FINAL_HEIGHT), Image.LANCZOS) + resized_pred = Image.fromarray(pred).resize((FINAL_WIDTH, FINAL_HEIGHT), Image.NEAREST) + + focal_length_x, focal_length_y = (FX, FY) if not NYU_DATA else (FL, FL) + x, y = np.meshgrid(np.arange(FINAL_WIDTH), np.arange(FINAL_HEIGHT)) + x = (x - FINAL_WIDTH / 2) / focal_length_x + y = (y - FINAL_HEIGHT / 2) / focal_length_y + z = np.array(resized_pred) + points = np.stack((np.multiply(x, z), np.multiply(y, z), z), axis=-1).reshape(-1, 3) + colors = np.array(resized_color_image).reshape(-1, 3) / 255.0 + + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(points) + pcd.colors = o3d.utility.Vector3dVector(colors) + o3d.io.write_point_cloud(os.path.join(OUTPUT_DIR, os.path.splitext(os.path.basename(image_path))[0] + ".ply"), pcd) + except Exception as e: + print(f"Error processing {image_path}: {e}") + +def main(model_name, pretrained_resource): + config = get_config(model_name, "eval", DATASET) + config.pretrained_resource = pretrained_resource + model = build_model(config).to('cuda' if torch.cuda.is_available() else 'cpu') + model.eval() + process_images(model) + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument("-m", "--model", type=str, default='zoedepth', help="Name of the model to test") + parser.add_argument("-p", "--pretrained_resource", type=str, default='local::./checkpoints/depth_anything_metric_depth_indoor.pt', help="Pretrained resource to use for fetching weights.") + + args = parser.parse_args() + main(args.model, args.pretrained_resource) diff --git a/metric_depth/environment.yml b/metric_depth/environment.yml new file mode 100644 index 0000000000000000000000000000000000000000..60d27771ee57eb447fc568af916b67d5583e4577 --- /dev/null +++ b/metric_depth/environment.yml @@ -0,0 +1,26 @@ +name: zoe +channels: + - pytorch + - nvidia + - conda-forge +dependencies: + - cuda=11.7.1 + - h5py=3.7.0 + - hdf5=1.12.2 + - matplotlib=3.6.2 + - matplotlib-base=3.6.2 + - numpy=1.24.1 + - opencv=4.6.0 + - pip=22.3.1 + - python=3.9.7 + - pytorch=1.13.1 + - pytorch-cuda=11.7 + - pytorch-mutex=1.0 + - scipy=1.10.0 + - torchaudio=0.13.1 + - torchvision=0.14.1 + - pip: + - huggingface-hub==0.11.1 + - timm==0.6.12 + - tqdm==4.64.1 + - wandb==0.13.9 diff --git a/metric_depth/evaluate.py b/metric_depth/evaluate.py new file mode 100644 index 0000000000000000000000000000000000000000..34926303b14092a00f8c0bdb3f7969b47d8357f0 --- /dev/null +++ b/metric_depth/evaluate.py @@ -0,0 +1,160 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import argparse +from pprint import pprint + +import torch +from zoedepth.utils.easydict import EasyDict as edict +from tqdm import tqdm + +from zoedepth.data.data_mono import DepthDataLoader +from zoedepth.models.builder import build_model +from zoedepth.utils.arg_utils import parse_unknown +from zoedepth.utils.config import change_dataset, get_config, ALL_EVAL_DATASETS, ALL_INDOOR, ALL_OUTDOOR +from zoedepth.utils.misc import (RunningAverageDict, colors, compute_metrics, + count_parameters) + + +@torch.no_grad() +def infer(model, images, **kwargs): + """Inference with flip augmentation""" + # images.shape = N, C, H, W + def get_depth_from_prediction(pred): + if isinstance(pred, torch.Tensor): + pred = pred # pass + elif isinstance(pred, (list, tuple)): + pred = pred[-1] + elif isinstance(pred, dict): + pred = pred['metric_depth'] if 'metric_depth' in pred else pred['out'] + else: + raise NotImplementedError(f"Unknown output type {type(pred)}") + return pred + + pred1 = model(images, **kwargs) + pred1 = get_depth_from_prediction(pred1) + + pred2 = model(torch.flip(images, [3]), **kwargs) + pred2 = get_depth_from_prediction(pred2) + pred2 = torch.flip(pred2, [3]) + + mean_pred = 0.5 * (pred1 + pred2) + + return mean_pred + + +@torch.no_grad() +def evaluate(model, test_loader, config, round_vals=True, round_precision=3): + model.eval() + metrics = RunningAverageDict() + for i, sample in tqdm(enumerate(test_loader), total=len(test_loader)): + if 'has_valid_depth' in sample: + if not sample['has_valid_depth']: + continue + image, depth = sample['image'], sample['depth'] + image, depth = image.cuda(), depth.cuda() + depth = depth.squeeze().unsqueeze(0).unsqueeze(0) + focal = sample.get('focal', torch.Tensor( + [715.0873]).cuda()) # This magic number (focal) is only used for evaluating BTS model + pred = infer(model, image, dataset=sample['dataset'][0], focal=focal) + + # Save image, depth, pred for visualization + if "save_images" in config and config.save_images: + import os + # print("Saving images ...") + from PIL import Image + import torchvision.transforms as transforms + from zoedepth.utils.misc import colorize + + os.makedirs(config.save_images, exist_ok=True) + # def save_image(img, path): + d = colorize(depth.squeeze().cpu().numpy(), 0, 10) + p = colorize(pred.squeeze().cpu().numpy(), 0, 10) + im = transforms.ToPILImage()(image.squeeze().cpu()) + im.save(os.path.join(config.save_images, f"{i}_img.png")) + Image.fromarray(d).save(os.path.join(config.save_images, f"{i}_depth.png")) + Image.fromarray(p).save(os.path.join(config.save_images, f"{i}_pred.png")) + + + + # print(depth.shape, pred.shape) + metrics.update(compute_metrics(depth, pred, config=config)) + + if round_vals: + def r(m): return round(m, round_precision) + else: + def r(m): return m + metrics = {k: r(v) for k, v in metrics.get_value().items()} + return metrics + +def main(config): + model = build_model(config) + test_loader = DepthDataLoader(config, 'online_eval').data + model = model.cuda() + metrics = evaluate(model, test_loader, config) + print(f"{colors.fg.green}") + print(metrics) + print(f"{colors.reset}") + metrics['#params'] = f"{round(count_parameters(model, include_all=True)/1e6, 2)}M" + return metrics + + +def eval_model(model_name, pretrained_resource, dataset='nyu', **kwargs): + + # Load default pretrained resource defined in config if not set + overwrite = {**kwargs, "pretrained_resource": pretrained_resource} if pretrained_resource else kwargs + config = get_config(model_name, "eval", dataset, **overwrite) + # config = change_dataset(config, dataset) # change the dataset + pprint(config) + print(f"Evaluating {model_name} on {dataset}...") + metrics = main(config) + return metrics + + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument("-m", "--model", type=str, + required=True, help="Name of the model to evaluate") + parser.add_argument("-p", "--pretrained_resource", type=str, + required=False, default="", help="Pretrained resource to use for fetching weights. If not set, default resource from model config is used, Refer models.model_io.load_state_from_resource for more details.") + parser.add_argument("-d", "--dataset", type=str, required=False, + default='nyu', help="Dataset to evaluate on") + + args, unknown_args = parser.parse_known_args() + overwrite_kwargs = parse_unknown(unknown_args) + + if "ALL_INDOOR" in args.dataset: + datasets = ALL_INDOOR + elif "ALL_OUTDOOR" in args.dataset: + datasets = ALL_OUTDOOR + elif "ALL" in args.dataset: + datasets = ALL_EVAL_DATASETS + elif "," in args.dataset: + datasets = args.dataset.split(",") + else: + datasets = [args.dataset] + + for dataset in datasets: + eval_model(args.model, pretrained_resource=args.pretrained_resource, + dataset=dataset, **overwrite_kwargs) diff --git a/metric_depth/point_cloud_on_trackbar.py b/metric_depth/point_cloud_on_trackbar.py new file mode 100644 index 0000000000000000000000000000000000000000..b8591ba2d923f270d8fb98c7272a63dca5217ead --- /dev/null +++ b/metric_depth/point_cloud_on_trackbar.py @@ -0,0 +1,168 @@ +""" +Born out of Depth Anything V2 +Make sure you have the necessary libraries installed. +Code by @1ssb + +This script processes a video to generate depth maps and corresponding point clouds for each frame. +The resulting depth maps are saved in a video format, and the point clouds can be interactively generated for selected frames. + +Usage: + python script.py --video-path path_to_video --input-size 518 --outdir output_directory --encoder vitl --focal-length-x 470.4 --focal-length-y 470.4 --pred-only --grayscale + +Arguments: + --video-path: Path to the input video. + --input-size: Size to which the input frame is resized for depth prediction. + --outdir: Directory to save the output video and point clouds. + --encoder: Model encoder to use. Choices are ['vits', 'vitb', 'vitl', 'vitg']. + --focal-length-x: Focal length along the x-axis. + --focal-length-y: Focal length along the y-axis. + --pred-only: Only display the prediction without the original frame. + --grayscale: Do not apply colorful palette to the depth map. +""" + +import argparse +import cv2 +import glob +import matplotlib +import numpy as np +import os +import torch +import open3d as o3d + +from depth_anything_v2.dpt import DepthAnythingV2 + + +def main(): + # Parse command-line arguments + parser = argparse.ArgumentParser(description='Depth Anything V2 with Point Cloud Generation') + parser.add_argument('--video-path', type=str, required=True, help='Path to the input video.') + parser.add_argument('--input-size', type=int, default=518, help='Size to which the input frame is resized for depth prediction.') + parser.add_argument('--outdir', type=str, default='./vis_video_depth', help='Directory to save the output video and point clouds.') + parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl', 'vitg'], help='Model encoder to use.') + parser.add_argument('--focal-length-x', default=470.4, type=float, help='Focal length along the x-axis.') + parser.add_argument('--focal-length-y', default=470.4, type=float, help='Focal length along the y-axis.') + parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='Only display the prediction.') + parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='Do not apply colorful palette.') + + args = parser.parse_args() + + # Determine the device to use (CUDA, MPS, or CPU) + DEVICE = 'cuda' if torch.cuda.is_available() else 'mps' if torch.backends.mps.is_available() else 'cpu' + + # Model configuration based on the chosen encoder + model_configs = { + 'vits': {'encoder': 'vits', 'features': 64, 'out_channels': [48, 96, 192, 384]}, + 'vitb': {'encoder': 'vitb', 'features': 128, 'out_channels': [96, 192, 384, 768]}, + 'vitl': {'encoder': 'vitl', 'features': 256, 'out_channels': [256, 512, 1024, 1024]}, + 'vitg': {'encoder': 'vitg', 'features': 384, 'out_channels': [1536, 1536, 1536, 1536]} + } + + # Initialize the DepthAnythingV2 model with the specified configuration + depth_anything = DepthAnythingV2(**model_configs[args.encoder]) + depth_anything.load_state_dict(torch.load(f'checkpoints/depth_anything_v2_{args.encoder}.pth', map_location='cpu')) + depth_anything = depth_anything.to(DEVICE).eval() + + # Get the list of video files to process + if os.path.isfile(args.video_path): + if args.video_path.endswith('txt'): + with open(args.video_path, 'r') as f: + lines = f.read().splitlines() + else: + filenames = [args.video_path] + else: + filenames = glob.glob(os.path.join(args.video_path, '**/*'), recursive=True) + + # Create the output directory if it doesn't exist + os.makedirs(args.outdir, exist_ok=True) + + margin_width = 50 + cmap = matplotlib.colormaps.get_cmap('Spectral_r') + + for k, filename in enumerate(filenames): + print(f'Processing {k+1}/{len(filenames)}: {filename}') + + raw_video = cv2.VideoCapture(filename) + frame_width, frame_height = int(raw_video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(raw_video.get(cv2.CAP_PROP_FRAME_HEIGHT)) + frame_rate = int(raw_video.get(cv2.CAP_PROP_FPS)) + + if args.pred_only: + output_width = frame_width + else: + output_width = frame_width * 2 + margin_width + + output_path = os.path.join(args.outdir, os.path.splitext(os.path.basename(filename))[0] + '.mp4') + out = cv2.VideoWriter(output_path, cv2.VideoWriter_fourcc(*"mp4v"), frame_rate, (output_width, frame_height)) + + frame_index = 0 + frame_data = [] + + while raw_video.isOpened(): + ret, raw_frame = raw_video.read() + if not ret: + break + + depth = depth_anything.infer_image(raw_frame, args.input_size) + + depth_normalized = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 + depth_normalized = depth_normalized.astype(np.uint8) + + if args.grayscale: + depth_colored = np.repeat(depth_normalized[..., np.newaxis], 3, axis=-1) + else: + depth_colored = (cmap(depth_normalized)[:, :, :3] * 255)[:, :, ::-1].astype(np.uint8) + + if args.pred_only: + out.write(depth_colored) + else: + split_region = np.ones((frame_height, margin_width, 3), dtype=np.uint8) * 255 + combined_frame = cv2.hconcat([raw_frame, split_region, depth_colored]) + out.write(combined_frame) + + frame_data.append((raw_frame, depth, depth_colored)) + frame_index += 1 + + raw_video.release() + out.release() + + # Function to create point cloud from depth map + def create_point_cloud(raw_frame, depth_map, frame_index): + height, width = raw_frame.shape[:2] + focal_length_x = args.focal_length_x + focal_length_y = args.focal_length_y + + x, y = np.meshgrid(np.arange(width), np.arange(height)) + x = (x - width / 2) / focal_length_x + y = (y - height / 2) / focal_length_y + z = np.array(depth_map) + + points = np.stack((np.multiply(x, z), np.multiply(y, z), z), axis=-1).reshape(-1, 3) + colors = raw_frame.reshape(-1, 3) / 255.0 + + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(points) + pcd.colors = o3d.utility.Vector3dVector(colors) + + pcd_path = os.path.join(args.outdir, f'frame_{frame_index}_point_cloud.ply') + o3d.io.write_point_cloud(pcd_path, pcd) + print(f'Point cloud saved to {pcd_path}') + + # Interactive window to select a frame and generate its point cloud + def on_trackbar(val): + frame_index = val + raw_frame, depth_map, _ = frame_data[frame_index] + create_point_cloud(raw_frame, depth_map, frame_index) + + if frame_data: + cv2.namedWindow('Select Frame for Point Cloud') + cv2.createTrackbar('Frame', 'Select Frame for Point Cloud', 0, frame_index - 1, on_trackbar) + + while True: + key = cv2.waitKey(1) & 0xFF + if key == 27: # Esc key to exit + break + + cv2.destroyAllWindows() + + +if __name__ == '__main__': + main() diff --git a/metric_depth/train_mix.py b/metric_depth/train_mix.py new file mode 100644 index 0000000000000000000000000000000000000000..03256ed612e73a6cd9c9aaee0ef7c7ccd5b7d791 --- /dev/null +++ b/metric_depth/train_mix.py @@ -0,0 +1,182 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +from zoedepth.utils.misc import count_parameters, parallelize +from zoedepth.utils.config import get_config +from zoedepth.utils.arg_utils import parse_unknown +from zoedepth.trainers.builder import get_trainer +from zoedepth.models.builder import build_model +from zoedepth.data.data_mono import MixedNYUKITTI +import torch.utils.data.distributed +import torch.multiprocessing as mp +import torch +import numpy as np +from pprint import pprint +import argparse +import os + +os.environ["PYOPENGL_PLATFORM"] = "egl" +os.environ["WANDB_START_METHOD"] = "thread" + + +def fix_random_seed(seed: int): + """ + Fix random seed for reproducibility + + Args: + seed (int): random seed + """ + import random + + import numpy + import torch + + random.seed(seed) + numpy.random.seed(seed) + torch.manual_seed(seed) + torch.cuda.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + + torch.backends.cudnn.deterministic = True + torch.backends.cudnn.benchmark = False + + +def load_ckpt(config, model, checkpoint_dir="./checkpoints", ckpt_type="best"): + import glob + import os + + from zoedepth.models.model_io import load_wts + + if hasattr(config, "checkpoint"): + checkpoint = config.checkpoint + elif hasattr(config, "ckpt_pattern"): + pattern = config.ckpt_pattern + matches = glob.glob(os.path.join( + checkpoint_dir, f"*{pattern}*{ckpt_type}*")) + if not (len(matches) > 0): + raise ValueError(f"No matches found for the pattern {pattern}") + + checkpoint = matches[0] + + else: + return model + model = load_wts(model, checkpoint) + print("Loaded weights from {0}".format(checkpoint)) + return model + + +def main_worker(gpu, ngpus_per_node, config): + try: + fix_random_seed(43) + + config.gpu = gpu + + model = build_model(config) + + # print(model) + + model = load_ckpt(config, model) + model = parallelize(config, model) + + total_params = f"{round(count_parameters(model)/1e6,2)}M" + config.total_params = total_params + print(f"Total parameters : {total_params}") + + train_loader = MixedNYUKITTI(config, "train").data + test_loader = MixedNYUKITTI(config, "online_eval").data + + trainer = get_trainer(config)( + config, model, train_loader, test_loader, device=config.gpu) + + trainer.train() + finally: + import wandb + wandb.finish() + + +if __name__ == '__main__': + mp.set_start_method('forkserver') + + parser = argparse.ArgumentParser() + parser.add_argument("-m", "--model", type=str, default="synunet") + parser.add_argument("-d", "--dataset", type=str, default='mix') + parser.add_argument("--trainer", type=str, default=None) + + args, unknown_args = parser.parse_known_args() + overwrite_kwargs = parse_unknown(unknown_args) + + overwrite_kwargs["model"] = args.model + if args.trainer is not None: + overwrite_kwargs["trainer"] = args.trainer + + config = get_config(args.model, "train", args.dataset, **overwrite_kwargs) + # git_commit() + if config.use_shared_dict: + shared_dict = mp.Manager().dict() + else: + shared_dict = None + config.shared_dict = shared_dict + + config.batch_size = config.bs + config.mode = 'train' + if config.root != "." and not os.path.isdir(config.root): + os.makedirs(config.root) + + try: + node_str = os.environ['SLURM_JOB_NODELIST'].replace( + '[', '').replace(']', '') + nodes = node_str.split(',') + + config.world_size = len(nodes) + config.rank = int(os.environ['SLURM_PROCID']) + # config.save_dir = "/ibex/scratch/bhatsf/videodepth/checkpoints" + + except KeyError as e: + # We are NOT using SLURM + config.world_size = 1 + config.rank = 0 + nodes = ["127.0.0.1"] + + if config.distributed: + + print(config.rank) + port = np.random.randint(15000, 15025) + config.dist_url = 'tcp://{}:{}'.format(nodes[0], port) + print(config.dist_url) + config.dist_backend = 'nccl' + config.gpu = None + + ngpus_per_node = torch.cuda.device_count() + config.num_workers = config.workers + config.ngpus_per_node = ngpus_per_node + print("Config:") + pprint(config) + if config.distributed: + config.world_size = ngpus_per_node * config.world_size + mp.spawn(main_worker, nprocs=ngpus_per_node, + args=(ngpus_per_node, config)) + else: + if ngpus_per_node == 1: + config.gpu = 0 + main_worker(config.gpu, ngpus_per_node, config) diff --git a/metric_depth/train_mono.py b/metric_depth/train_mono.py new file mode 100644 index 0000000000000000000000000000000000000000..4f9b7a8dc8de8f0c2c944c3ed543b1482757c677 --- /dev/null +++ b/metric_depth/train_mono.py @@ -0,0 +1,176 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +from zoedepth.utils.misc import count_parameters, parallelize +from zoedepth.utils.config import get_config +from zoedepth.utils.arg_utils import parse_unknown +from zoedepth.trainers.builder import get_trainer +from zoedepth.models.builder import build_model +from zoedepth.data.data_mono import DepthDataLoader +import torch.utils.data.distributed +import torch.multiprocessing as mp +import torch +import numpy as np +from pprint import pprint +import argparse +import os + +os.environ["PYOPENGL_PLATFORM"] = "egl" +os.environ["WANDB_START_METHOD"] = "thread" + + +def fix_random_seed(seed: int): + import random + + import numpy + import torch + + random.seed(seed) + numpy.random.seed(seed) + torch.manual_seed(seed) + torch.cuda.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + + torch.backends.cudnn.deterministic = True + torch.backends.cudnn.benchmark = True + + +def load_ckpt(config, model, checkpoint_dir="./checkpoints", ckpt_type="best"): + import glob + import os + + from zoedepth.models.model_io import load_wts + + if hasattr(config, "checkpoint"): + checkpoint = config.checkpoint + elif hasattr(config, "ckpt_pattern"): + pattern = config.ckpt_pattern + matches = glob.glob(os.path.join( + checkpoint_dir, f"*{pattern}*{ckpt_type}*")) + if not (len(matches) > 0): + raise ValueError(f"No matches found for the pattern {pattern}") + + checkpoint = matches[0] + + else: + return model + model = load_wts(model, checkpoint) + print("Loaded weights from {0}".format(checkpoint)) + return model + + +def main_worker(gpu, ngpus_per_node, config): + try: + seed = config.seed if 'seed' in config and config.seed else 43 + fix_random_seed(seed) + + config.gpu = gpu + + model = build_model(config) + # print(model) + + model = load_ckpt(config, model) + model = parallelize(config, model) + + total_params = f"{round(count_parameters(model)/1e6,2)}M" + config.total_params = total_params + print(f"Total parameters : {total_params}") + + train_loader = DepthDataLoader(config, "train").data + test_loader = DepthDataLoader(config, "online_eval").data + + trainer = get_trainer(config)( + config, model, train_loader, test_loader, device=config.gpu) + + trainer.train() + finally: + import wandb + wandb.finish() + + +if __name__ == '__main__': + mp.set_start_method('forkserver') + + parser = argparse.ArgumentParser() + parser.add_argument("-m", "--model", type=str, default="synunet") + parser.add_argument("-d", "--dataset", type=str, default='nyu') + parser.add_argument("--trainer", type=str, default=None) + + args, unknown_args = parser.parse_known_args() + overwrite_kwargs = parse_unknown(unknown_args) + + overwrite_kwargs["model"] = args.model + if args.trainer is not None: + overwrite_kwargs["trainer"] = args.trainer + + config = get_config(args.model, "train", args.dataset, **overwrite_kwargs) + # git_commit() + if config.use_shared_dict: + shared_dict = mp.Manager().dict() + else: + shared_dict = None + config.shared_dict = shared_dict + + config.batch_size = config.bs + config.mode = 'train' + if config.root != "." and not os.path.isdir(config.root): + os.makedirs(config.root) + + try: + node_str = os.environ['SLURM_JOB_NODELIST'].replace( + '[', '').replace(']', '') + nodes = node_str.split(',') + + config.world_size = len(nodes) + config.rank = int(os.environ['SLURM_PROCID']) + # config.save_dir = "/ibex/scratch/bhatsf/videodepth/checkpoints" + + except KeyError as e: + # We are NOT using SLURM + config.world_size = 1 + config.rank = 0 + nodes = ["127.0.0.1"] + + if config.distributed: + + print(config.rank) + port = np.random.randint(15000, 15025) + config.dist_url = 'tcp://{}:{}'.format(nodes[0], port) + print(config.dist_url) + config.dist_backend = 'nccl' + config.gpu = None + + ngpus_per_node = torch.cuda.device_count() + config.num_workers = config.workers + config.ngpus_per_node = ngpus_per_node + print("Config:") + pprint(config) + if config.distributed: + config.world_size = ngpus_per_node * config.world_size + mp.spawn(main_worker, nprocs=ngpus_per_node, + args=(ngpus_per_node, config)) + else: + if ngpus_per_node == 1: + config.gpu = 0 + main_worker(config.gpu, ngpus_per_node, config) diff --git a/metric_depth/train_test_inputs/kitti_eigen_test_files_with_gt.txt b/metric_depth/train_test_inputs/kitti_eigen_test_files_with_gt.txt new file mode 100644 index 0000000000000000000000000000000000000000..575b66115c160f6c9df37a206ac8ba17e6771ccc --- /dev/null +++ b/metric_depth/train_test_inputs/kitti_eigen_test_files_with_gt.txt @@ -0,0 +1,697 @@ +2011_09_26/2011_09_26_drive_0002_sync/image_02/data/0000000069.png 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0000000000000000000000000000000000000000..5f2668792389157609abb2a0846fb620e7d67eb9 --- /dev/null +++ b/metric_depth/zoedepth/data/__init__.py @@ -0,0 +1,24 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + diff --git a/metric_depth/zoedepth/data/data_mono.py b/metric_depth/zoedepth/data/data_mono.py new file mode 100644 index 0000000000000000000000000000000000000000..80a8486f239a35331df553f490e213f9bf71e735 --- /dev/null +++ b/metric_depth/zoedepth/data/data_mono.py @@ -0,0 +1,573 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +# This file is partly inspired from BTS (https://github.com/cleinc/bts/blob/master/pytorch/bts_dataloader.py); author: Jin Han Lee + +import itertools +import os +import random + +import numpy as np +import cv2 +import torch +import torch.nn as nn +import torch.utils.data.distributed +from zoedepth.utils.easydict import EasyDict as edict +from PIL import Image, ImageOps +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + +from zoedepth.utils.config import change_dataset + +from .ddad import get_ddad_loader +from .diml_indoor_test import get_diml_indoor_loader +from .diml_outdoor_test import get_diml_outdoor_loader +from .diode import get_diode_loader +from .hypersim import get_hypersim_loader +from .ibims import get_ibims_loader +from .sun_rgbd_loader import get_sunrgbd_loader +from .vkitti import get_vkitti_loader +from .vkitti2 import get_vkitti2_loader + +from .preprocess import CropParams, get_white_border, get_black_border + + +def _is_pil_image(img): + return isinstance(img, Image.Image) + + +def _is_numpy_image(img): + return isinstance(img, np.ndarray) and (img.ndim in {2, 3}) + + +def preprocessing_transforms(mode, **kwargs): + return transforms.Compose([ + ToTensor(mode=mode, **kwargs) + ]) + + +class DepthDataLoader(object): + def __init__(self, config, mode, device='cpu', transform=None, **kwargs): + """ + Data loader for depth datasets + + Args: + config (dict): Config dictionary. Refer to utils/config.py + mode (str): "train" or "online_eval" + device (str, optional): Device to load the data on. Defaults to 'cpu'. + transform (torchvision.transforms, optional): Transform to apply to the data. Defaults to None. + """ + + self.config = config + + if config.dataset == 'ibims': + self.data = get_ibims_loader(config, batch_size=1, num_workers=1) + return + + if config.dataset == 'sunrgbd': + self.data = get_sunrgbd_loader( + data_dir_root=config.sunrgbd_root, batch_size=1, num_workers=1) + return + + if config.dataset == 'diml_indoor': + self.data = get_diml_indoor_loader( + data_dir_root=config.diml_indoor_root, batch_size=1, num_workers=1) + return + + if config.dataset == 'diml_outdoor': + self.data = get_diml_outdoor_loader( + data_dir_root=config.diml_outdoor_root, batch_size=1, num_workers=1) + return + + if "diode" in config.dataset: + self.data = get_diode_loader( + config[config.dataset+"_root"], batch_size=1, num_workers=1) + return + + if config.dataset == 'hypersim_test': + self.data = get_hypersim_loader( + config.hypersim_test_root, batch_size=1, num_workers=1) + return + + if config.dataset == 'vkitti': + self.data = get_vkitti_loader( + config.vkitti_root, batch_size=1, num_workers=1) + return + + if config.dataset == 'vkitti2': + self.data = get_vkitti2_loader( + config.vkitti2_root, batch_size=1, num_workers=1) + return + + if config.dataset == 'ddad': + self.data = get_ddad_loader(config.ddad_root, resize_shape=( + 352, 1216), batch_size=1, num_workers=1) + return + + img_size = self.config.get("img_size", None) + img_size = img_size if self.config.get( + "do_input_resize", False) else None + + if transform is None: + transform = preprocessing_transforms(mode, size=img_size) + + if mode == 'train': + + Dataset = DataLoadPreprocess + self.training_samples = Dataset( + config, mode, transform=transform, device=device) + + if config.distributed: + self.train_sampler = torch.utils.data.distributed.DistributedSampler( + self.training_samples) + else: + self.train_sampler = None + + self.data = DataLoader(self.training_samples, + batch_size=config.batch_size, + shuffle=(self.train_sampler is None), + num_workers=config.workers, + pin_memory=True, + persistent_workers=True, + # prefetch_factor=2, + sampler=self.train_sampler) + + elif mode == 'online_eval': + self.testing_samples = DataLoadPreprocess( + config, mode, transform=transform) + if config.distributed: # redundant. here only for readability and to be more explicit + # Give whole test set to all processes (and report evaluation only on one) regardless + self.eval_sampler = None + else: + self.eval_sampler = None + self.data = DataLoader(self.testing_samples, 1, + shuffle=kwargs.get("shuffle_test", False), + num_workers=1, + pin_memory=False, + sampler=self.eval_sampler) + + elif mode == 'test': + self.testing_samples = DataLoadPreprocess( + config, mode, transform=transform) + self.data = DataLoader(self.testing_samples, + 1, shuffle=False, num_workers=1) + + else: + print( + 'mode should be one of \'train, test, online_eval\'. Got {}'.format(mode)) + + +def repetitive_roundrobin(*iterables): + """ + cycles through iterables but sample wise + first yield first sample from first iterable then first sample from second iterable and so on + then second sample from first iterable then second sample from second iterable and so on + + If one iterable is shorter than the others, it is repeated until all iterables are exhausted + repetitive_roundrobin('ABC', 'D', 'EF') --> A D E B D F C D E + """ + # Repetitive roundrobin + iterables_ = [iter(it) for it in iterables] + exhausted = [False] * len(iterables) + while not all(exhausted): + for i, it in enumerate(iterables_): + try: + yield next(it) + except StopIteration: + exhausted[i] = True + iterables_[i] = itertools.cycle(iterables[i]) + # First elements may get repeated if one iterable is shorter than the others + yield next(iterables_[i]) + + +class RepetitiveRoundRobinDataLoader(object): + def __init__(self, *dataloaders): + self.dataloaders = dataloaders + + def __iter__(self): + return repetitive_roundrobin(*self.dataloaders) + + def __len__(self): + # First samples get repeated, thats why the plus one + return len(self.dataloaders) * (max(len(dl) for dl in self.dataloaders) + 1) + + +class MixedNYUKITTI(object): + def __init__(self, config, mode, device='cpu', **kwargs): + config = edict(config) + config.workers = config.workers // 2 + self.config = config + nyu_conf = change_dataset(edict(config), 'nyu') + kitti_conf = change_dataset(edict(config), 'kitti') + + # make nyu default for testing + self.config = config = nyu_conf + img_size = self.config.get("img_size", None) + img_size = img_size if self.config.get( + "do_input_resize", False) else None + if mode == 'train': + nyu_loader = DepthDataLoader( + nyu_conf, mode, device=device, transform=preprocessing_transforms(mode, size=img_size)).data + kitti_loader = DepthDataLoader( + kitti_conf, mode, device=device, transform=preprocessing_transforms(mode, size=img_size)).data + # It has been changed to repetitive roundrobin + self.data = RepetitiveRoundRobinDataLoader( + nyu_loader, kitti_loader) + else: + self.data = DepthDataLoader(nyu_conf, mode, device=device).data + + +def remove_leading_slash(s): + if s[0] == '/' or s[0] == '\\': + return s[1:] + return s + + +class CachedReader: + def __init__(self, shared_dict=None): + if shared_dict: + self._cache = shared_dict + else: + self._cache = {} + + def open(self, fpath): + im = self._cache.get(fpath, None) + if im is None: + im = self._cache[fpath] = Image.open(fpath) + return im + + +class ImReader: + def __init__(self): + pass + + # @cache + def open(self, fpath): + return Image.open(fpath) + + +class DataLoadPreprocess(Dataset): + def __init__(self, config, mode, transform=None, is_for_online_eval=False, **kwargs): + self.config = config + if mode == 'online_eval': + with open(config.filenames_file_eval, 'r') as f: + self.filenames = f.readlines() + else: + with open(config.filenames_file, 'r') as f: + self.filenames = f.readlines() + + self.mode = mode + self.transform = transform + self.to_tensor = ToTensor(mode) + self.is_for_online_eval = is_for_online_eval + if config.use_shared_dict: + self.reader = CachedReader(config.shared_dict) + else: + self.reader = ImReader() + + def postprocess(self, sample): + return sample + + def __getitem__(self, idx): + sample_path = self.filenames[idx] + focal = float(sample_path.split()[2]) + sample = {} + + if self.mode == 'train': + if self.config.dataset == 'kitti' and self.config.use_right and random.random() > 0.5: + image_path = os.path.join( + self.config.data_path, remove_leading_slash(sample_path.split()[3])) + depth_path = os.path.join( + self.config.gt_path, remove_leading_slash(sample_path.split()[4])) + else: + image_path = os.path.join( + self.config.data_path, remove_leading_slash(sample_path.split()[0])) + depth_path = os.path.join( + self.config.gt_path, remove_leading_slash(sample_path.split()[1])) + + image = self.reader.open(image_path) + depth_gt = self.reader.open(depth_path) + w, h = image.size + + if self.config.do_kb_crop: + height = image.height + width = image.width + top_margin = int(height - 352) + left_margin = int((width - 1216) / 2) + depth_gt = depth_gt.crop( + (left_margin, top_margin, left_margin + 1216, top_margin + 352)) + image = image.crop( + (left_margin, top_margin, left_margin + 1216, top_margin + 352)) + + # Avoid blank boundaries due to pixel registration? + # Train images have white border. Test images have black border. + if self.config.dataset == 'nyu' and self.config.avoid_boundary: + # print("Avoiding Blank Boundaries!") + # We just crop and pad again with reflect padding to original size + # original_size = image.size + crop_params = get_white_border(np.array(image, dtype=np.uint8)) + image = image.crop((crop_params.left, crop_params.top, crop_params.right, crop_params.bottom)) + depth_gt = depth_gt.crop((crop_params.left, crop_params.top, crop_params.right, crop_params.bottom)) + + # Use reflect padding to fill the blank + image = np.array(image) + image = np.pad(image, ((crop_params.top, h - crop_params.bottom), (crop_params.left, w - crop_params.right), (0, 0)), mode='reflect') + image = Image.fromarray(image) + + depth_gt = np.array(depth_gt) + depth_gt = np.pad(depth_gt, ((crop_params.top, h - crop_params.bottom), (crop_params.left, w - crop_params.right)), 'constant', constant_values=0) + depth_gt = Image.fromarray(depth_gt) + + + if self.config.do_random_rotate and (self.config.aug): + random_angle = (random.random() - 0.5) * 2 * self.config.degree + image = self.rotate_image(image, random_angle) + depth_gt = self.rotate_image( + depth_gt, random_angle, flag=Image.NEAREST) + + image = np.asarray(image, dtype=np.float32) / 255.0 + depth_gt = np.asarray(depth_gt, dtype=np.float32) + depth_gt = np.expand_dims(depth_gt, axis=2) + + if self.config.dataset == 'nyu': + depth_gt = depth_gt / 1000.0 + else: + depth_gt = depth_gt / 256.0 + + if self.config.aug and (self.config.random_crop): + image, depth_gt = self.random_crop( + image, depth_gt, self.config.input_height, self.config.input_width) + + if self.config.aug and self.config.random_translate: + # print("Random Translation!") + image, depth_gt = self.random_translate(image, depth_gt, self.config.max_translation) + + image, depth_gt = self.train_preprocess(image, depth_gt) + mask = np.logical_and(depth_gt > self.config.min_depth, + depth_gt < self.config.max_depth).squeeze()[None, ...] + sample = {'image': image, 'depth': depth_gt, 'focal': focal, + 'mask': mask, **sample} + + else: + if self.mode == 'online_eval': + data_path = self.config.data_path_eval + else: + data_path = self.config.data_path + + image_path = os.path.join( + data_path, remove_leading_slash(sample_path.split()[0])) + image = np.asarray(self.reader.open(image_path), + dtype=np.float32) / 255.0 + + if self.mode == 'online_eval': + gt_path = self.config.gt_path_eval + depth_path = os.path.join( + gt_path, remove_leading_slash(sample_path.split()[1])) + has_valid_depth = False + try: + depth_gt = self.reader.open(depth_path) + has_valid_depth = True + except IOError: + depth_gt = False + # print('Missing gt for {}'.format(image_path)) + + if has_valid_depth: + depth_gt = np.asarray(depth_gt, dtype=np.float32) + depth_gt = np.expand_dims(depth_gt, axis=2) + if self.config.dataset == 'nyu': + depth_gt = depth_gt / 1000.0 + else: + depth_gt = depth_gt / 256.0 + + mask = np.logical_and( + depth_gt >= self.config.min_depth, depth_gt <= self.config.max_depth).squeeze()[None, ...] + else: + mask = False + + if self.config.do_kb_crop: + height = image.shape[0] + width = image.shape[1] + top_margin = int(height - 352) + left_margin = int((width - 1216) / 2) + image = image[top_margin:top_margin + 352, + left_margin:left_margin + 1216, :] + if self.mode == 'online_eval' and has_valid_depth: + depth_gt = depth_gt[top_margin:top_margin + + 352, left_margin:left_margin + 1216, :] + + if self.mode == 'online_eval': + sample = {'image': image, 'depth': depth_gt, 'focal': focal, 'has_valid_depth': has_valid_depth, + 'image_path': sample_path.split()[0], 'depth_path': sample_path.split()[1], + 'mask': mask} + else: + sample = {'image': image, 'focal': focal} + + if (self.mode == 'train') or ('has_valid_depth' in sample and sample['has_valid_depth']): + mask = np.logical_and(depth_gt > self.config.min_depth, + depth_gt < self.config.max_depth).squeeze()[None, ...] + sample['mask'] = mask + + if self.transform: + sample = self.transform(sample) + + sample = self.postprocess(sample) + sample['dataset'] = self.config.dataset + sample = {**sample, 'image_path': sample_path.split()[0], 'depth_path': sample_path.split()[1]} + + return sample + + def rotate_image(self, image, angle, flag=Image.BILINEAR): + result = image.rotate(angle, resample=flag) + return result + + def random_crop(self, img, depth, height, width): + assert img.shape[0] >= height + assert img.shape[1] >= width + assert img.shape[0] == depth.shape[0] + assert img.shape[1] == depth.shape[1] + x = random.randint(0, img.shape[1] - width) + y = random.randint(0, img.shape[0] - height) + img = img[y:y + height, x:x + width, :] + depth = depth[y:y + height, x:x + width, :] + + return img, depth + + def random_translate(self, img, depth, max_t=20): + assert img.shape[0] == depth.shape[0] + assert img.shape[1] == depth.shape[1] + p = self.config.translate_prob + do_translate = random.random() + if do_translate > p: + return img, depth + x = random.randint(-max_t, max_t) + y = random.randint(-max_t, max_t) + M = np.float32([[1, 0, x], [0, 1, y]]) + # print(img.shape, depth.shape) + img = cv2.warpAffine(img, M, (img.shape[1], img.shape[0])) + depth = cv2.warpAffine(depth, M, (depth.shape[1], depth.shape[0])) + depth = depth.squeeze()[..., None] # add channel dim back. Affine warp removes it + # print("after", img.shape, depth.shape) + return img, depth + + def train_preprocess(self, image, depth_gt): + if self.config.aug: + # Random flipping + do_flip = random.random() + if do_flip > 0.5: + image = (image[:, ::-1, :]).copy() + depth_gt = (depth_gt[:, ::-1, :]).copy() + + # Random gamma, brightness, color augmentation + do_augment = random.random() + if do_augment > 0.5: + image = self.augment_image(image) + + return image, depth_gt + + def augment_image(self, image): + # gamma augmentation + gamma = random.uniform(0.9, 1.1) + image_aug = image ** gamma + + # brightness augmentation + if self.config.dataset == 'nyu': + brightness = random.uniform(0.75, 1.25) + else: + brightness = random.uniform(0.9, 1.1) + image_aug = image_aug * brightness + + # color augmentation + colors = np.random.uniform(0.9, 1.1, size=3) + white = np.ones((image.shape[0], image.shape[1])) + color_image = np.stack([white * colors[i] for i in range(3)], axis=2) + image_aug *= color_image + image_aug = np.clip(image_aug, 0, 1) + + return image_aug + + def __len__(self): + return len(self.filenames) + + +class ToTensor(object): + def __init__(self, mode, do_normalize=False, size=None): + self.mode = mode + self.normalize = transforms.Normalize( + mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) if do_normalize else nn.Identity() + self.size = size + if size is not None: + self.resize = transforms.Resize(size=size) + else: + self.resize = nn.Identity() + + def __call__(self, sample): + image, focal = sample['image'], sample['focal'] + image = self.to_tensor(image) + image = self.normalize(image) + image = self.resize(image) + + if self.mode == 'test': + return {'image': image, 'focal': focal} + + depth = sample['depth'] + if self.mode == 'train': + depth = self.to_tensor(depth) + return {**sample, 'image': image, 'depth': depth, 'focal': focal} + else: + has_valid_depth = sample['has_valid_depth'] + image = self.resize(image) + return {**sample, 'image': image, 'depth': depth, 'focal': focal, 'has_valid_depth': has_valid_depth, + 'image_path': sample['image_path'], 'depth_path': sample['depth_path']} + + def to_tensor(self, pic): + if not (_is_pil_image(pic) or _is_numpy_image(pic)): + raise TypeError( + 'pic should be PIL Image or ndarray. Got {}'.format(type(pic))) + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img diff --git a/metric_depth/zoedepth/data/ddad.py b/metric_depth/zoedepth/data/ddad.py new file mode 100644 index 0000000000000000000000000000000000000000..378eb33a8d7319090ae094a292ee31a53b3705d8 --- /dev/null +++ b/metric_depth/zoedepth/data/ddad.py @@ -0,0 +1,125 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + + +class ToTensor(object): + def __init__(self, resize_shape): + # self.normalize = transforms.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x : x + self.resize = transforms.Resize(resize_shape) + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + image = self.resize(image) + + return {'image': image, 'depth': depth, 'dataset': "ddad"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class DDAD(Dataset): + def __init__(self, data_dir_root, resize_shape): + import glob + + # image paths are of the form /{outleft, depthmap}/*.png + + # self.image_files = glob.glob(os.path.join(data_dir_root, '*.png')) + # self.depth_files = [r.replace("_rgb.png", "_depth.npy") + # for r in self.image_files] + self.image_files, self.depth_files = [], [] + with open('/mnt/bn/liheyang/MTL-SA-1B/dataset/splits/ddad/val.txt', 'r') as f: + lines = f.read().splitlines() + for line in lines: + self.image_files.append(line.split(' ')[0]) + self.depth_files.append(line.split(' ')[1]) + + self.transform = ToTensor(resize_shape) + + def __getitem__(self, idx): + + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + + image = np.asarray(Image.open(image_path), dtype=np.float32) / 255.0 + depth = np.load(depth_path) # meters + + # depth[depth > 8] = -1 + depth = depth[..., None] + + sample = dict(image=image, depth=depth) + sample = self.transform(sample) + + if idx == 0: + print(sample["image"].shape) + + return sample + + def __len__(self): + return len(self.image_files) + + +def get_ddad_loader(data_dir_root, resize_shape, batch_size=1, **kwargs): + dataset = DDAD(data_dir_root, resize_shape) + return DataLoader(dataset, batch_size, **kwargs) diff --git a/metric_depth/zoedepth/data/diml_indoor_test.py b/metric_depth/zoedepth/data/diml_indoor_test.py new file mode 100644 index 0000000000000000000000000000000000000000..f720ad9aefaee78ef4ec363dfef0f82ace850a6d --- /dev/null +++ b/metric_depth/zoedepth/data/diml_indoor_test.py @@ -0,0 +1,125 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + + +class ToTensor(object): + def __init__(self): + # self.normalize = transforms.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x : x + self.resize = transforms.Resize((480, 640)) + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + image = self.resize(image) + + return {'image': image, 'depth': depth, 'dataset': "diml_indoor"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class DIML_Indoor(Dataset): + def __init__(self, data_dir_root): + import glob + + # image paths are of the form /{HR, LR}//{color, depth_filled}/*.png + self.image_files = glob.glob(os.path.join( + data_dir_root, "LR", '*', 'color', '*.png')) + self.depth_files = [r.replace("color", "depth_filled").replace( + "_c.png", "_depth_filled.png") for r in self.image_files] + self.transform = ToTensor() + + def __getitem__(self, idx): + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + + image = np.asarray(Image.open(image_path), dtype=np.float32) / 255.0 + depth = np.asarray(Image.open(depth_path), + dtype='uint16') / 1000.0 # mm to meters + + # print(np.shape(image)) + # print(np.shape(depth)) + + # depth[depth > 8] = -1 + depth = depth[..., None] + + sample = dict(image=image, depth=depth) + + # return sample + sample = self.transform(sample) + + if idx == 0: + print(sample["image"].shape) + + return sample + + def __len__(self): + return len(self.image_files) + + +def get_diml_indoor_loader(data_dir_root, batch_size=1, **kwargs): + dataset = DIML_Indoor(data_dir_root) + return DataLoader(dataset, batch_size, **kwargs) + +# get_diml_indoor_loader(data_dir_root="datasets/diml/indoor/test/HR") +# get_diml_indoor_loader(data_dir_root="datasets/diml/indoor/test/LR") diff --git a/metric_depth/zoedepth/data/diml_outdoor_test.py b/metric_depth/zoedepth/data/diml_outdoor_test.py new file mode 100644 index 0000000000000000000000000000000000000000..1a6569ecffb17c7e565801117217998491d1aa4d --- /dev/null +++ b/metric_depth/zoedepth/data/diml_outdoor_test.py @@ -0,0 +1,114 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + + +class ToTensor(object): + def __init__(self): + # self.normalize = transforms.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x : x + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + return {'image': image, 'depth': depth, 'dataset': "diml_outdoor"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class DIML_Outdoor(Dataset): + def __init__(self, data_dir_root): + import glob + + # image paths are of the form /{outleft, depthmap}/*.png + self.image_files = glob.glob(os.path.join( + data_dir_root, 'outleft', '*.png')) + self.depth_files = [r.replace("outleft", "depthmap") + for r in self.image_files] + self.transform = ToTensor() + + def __getitem__(self, idx): + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + + image = np.asarray(Image.open(image_path), dtype=np.float32) / 255.0 + depth = np.asarray(Image.open(depth_path), + dtype='uint16') / 1000.0 # mm to meters + + # depth[depth > 8] = -1 + depth = depth[..., None] + + sample = dict(image=image, depth=depth, dataset="diml_outdoor") + + # return sample + return self.transform(sample) + + def __len__(self): + return len(self.image_files) + + +def get_diml_outdoor_loader(data_dir_root, batch_size=1, **kwargs): + dataset = DIML_Outdoor(data_dir_root) + return DataLoader(dataset, batch_size, **kwargs) + +# get_diml_outdoor_loader(data_dir_root="datasets/diml/outdoor/test/HR") +# get_diml_outdoor_loader(data_dir_root="datasets/diml/outdoor/test/LR") diff --git a/metric_depth/zoedepth/data/diode.py b/metric_depth/zoedepth/data/diode.py new file mode 100644 index 0000000000000000000000000000000000000000..1510c87116b8f70ce2e1428873a8e4da042bee23 --- /dev/null +++ b/metric_depth/zoedepth/data/diode.py @@ -0,0 +1,125 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + + +class ToTensor(object): + def __init__(self): + # self.normalize = transforms.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x : x + self.resize = transforms.Resize(480) + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + image = self.resize(image) + + return {'image': image, 'depth': depth, 'dataset': "diode"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class DIODE(Dataset): + def __init__(self, data_dir_root): + import glob + + # image paths are of the form /scene_#/scan_#/*.png + self.image_files = glob.glob( + os.path.join(data_dir_root, '*', '*', '*.png')) + self.depth_files = [r.replace(".png", "_depth.npy") + for r in self.image_files] + self.depth_mask_files = [ + r.replace(".png", "_depth_mask.npy") for r in self.image_files] + self.transform = ToTensor() + + def __getitem__(self, idx): + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + depth_mask_path = self.depth_mask_files[idx] + + image = np.asarray(Image.open(image_path), dtype=np.float32) / 255.0 + depth = np.load(depth_path) # in meters + valid = np.load(depth_mask_path) # binary + + # depth[depth > 8] = -1 + # depth = depth[..., None] + + sample = dict(image=image, depth=depth, valid=valid) + + # return sample + sample = self.transform(sample) + + if idx == 0: + print(sample["image"].shape) + + return sample + + def __len__(self): + return len(self.image_files) + + +def get_diode_loader(data_dir_root, batch_size=1, **kwargs): + dataset = DIODE(data_dir_root) + return DataLoader(dataset, batch_size, **kwargs) + +# get_diode_loader(data_dir_root="datasets/diode/val/outdoor") diff --git a/metric_depth/zoedepth/data/hypersim.py b/metric_depth/zoedepth/data/hypersim.py new file mode 100644 index 0000000000000000000000000000000000000000..4334198971830200f72ea2910d03f4c7d6a43334 --- /dev/null +++ b/metric_depth/zoedepth/data/hypersim.py @@ -0,0 +1,138 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import glob +import os + +import h5py +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + + +def hypersim_distance_to_depth(npyDistance): + intWidth, intHeight, fltFocal = 1024, 768, 886.81 + + npyImageplaneX = np.linspace((-0.5 * intWidth) + 0.5, (0.5 * intWidth) - 0.5, intWidth).reshape( + 1, intWidth).repeat(intHeight, 0).astype(np.float32)[:, :, None] + npyImageplaneY = np.linspace((-0.5 * intHeight) + 0.5, (0.5 * intHeight) - 0.5, + intHeight).reshape(intHeight, 1).repeat(intWidth, 1).astype(np.float32)[:, :, None] + npyImageplaneZ = np.full([intHeight, intWidth, 1], fltFocal, np.float32) + npyImageplane = np.concatenate( + [npyImageplaneX, npyImageplaneY, npyImageplaneZ], 2) + + npyDepth = npyDistance / np.linalg.norm(npyImageplane, 2, 2) * fltFocal + return npyDepth + + +class ToTensor(object): + def __init__(self): + # self.normalize = transforms.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x: x + self.resize = transforms.Resize((480, 640)) + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + image = self.resize(image) + + return {'image': image, 'depth': depth, 'dataset': "hypersim"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class HyperSim(Dataset): + def __init__(self, data_dir_root): + # image paths are of the form //images/scene_cam_#_final_preview/*.tonemap.jpg + # depth paths are of the form //images/scene_cam_#_final_preview/*.depth_meters.hdf5 + self.image_files = glob.glob(os.path.join( + data_dir_root, '*', 'images', 'scene_cam_*_final_preview', '*.tonemap.jpg')) + self.depth_files = [r.replace("_final_preview", "_geometry_hdf5").replace( + ".tonemap.jpg", ".depth_meters.hdf5") for r in self.image_files] + self.transform = ToTensor() + + def __getitem__(self, idx): + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + + image = np.asarray(Image.open(image_path), dtype=np.float32) / 255.0 + + # depth from hdf5 + depth_fd = h5py.File(depth_path, "r") + # in meters (Euclidean distance) + distance_meters = np.array(depth_fd['dataset']) + depth = hypersim_distance_to_depth( + distance_meters) # in meters (planar depth) + + # depth[depth > 8] = -1 + depth = depth[..., None] + + sample = dict(image=image, depth=depth) + sample = self.transform(sample) + + if idx == 0: + print(sample["image"].shape) + + return sample + + def __len__(self): + return len(self.image_files) + + +def get_hypersim_loader(data_dir_root, batch_size=1, **kwargs): + dataset = HyperSim(data_dir_root) + return DataLoader(dataset, batch_size, **kwargs) diff --git a/metric_depth/zoedepth/data/ibims.py b/metric_depth/zoedepth/data/ibims.py new file mode 100644 index 0000000000000000000000000000000000000000..b66abfabcf4cfc617d4a60ec818780c3548d9920 --- /dev/null +++ b/metric_depth/zoedepth/data/ibims.py @@ -0,0 +1,81 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms as T + + +class iBims(Dataset): + def __init__(self, config): + root_folder = config.ibims_root + with open(os.path.join(root_folder, "imagelist.txt"), 'r') as f: + imglist = f.read().split() + + samples = [] + for basename in imglist: + img_path = os.path.join(root_folder, 'rgb', basename + ".png") + depth_path = os.path.join(root_folder, 'depth', basename + ".png") + valid_mask_path = os.path.join( + root_folder, 'mask_invalid', basename+".png") + transp_mask_path = os.path.join( + root_folder, 'mask_transp', basename+".png") + + samples.append( + (img_path, depth_path, valid_mask_path, transp_mask_path)) + + self.samples = samples + # self.normalize = T.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x : x + + def __getitem__(self, idx): + img_path, depth_path, valid_mask_path, transp_mask_path = self.samples[idx] + + img = np.asarray(Image.open(img_path), dtype=np.float32) / 255.0 + depth = np.asarray(Image.open(depth_path), + dtype=np.uint16).astype('float')*50.0/65535 + + mask_valid = np.asarray(Image.open(valid_mask_path)) + mask_transp = np.asarray(Image.open(transp_mask_path)) + + # depth = depth * mask_valid * mask_transp + depth = np.where(mask_valid * mask_transp, depth, -1) + + img = torch.from_numpy(img).permute(2, 0, 1) + img = self.normalize(img) + depth = torch.from_numpy(depth).unsqueeze(0) + return dict(image=img, depth=depth, image_path=img_path, depth_path=depth_path, dataset='ibims') + + def __len__(self): + return len(self.samples) + + +def get_ibims_loader(config, batch_size=1, **kwargs): + dataloader = DataLoader(iBims(config), batch_size=batch_size, **kwargs) + return dataloader diff --git a/metric_depth/zoedepth/data/preprocess.py b/metric_depth/zoedepth/data/preprocess.py new file mode 100644 index 0000000000000000000000000000000000000000..e08cc309dc823ae6efd7cda8db9eb37130dc5499 --- /dev/null +++ b/metric_depth/zoedepth/data/preprocess.py @@ -0,0 +1,154 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import numpy as np +from dataclasses import dataclass +from typing import Tuple, List + +# dataclass to store the crop parameters +@dataclass +class CropParams: + top: int + bottom: int + left: int + right: int + + + +def get_border_params(rgb_image, tolerance=0.1, cut_off=20, value=0, level_diff_threshold=5, channel_axis=-1, min_border=5) -> CropParams: + gray_image = np.mean(rgb_image, axis=channel_axis) + h, w = gray_image.shape + + + def num_value_pixels(arr): + return np.sum(np.abs(arr - value) < level_diff_threshold) + + def is_above_tolerance(arr, total_pixels): + return (num_value_pixels(arr) / total_pixels) > tolerance + + # Crop top border until number of value pixels become below tolerance + top = min_border + while is_above_tolerance(gray_image[top, :], w) and top < h-1: + top += 1 + if top > cut_off: + break + + # Crop bottom border until number of value pixels become below tolerance + bottom = h - min_border + while is_above_tolerance(gray_image[bottom, :], w) and bottom > 0: + bottom -= 1 + if h - bottom > cut_off: + break + + # Crop left border until number of value pixels become below tolerance + left = min_border + while is_above_tolerance(gray_image[:, left], h) and left < w-1: + left += 1 + if left > cut_off: + break + + # Crop right border until number of value pixels become below tolerance + right = w - min_border + while is_above_tolerance(gray_image[:, right], h) and right > 0: + right -= 1 + if w - right > cut_off: + break + + + return CropParams(top, bottom, left, right) + + +def get_white_border(rgb_image, value=255, **kwargs) -> CropParams: + """Crops the white border of the RGB. + + Args: + rgb: RGB image, shape (H, W, 3). + Returns: + Crop parameters. + """ + if value == 255: + # assert range of values in rgb image is [0, 255] + assert np.max(rgb_image) <= 255 and np.min(rgb_image) >= 0, "RGB image values are not in range [0, 255]." + assert rgb_image.max() > 1, "RGB image values are not in range [0, 255]." + elif value == 1: + # assert range of values in rgb image is [0, 1] + assert np.max(rgb_image) <= 1 and np.min(rgb_image) >= 0, "RGB image values are not in range [0, 1]." + + return get_border_params(rgb_image, value=value, **kwargs) + +def get_black_border(rgb_image, **kwargs) -> CropParams: + """Crops the black border of the RGB. + + Args: + rgb: RGB image, shape (H, W, 3). + + Returns: + Crop parameters. + """ + + return get_border_params(rgb_image, value=0, **kwargs) + +def crop_image(image: np.ndarray, crop_params: CropParams) -> np.ndarray: + """Crops the image according to the crop parameters. + + Args: + image: RGB or depth image, shape (H, W, 3) or (H, W). + crop_params: Crop parameters. + + Returns: + Cropped image. + """ + return image[crop_params.top:crop_params.bottom, crop_params.left:crop_params.right] + +def crop_images(*images: np.ndarray, crop_params: CropParams) -> Tuple[np.ndarray]: + """Crops the images according to the crop parameters. + + Args: + images: RGB or depth images, shape (H, W, 3) or (H, W). + crop_params: Crop parameters. + + Returns: + Cropped images. + """ + return tuple(crop_image(image, crop_params) for image in images) + +def crop_black_or_white_border(rgb_image, *other_images: np.ndarray, tolerance=0.1, cut_off=20, level_diff_threshold=5) -> Tuple[np.ndarray]: + """Crops the white and black border of the RGB and depth images. + + Args: + rgb: RGB image, shape (H, W, 3). This image is used to determine the border. + other_images: The other images to crop according to the border of the RGB image. + Returns: + Cropped RGB and other images. + """ + # crop black border + crop_params = get_black_border(rgb_image, tolerance=tolerance, cut_off=cut_off, level_diff_threshold=level_diff_threshold) + cropped_images = crop_images(rgb_image, *other_images, crop_params=crop_params) + + # crop white border + crop_params = get_white_border(cropped_images[0], tolerance=tolerance, cut_off=cut_off, level_diff_threshold=level_diff_threshold) + cropped_images = crop_images(*cropped_images, crop_params=crop_params) + + return cropped_images + \ No newline at end of file diff --git a/metric_depth/zoedepth/data/sun_rgbd_loader.py b/metric_depth/zoedepth/data/sun_rgbd_loader.py new file mode 100644 index 0000000000000000000000000000000000000000..93f03683506350d6b61037d720a4b2c73bc37955 --- /dev/null +++ b/metric_depth/zoedepth/data/sun_rgbd_loader.py @@ -0,0 +1,115 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + + +class ToTensor(object): + def __init__(self): + # self.normalize = transforms.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x : x + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + return {'image': image, 'depth': depth, 'dataset': "sunrgbd"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class SunRGBD(Dataset): + def __init__(self, data_dir_root): + # test_file_dirs = loadmat(train_test_file)['alltest'].squeeze() + # all_test = [t[0].replace("/n/fs/sun3d/data/", "") for t in test_file_dirs] + # self.all_test = [os.path.join(data_dir_root, t) for t in all_test] + import glob + # self.image_files = glob.glob( + # os.path.join(data_dir_root, 'rgb', 'rgb', '*')) + # self.depth_files = [ + # r.replace("rgb/rgb", "gt/gt").replace("jpg", "png") for r in self.image_files] + + self.image_files, self.depth_files = [], [] + filenames = os.listdir(os.path.join(data_dir_root, 'rgb')) + for i, filename in enumerate(filenames): + self.image_files.append(os.path.join(data_dir_root, 'rgb', filename)) + base_num = int(filename.replace('.jpg', '').replace('img-', '')) + self.depth_files.append(os.path.join(data_dir_root, 'depth', str(base_num) + '.png')) + + self.transform = ToTensor() + + def __getitem__(self, idx): + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + + image = np.asarray(Image.open(image_path), dtype=np.float32) / 255.0 + depth = np.asarray(Image.open(depth_path), dtype='uint16') / 10000.0 + # print(depth, depth.min(), depth.max()) + depth[depth > 8] = -1 + depth = depth[..., None] + return self.transform(dict(image=image, depth=depth)) + + def __len__(self): + return len(self.image_files) + + +def get_sunrgbd_loader(data_dir_root, batch_size=1, **kwargs): + dataset = SunRGBD(data_dir_root) + return DataLoader(dataset, batch_size, **kwargs) diff --git a/metric_depth/zoedepth/data/transforms.py b/metric_depth/zoedepth/data/transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..374416dff24fb4fd55598f3946d6d6b091ddefc9 --- /dev/null +++ b/metric_depth/zoedepth/data/transforms.py @@ -0,0 +1,481 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import math +import random + +import cv2 +import numpy as np + + +class RandomFliplr(object): + """Horizontal flip of the sample with given probability. + """ + + def __init__(self, probability=0.5): + """Init. + + Args: + probability (float, optional): Flip probability. Defaults to 0.5. + """ + self.__probability = probability + + def __call__(self, sample): + prob = random.random() + + if prob < self.__probability: + for k, v in sample.items(): + if len(v.shape) >= 2: + sample[k] = np.fliplr(v).copy() + + return sample + + +def apply_min_size(sample, size, image_interpolation_method=cv2.INTER_AREA): + """Rezise the sample to ensure the given size. Keeps aspect ratio. + + Args: + sample (dict): sample + size (tuple): image size + + Returns: + tuple: new size + """ + shape = list(sample["disparity"].shape) + + if shape[0] >= size[0] and shape[1] >= size[1]: + return sample + + scale = [0, 0] + scale[0] = size[0] / shape[0] + scale[1] = size[1] / shape[1] + + scale = max(scale) + + shape[0] = math.ceil(scale * shape[0]) + shape[1] = math.ceil(scale * shape[1]) + + # resize + sample["image"] = cv2.resize( + sample["image"], tuple(shape[::-1]), interpolation=image_interpolation_method + ) + + sample["disparity"] = cv2.resize( + sample["disparity"], tuple(shape[::-1]), interpolation=cv2.INTER_NEAREST + ) + sample["mask"] = cv2.resize( + sample["mask"].astype(np.float32), + tuple(shape[::-1]), + interpolation=cv2.INTER_NEAREST, + ) + sample["mask"] = sample["mask"].astype(bool) + + return tuple(shape) + + +class RandomCrop(object): + """Get a random crop of the sample with the given size (width, height). + """ + + def __init__( + self, + width, + height, + resize_if_needed=False, + image_interpolation_method=cv2.INTER_AREA, + ): + """Init. + + Args: + width (int): output width + height (int): output height + resize_if_needed (bool, optional): If True, sample might be upsampled to ensure + that a crop of size (width, height) is possbile. Defaults to False. + """ + self.__size = (height, width) + self.__resize_if_needed = resize_if_needed + self.__image_interpolation_method = image_interpolation_method + + def __call__(self, sample): + + shape = sample["disparity"].shape + + if self.__size[0] > shape[0] or self.__size[1] > shape[1]: + if self.__resize_if_needed: + shape = apply_min_size( + sample, self.__size, self.__image_interpolation_method + ) + else: + raise Exception( + "Output size {} bigger than input size {}.".format( + self.__size, shape + ) + ) + + offset = ( + np.random.randint(shape[0] - self.__size[0] + 1), + np.random.randint(shape[1] - self.__size[1] + 1), + ) + + for k, v in sample.items(): + if k == "code" or k == "basis": + continue + + if len(sample[k].shape) >= 2: + sample[k] = v[ + offset[0]: offset[0] + self.__size[0], + offset[1]: offset[1] + self.__size[1], + ] + + return sample + + +class Resize(object): + """Resize sample to given size (width, height). + """ + + def __init__( + self, + width, + height, + resize_target=True, + keep_aspect_ratio=False, + ensure_multiple_of=1, + resize_method="lower_bound", + image_interpolation_method=cv2.INTER_AREA, + letter_box=False, + ): + """Init. + + Args: + width (int): desired output width + height (int): desired output height + resize_target (bool, optional): + True: Resize the full sample (image, mask, target). + False: Resize image only. + Defaults to True. + keep_aspect_ratio (bool, optional): + True: Keep the aspect ratio of the input sample. + Output sample might not have the given width and height, and + resize behaviour depends on the parameter 'resize_method'. + Defaults to False. + ensure_multiple_of (int, optional): + Output width and height is constrained to be multiple of this parameter. + Defaults to 1. + resize_method (str, optional): + "lower_bound": Output will be at least as large as the given size. + "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) + "minimal": Scale as least as possible. (Output size might be smaller than given size.) + Defaults to "lower_bound". + """ + self.__width = width + self.__height = height + + self.__resize_target = resize_target + self.__keep_aspect_ratio = keep_aspect_ratio + self.__multiple_of = ensure_multiple_of + self.__resize_method = resize_method + self.__image_interpolation_method = image_interpolation_method + self.__letter_box = letter_box + + def constrain_to_multiple_of(self, x, min_val=0, max_val=None): + y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) + + if max_val is not None and y > max_val: + y = (np.floor(x / self.__multiple_of) + * self.__multiple_of).astype(int) + + if y < min_val: + y = (np.ceil(x / self.__multiple_of) + * self.__multiple_of).astype(int) + + return y + + def get_size(self, width, height): + # determine new height and width + scale_height = self.__height / height + scale_width = self.__width / width + + if self.__keep_aspect_ratio: + if self.__resize_method == "lower_bound": + # scale such that output size is lower bound + if scale_width > scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "upper_bound": + # scale such that output size is upper bound + if scale_width < scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "minimal": + # scale as least as possbile + if abs(1 - scale_width) < abs(1 - scale_height): + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + else: + raise ValueError( + f"resize_method {self.__resize_method} not implemented" + ) + + if self.__resize_method == "lower_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, min_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, min_val=self.__width + ) + elif self.__resize_method == "upper_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, max_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, max_val=self.__width + ) + elif self.__resize_method == "minimal": + new_height = self.constrain_to_multiple_of(scale_height * height) + new_width = self.constrain_to_multiple_of(scale_width * width) + else: + raise ValueError( + f"resize_method {self.__resize_method} not implemented") + + return (new_width, new_height) + + def make_letter_box(self, sample): + top = bottom = (self.__height - sample.shape[0]) // 2 + left = right = (self.__width - sample.shape[1]) // 2 + sample = cv2.copyMakeBorder( + sample, top, bottom, left, right, cv2.BORDER_CONSTANT, None, 0) + return sample + + def __call__(self, sample): + width, height = self.get_size( + sample["image"].shape[1], sample["image"].shape[0] + ) + + # resize sample + sample["image"] = cv2.resize( + sample["image"], + (width, height), + interpolation=self.__image_interpolation_method, + ) + + if self.__letter_box: + sample["image"] = self.make_letter_box(sample["image"]) + + if self.__resize_target: + if "disparity" in sample: + sample["disparity"] = cv2.resize( + sample["disparity"], + (width, height), + interpolation=cv2.INTER_NEAREST, + ) + + if self.__letter_box: + sample["disparity"] = self.make_letter_box( + sample["disparity"]) + + if "depth" in sample: + sample["depth"] = cv2.resize( + sample["depth"], (width, + height), interpolation=cv2.INTER_NEAREST + ) + + if self.__letter_box: + sample["depth"] = self.make_letter_box(sample["depth"]) + + sample["mask"] = cv2.resize( + sample["mask"].astype(np.float32), + (width, height), + interpolation=cv2.INTER_NEAREST, + ) + + if self.__letter_box: + sample["mask"] = self.make_letter_box(sample["mask"]) + + sample["mask"] = sample["mask"].astype(bool) + + return sample + + +class ResizeFixed(object): + def __init__(self, size): + self.__size = size + + def __call__(self, sample): + sample["image"] = cv2.resize( + sample["image"], self.__size[::-1], interpolation=cv2.INTER_LINEAR + ) + + sample["disparity"] = cv2.resize( + sample["disparity"], self.__size[::- + 1], interpolation=cv2.INTER_NEAREST + ) + + sample["mask"] = cv2.resize( + sample["mask"].astype(np.float32), + self.__size[::-1], + interpolation=cv2.INTER_NEAREST, + ) + sample["mask"] = sample["mask"].astype(bool) + + return sample + + +class Rescale(object): + """Rescale target values to the interval [0, max_val]. + If input is constant, values are set to max_val / 2. + """ + + def __init__(self, max_val=1.0, use_mask=True): + """Init. + + Args: + max_val (float, optional): Max output value. Defaults to 1.0. + use_mask (bool, optional): Only operate on valid pixels (mask == True). Defaults to True. + """ + self.__max_val = max_val + self.__use_mask = use_mask + + def __call__(self, sample): + disp = sample["disparity"] + + if self.__use_mask: + mask = sample["mask"] + else: + mask = np.ones_like(disp, dtype=np.bool) + + if np.sum(mask) == 0: + return sample + + min_val = np.min(disp[mask]) + max_val = np.max(disp[mask]) + + if max_val > min_val: + sample["disparity"][mask] = ( + (disp[mask] - min_val) / (max_val - min_val) * self.__max_val + ) + else: + sample["disparity"][mask] = np.ones_like( + disp[mask]) * self.__max_val / 2.0 + + return sample + + +# mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225] +class NormalizeImage(object): + """Normlize image by given mean and std. + """ + + def __init__(self, mean, std): + self.__mean = mean + self.__std = std + + def __call__(self, sample): + sample["image"] = (sample["image"] - self.__mean) / self.__std + + return sample + + +class DepthToDisparity(object): + """Convert depth to disparity. Removes depth from sample. + """ + + def __init__(self, eps=1e-4): + self.__eps = eps + + def __call__(self, sample): + assert "depth" in sample + + sample["mask"][sample["depth"] < self.__eps] = False + + sample["disparity"] = np.zeros_like(sample["depth"]) + sample["disparity"][sample["depth"] >= self.__eps] = ( + 1.0 / sample["depth"][sample["depth"] >= self.__eps] + ) + + del sample["depth"] + + return sample + + +class DisparityToDepth(object): + """Convert disparity to depth. Removes disparity from sample. + """ + + def __init__(self, eps=1e-4): + self.__eps = eps + + def __call__(self, sample): + assert "disparity" in sample + + disp = np.abs(sample["disparity"]) + sample["mask"][disp < self.__eps] = False + + # print(sample["disparity"]) + # print(sample["mask"].sum()) + # exit() + + sample["depth"] = np.zeros_like(disp) + sample["depth"][disp >= self.__eps] = ( + 1.0 / disp[disp >= self.__eps] + ) + + del sample["disparity"] + + return sample + + +class PrepareForNet(object): + """Prepare sample for usage as network input. + """ + + def __init__(self): + pass + + def __call__(self, sample): + image = np.transpose(sample["image"], (2, 0, 1)) + sample["image"] = np.ascontiguousarray(image).astype(np.float32) + + if "mask" in sample: + sample["mask"] = sample["mask"].astype(np.float32) + sample["mask"] = np.ascontiguousarray(sample["mask"]) + + if "disparity" in sample: + disparity = sample["disparity"].astype(np.float32) + sample["disparity"] = np.ascontiguousarray(disparity) + + if "depth" in sample: + depth = sample["depth"].astype(np.float32) + sample["depth"] = np.ascontiguousarray(depth) + + return sample diff --git a/metric_depth/zoedepth/data/vkitti.py b/metric_depth/zoedepth/data/vkitti.py new file mode 100644 index 0000000000000000000000000000000000000000..72a2e5a8346f6e630ede0e28d6959725af8d7e72 --- /dev/null +++ b/metric_depth/zoedepth/data/vkitti.py @@ -0,0 +1,151 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +from torch.utils.data import Dataset, DataLoader +from torchvision import transforms +import os + +from PIL import Image +import numpy as np +import cv2 + + +class ToTensor(object): + def __init__(self): + self.normalize = transforms.Normalize( + mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + # self.resize = transforms.Resize((375, 1242)) + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + # image = self.resize(image) + + return {'image': image, 'depth': depth, 'dataset': "vkitti"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class VKITTI(Dataset): + def __init__(self, data_dir_root, do_kb_crop=True): + import glob + # image paths are of the form /{HR, LR}//{color, depth_filled}/*.png + self.image_files = glob.glob(os.path.join( + data_dir_root, "test_color", '*.png')) + self.depth_files = [r.replace("test_color", "test_depth") + for r in self.image_files] + self.do_kb_crop = True + self.transform = ToTensor() + + def __getitem__(self, idx): + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + + image = Image.open(image_path) + depth = Image.open(depth_path) + depth = cv2.imread(depth_path, cv2.IMREAD_ANYCOLOR | + cv2.IMREAD_ANYDEPTH) + print("dpeth min max", depth.min(), depth.max()) + + # print(np.shape(image)) + # print(np.shape(depth)) + + # depth[depth > 8] = -1 + + if self.do_kb_crop and False: + height = image.height + width = image.width + top_margin = int(height - 352) + left_margin = int((width - 1216) / 2) + depth = depth.crop( + (left_margin, top_margin, left_margin + 1216, top_margin + 352)) + image = image.crop( + (left_margin, top_margin, left_margin + 1216, top_margin + 352)) + # uv = uv[:, top_margin:top_margin + 352, left_margin:left_margin + 1216] + + image = np.asarray(image, dtype=np.float32) / 255.0 + # depth = np.asarray(depth, dtype=np.uint16) /1. + depth = depth[..., None] + sample = dict(image=image, depth=depth) + + # return sample + sample = self.transform(sample) + + if idx == 0: + print(sample["image"].shape) + + return sample + + def __len__(self): + return len(self.image_files) + + +def get_vkitti_loader(data_dir_root, batch_size=1, **kwargs): + dataset = VKITTI(data_dir_root) + return DataLoader(dataset, batch_size, **kwargs) + + +if __name__ == "__main__": + loader = get_vkitti_loader( + data_dir_root="/home/bhatsf/shortcuts/datasets/vkitti_test") + print("Total files", len(loader.dataset)) + for i, sample in enumerate(loader): + print(sample["image"].shape) + print(sample["depth"].shape) + print(sample["dataset"]) + print(sample['depth'].min(), sample['depth'].max()) + if i > 5: + break diff --git a/metric_depth/zoedepth/data/vkitti2.py b/metric_depth/zoedepth/data/vkitti2.py new file mode 100644 index 0000000000000000000000000000000000000000..d591fef5ec4e0c341361286f34dc5ea8b70614a0 --- /dev/null +++ b/metric_depth/zoedepth/data/vkitti2.py @@ -0,0 +1,187 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os + +import cv2 +import numpy as np +import torch +from PIL import Image +from torch.utils.data import DataLoader, Dataset +from torchvision import transforms + + +class ToTensor(object): + def __init__(self): + # self.normalize = transforms.Normalize( + # mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.normalize = lambda x: x + # self.resize = transforms.Resize((375, 1242)) + + def __call__(self, sample): + image, depth = sample['image'], sample['depth'] + + image = self.to_tensor(image) + image = self.normalize(image) + depth = self.to_tensor(depth) + + # image = self.resize(image) + + return {'image': image, 'depth': depth, 'dataset': "vkitti"} + + def to_tensor(self, pic): + + if isinstance(pic, np.ndarray): + img = torch.from_numpy(pic.transpose((2, 0, 1))) + return img + + # # handle PIL Image + if pic.mode == 'I': + img = torch.from_numpy(np.array(pic, np.int32, copy=False)) + elif pic.mode == 'I;16': + img = torch.from_numpy(np.array(pic, np.int16, copy=False)) + else: + img = torch.ByteTensor( + torch.ByteStorage.from_buffer(pic.tobytes())) + # PIL image mode: 1, L, P, I, F, RGB, YCbCr, RGBA, CMYK + if pic.mode == 'YCbCr': + nchannel = 3 + elif pic.mode == 'I;16': + nchannel = 1 + else: + nchannel = len(pic.mode) + img = img.view(pic.size[1], pic.size[0], nchannel) + + img = img.transpose(0, 1).transpose(0, 2).contiguous() + if isinstance(img, torch.ByteTensor): + return img.float() + else: + return img + + +class VKITTI2(Dataset): + def __init__(self, data_dir_root, do_kb_crop=True, split="test"): + import glob + + # image paths are of the form /rgb///frames//Camera<0,1>/rgb_{}.jpg + self.image_files = glob.glob(os.path.join( + data_dir_root, "**", "frames", "rgb", "Camera_0", '*.jpg'), recursive=True) + self.depth_files = [r.replace("/rgb/", "/depth/").replace( + "rgb_", "depth_").replace(".jpg", ".png") for r in self.image_files] + self.do_kb_crop = True + self.transform = ToTensor() + + # If train test split is not created, then create one. + # Split is such that 8% of the frames from each scene are used for testing. + if not os.path.exists(os.path.join(data_dir_root, "train.txt")): + import random + scenes = set([os.path.basename(os.path.dirname( + os.path.dirname(os.path.dirname(f)))) for f in self.image_files]) + train_files = [] + test_files = [] + for scene in scenes: + scene_files = [f for f in self.image_files if os.path.basename( + os.path.dirname(os.path.dirname(os.path.dirname(f)))) == scene] + random.shuffle(scene_files) + train_files.extend(scene_files[:int(len(scene_files) * 0.92)]) + test_files.extend(scene_files[int(len(scene_files) * 0.92):]) + with open(os.path.join(data_dir_root, "train.txt"), "w") as f: + f.write("\n".join(train_files)) + with open(os.path.join(data_dir_root, "test.txt"), "w") as f: + f.write("\n".join(test_files)) + + if split == "train": + with open(os.path.join(data_dir_root, "train.txt"), "r") as f: + self.image_files = f.read().splitlines() + self.depth_files = [r.replace("/rgb/", "/depth/").replace( + "rgb_", "depth_").replace(".jpg", ".png") for r in self.image_files] + elif split == "test": + with open(os.path.join(data_dir_root, "test.txt"), "r") as f: + self.image_files = f.read().splitlines() + self.depth_files = [r.replace("/rgb/", "/depth/").replace( + "rgb_", "depth_").replace(".jpg", ".png") for r in self.image_files] + + def __getitem__(self, idx): + image_path = self.image_files[idx] + depth_path = self.depth_files[idx] + + image = Image.open(image_path) + # depth = Image.open(depth_path) + depth = cv2.imread(depth_path, cv2.IMREAD_ANYCOLOR | + cv2.IMREAD_ANYDEPTH) / 100.0 # cm to m + depth = Image.fromarray(depth) + # print("dpeth min max", depth.min(), depth.max()) + + # print(np.shape(image)) + # print(np.shape(depth)) + + if self.do_kb_crop: + if idx == 0: + print("Using KB input crop") + height = image.height + width = image.width + top_margin = int(height - 352) + left_margin = int((width - 1216) / 2) + depth = depth.crop( + (left_margin, top_margin, left_margin + 1216, top_margin + 352)) + image = image.crop( + (left_margin, top_margin, left_margin + 1216, top_margin + 352)) + # uv = uv[:, top_margin:top_margin + 352, left_margin:left_margin + 1216] + + image = np.asarray(image, dtype=np.float32) / 255.0 + # depth = np.asarray(depth, dtype=np.uint16) /1. + depth = np.asarray(depth, dtype=np.float32) / 1. + depth[depth > 80] = -1 + + depth = depth[..., None] + sample = dict(image=image, depth=depth) + + # return sample + sample = self.transform(sample) + + if idx == 0: + print(sample["image"].shape) + + return sample + + def __len__(self): + return len(self.image_files) + + +def get_vkitti2_loader(data_dir_root, batch_size=1, **kwargs): + dataset = VKITTI2(data_dir_root) + return DataLoader(dataset, batch_size, **kwargs) + + +if __name__ == "__main__": + loader = get_vkitti2_loader( + data_dir_root="/home/bhatsf/shortcuts/datasets/vkitti2") + print("Total files", len(loader.dataset)) + for i, sample in enumerate(loader): + print(sample["image"].shape) + print(sample["depth"].shape) + print(sample["dataset"]) + print(sample['depth'].min(), sample['depth'].max()) + if i > 5: + break diff --git a/metric_depth/zoedepth/models/__init__.py b/metric_depth/zoedepth/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5f2668792389157609abb2a0846fb620e7d67eb9 --- /dev/null +++ b/metric_depth/zoedepth/models/__init__.py @@ -0,0 +1,24 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + diff --git a/metric_depth/zoedepth/models/base_models/__init__.py b/metric_depth/zoedepth/models/base_models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5f2668792389157609abb2a0846fb620e7d67eb9 --- /dev/null +++ b/metric_depth/zoedepth/models/base_models/__init__.py @@ -0,0 +1,24 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + diff --git a/metric_depth/zoedepth/models/base_models/depth_anything.py b/metric_depth/zoedepth/models/base_models/depth_anything.py new file mode 100644 index 0000000000000000000000000000000000000000..e3e6d4a426fc1a3a85fd3896d46f9b60820c161a --- /dev/null +++ b/metric_depth/zoedepth/models/base_models/depth_anything.py @@ -0,0 +1,376 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.nn as nn +import numpy as np +from torchvision.transforms import Normalize +from zoedepth.models.base_models.dpt_dinov2.dpt import DPT_DINOv2 + + +def denormalize(x): + """Reverses the imagenet normalization applied to the input. + + Args: + x (torch.Tensor - shape(N,3,H,W)): input tensor + + Returns: + torch.Tensor - shape(N,3,H,W): Denormalized input + """ + mean = torch.Tensor([0.485, 0.456, 0.406]).view(1, 3, 1, 1).to(x.device) + std = torch.Tensor([0.229, 0.224, 0.225]).view(1, 3, 1, 1).to(x.device) + return x * std + mean + +def get_activation(name, bank): + def hook(model, input, output): + bank[name] = output + return hook + + +class Resize(object): + """Resize sample to given size (width, height). + """ + + def __init__( + self, + width, + height, + resize_target=True, + keep_aspect_ratio=False, + ensure_multiple_of=1, + resize_method="lower_bound", + ): + """Init. + Args: + width (int): desired output width + height (int): desired output height + resize_target (bool, optional): + True: Resize the full sample (image, mask, target). + False: Resize image only. + Defaults to True. + keep_aspect_ratio (bool, optional): + True: Keep the aspect ratio of the input sample. + Output sample might not have the given width and height, and + resize behaviour depends on the parameter 'resize_method'. + Defaults to False. + ensure_multiple_of (int, optional): + Output width and height is constrained to be multiple of this parameter. + Defaults to 1. + resize_method (str, optional): + "lower_bound": Output will be at least as large as the given size. + "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) + "minimal": Scale as least as possible. (Output size might be smaller than given size.) + Defaults to "lower_bound". + """ + print("Params passed to Resize transform:") + print("\twidth: ", width) + print("\theight: ", height) + print("\tresize_target: ", resize_target) + print("\tkeep_aspect_ratio: ", keep_aspect_ratio) + print("\tensure_multiple_of: ", ensure_multiple_of) + print("\tresize_method: ", resize_method) + + self.__width = width + self.__height = height + + self.__keep_aspect_ratio = keep_aspect_ratio + self.__multiple_of = ensure_multiple_of + self.__resize_method = resize_method + + def constrain_to_multiple_of(self, x, min_val=0, max_val=None): + y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) + + if max_val is not None and y > max_val: + y = (np.floor(x / self.__multiple_of) + * self.__multiple_of).astype(int) + + if y < min_val: + y = (np.ceil(x / self.__multiple_of) + * self.__multiple_of).astype(int) + + return y + + def get_size(self, width, height): + # determine new height and width + scale_height = self.__height / height + scale_width = self.__width / width + + if self.__keep_aspect_ratio: + if self.__resize_method == "lower_bound": + # scale such that output size is lower bound + if scale_width > scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "upper_bound": + # scale such that output size is upper bound + if scale_width < scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "minimal": + # scale as least as possbile + if abs(1 - scale_width) < abs(1 - scale_height): + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + else: + raise ValueError( + f"resize_method {self.__resize_method} not implemented" + ) + + if self.__resize_method == "lower_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, min_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, min_val=self.__width + ) + elif self.__resize_method == "upper_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, max_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, max_val=self.__width + ) + elif self.__resize_method == "minimal": + new_height = self.constrain_to_multiple_of(scale_height * height) + new_width = self.constrain_to_multiple_of(scale_width * width) + else: + raise ValueError( + f"resize_method {self.__resize_method} not implemented") + + return (new_width, new_height) + + def __call__(self, x): + width, height = self.get_size(*x.shape[-2:][::-1]) + return nn.functional.interpolate(x, (height, width), mode='bilinear', align_corners=True) + +class PrepForMidas(object): + def __init__(self, resize_mode="minimal", keep_aspect_ratio=True, img_size=384, do_resize=True): + if isinstance(img_size, int): + img_size = (img_size, img_size) + net_h, net_w = img_size + # self.normalization = Normalize( + # mean=[0.5, 0.5, 0.5], std=[0.5, 0.5, 0.5]) + self.normalization = Normalize( + mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) + self.resizer = Resize(net_w, net_h, keep_aspect_ratio=keep_aspect_ratio, ensure_multiple_of=14, resize_method=resize_mode) \ + if do_resize else nn.Identity() + + def __call__(self, x): + return self.normalization(self.resizer(x)) + + +class DepthAnythingCore(nn.Module): + def __init__(self, midas, trainable=False, fetch_features=True, layer_names=('out_conv', 'l4_rn', 'r4', 'r3', 'r2', 'r1'), freeze_bn=False, keep_aspect_ratio=True, + img_size=384, **kwargs): + """Midas Base model used for multi-scale feature extraction. + + Args: + midas (torch.nn.Module): Midas model. + trainable (bool, optional): Train midas model. Defaults to False. + fetch_features (bool, optional): Extract multi-scale features. Defaults to True. + layer_names (tuple, optional): Layers used for feature extraction. Order = (head output features, last layer features, ...decoder features). Defaults to ('out_conv', 'l4_rn', 'r4', 'r3', 'r2', 'r1'). + freeze_bn (bool, optional): Freeze BatchNorm. Generally results in better finetuning performance. Defaults to False. + keep_aspect_ratio (bool, optional): Keep the aspect ratio of input images while resizing. Defaults to True. + img_size (int, tuple, optional): Input resolution. Defaults to 384. + """ + super().__init__() + self.core = midas + self.output_channels = None + self.core_out = {} + self.trainable = trainable + self.fetch_features = fetch_features + # midas.scratch.output_conv = nn.Identity() + self.handles = [] + # self.layer_names = ['out_conv','l4_rn', 'r4', 'r3', 'r2', 'r1'] + self.layer_names = layer_names + + self.set_trainable(trainable) + self.set_fetch_features(fetch_features) + + self.prep = PrepForMidas(keep_aspect_ratio=keep_aspect_ratio, + img_size=img_size, do_resize=kwargs.get('do_resize', True)) + + if freeze_bn: + self.freeze_bn() + + def set_trainable(self, trainable): + self.trainable = trainable + if trainable: + self.unfreeze() + else: + self.freeze() + return self + + def set_fetch_features(self, fetch_features): + self.fetch_features = fetch_features + if fetch_features: + if len(self.handles) == 0: + self.attach_hooks(self.core) + else: + self.remove_hooks() + return self + + def freeze(self): + for p in self.parameters(): + p.requires_grad = False + self.trainable = False + return self + + def unfreeze(self): + for p in self.parameters(): + p.requires_grad = True + self.trainable = True + return self + + def freeze_bn(self): + for m in self.modules(): + if isinstance(m, nn.BatchNorm2d): + m.eval() + return self + + def forward(self, x, denorm=False, return_rel_depth=False): + # print('input to midas:', x.shape) + with torch.no_grad(): + if denorm: + x = denormalize(x) + x = self.prep(x) + + with torch.set_grad_enabled(self.trainable): + + rel_depth = self.core(x) + if not self.fetch_features: + return rel_depth + out = [self.core_out[k] for k in self.layer_names] + + if return_rel_depth: + return rel_depth, out + return out + + def get_rel_pos_params(self): + for name, p in self.core.pretrained.named_parameters(): + if "pos_embed" in name: + yield p + + def get_enc_params_except_rel_pos(self): + for name, p in self.core.pretrained.named_parameters(): + if "pos_embed" not in name: + yield p + + def freeze_encoder(self, freeze_rel_pos=False): + if freeze_rel_pos: + for p in self.core.pretrained.parameters(): + p.requires_grad = False + else: + for p in self.get_enc_params_except_rel_pos(): + p.requires_grad = False + return self + + def attach_hooks(self, midas): + if len(self.handles) > 0: + self.remove_hooks() + if "out_conv" in self.layer_names: + self.handles.append(list(midas.depth_head.scratch.output_conv2.children())[ + 1].register_forward_hook(get_activation("out_conv", self.core_out))) + if "r4" in self.layer_names: + self.handles.append(midas.depth_head.scratch.refinenet4.register_forward_hook( + get_activation("r4", self.core_out))) + if "r3" in self.layer_names: + self.handles.append(midas.depth_head.scratch.refinenet3.register_forward_hook( + get_activation("r3", self.core_out))) + if "r2" in self.layer_names: + self.handles.append(midas.depth_head.scratch.refinenet2.register_forward_hook( + get_activation("r2", self.core_out))) + if "r1" in self.layer_names: + self.handles.append(midas.depth_head.scratch.refinenet1.register_forward_hook( + get_activation("r1", self.core_out))) + if "l4_rn" in self.layer_names: + self.handles.append(midas.depth_head.scratch.layer4_rn.register_forward_hook( + get_activation("l4_rn", self.core_out))) + + return self + + def remove_hooks(self): + for h in self.handles: + h.remove() + return self + + def __del__(self): + self.remove_hooks() + + def set_output_channels(self): + self.output_channels = [256, 256, 256, 256, 256] + + @staticmethod + def build(midas_model_type="dinov2_large", train_midas=False, use_pretrained_midas=True, fetch_features=False, freeze_bn=True, force_keep_ar=False, force_reload=False, **kwargs): + if "img_size" in kwargs: + kwargs = DepthAnythingCore.parse_img_size(kwargs) + img_size = kwargs.pop("img_size", [384, 384]) + + depth_anything = DPT_DINOv2(out_channels=[256, 512, 1024, 1024], use_clstoken=False) + + state_dict = torch.load('./checkpoints/depth_anything_vitl14.pth', map_location='cpu') + depth_anything.load_state_dict(state_dict) + + kwargs.update({'keep_aspect_ratio': force_keep_ar}) + + depth_anything_core = DepthAnythingCore(depth_anything, trainable=train_midas, fetch_features=fetch_features, + freeze_bn=freeze_bn, img_size=img_size, **kwargs) + + depth_anything_core.set_output_channels() + return depth_anything_core + + @staticmethod + def parse_img_size(config): + assert 'img_size' in config + if isinstance(config['img_size'], str): + assert "," in config['img_size'], "img_size should be a string with comma separated img_size=H,W" + config['img_size'] = list(map(int, config['img_size'].split(","))) + assert len( + config['img_size']) == 2, "img_size should be a string with comma separated img_size=H,W" + elif isinstance(config['img_size'], int): + config['img_size'] = [config['img_size'], config['img_size']] + else: + assert isinstance(config['img_size'], list) and len( + config['img_size']) == 2, "img_size should be a list of H,W" + return config + + +nchannels2models = { + tuple([256]*5): ["DPT_BEiT_L_384", "DPT_BEiT_L_512", "DPT_BEiT_B_384", "DPT_SwinV2_L_384", "DPT_SwinV2_B_384", "DPT_SwinV2_T_256", "DPT_Large", "DPT_Hybrid"], + (512, 256, 128, 64, 64): ["MiDaS_small"] +} + +# Model name to number of output channels +MIDAS_SETTINGS = {m: k for k, v in nchannels2models.items() + for m in v + } diff --git a/metric_depth/zoedepth/models/base_models/dpt_dinov2/blocks.py b/metric_depth/zoedepth/models/base_models/dpt_dinov2/blocks.py new file mode 100644 index 0000000000000000000000000000000000000000..38dbcfeffc0c38ef51bcb20dfd347e50b2a60616 --- /dev/null +++ b/metric_depth/zoedepth/models/base_models/dpt_dinov2/blocks.py @@ -0,0 +1,153 @@ +import torch.nn as nn + + +def _make_scratch(in_shape, out_shape, groups=1, expand=False): + scratch = nn.Module() + + out_shape1 = out_shape + out_shape2 = out_shape + out_shape3 = out_shape + if len(in_shape) >= 4: + out_shape4 = out_shape + + if expand: + out_shape1 = out_shape + out_shape2 = out_shape*2 + out_shape3 = out_shape*4 + if len(in_shape) >= 4: + out_shape4 = out_shape*8 + + scratch.layer1_rn = nn.Conv2d( + in_shape[0], out_shape1, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + scratch.layer2_rn = nn.Conv2d( + in_shape[1], out_shape2, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + scratch.layer3_rn = nn.Conv2d( + in_shape[2], out_shape3, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + if len(in_shape) >= 4: + scratch.layer4_rn = nn.Conv2d( + in_shape[3], out_shape4, kernel_size=3, stride=1, padding=1, bias=False, groups=groups + ) + + return scratch + + +class ResidualConvUnit(nn.Module): + """Residual convolution module. + """ + + def __init__(self, features, activation, bn): + """Init. + + Args: + features (int): number of features + """ + super().__init__() + + self.bn = bn + + self.groups=1 + + self.conv1 = nn.Conv2d( + features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups + ) + + self.conv2 = nn.Conv2d( + features, features, kernel_size=3, stride=1, padding=1, bias=True, groups=self.groups + ) + + if self.bn==True: + self.bn1 = nn.BatchNorm2d(features) + self.bn2 = nn.BatchNorm2d(features) + + self.activation = activation + + self.skip_add = nn.quantized.FloatFunctional() + + def forward(self, x): + """Forward pass. + + Args: + x (tensor): input + + Returns: + tensor: output + """ + + out = self.activation(x) + out = self.conv1(out) + if self.bn==True: + out = self.bn1(out) + + out = self.activation(out) + out = self.conv2(out) + if self.bn==True: + out = self.bn2(out) + + if self.groups > 1: + out = self.conv_merge(out) + + return self.skip_add.add(out, x) + + +class FeatureFusionBlock(nn.Module): + """Feature fusion block. + """ + + def __init__(self, features, activation, deconv=False, bn=False, expand=False, align_corners=True, size=None): + """Init. + + Args: + features (int): number of features + """ + super(FeatureFusionBlock, self).__init__() + + self.deconv = deconv + self.align_corners = align_corners + + self.groups=1 + + self.expand = expand + out_features = features + if self.expand==True: + out_features = features//2 + + self.out_conv = nn.Conv2d(features, out_features, kernel_size=1, stride=1, padding=0, bias=True, groups=1) + + self.resConfUnit1 = ResidualConvUnit(features, activation, bn) + self.resConfUnit2 = ResidualConvUnit(features, activation, bn) + + self.skip_add = nn.quantized.FloatFunctional() + + self.size=size + + def forward(self, *xs, size=None): + """Forward pass. + + Returns: + tensor: output + """ + output = xs[0] + + if len(xs) == 2: + res = self.resConfUnit1(xs[1]) + output = self.skip_add.add(output, res) + + output = self.resConfUnit2(output) + + if (size is None) and (self.size is None): + modifier = {"scale_factor": 2} + elif size is None: + modifier = {"size": self.size} + else: + modifier = {"size": size} + + output = nn.functional.interpolate( + output, **modifier, mode="bilinear", align_corners=self.align_corners + ) + + output = self.out_conv(output) + + return output diff --git a/metric_depth/zoedepth/models/base_models/dpt_dinov2/dpt.py b/metric_depth/zoedepth/models/base_models/dpt_dinov2/dpt.py new file mode 100644 index 0000000000000000000000000000000000000000..4cfb869adad61780746c6b4914567d48cd605016 --- /dev/null +++ b/metric_depth/zoedepth/models/base_models/dpt_dinov2/dpt.py @@ -0,0 +1,157 @@ +import torch +import torch.nn as nn + +from .blocks import FeatureFusionBlock, _make_scratch +import torch.nn.functional as F + + +def _make_fusion_block(features, use_bn, size = None): + return FeatureFusionBlock( + features, + nn.ReLU(False), + deconv=False, + bn=use_bn, + expand=False, + align_corners=True, + size=size, + ) + + +class DPTHead(nn.Module): + def __init__(self, in_channels, features=256, use_bn=False, out_channels=[256, 512, 1024, 1024], use_clstoken=False): + super(DPTHead, self).__init__() + + self.use_clstoken = use_clstoken + + # out_channels = [in_channels // 8, in_channels // 4, in_channels // 2, in_channels] + # out_channels = [in_channels // 4, in_channels // 2, in_channels, in_channels] + # out_channels = [in_channels, in_channels, in_channels, in_channels] + + self.projects = nn.ModuleList([ + nn.Conv2d( + in_channels=in_channels, + out_channels=out_channel, + kernel_size=1, + stride=1, + padding=0, + ) for out_channel in out_channels + ]) + + self.resize_layers = nn.ModuleList([ + nn.ConvTranspose2d( + in_channels=out_channels[0], + out_channels=out_channels[0], + kernel_size=4, + stride=4, + padding=0), + nn.ConvTranspose2d( + in_channels=out_channels[1], + out_channels=out_channels[1], + kernel_size=2, + stride=2, + padding=0), + nn.Identity(), + nn.Conv2d( + in_channels=out_channels[3], + out_channels=out_channels[3], + kernel_size=3, + stride=2, + padding=1) + ]) + + if use_clstoken: + self.readout_projects = nn.ModuleList() + for _ in range(len(self.projects)): + self.readout_projects.append( + nn.Sequential( + nn.Linear(2 * in_channels, in_channels), + nn.GELU())) + + self.scratch = _make_scratch( + out_channels, + features, + groups=1, + expand=False, + ) + + self.scratch.stem_transpose = None + + self.scratch.refinenet1 = _make_fusion_block(features, use_bn) + self.scratch.refinenet2 = _make_fusion_block(features, use_bn) + self.scratch.refinenet3 = _make_fusion_block(features, use_bn) + self.scratch.refinenet4 = _make_fusion_block(features, use_bn) + + head_features_1 = features + head_features_2 = 32 + + self.scratch.output_conv1 = nn.Conv2d(head_features_1, head_features_1 // 2, kernel_size=3, stride=1, padding=1) + + self.scratch.output_conv2 = nn.Sequential( + nn.Conv2d(head_features_1 // 2, head_features_2, kernel_size=3, stride=1, padding=1), + nn.ReLU(True), + nn.Conv2d(head_features_2, 1, kernel_size=1, stride=1, padding=0), + nn.ReLU(True), + nn.Identity(), + ) + + def forward(self, out_features, patch_h, patch_w): + out = [] + for i, x in enumerate(out_features): + if self.use_clstoken: + x, cls_token = x[0], x[1] + readout = cls_token.unsqueeze(1).expand_as(x) + x = self.readout_projects[i](torch.cat((x, readout), -1)) + else: + x = x[0] + + x = x.permute(0, 2, 1).reshape((x.shape[0], x.shape[-1], patch_h, patch_w)) + + x = self.projects[i](x) + x = self.resize_layers[i](x) + + out.append(x) + + layer_1, layer_2, layer_3, layer_4 = out + + layer_1_rn = self.scratch.layer1_rn(layer_1) + layer_2_rn = self.scratch.layer2_rn(layer_2) + layer_3_rn = self.scratch.layer3_rn(layer_3) + layer_4_rn = self.scratch.layer4_rn(layer_4) + + path_4 = self.scratch.refinenet4(layer_4_rn, size=layer_3_rn.shape[2:]) + path_3 = self.scratch.refinenet3(path_4, layer_3_rn, size=layer_2_rn.shape[2:]) + path_2 = self.scratch.refinenet2(path_3, layer_2_rn, size=layer_1_rn.shape[2:]) + path_1 = self.scratch.refinenet1(path_2, layer_1_rn) + + out = self.scratch.output_conv1(path_1) + out = F.interpolate(out, (int(patch_h * 14), int(patch_w * 14)), mode="bilinear", align_corners=True) + out = self.scratch.output_conv2(out) + + return out + + +class DPT_DINOv2(nn.Module): + def __init__(self, encoder='vitl', features=256, use_bn=False, out_channels=[256, 512, 1024, 1024], use_clstoken=False): + + super(DPT_DINOv2, self).__init__() + + torch.manual_seed(1) + + self.pretrained = torch.hub.load('../torchhub/facebookresearch_dinov2_main', 'dinov2_{:}14'.format(encoder), source='local', pretrained=False) + + dim = self.pretrained.blocks[0].attn.qkv.in_features + + self.depth_head = DPTHead(dim, features, use_bn, out_channels=out_channels, use_clstoken=use_clstoken) + + def forward(self, x): + h, w = x.shape[-2:] + + features = self.pretrained.get_intermediate_layers(x, 4, return_class_token=True) + + patch_h, patch_w = h // 14, w // 14 + + depth = self.depth_head(features, patch_h, patch_w) + depth = F.interpolate(depth, size=(h, w), mode="bilinear", align_corners=True) + depth = F.relu(depth) + + return depth.squeeze(1) diff --git a/metric_depth/zoedepth/models/base_models/midas.py b/metric_depth/zoedepth/models/base_models/midas.py new file mode 100644 index 0000000000000000000000000000000000000000..209958ec469eae88df3ea1a0d62964c016f2245e --- /dev/null +++ b/metric_depth/zoedepth/models/base_models/midas.py @@ -0,0 +1,380 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.nn as nn +import numpy as np +from torchvision.transforms import Normalize + + +def denormalize(x): + """Reverses the imagenet normalization applied to the input. + + Args: + x (torch.Tensor - shape(N,3,H,W)): input tensor + + Returns: + torch.Tensor - shape(N,3,H,W): Denormalized input + """ + mean = torch.Tensor([0.485, 0.456, 0.406]).view(1, 3, 1, 1).to(x.device) + std = torch.Tensor([0.229, 0.224, 0.225]).view(1, 3, 1, 1).to(x.device) + return x * std + mean + +def get_activation(name, bank): + def hook(model, input, output): + bank[name] = output + return hook + + +class Resize(object): + """Resize sample to given size (width, height). + """ + + def __init__( + self, + width, + height, + resize_target=True, + keep_aspect_ratio=False, + ensure_multiple_of=1, + resize_method="lower_bound", + ): + """Init. + Args: + width (int): desired output width + height (int): desired output height + resize_target (bool, optional): + True: Resize the full sample (image, mask, target). + False: Resize image only. + Defaults to True. + keep_aspect_ratio (bool, optional): + True: Keep the aspect ratio of the input sample. + Output sample might not have the given width and height, and + resize behaviour depends on the parameter 'resize_method'. + Defaults to False. + ensure_multiple_of (int, optional): + Output width and height is constrained to be multiple of this parameter. + Defaults to 1. + resize_method (str, optional): + "lower_bound": Output will be at least as large as the given size. + "upper_bound": Output will be at max as large as the given size. (Output size might be smaller than given size.) + "minimal": Scale as least as possible. (Output size might be smaller than given size.) + Defaults to "lower_bound". + """ + print("Params passed to Resize transform:") + print("\twidth: ", width) + print("\theight: ", height) + print("\tresize_target: ", resize_target) + print("\tkeep_aspect_ratio: ", keep_aspect_ratio) + print("\tensure_multiple_of: ", ensure_multiple_of) + print("\tresize_method: ", resize_method) + + self.__width = width + self.__height = height + + self.__keep_aspect_ratio = keep_aspect_ratio + self.__multiple_of = ensure_multiple_of + self.__resize_method = resize_method + + def constrain_to_multiple_of(self, x, min_val=0, max_val=None): + y = (np.round(x / self.__multiple_of) * self.__multiple_of).astype(int) + + if max_val is not None and y > max_val: + y = (np.floor(x / self.__multiple_of) + * self.__multiple_of).astype(int) + + if y < min_val: + y = (np.ceil(x / self.__multiple_of) + * self.__multiple_of).astype(int) + + return y + + def get_size(self, width, height): + # determine new height and width + scale_height = self.__height / height + scale_width = self.__width / width + + if self.__keep_aspect_ratio: + if self.__resize_method == "lower_bound": + # scale such that output size is lower bound + if scale_width > scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "upper_bound": + # scale such that output size is upper bound + if scale_width < scale_height: + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + elif self.__resize_method == "minimal": + # scale as least as possbile + if abs(1 - scale_width) < abs(1 - scale_height): + # fit width + scale_height = scale_width + else: + # fit height + scale_width = scale_height + else: + raise ValueError( + f"resize_method {self.__resize_method} not implemented" + ) + + if self.__resize_method == "lower_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, min_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, min_val=self.__width + ) + elif self.__resize_method == "upper_bound": + new_height = self.constrain_to_multiple_of( + scale_height * height, max_val=self.__height + ) + new_width = self.constrain_to_multiple_of( + scale_width * width, max_val=self.__width + ) + elif self.__resize_method == "minimal": + new_height = self.constrain_to_multiple_of(scale_height * height) + new_width = self.constrain_to_multiple_of(scale_width * width) + else: + raise ValueError( + f"resize_method {self.__resize_method} not implemented") + + return (new_width, new_height) + + def __call__(self, x): + width, height = self.get_size(*x.shape[-2:][::-1]) + return nn.functional.interpolate(x, (height, width), mode='bilinear', align_corners=True) + +class PrepForMidas(object): + def __init__(self, resize_mode="minimal", keep_aspect_ratio=True, img_size=384, do_resize=True): + if isinstance(img_size, int): + img_size = (img_size, img_size) + net_h, net_w = img_size + self.normalization = Normalize( + mean=[0.5, 0.5, 0.5], std=[0.5, 0.5, 0.5]) + self.resizer = Resize(net_w, net_h, keep_aspect_ratio=keep_aspect_ratio, ensure_multiple_of=32, resize_method=resize_mode) \ + if do_resize else nn.Identity() + + def __call__(self, x): + return self.normalization(self.resizer(x)) + + +class MidasCore(nn.Module): + def __init__(self, midas, trainable=False, fetch_features=True, layer_names=('out_conv', 'l4_rn', 'r4', 'r3', 'r2', 'r1'), freeze_bn=False, keep_aspect_ratio=True, + img_size=384, **kwargs): + """Midas Base model used for multi-scale feature extraction. + + Args: + midas (torch.nn.Module): Midas model. + trainable (bool, optional): Train midas model. Defaults to False. + fetch_features (bool, optional): Extract multi-scale features. Defaults to True. + layer_names (tuple, optional): Layers used for feature extraction. Order = (head output features, last layer features, ...decoder features). Defaults to ('out_conv', 'l4_rn', 'r4', 'r3', 'r2', 'r1'). + freeze_bn (bool, optional): Freeze BatchNorm. Generally results in better finetuning performance. Defaults to False. + keep_aspect_ratio (bool, optional): Keep the aspect ratio of input images while resizing. Defaults to True. + img_size (int, tuple, optional): Input resolution. Defaults to 384. + """ + super().__init__() + self.core = midas + self.output_channels = None + self.core_out = {} + self.trainable = trainable + self.fetch_features = fetch_features + # midas.scratch.output_conv = nn.Identity() + self.handles = [] + # self.layer_names = ['out_conv','l4_rn', 'r4', 'r3', 'r2', 'r1'] + self.layer_names = layer_names + + self.set_trainable(trainable) + self.set_fetch_features(fetch_features) + + self.prep = PrepForMidas(keep_aspect_ratio=keep_aspect_ratio, + img_size=img_size, do_resize=kwargs.get('do_resize', True)) + + if freeze_bn: + self.freeze_bn() + + def set_trainable(self, trainable): + self.trainable = trainable + if trainable: + self.unfreeze() + else: + self.freeze() + return self + + def set_fetch_features(self, fetch_features): + self.fetch_features = fetch_features + if fetch_features: + if len(self.handles) == 0: + self.attach_hooks(self.core) + else: + self.remove_hooks() + return self + + def freeze(self): + for p in self.parameters(): + p.requires_grad = False + self.trainable = False + return self + + def unfreeze(self): + for p in self.parameters(): + p.requires_grad = True + self.trainable = True + return self + + def freeze_bn(self): + for m in self.modules(): + if isinstance(m, nn.BatchNorm2d): + m.eval() + return self + + def forward(self, x, denorm=False, return_rel_depth=False): + # print('input to midas:', x.shape) + with torch.no_grad(): + if denorm: + x = denormalize(x) + x = self.prep(x) + # print("Shape after prep: ", x.shape) + # print('pre-processed:', x.shape) + + with torch.set_grad_enabled(self.trainable): + + # print("Input size to Midascore", x.shape) + rel_depth = self.core(x) + # print("Output from midas shape", rel_depth.shape) + if not self.fetch_features: + return rel_depth + out = [self.core_out[k] for k in self.layer_names] + + if return_rel_depth: + return rel_depth, out + return out + + def get_rel_pos_params(self): + for name, p in self.core.pretrained.named_parameters(): + if "relative_position" in name: + yield p + + def get_enc_params_except_rel_pos(self): + for name, p in self.core.pretrained.named_parameters(): + if "relative_position" not in name: + yield p + + def freeze_encoder(self, freeze_rel_pos=False): + if freeze_rel_pos: + for p in self.core.pretrained.parameters(): + p.requires_grad = False + else: + for p in self.get_enc_params_except_rel_pos(): + p.requires_grad = False + return self + + def attach_hooks(self, midas): + if len(self.handles) > 0: + self.remove_hooks() + if "out_conv" in self.layer_names: + self.handles.append(list(midas.scratch.output_conv.children())[ + 3].register_forward_hook(get_activation("out_conv", self.core_out))) + if "r4" in self.layer_names: + self.handles.append(midas.scratch.refinenet4.register_forward_hook( + get_activation("r4", self.core_out))) + if "r3" in self.layer_names: + self.handles.append(midas.scratch.refinenet3.register_forward_hook( + get_activation("r3", self.core_out))) + if "r2" in self.layer_names: + self.handles.append(midas.scratch.refinenet2.register_forward_hook( + get_activation("r2", self.core_out))) + if "r1" in self.layer_names: + self.handles.append(midas.scratch.refinenet1.register_forward_hook( + get_activation("r1", self.core_out))) + if "l4_rn" in self.layer_names: + self.handles.append(midas.scratch.layer4_rn.register_forward_hook( + get_activation("l4_rn", self.core_out))) + + return self + + def remove_hooks(self): + for h in self.handles: + h.remove() + return self + + def __del__(self): + self.remove_hooks() + + def set_output_channels(self, model_type): + self.output_channels = MIDAS_SETTINGS[model_type] + + @staticmethod + def build(midas_model_type="DPT_BEiT_L_384", train_midas=False, use_pretrained_midas=True, fetch_features=False, freeze_bn=True, force_keep_ar=False, force_reload=False, **kwargs): + if midas_model_type not in MIDAS_SETTINGS: + raise ValueError( + f"Invalid model type: {midas_model_type}. Must be one of {list(MIDAS_SETTINGS.keys())}") + if "img_size" in kwargs: + kwargs = MidasCore.parse_img_size(kwargs) + img_size = kwargs.pop("img_size", [384, 384]) + # print("img_size", img_size) + midas = torch.hub.load("intel-isl/MiDaS", midas_model_type, + pretrained=use_pretrained_midas, force_reload=force_reload) + kwargs.update({'keep_aspect_ratio': force_keep_ar}) + midas_core = MidasCore(midas, trainable=train_midas, fetch_features=fetch_features, + freeze_bn=freeze_bn, img_size=img_size, **kwargs) + midas_core.set_output_channels(midas_model_type) + return midas_core + + @staticmethod + def build_from_config(config): + return MidasCore.build(**config) + + @staticmethod + def parse_img_size(config): + assert 'img_size' in config + if isinstance(config['img_size'], str): + assert "," in config['img_size'], "img_size should be a string with comma separated img_size=H,W" + config['img_size'] = list(map(int, config['img_size'].split(","))) + assert len( + config['img_size']) == 2, "img_size should be a string with comma separated img_size=H,W" + elif isinstance(config['img_size'], int): + config['img_size'] = [config['img_size'], config['img_size']] + else: + assert isinstance(config['img_size'], list) and len( + config['img_size']) == 2, "img_size should be a list of H,W" + return config + + +nchannels2models = { + tuple([256]*5): ["DPT_BEiT_L_384", "DPT_BEiT_L_512", "DPT_BEiT_B_384", "DPT_SwinV2_L_384", "DPT_SwinV2_B_384", "DPT_SwinV2_T_256", "DPT_Large", "DPT_Hybrid"], + (512, 256, 128, 64, 64): ["MiDaS_small"] +} + +# Model name to number of output channels +MIDAS_SETTINGS = {m: k for k, v in nchannels2models.items() + for m in v + } +# print('MIDAS_SETTINGS:', MIDAS_SETTINGS) \ No newline at end of file diff --git a/metric_depth/zoedepth/models/builder.py b/metric_depth/zoedepth/models/builder.py new file mode 100644 index 0000000000000000000000000000000000000000..4363d59689158912a412feb5c296b4a72bc2c608 --- /dev/null +++ b/metric_depth/zoedepth/models/builder.py @@ -0,0 +1,51 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +from importlib import import_module +from zoedepth.models.depth_model import DepthModel + +def build_model(config) -> DepthModel: + """Builds a model from a config. The model is specified by the model name and version in the config. The model is then constructed using the build_from_config function of the model interface. + This function should be used to construct models for training and evaluation. + + Args: + config (dict): Config dict. Config is constructed in utils/config.py. Each model has its own config file(s) saved in its root model folder. + + Returns: + torch.nn.Module: Model corresponding to name and version as specified in config + """ + module_name = f"zoedepth.models.{config.model}" + try: + module = import_module(module_name) + except ModuleNotFoundError as e: + # print the original error message + print(e) + raise ValueError( + f"Model {config.model} not found. Refer above error for details.") from e + try: + get_version = getattr(module, "get_version") + except AttributeError as e: + raise ValueError( + f"Model {config.model} has no get_version function.") from e + return get_version(config.version_name).build_from_config(config) diff --git a/metric_depth/zoedepth/models/depth_model.py b/metric_depth/zoedepth/models/depth_model.py new file mode 100644 index 0000000000000000000000000000000000000000..fc421c108ea3928c9add62b4c190500d9bd4eda1 --- /dev/null +++ b/metric_depth/zoedepth/models/depth_model.py @@ -0,0 +1,152 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import numpy as np +import torch +import torch.nn as nn +import torch.nn.functional as F +from torchvision import transforms +import PIL.Image +from PIL import Image +from typing import Union + + +class DepthModel(nn.Module): + def __init__(self): + super().__init__() + self.device = 'cpu' + + def to(self, device) -> nn.Module: + self.device = device + return super().to(device) + + def forward(self, x, *args, **kwargs): + raise NotImplementedError + + def _infer(self, x: torch.Tensor): + """ + Inference interface for the model + Args: + x (torch.Tensor): input tensor of shape (b, c, h, w) + Returns: + torch.Tensor: output tensor of shape (b, 1, h, w) + """ + return self(x)['metric_depth'] + + def _infer_with_pad_aug(self, x: torch.Tensor, pad_input: bool=True, fh: float=3, fw: float=3, upsampling_mode: str='bicubic', padding_mode="reflect", **kwargs) -> torch.Tensor: + """ + Inference interface for the model with padding augmentation + Padding augmentation fixes the boundary artifacts in the output depth map. + Boundary artifacts are sometimes caused by the fact that the model is trained on NYU raw dataset which has a black or white border around the image. + This augmentation pads the input image and crops the prediction back to the original size / view. + + Note: This augmentation is not required for the models trained with 'avoid_boundary'=True. + Args: + x (torch.Tensor): input tensor of shape (b, c, h, w) + pad_input (bool, optional): whether to pad the input or not. Defaults to True. + fh (float, optional): height padding factor. The padding is calculated as sqrt(h/2) * fh. Defaults to 3. + fw (float, optional): width padding factor. The padding is calculated as sqrt(w/2) * fw. Defaults to 3. + upsampling_mode (str, optional): upsampling mode. Defaults to 'bicubic'. + padding_mode (str, optional): padding mode. Defaults to "reflect". + Returns: + torch.Tensor: output tensor of shape (b, 1, h, w) + """ + # assert x is nchw and c = 3 + assert x.dim() == 4, "x must be 4 dimensional, got {}".format(x.dim()) + assert x.shape[1] == 3, "x must have 3 channels, got {}".format(x.shape[1]) + + if pad_input: + assert fh > 0 or fw > 0, "atlease one of fh and fw must be greater than 0" + pad_h = int(np.sqrt(x.shape[2]/2) * fh) + pad_w = int(np.sqrt(x.shape[3]/2) * fw) + padding = [pad_w, pad_w] + if pad_h > 0: + padding += [pad_h, pad_h] + + x = F.pad(x, padding, mode=padding_mode, **kwargs) + out = self._infer(x) + if out.shape[-2:] != x.shape[-2:]: + out = F.interpolate(out, size=(x.shape[2], x.shape[3]), mode=upsampling_mode, align_corners=False) + if pad_input: + # crop to the original size, handling the case where pad_h and pad_w is 0 + if pad_h > 0: + out = out[:, :, pad_h:-pad_h,:] + if pad_w > 0: + out = out[:, :, :, pad_w:-pad_w] + return out + + def infer_with_flip_aug(self, x, pad_input: bool=True, **kwargs) -> torch.Tensor: + """ + Inference interface for the model with horizontal flip augmentation + Horizontal flip augmentation improves the accuracy of the model by averaging the output of the model with and without horizontal flip. + Args: + x (torch.Tensor): input tensor of shape (b, c, h, w) + pad_input (bool, optional): whether to use padding augmentation. Defaults to True. + Returns: + torch.Tensor: output tensor of shape (b, 1, h, w) + """ + # infer with horizontal flip and average + out = self._infer_with_pad_aug(x, pad_input=pad_input, **kwargs) + out_flip = self._infer_with_pad_aug(torch.flip(x, dims=[3]), pad_input=pad_input, **kwargs) + out = (out + torch.flip(out_flip, dims=[3])) / 2 + return out + + def infer(self, x, pad_input: bool=True, with_flip_aug: bool=True, **kwargs) -> torch.Tensor: + """ + Inference interface for the model + Args: + x (torch.Tensor): input tensor of shape (b, c, h, w) + pad_input (bool, optional): whether to use padding augmentation. Defaults to True. + with_flip_aug (bool, optional): whether to use horizontal flip augmentation. Defaults to True. + Returns: + torch.Tensor: output tensor of shape (b, 1, h, w) + """ + if with_flip_aug: + return self.infer_with_flip_aug(x, pad_input=pad_input, **kwargs) + else: + return self._infer_with_pad_aug(x, pad_input=pad_input, **kwargs) + + @torch.no_grad() + def infer_pil(self, pil_img, pad_input: bool=True, with_flip_aug: bool=True, output_type: str="numpy", **kwargs) -> Union[np.ndarray, PIL.Image.Image, torch.Tensor]: + """ + Inference interface for the model for PIL image + Args: + pil_img (PIL.Image.Image): input PIL image + pad_input (bool, optional): whether to use padding augmentation. Defaults to True. + with_flip_aug (bool, optional): whether to use horizontal flip augmentation. Defaults to True. + output_type (str, optional): output type. Supported values are 'numpy', 'pil' and 'tensor'. Defaults to "numpy". + """ + x = transforms.ToTensor()(pil_img).unsqueeze(0).to(self.device) + out_tensor = self.infer(x, pad_input=pad_input, with_flip_aug=with_flip_aug, **kwargs) + if output_type == "numpy": + return out_tensor.squeeze().cpu().numpy() + elif output_type == "pil": + # uint16 is required for depth pil image + out_16bit_numpy = (out_tensor.squeeze().cpu().numpy()*256).astype(np.uint16) + return Image.fromarray(out_16bit_numpy) + elif output_type == "tensor": + return out_tensor.squeeze().cpu() + else: + raise ValueError(f"output_type {output_type} not supported. Supported values are 'numpy', 'pil' and 'tensor'") + \ No newline at end of file diff --git a/metric_depth/zoedepth/models/layers/attractor.py b/metric_depth/zoedepth/models/layers/attractor.py new file mode 100644 index 0000000000000000000000000000000000000000..2a8efe645adea1d88a12e2ac5cc6bb2a251eef9d --- /dev/null +++ b/metric_depth/zoedepth/models/layers/attractor.py @@ -0,0 +1,208 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.nn as nn + + +@torch.jit.script +def exp_attractor(dx, alpha: float = 300, gamma: int = 2): + """Exponential attractor: dc = exp(-alpha*|dx|^gamma) * dx , where dx = a - c, a = attractor point, c = bin center, dc = shift in bin centermmary for exp_attractor + + Args: + dx (torch.Tensor): The difference tensor dx = Ai - Cj, where Ai is the attractor point and Cj is the bin center. + alpha (float, optional): Proportional Attractor strength. Determines the absolute strength. Lower alpha = greater attraction. Defaults to 300. + gamma (int, optional): Exponential Attractor strength. Determines the "region of influence" and indirectly number of bin centers affected. Lower gamma = farther reach. Defaults to 2. + + Returns: + torch.Tensor : Delta shifts - dc; New bin centers = Old bin centers + dc + """ + return torch.exp(-alpha*(torch.abs(dx)**gamma)) * (dx) + + +@torch.jit.script +def inv_attractor(dx, alpha: float = 300, gamma: int = 2): + """Inverse attractor: dc = dx / (1 + alpha*dx^gamma), where dx = a - c, a = attractor point, c = bin center, dc = shift in bin center + This is the default one according to the accompanying paper. + + Args: + dx (torch.Tensor): The difference tensor dx = Ai - Cj, where Ai is the attractor point and Cj is the bin center. + alpha (float, optional): Proportional Attractor strength. Determines the absolute strength. Lower alpha = greater attraction. Defaults to 300. + gamma (int, optional): Exponential Attractor strength. Determines the "region of influence" and indirectly number of bin centers affected. Lower gamma = farther reach. Defaults to 2. + + Returns: + torch.Tensor: Delta shifts - dc; New bin centers = Old bin centers + dc + """ + return dx.div(1+alpha*dx.pow(gamma)) + + +class AttractorLayer(nn.Module): + def __init__(self, in_features, n_bins, n_attractors=16, mlp_dim=128, min_depth=1e-3, max_depth=10, + alpha=300, gamma=2, kind='sum', attractor_type='exp', memory_efficient=False): + """ + Attractor layer for bin centers. Bin centers are bounded on the interval (min_depth, max_depth) + """ + super().__init__() + + self.n_attractors = n_attractors + self.n_bins = n_bins + self.min_depth = min_depth + self.max_depth = max_depth + self.alpha = alpha + self.gamma = gamma + self.kind = kind + self.attractor_type = attractor_type + self.memory_efficient = memory_efficient + + self._net = nn.Sequential( + nn.Conv2d(in_features, mlp_dim, 1, 1, 0), + nn.ReLU(inplace=True), + nn.Conv2d(mlp_dim, n_attractors*2, 1, 1, 0), # x2 for linear norm + nn.ReLU(inplace=True) + ) + + def forward(self, x, b_prev, prev_b_embedding=None, interpolate=True, is_for_query=False): + """ + Args: + x (torch.Tensor) : feature block; shape - n, c, h, w + b_prev (torch.Tensor) : previous bin centers normed; shape - n, prev_nbins, h, w + + Returns: + tuple(torch.Tensor,torch.Tensor) : new bin centers normed and scaled; shape - n, nbins, h, w + """ + if prev_b_embedding is not None: + if interpolate: + prev_b_embedding = nn.functional.interpolate( + prev_b_embedding, x.shape[-2:], mode='bilinear', align_corners=True) + x = x + prev_b_embedding + + A = self._net(x) + eps = 1e-3 + A = A + eps + n, c, h, w = A.shape + A = A.view(n, self.n_attractors, 2, h, w) + A_normed = A / A.sum(dim=2, keepdim=True) # n, a, 2, h, w + A_normed = A[:, :, 0, ...] # n, na, h, w + + b_prev = nn.functional.interpolate( + b_prev, (h, w), mode='bilinear', align_corners=True) + b_centers = b_prev + + if self.attractor_type == 'exp': + dist = exp_attractor + else: + dist = inv_attractor + + if not self.memory_efficient: + func = {'mean': torch.mean, 'sum': torch.sum}[self.kind] + # .shape N, nbins, h, w + delta_c = func(dist(A_normed.unsqueeze( + 2) - b_centers.unsqueeze(1)), dim=1) + else: + delta_c = torch.zeros_like(b_centers, device=b_centers.device) + for i in range(self.n_attractors): + # .shape N, nbins, h, w + delta_c += dist(A_normed[:, i, ...].unsqueeze(1) - b_centers) + + if self.kind == 'mean': + delta_c = delta_c / self.n_attractors + + b_new_centers = b_centers + delta_c + B_centers = (self.max_depth - self.min_depth) * \ + b_new_centers + self.min_depth + B_centers, _ = torch.sort(B_centers, dim=1) + B_centers = torch.clip(B_centers, self.min_depth, self.max_depth) + return b_new_centers, B_centers + + +class AttractorLayerUnnormed(nn.Module): + def __init__(self, in_features, n_bins, n_attractors=16, mlp_dim=128, min_depth=1e-3, max_depth=10, + alpha=300, gamma=2, kind='sum', attractor_type='exp', memory_efficient=False): + """ + Attractor layer for bin centers. Bin centers are unbounded + """ + super().__init__() + + self.n_attractors = n_attractors + self.n_bins = n_bins + self.min_depth = min_depth + self.max_depth = max_depth + self.alpha = alpha + self.gamma = gamma + self.kind = kind + self.attractor_type = attractor_type + self.memory_efficient = memory_efficient + + self._net = nn.Sequential( + nn.Conv2d(in_features, mlp_dim, 1, 1, 0), + nn.ReLU(inplace=True), + nn.Conv2d(mlp_dim, n_attractors, 1, 1, 0), + nn.Softplus() + ) + + def forward(self, x, b_prev, prev_b_embedding=None, interpolate=True, is_for_query=False): + """ + Args: + x (torch.Tensor) : feature block; shape - n, c, h, w + b_prev (torch.Tensor) : previous bin centers normed; shape - n, prev_nbins, h, w + + Returns: + tuple(torch.Tensor,torch.Tensor) : new bin centers unbounded; shape - n, nbins, h, w. Two outputs just to keep the API consistent with the normed version + """ + if prev_b_embedding is not None: + if interpolate: + prev_b_embedding = nn.functional.interpolate( + prev_b_embedding, x.shape[-2:], mode='bilinear', align_corners=True) + x = x + prev_b_embedding + + A = self._net(x) + n, c, h, w = A.shape + + b_prev = nn.functional.interpolate( + b_prev, (h, w), mode='bilinear', align_corners=True) + b_centers = b_prev + + if self.attractor_type == 'exp': + dist = exp_attractor + else: + dist = inv_attractor + + if not self.memory_efficient: + func = {'mean': torch.mean, 'sum': torch.sum}[self.kind] + # .shape N, nbins, h, w + delta_c = func( + dist(A.unsqueeze(2) - b_centers.unsqueeze(1)), dim=1) + else: + delta_c = torch.zeros_like(b_centers, device=b_centers.device) + for i in range(self.n_attractors): + delta_c += dist(A[:, i, ...].unsqueeze(1) - + b_centers) # .shape N, nbins, h, w + + if self.kind == 'mean': + delta_c = delta_c / self.n_attractors + + b_new_centers = b_centers + delta_c + B_centers = b_new_centers + + return b_new_centers, B_centers diff --git a/metric_depth/zoedepth/models/layers/dist_layers.py b/metric_depth/zoedepth/models/layers/dist_layers.py new file mode 100644 index 0000000000000000000000000000000000000000..3208405dfb78fdfc28d5765e5a6d5dbe31967a23 --- /dev/null +++ b/metric_depth/zoedepth/models/layers/dist_layers.py @@ -0,0 +1,121 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.nn as nn + + +def log_binom(n, k, eps=1e-7): + """ log(nCk) using stirling approximation """ + n = n + eps + k = k + eps + return n * torch.log(n) - k * torch.log(k) - (n-k) * torch.log(n-k+eps) + + +class LogBinomial(nn.Module): + def __init__(self, n_classes=256, act=torch.softmax): + """Compute log binomial distribution for n_classes + + Args: + n_classes (int, optional): number of output classes. Defaults to 256. + """ + super().__init__() + self.K = n_classes + self.act = act + self.register_buffer('k_idx', torch.arange( + 0, n_classes).view(1, -1, 1, 1)) + self.register_buffer('K_minus_1', torch.Tensor( + [self.K-1]).view(1, -1, 1, 1)) + + def forward(self, x, t=1., eps=1e-4): + """Compute log binomial distribution for x + + Args: + x (torch.Tensor - NCHW): probabilities + t (float, torch.Tensor - NCHW, optional): Temperature of distribution. Defaults to 1.. + eps (float, optional): Small number for numerical stability. Defaults to 1e-4. + + Returns: + torch.Tensor -NCHW: log binomial distribution logbinomial(p;t) + """ + if x.ndim == 3: + x = x.unsqueeze(1) # make it nchw + + one_minus_x = torch.clamp(1 - x, eps, 1) + x = torch.clamp(x, eps, 1) + y = log_binom(self.K_minus_1, self.k_idx) + self.k_idx * \ + torch.log(x) + (self.K - 1 - self.k_idx) * torch.log(one_minus_x) + return self.act(y/t, dim=1) + + +class ConditionalLogBinomial(nn.Module): + def __init__(self, in_features, condition_dim, n_classes=256, bottleneck_factor=2, p_eps=1e-4, max_temp=50, min_temp=1e-7, act=torch.softmax): + """Conditional Log Binomial distribution + + Args: + in_features (int): number of input channels in main feature + condition_dim (int): number of input channels in condition feature + n_classes (int, optional): Number of classes. Defaults to 256. + bottleneck_factor (int, optional): Hidden dim factor. Defaults to 2. + p_eps (float, optional): small eps value. Defaults to 1e-4. + max_temp (float, optional): Maximum temperature of output distribution. Defaults to 50. + min_temp (float, optional): Minimum temperature of output distribution. Defaults to 1e-7. + """ + super().__init__() + self.p_eps = p_eps + self.max_temp = max_temp + self.min_temp = min_temp + self.log_binomial_transform = LogBinomial(n_classes, act=act) + bottleneck = (in_features + condition_dim) // bottleneck_factor + self.mlp = nn.Sequential( + nn.Conv2d(in_features + condition_dim, bottleneck, + kernel_size=1, stride=1, padding=0), + nn.GELU(), + # 2 for p linear norm, 2 for t linear norm + nn.Conv2d(bottleneck, 2+2, kernel_size=1, stride=1, padding=0), + nn.Softplus() + ) + + def forward(self, x, cond): + """Forward pass + + Args: + x (torch.Tensor - NCHW): Main feature + cond (torch.Tensor - NCHW): condition feature + + Returns: + torch.Tensor: Output log binomial distribution + """ + pt = self.mlp(torch.concat((x, cond), dim=1)) + p, t = pt[:, :2, ...], pt[:, 2:, ...] + + p = p + self.p_eps + p = p[:, 0, ...] / (p[:, 0, ...] + p[:, 1, ...]) + + t = t + self.p_eps + t = t[:, 0, ...] / (t[:, 0, ...] + t[:, 1, ...]) + t = t.unsqueeze(1) + t = (self.max_temp - self.min_temp) * t + self.min_temp + + return self.log_binomial_transform(p, t) diff --git a/metric_depth/zoedepth/models/layers/localbins_layers.py b/metric_depth/zoedepth/models/layers/localbins_layers.py new file mode 100644 index 0000000000000000000000000000000000000000..f94481605c3e6958ce50e73b2eb31d9f0c07dc67 --- /dev/null +++ b/metric_depth/zoedepth/models/layers/localbins_layers.py @@ -0,0 +1,169 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.nn as nn + + +class SeedBinRegressor(nn.Module): + def __init__(self, in_features, n_bins=16, mlp_dim=256, min_depth=1e-3, max_depth=10): + """Bin center regressor network. Bin centers are bounded on (min_depth, max_depth) interval. + + Args: + in_features (int): input channels + n_bins (int, optional): Number of bin centers. Defaults to 16. + mlp_dim (int, optional): Hidden dimension. Defaults to 256. + min_depth (float, optional): Min depth value. Defaults to 1e-3. + max_depth (float, optional): Max depth value. Defaults to 10. + """ + super().__init__() + self.version = "1_1" + self.min_depth = min_depth + self.max_depth = max_depth + + self._net = nn.Sequential( + nn.Conv2d(in_features, mlp_dim, 1, 1, 0), + nn.ReLU(inplace=True), + nn.Conv2d(mlp_dim, n_bins, 1, 1, 0), + nn.ReLU(inplace=True) + ) + + def forward(self, x): + """ + Returns tensor of bin_width vectors (centers). One vector b for every pixel + """ + B = self._net(x) + eps = 1e-3 + B = B + eps + B_widths_normed = B / B.sum(dim=1, keepdim=True) + B_widths = (self.max_depth - self.min_depth) * \ + B_widths_normed # .shape NCHW + # pad has the form (left, right, top, bottom, front, back) + B_widths = nn.functional.pad( + B_widths, (0, 0, 0, 0, 1, 0), mode='constant', value=self.min_depth) + B_edges = torch.cumsum(B_widths, dim=1) # .shape NCHW + + B_centers = 0.5 * (B_edges[:, :-1, ...] + B_edges[:, 1:, ...]) + return B_widths_normed, B_centers + + +class SeedBinRegressorUnnormed(nn.Module): + def __init__(self, in_features, n_bins=16, mlp_dim=256, min_depth=1e-3, max_depth=10): + """Bin center regressor network. Bin centers are unbounded + + Args: + in_features (int): input channels + n_bins (int, optional): Number of bin centers. Defaults to 16. + mlp_dim (int, optional): Hidden dimension. Defaults to 256. + min_depth (float, optional): Not used. (for compatibility with SeedBinRegressor) + max_depth (float, optional): Not used. (for compatibility with SeedBinRegressor) + """ + super().__init__() + self.version = "1_1" + self._net = nn.Sequential( + nn.Conv2d(in_features, mlp_dim, 1, 1, 0), + nn.ReLU(inplace=True), + nn.Conv2d(mlp_dim, n_bins, 1, 1, 0), + nn.Softplus() + ) + + def forward(self, x): + """ + Returns tensor of bin_width vectors (centers). One vector b for every pixel + """ + B_centers = self._net(x) + return B_centers, B_centers + + +class Projector(nn.Module): + def __init__(self, in_features, out_features, mlp_dim=128): + """Projector MLP + + Args: + in_features (int): input channels + out_features (int): output channels + mlp_dim (int, optional): hidden dimension. Defaults to 128. + """ + super().__init__() + + self._net = nn.Sequential( + nn.Conv2d(in_features, mlp_dim, 1, 1, 0), + nn.ReLU(inplace=True), + nn.Conv2d(mlp_dim, out_features, 1, 1, 0), + ) + + def forward(self, x): + return self._net(x) + + + +class LinearSplitter(nn.Module): + def __init__(self, in_features, prev_nbins, split_factor=2, mlp_dim=128, min_depth=1e-3, max_depth=10): + super().__init__() + + self.prev_nbins = prev_nbins + self.split_factor = split_factor + self.min_depth = min_depth + self.max_depth = max_depth + + self._net = nn.Sequential( + nn.Conv2d(in_features, mlp_dim, 1, 1, 0), + nn.GELU(), + nn.Conv2d(mlp_dim, prev_nbins * split_factor, 1, 1, 0), + nn.ReLU() + ) + + def forward(self, x, b_prev, prev_b_embedding=None, interpolate=True, is_for_query=False): + """ + x : feature block; shape - n, c, h, w + b_prev : previous bin widths normed; shape - n, prev_nbins, h, w + """ + if prev_b_embedding is not None: + if interpolate: + prev_b_embedding = nn.functional.interpolate(prev_b_embedding, x.shape[-2:], mode='bilinear', align_corners=True) + x = x + prev_b_embedding + S = self._net(x) + eps = 1e-3 + S = S + eps + n, c, h, w = S.shape + S = S.view(n, self.prev_nbins, self.split_factor, h, w) + S_normed = S / S.sum(dim=2, keepdim=True) # fractional splits + + b_prev = nn.functional.interpolate(b_prev, (h,w), mode='bilinear', align_corners=True) + + + b_prev = b_prev / b_prev.sum(dim=1, keepdim=True) # renormalize for gurantees + # print(b_prev.shape, S_normed.shape) + # if is_for_query:(1).expand(-1, b_prev.size(0)//n, -1, -1, -1, -1).flatten(0,1) # TODO ? can replace all this with a single torch.repeat? + b = b_prev.unsqueeze(2) * S_normed + b = b.flatten(1,2) # .shape n, prev_nbins * split_factor, h, w + + # calculate bin centers for loss calculation + B_widths = (self.max_depth - self.min_depth) * b # .shape N, nprev * splitfactor, H, W + # pad has the form (left, right, top, bottom, front, back) + B_widths = nn.functional.pad(B_widths, (0,0,0,0,1,0), mode='constant', value=self.min_depth) + B_edges = torch.cumsum(B_widths, dim=1) # .shape NCHW + + B_centers = 0.5 * (B_edges[:, :-1, ...] + B_edges[:,1:,...]) + return b, B_centers \ No newline at end of file diff --git a/metric_depth/zoedepth/models/layers/patch_transformer.py b/metric_depth/zoedepth/models/layers/patch_transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..99d9e51a06b981bae45ce7dd64eaef19a4121991 --- /dev/null +++ b/metric_depth/zoedepth/models/layers/patch_transformer.py @@ -0,0 +1,91 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.nn as nn + + +class PatchTransformerEncoder(nn.Module): + def __init__(self, in_channels, patch_size=10, embedding_dim=128, num_heads=4, use_class_token=False): + """ViT-like transformer block + + Args: + in_channels (int): Input channels + patch_size (int, optional): patch size. Defaults to 10. + embedding_dim (int, optional): Embedding dimension in transformer model. Defaults to 128. + num_heads (int, optional): number of attention heads. Defaults to 4. + use_class_token (bool, optional): Whether to use extra token at the start for global accumulation (called as "class token"). Defaults to False. + """ + super(PatchTransformerEncoder, self).__init__() + self.use_class_token = use_class_token + encoder_layers = nn.TransformerEncoderLayer( + embedding_dim, num_heads, dim_feedforward=1024) + self.transformer_encoder = nn.TransformerEncoder( + encoder_layers, num_layers=4) # takes shape S,N,E + + self.embedding_convPxP = nn.Conv2d(in_channels, embedding_dim, + kernel_size=patch_size, stride=patch_size, padding=0) + + def positional_encoding_1d(self, sequence_length, batch_size, embedding_dim, device='cpu'): + """Generate positional encodings + + Args: + sequence_length (int): Sequence length + embedding_dim (int): Embedding dimension + + Returns: + torch.Tensor SBE: Positional encodings + """ + position = torch.arange( + 0, sequence_length, dtype=torch.float32, device=device).unsqueeze(1) + index = torch.arange( + 0, embedding_dim, 2, dtype=torch.float32, device=device).unsqueeze(0) + div_term = torch.exp(index * (-torch.log(torch.tensor(10000.0, device=device)) / embedding_dim)) + pos_encoding = position * div_term + pos_encoding = torch.cat([torch.sin(pos_encoding), torch.cos(pos_encoding)], dim=1) + pos_encoding = pos_encoding.unsqueeze(1).repeat(1, batch_size, 1) + return pos_encoding + + + def forward(self, x): + """Forward pass + + Args: + x (torch.Tensor - NCHW): Input feature tensor + + Returns: + torch.Tensor - SNE: Transformer output embeddings. S - sequence length (=HW/patch_size^2), N - batch size, E - embedding dim + """ + embeddings = self.embedding_convPxP(x).flatten( + 2) # .shape = n,c,s = n, embedding_dim, s + if self.use_class_token: + # extra special token at start ? + embeddings = nn.functional.pad(embeddings, (1, 0)) + + # change to S,N,E format required by transformer + embeddings = embeddings.permute(2, 0, 1) + S, N, E = embeddings.shape + embeddings = embeddings + self.positional_encoding_1d(S, N, E, device=embeddings.device) + x = self.transformer_encoder(embeddings) # .shape = S, N, E + return x diff --git a/metric_depth/zoedepth/models/model_io.py b/metric_depth/zoedepth/models/model_io.py new file mode 100644 index 0000000000000000000000000000000000000000..78b6579631dd847ac76651238cb5a948b5a66286 --- /dev/null +++ b/metric_depth/zoedepth/models/model_io.py @@ -0,0 +1,92 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch + +def load_state_dict(model, state_dict): + """Load state_dict into model, handling DataParallel and DistributedDataParallel. Also checks for "model" key in state_dict. + + DataParallel prefixes state_dict keys with 'module.' when saving. + If the model is not a DataParallel model but the state_dict is, then prefixes are removed. + If the model is a DataParallel model but the state_dict is not, then prefixes are added. + """ + state_dict = state_dict.get('model', state_dict) + # if model is a DataParallel model, then state_dict keys are prefixed with 'module.' + + do_prefix = isinstance( + model, (torch.nn.DataParallel, torch.nn.parallel.DistributedDataParallel)) + state = {} + for k, v in state_dict.items(): + if k.startswith('module.') and not do_prefix: + k = k[7:] + + if not k.startswith('module.') and do_prefix: + k = 'module.' + k + + state[k] = v + + model.load_state_dict(state) + print("Loaded successfully") + return model + + +def load_wts(model, checkpoint_path): + ckpt = torch.load(checkpoint_path, map_location='cpu') + return load_state_dict(model, ckpt) + + +def load_state_dict_from_url(model, url, **kwargs): + state_dict = torch.hub.load_state_dict_from_url(url, map_location='cpu', **kwargs) + return load_state_dict(model, state_dict) + + +def load_state_from_resource(model, resource: str): + """Loads weights to the model from a given resource. A resource can be of following types: + 1. URL. Prefixed with "url::" + e.g. url::http(s)://url.resource.com/ckpt.pt + + 2. Local path. Prefixed with "local::" + e.g. local::/path/to/ckpt.pt + + + Args: + model (torch.nn.Module): Model + resource (str): resource string + + Returns: + torch.nn.Module: Model with loaded weights + """ + print(f"Using pretrained resource {resource}") + + if resource.startswith('url::'): + url = resource.split('url::')[1] + return load_state_dict_from_url(model, url, progress=True) + + elif resource.startswith('local::'): + path = resource.split('local::')[1] + return load_wts(model, path) + + else: + raise ValueError("Invalid resource type, only url:: and local:: are supported") + \ No newline at end of file diff --git a/metric_depth/zoedepth/models/zoedepth/__init__.py b/metric_depth/zoedepth/models/zoedepth/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..cc33f737d238766559f0e3a8def3c0b568f23b7f --- /dev/null +++ b/metric_depth/zoedepth/models/zoedepth/__init__.py @@ -0,0 +1,31 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +from .zoedepth_v1 import ZoeDepth + +all_versions = { + "v1": ZoeDepth, +} + +get_version = lambda v : all_versions[v] \ No newline at end of file diff --git a/metric_depth/zoedepth/models/zoedepth/config_zoedepth.json b/metric_depth/zoedepth/models/zoedepth/config_zoedepth.json new file mode 100644 index 0000000000000000000000000000000000000000..d7135e333c980ee30995882abd15777792163032 --- /dev/null +++ b/metric_depth/zoedepth/models/zoedepth/config_zoedepth.json @@ -0,0 +1,58 @@ +{ + "model": { + "name": "ZoeDepth", + "version_name": "v1", + "n_bins": 64, + "bin_embedding_dim": 128, + "bin_centers_type": "softplus", + "n_attractors":[16, 8, 4, 1], + "attractor_alpha": 1000, + "attractor_gamma": 2, + "attractor_kind" : "mean", + "attractor_type" : "inv", + "midas_model_type" : "DPT_BEiT_L_384", + "min_temp": 0.0212, + "max_temp": 50.0, + "output_distribution": "logbinomial", + "memory_efficient": true, + "inverse_midas": false, + "img_size": [392, 518] + }, + + "train": { + "train_midas": true, + "use_pretrained_midas": true, + "trainer": "zoedepth", + "epochs": 5, + "bs": 16, + "optim_kwargs": {"lr": 0.000161, "wd": 0.01}, + "sched_kwargs": {"div_factor": 1, "final_div_factor": 10000, "pct_start": 0.7, "three_phase":false, "cycle_momentum": true}, + "same_lr": false, + "w_si": 1, + "w_domain": 0.2, + "w_reg": 0, + "w_grad": 0, + "avoid_boundary": false, + "random_crop": false, + "input_width": 640, + "input_height": 480, + "midas_lr_factor": 50, + "encoder_lr_factor":50, + "pos_enc_lr_factor":50, + "freeze_midas_bn": true + + }, + + "infer":{ + "train_midas": false, + "use_pretrained_midas": false, + "pretrained_resource" : "url::https://github.com/isl-org/ZoeDepth/releases/download/v1.0/ZoeD_M12_N.pt", + "force_keep_ar": true + }, + + "eval":{ + "train_midas": false, + "use_pretrained_midas": false, + "pretrained_resource" : "url::https://github.com/isl-org/ZoeDepth/releases/download/v1.0/ZoeD_M12_N.pt" + } +} \ No newline at end of file diff --git a/metric_depth/zoedepth/models/zoedepth/config_zoedepth_kitti.json b/metric_depth/zoedepth/models/zoedepth/config_zoedepth_kitti.json new file mode 100644 index 0000000000000000000000000000000000000000..b51802aa44b91c39e15aacaac4b5ab6bec884414 --- /dev/null +++ b/metric_depth/zoedepth/models/zoedepth/config_zoedepth_kitti.json @@ -0,0 +1,22 @@ +{ + "model": { + "bin_centers_type": "normed", + "img_size": [384, 768] + }, + + "train": { + }, + + "infer":{ + "train_midas": false, + "use_pretrained_midas": false, + "pretrained_resource" : "url::https://github.com/isl-org/ZoeDepth/releases/download/v1.0/ZoeD_M12_K.pt", + "force_keep_ar": true + }, + + "eval":{ + "train_midas": false, + "use_pretrained_midas": false, + "pretrained_resource" : "url::https://github.com/isl-org/ZoeDepth/releases/download/v1.0/ZoeD_M12_K.pt" + } +} \ No newline at end of file diff --git a/metric_depth/zoedepth/models/zoedepth/zoedepth_v1.py b/metric_depth/zoedepth/models/zoedepth/zoedepth_v1.py new file mode 100644 index 0000000000000000000000000000000000000000..810203d8aa9166375f2b46da71d87217a13f840d --- /dev/null +++ b/metric_depth/zoedepth/models/zoedepth/zoedepth_v1.py @@ -0,0 +1,264 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import itertools + +import torch +import torch.nn as nn +from zoedepth.models.depth_model import DepthModel +from zoedepth.models.base_models.midas import MidasCore +from zoedepth.models.base_models.depth_anything import DepthAnythingCore +from zoedepth.models.layers.attractor import AttractorLayer, AttractorLayerUnnormed +from zoedepth.models.layers.dist_layers import ConditionalLogBinomial +from zoedepth.models.layers.localbins_layers import (Projector, SeedBinRegressor, + SeedBinRegressorUnnormed) +from zoedepth.models.model_io import load_state_from_resource + + +class ZoeDepth(DepthModel): + def __init__(self, core, n_bins=64, bin_centers_type="softplus", bin_embedding_dim=128, min_depth=1e-3, max_depth=10, + n_attractors=[16, 8, 4, 1], attractor_alpha=300, attractor_gamma=2, attractor_kind='sum', attractor_type='exp', min_temp=5, max_temp=50, train_midas=True, + midas_lr_factor=10, encoder_lr_factor=10, pos_enc_lr_factor=10, inverse_midas=False, **kwargs): + """ZoeDepth model. This is the version of ZoeDepth that has a single metric head + + Args: + core (models.base_models.midas.MidasCore): The base midas model that is used for extraction of "relative" features + n_bins (int, optional): Number of bin centers. Defaults to 64. + bin_centers_type (str, optional): "normed" or "softplus". Activation type used for bin centers. For "normed" bin centers, linear normalization trick is applied. This results in bounded bin centers. + For "softplus", softplus activation is used and thus are unbounded. Defaults to "softplus". + bin_embedding_dim (int, optional): bin embedding dimension. Defaults to 128. + min_depth (float, optional): Lower bound for normed bin centers. Defaults to 1e-3. + max_depth (float, optional): Upper bound for normed bin centers. Defaults to 10. + n_attractors (List[int], optional): Number of bin attractors at decoder layers. Defaults to [16, 8, 4, 1]. + attractor_alpha (int, optional): Proportional attractor strength. Refer to models.layers.attractor for more details. Defaults to 300. + attractor_gamma (int, optional): Exponential attractor strength. Refer to models.layers.attractor for more details. Defaults to 2. + attractor_kind (str, optional): Attraction aggregation "sum" or "mean". Defaults to 'sum'. + attractor_type (str, optional): Type of attractor to use; "inv" (Inverse attractor) or "exp" (Exponential attractor). Defaults to 'exp'. + min_temp (int, optional): Lower bound for temperature of output probability distribution. Defaults to 5. + max_temp (int, optional): Upper bound for temperature of output probability distribution. Defaults to 50. + train_midas (bool, optional): Whether to train "core", the base midas model. Defaults to True. + midas_lr_factor (int, optional): Learning rate reduction factor for base midas model except its encoder and positional encodings. Defaults to 10. + encoder_lr_factor (int, optional): Learning rate reduction factor for the encoder in midas model. Defaults to 10. + pos_enc_lr_factor (int, optional): Learning rate reduction factor for positional encodings in the base midas model. Defaults to 10. + """ + super().__init__() + + self.core = core + self.max_depth = max_depth + self.min_depth = min_depth + self.min_temp = min_temp + self.bin_centers_type = bin_centers_type + + self.midas_lr_factor = midas_lr_factor + self.encoder_lr_factor = encoder_lr_factor + self.pos_enc_lr_factor = pos_enc_lr_factor + self.train_midas = train_midas + self.inverse_midas = inverse_midas + + if self.encoder_lr_factor <= 0: + self.core.freeze_encoder( + freeze_rel_pos=self.pos_enc_lr_factor <= 0) + + N_MIDAS_OUT = 32 + btlnck_features = self.core.output_channels[0] + num_out_features = self.core.output_channels[1:] + + # print('core output channels:', self.core.output_channels) + + self.conv2 = nn.Conv2d(btlnck_features, btlnck_features, + kernel_size=1, stride=1, padding=0) # btlnck conv + + if bin_centers_type == "normed": + SeedBinRegressorLayer = SeedBinRegressor + Attractor = AttractorLayer + elif bin_centers_type == "softplus": + SeedBinRegressorLayer = SeedBinRegressorUnnormed + Attractor = AttractorLayerUnnormed + elif bin_centers_type == "hybrid1": + SeedBinRegressorLayer = SeedBinRegressor + Attractor = AttractorLayerUnnormed + elif bin_centers_type == "hybrid2": + SeedBinRegressorLayer = SeedBinRegressorUnnormed + Attractor = AttractorLayer + else: + raise ValueError( + "bin_centers_type should be one of 'normed', 'softplus', 'hybrid1', 'hybrid2'") + + self.seed_bin_regressor = SeedBinRegressorLayer( + btlnck_features, n_bins=n_bins, min_depth=min_depth, max_depth=max_depth) + self.seed_projector = Projector(btlnck_features, bin_embedding_dim) + self.projectors = nn.ModuleList([ + Projector(num_out, bin_embedding_dim) + for num_out in num_out_features + ]) + self.attractors = nn.ModuleList([ + Attractor(bin_embedding_dim, n_bins, n_attractors=n_attractors[i], min_depth=min_depth, max_depth=max_depth, + alpha=attractor_alpha, gamma=attractor_gamma, kind=attractor_kind, attractor_type=attractor_type) + for i in range(len(num_out_features)) + ]) + + last_in = N_MIDAS_OUT + 1 # +1 for relative depth + + # use log binomial instead of softmax + self.conditional_log_binomial = ConditionalLogBinomial( + last_in, bin_embedding_dim, n_classes=n_bins, min_temp=min_temp, max_temp=max_temp) + + def forward(self, x, return_final_centers=False, denorm=False, return_probs=False, **kwargs): + """ + Args: + x (torch.Tensor): Input image tensor of shape (B, C, H, W) + return_final_centers (bool, optional): Whether to return the final bin centers. Defaults to False. + denorm (bool, optional): Whether to denormalize the input image. This reverses ImageNet normalization as midas normalization is different. Defaults to False. + return_probs (bool, optional): Whether to return the output probability distribution. Defaults to False. + + Returns: + dict: Dictionary containing the following keys: + - rel_depth (torch.Tensor): Relative depth map of shape (B, H, W) + - metric_depth (torch.Tensor): Metric depth map of shape (B, 1, H, W) + - bin_centers (torch.Tensor): Bin centers of shape (B, n_bins). Present only if return_final_centers is True + - probs (torch.Tensor): Output probability distribution of shape (B, n_bins, H, W). Present only if return_probs is True + + """ + # print('input shape', x.shape) + + b, c, h, w = x.shape + # print("input shape:", x.shape) + self.orig_input_width = w + self.orig_input_height = h + rel_depth, out = self.core(x, denorm=denorm, return_rel_depth=True) + # print("output shapes", rel_depth.shape, out.shape) + # print('rel_depth shape:', rel_depth.shape) + # print('out type:', type(out)) + # for k in range(len(out)): + # print(k, out[k].shape) + + outconv_activation = out[0] + btlnck = out[1] + x_blocks = out[2:] + + x_d0 = self.conv2(btlnck) + x = x_d0 + _, seed_b_centers = self.seed_bin_regressor(x) + + if self.bin_centers_type == 'normed' or self.bin_centers_type == 'hybrid2': + b_prev = (seed_b_centers - self.min_depth) / \ + (self.max_depth - self.min_depth) + else: + b_prev = seed_b_centers + + prev_b_embedding = self.seed_projector(x) + + # unroll this loop for better performance + for projector, attractor, x in zip(self.projectors, self.attractors, x_blocks): + b_embedding = projector(x) + b, b_centers = attractor( + b_embedding, b_prev, prev_b_embedding, interpolate=True) + b_prev = b.clone() + prev_b_embedding = b_embedding.clone() + + last = outconv_activation + + if self.inverse_midas: + # invert depth followed by normalization + rel_depth = 1.0 / (rel_depth + 1e-6) + rel_depth = (rel_depth - rel_depth.min()) / \ + (rel_depth.max() - rel_depth.min()) + # concat rel depth with last. First interpolate rel depth to last size + rel_cond = rel_depth.unsqueeze(1) + rel_cond = nn.functional.interpolate( + rel_cond, size=last.shape[2:], mode='bilinear', align_corners=True) + last = torch.cat([last, rel_cond], dim=1) + + b_embedding = nn.functional.interpolate( + b_embedding, last.shape[-2:], mode='bilinear', align_corners=True) + x = self.conditional_log_binomial(last, b_embedding) + + # Now depth value is Sum px * cx , where cx are bin_centers from the last bin tensor + # print(x.shape, b_centers.shape) + b_centers = nn.functional.interpolate( + b_centers, x.shape[-2:], mode='bilinear', align_corners=True) + out = torch.sum(x * b_centers, dim=1, keepdim=True) + + # Structure output dict + output = dict(metric_depth=out) + if return_final_centers or return_probs: + output['bin_centers'] = b_centers + + if return_probs: + output['probs'] = x + + return output + + def get_lr_params(self, lr): + """ + Learning rate configuration for different layers of the model + Args: + lr (float) : Base learning rate + Returns: + list : list of parameters to optimize and their learning rates, in the format required by torch optimizers. + """ + param_conf = [] + if self.train_midas: + if self.encoder_lr_factor > 0: + param_conf.append({'params': self.core.get_enc_params_except_rel_pos( + ), 'lr': lr / self.encoder_lr_factor}) + + if self.pos_enc_lr_factor > 0: + param_conf.append( + {'params': self.core.get_rel_pos_params(), 'lr': lr / self.pos_enc_lr_factor}) + + # midas_params = self.core.core.scratch.parameters() + midas_params = self.core.core.depth_head.parameters() + midas_lr_factor = self.midas_lr_factor + param_conf.append( + {'params': midas_params, 'lr': lr / midas_lr_factor}) + + remaining_modules = [] + for name, child in self.named_children(): + if name != 'core': + remaining_modules.append(child) + remaining_params = itertools.chain( + *[child.parameters() for child in remaining_modules]) + + param_conf.append({'params': remaining_params, 'lr': lr}) + + return param_conf + + @staticmethod + def build(midas_model_type="DPT_BEiT_L_384", pretrained_resource=None, use_pretrained_midas=False, train_midas=False, freeze_midas_bn=True, **kwargs): + # core = MidasCore.build(midas_model_type=midas_model_type, use_pretrained_midas=use_pretrained_midas, + # train_midas=train_midas, fetch_features=True, freeze_bn=freeze_midas_bn, **kwargs) + + core = DepthAnythingCore.build(midas_model_type=midas_model_type, use_pretrained_midas=use_pretrained_midas, + train_midas=train_midas, fetch_features=True, freeze_bn=freeze_midas_bn, **kwargs) + + model = ZoeDepth(core, **kwargs) + if pretrained_resource: + assert isinstance(pretrained_resource, str), "pretrained_resource must be a string" + model = load_state_from_resource(model, pretrained_resource) + return model + + @staticmethod + def build_from_config(config): + return ZoeDepth.build(**config) diff --git a/metric_depth/zoedepth/models/zoedepth_nk/__init__.py b/metric_depth/zoedepth/models/zoedepth_nk/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..513a278b939c10c010e3c0250ec73544d5663886 --- /dev/null +++ b/metric_depth/zoedepth/models/zoedepth_nk/__init__.py @@ -0,0 +1,31 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +from .zoedepth_nk_v1 import ZoeDepthNK + +all_versions = { + "v1": ZoeDepthNK, +} + +get_version = lambda v : all_versions[v] \ No newline at end of file diff --git a/metric_depth/zoedepth/models/zoedepth_nk/config_zoedepth_nk.json b/metric_depth/zoedepth/models/zoedepth_nk/config_zoedepth_nk.json new file mode 100644 index 0000000000000000000000000000000000000000..ff1e15fbc35a71b2c67feef5e6af90c80cb67ba3 --- /dev/null +++ b/metric_depth/zoedepth/models/zoedepth_nk/config_zoedepth_nk.json @@ -0,0 +1,67 @@ +{ + "model": { + "name": "ZoeDepthNK", + "version_name": "v1", + "bin_conf" : [ + { + "name": "nyu", + "n_bins": 64, + "min_depth": 1e-3, + "max_depth": 10.0 + }, + { + "name": "kitti", + "n_bins": 64, + "min_depth": 1e-3, + "max_depth": 80.0 + } + ], + "bin_embedding_dim": 128, + "bin_centers_type": "softplus", + "n_attractors":[16, 8, 4, 1], + "attractor_alpha": 1000, + "attractor_gamma": 2, + "attractor_kind" : "mean", + "attractor_type" : "inv", + "min_temp": 0.0212, + "max_temp": 50.0, + "memory_efficient": true, + "midas_model_type" : "DPT_BEiT_L_384", + "img_size": [392, 518] + }, + + "train": { + "train_midas": true, + "use_pretrained_midas": true, + "trainer": "zoedepth_nk", + "epochs": 10, + "bs": 16, + "optim_kwargs": {"lr": 0.0002512, "wd": 0.01}, + "sched_kwargs": {"div_factor": 1, "final_div_factor": 10000, "pct_start": 0.7, "three_phase":false, "cycle_momentum": true}, + "same_lr": false, + "w_si": 1, + "w_domain": 100, + "avoid_boundary": false, + "random_crop": false, + "input_width": 640, + "input_height": 480, + "w_grad": 0, + "w_reg": 0, + "midas_lr_factor": 50, + "encoder_lr_factor": 50, + "pos_enc_lr_factor": 50 + }, + + "infer": { + "train_midas": false, + "pretrained_resource": "url::https://github.com/isl-org/ZoeDepth/releases/download/v1.0/ZoeD_M12_NK.pt", + "use_pretrained_midas": false, + "force_keep_ar": true + }, + + "eval": { + "train_midas": false, + "pretrained_resource": "url::https://github.com/isl-org/ZoeDepth/releases/download/v1.0/ZoeD_M12_NK.pt", + "use_pretrained_midas": false + } +} \ No newline at end of file diff --git a/metric_depth/zoedepth/models/zoedepth_nk/zoedepth_nk_v1.py b/metric_depth/zoedepth/models/zoedepth_nk/zoedepth_nk_v1.py new file mode 100644 index 0000000000000000000000000000000000000000..be13ce3e2077d729679b84fcab189c019603ad3b --- /dev/null +++ b/metric_depth/zoedepth/models/zoedepth_nk/zoedepth_nk_v1.py @@ -0,0 +1,341 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import itertools + +import torch +import torch.nn as nn + +from zoedepth.models.depth_model import DepthModel +from zoedepth.models.base_models.midas import MidasCore +from zoedepth.models.base_models.depth_anything import DepthAnythingCore +from zoedepth.models.layers.attractor import AttractorLayer, AttractorLayerUnnormed +from zoedepth.models.layers.dist_layers import ConditionalLogBinomial +from zoedepth.models.layers.localbins_layers import (Projector, SeedBinRegressor, + SeedBinRegressorUnnormed) +from zoedepth.models.layers.patch_transformer import PatchTransformerEncoder +from zoedepth.models.model_io import load_state_from_resource + + +class ZoeDepthNK(DepthModel): + def __init__(self, core, bin_conf, bin_centers_type="softplus", bin_embedding_dim=128, + n_attractors=[16, 8, 4, 1], attractor_alpha=300, attractor_gamma=2, attractor_kind='sum', attractor_type='exp', + min_temp=5, max_temp=50, + memory_efficient=False, train_midas=True, + is_midas_pretrained=True, midas_lr_factor=1, encoder_lr_factor=10, pos_enc_lr_factor=10, inverse_midas=False, **kwargs): + """ZoeDepthNK model. This is the version of ZoeDepth that has two metric heads and uses a learned router to route to experts. + + Args: + core (models.base_models.midas.MidasCore): The base midas model that is used for extraction of "relative" features + + bin_conf (List[dict]): A list of dictionaries that contain the bin configuration for each metric head. Each dictionary should contain the following keys: + "name" (str, typically same as the dataset name), "n_bins" (int), "min_depth" (float), "max_depth" (float) + + The length of this list determines the number of metric heads. + bin_centers_type (str, optional): "normed" or "softplus". Activation type used for bin centers. For "normed" bin centers, linear normalization trick is applied. This results in bounded bin centers. + For "softplus", softplus activation is used and thus are unbounded. Defaults to "normed". + bin_embedding_dim (int, optional): bin embedding dimension. Defaults to 128. + + n_attractors (List[int], optional): Number of bin attractors at decoder layers. Defaults to [16, 8, 4, 1]. + attractor_alpha (int, optional): Proportional attractor strength. Refer to models.layers.attractor for more details. Defaults to 300. + attractor_gamma (int, optional): Exponential attractor strength. Refer to models.layers.attractor for more details. Defaults to 2. + attractor_kind (str, optional): Attraction aggregation "sum" or "mean". Defaults to 'sum'. + attractor_type (str, optional): Type of attractor to use; "inv" (Inverse attractor) or "exp" (Exponential attractor). Defaults to 'exp'. + + min_temp (int, optional): Lower bound for temperature of output probability distribution. Defaults to 5. + max_temp (int, optional): Upper bound for temperature of output probability distribution. Defaults to 50. + + memory_efficient (bool, optional): Whether to use memory efficient version of attractor layers. Memory efficient version is slower but is recommended incase of multiple metric heads in order save GPU memory. Defaults to False. + + train_midas (bool, optional): Whether to train "core", the base midas model. Defaults to True. + is_midas_pretrained (bool, optional): Is "core" pretrained? Defaults to True. + midas_lr_factor (int, optional): Learning rate reduction factor for base midas model except its encoder and positional encodings. Defaults to 10. + encoder_lr_factor (int, optional): Learning rate reduction factor for the encoder in midas model. Defaults to 10. + pos_enc_lr_factor (int, optional): Learning rate reduction factor for positional encodings in the base midas model. Defaults to 10. + + """ + + super().__init__() + + self.core = core + self.bin_conf = bin_conf + self.min_temp = min_temp + self.max_temp = max_temp + self.memory_efficient = memory_efficient + self.train_midas = train_midas + self.is_midas_pretrained = is_midas_pretrained + self.midas_lr_factor = midas_lr_factor + self.encoder_lr_factor = encoder_lr_factor + self.pos_enc_lr_factor = pos_enc_lr_factor + self.inverse_midas = inverse_midas + + N_MIDAS_OUT = 32 + btlnck_features = self.core.output_channels[0] + num_out_features = self.core.output_channels[1:] + # self.scales = [16, 8, 4, 2] # spatial scale factors + + self.conv2 = nn.Conv2d( + btlnck_features, btlnck_features, kernel_size=1, stride=1, padding=0) + + # Transformer classifier on the bottleneck + self.patch_transformer = PatchTransformerEncoder( + btlnck_features, 1, 128, use_class_token=True) + self.mlp_classifier = nn.Sequential( + nn.Linear(128, 128), + nn.ReLU(), + nn.Linear(128, 2) + ) + + if bin_centers_type == "normed": + SeedBinRegressorLayer = SeedBinRegressor + Attractor = AttractorLayer + elif bin_centers_type == "softplus": + SeedBinRegressorLayer = SeedBinRegressorUnnormed + Attractor = AttractorLayerUnnormed + elif bin_centers_type == "hybrid1": + SeedBinRegressorLayer = SeedBinRegressor + Attractor = AttractorLayerUnnormed + elif bin_centers_type == "hybrid2": + SeedBinRegressorLayer = SeedBinRegressorUnnormed + Attractor = AttractorLayer + else: + raise ValueError( + "bin_centers_type should be one of 'normed', 'softplus', 'hybrid1', 'hybrid2'") + self.bin_centers_type = bin_centers_type + # We have bins for each bin conf. + # Create a map (ModuleDict) of 'name' -> seed_bin_regressor + self.seed_bin_regressors = nn.ModuleDict( + {conf['name']: SeedBinRegressorLayer(btlnck_features, conf["n_bins"], mlp_dim=bin_embedding_dim//2, min_depth=conf["min_depth"], max_depth=conf["max_depth"]) + for conf in bin_conf} + ) + + self.seed_projector = Projector( + btlnck_features, bin_embedding_dim, mlp_dim=bin_embedding_dim//2) + self.projectors = nn.ModuleList([ + Projector(num_out, bin_embedding_dim, mlp_dim=bin_embedding_dim//2) + for num_out in num_out_features + ]) + + # Create a map (ModuleDict) of 'name' -> attractors (ModuleList) + self.attractors = nn.ModuleDict( + {conf['name']: nn.ModuleList([ + Attractor(bin_embedding_dim, n_attractors[i], + mlp_dim=bin_embedding_dim, alpha=attractor_alpha, + gamma=attractor_gamma, kind=attractor_kind, + attractor_type=attractor_type, memory_efficient=memory_efficient, + min_depth=conf["min_depth"], max_depth=conf["max_depth"]) + for i in range(len(n_attractors)) + ]) + for conf in bin_conf} + ) + + last_in = N_MIDAS_OUT + # conditional log binomial for each bin conf + self.conditional_log_binomial = nn.ModuleDict( + {conf['name']: ConditionalLogBinomial(last_in, bin_embedding_dim, conf['n_bins'], bottleneck_factor=4, min_temp=self.min_temp, max_temp=self.max_temp) + for conf in bin_conf} + ) + + def forward(self, x, return_final_centers=False, denorm=False, return_probs=False, **kwargs): + """ + Args: + x (torch.Tensor): Input image tensor of shape (B, C, H, W). Assumes all images are from the same domain. + return_final_centers (bool, optional): Whether to return the final centers of the attractors. Defaults to False. + denorm (bool, optional): Whether to denormalize the input image. Defaults to False. + return_probs (bool, optional): Whether to return the probabilities of the bins. Defaults to False. + + Returns: + dict: Dictionary of outputs with keys: + - "rel_depth": Relative depth map of shape (B, 1, H, W) + - "metric_depth": Metric depth map of shape (B, 1, H, W) + - "domain_logits": Domain logits of shape (B, 2) + - "bin_centers": Bin centers of shape (B, N, H, W). Present only if return_final_centers is True + - "probs": Bin probabilities of shape (B, N, H, W). Present only if return_probs is True + """ + b, c, h, w = x.shape + self.orig_input_width = w + self.orig_input_height = h + rel_depth, out = self.core(x, denorm=denorm, return_rel_depth=True) + + outconv_activation = out[0] + btlnck = out[1] + x_blocks = out[2:] + + x_d0 = self.conv2(btlnck) + x = x_d0 + + # Predict which path to take + embedding = self.patch_transformer(x)[0] # N, E + domain_logits = self.mlp_classifier(embedding) # N, 2 + domain_vote = torch.softmax(domain_logits.sum( + dim=0, keepdim=True), dim=-1) # 1, 2 + + # Get the path + bin_conf_name = ["nyu", "kitti"][torch.argmax( + domain_vote, dim=-1).squeeze().item()] + + try: + conf = [c for c in self.bin_conf if c.name == bin_conf_name][0] + except IndexError: + raise ValueError( + f"bin_conf_name {bin_conf_name} not found in bin_confs") + + min_depth = conf['min_depth'] + max_depth = conf['max_depth'] + + seed_bin_regressor = self.seed_bin_regressors[bin_conf_name] + _, seed_b_centers = seed_bin_regressor(x) + if self.bin_centers_type == 'normed' or self.bin_centers_type == 'hybrid2': + b_prev = (seed_b_centers - min_depth)/(max_depth - min_depth) + else: + b_prev = seed_b_centers + prev_b_embedding = self.seed_projector(x) + + attractors = self.attractors[bin_conf_name] + for projector, attractor, x in zip(self.projectors, attractors, x_blocks): + b_embedding = projector(x) + b, b_centers = attractor( + b_embedding, b_prev, prev_b_embedding, interpolate=True) + b_prev = b + prev_b_embedding = b_embedding + + last = outconv_activation + + b_centers = nn.functional.interpolate( + b_centers, last.shape[-2:], mode='bilinear', align_corners=True) + b_embedding = nn.functional.interpolate( + b_embedding, last.shape[-2:], mode='bilinear', align_corners=True) + + clb = self.conditional_log_binomial[bin_conf_name] + x = clb(last, b_embedding) + + # Now depth value is Sum px * cx , where cx are bin_centers from the last bin tensor + # print(x.shape, b_centers.shape) + # b_centers = nn.functional.interpolate(b_centers, x.shape[-2:], mode='bilinear', align_corners=True) + out = torch.sum(x * b_centers, dim=1, keepdim=True) + + output = dict(domain_logits=domain_logits, metric_depth=out) + if return_final_centers or return_probs: + output['bin_centers'] = b_centers + + if return_probs: + output['probs'] = x + return output + + def get_lr_params(self, lr): + """ + Learning rate configuration for different layers of the model + + Args: + lr (float) : Base learning rate + Returns: + list : list of parameters to optimize and their learning rates, in the format required by torch optimizers. + """ + param_conf = [] + if self.train_midas: + def get_rel_pos_params(): + for name, p in self.core.core.pretrained.named_parameters(): + # if "relative_position" in name: + if "pos_embed" in name: + yield p + + def get_enc_params_except_rel_pos(): + for name, p in self.core.core.pretrained.named_parameters(): + # if "relative_position" not in name: + if "pos_embed" not in name: + yield p + + encoder_params = get_enc_params_except_rel_pos() + rel_pos_params = get_rel_pos_params() + # midas_params = self.core.core.scratch.parameters() + midas_params = self.core.core.depth_head.parameters() + midas_lr_factor = self.midas_lr_factor if self.is_midas_pretrained else 1.0 + param_conf.extend([ + {'params': encoder_params, 'lr': lr / self.encoder_lr_factor}, + {'params': rel_pos_params, 'lr': lr / self.pos_enc_lr_factor}, + {'params': midas_params, 'lr': lr / midas_lr_factor} + ]) + + remaining_modules = [] + for name, child in self.named_children(): + if name != 'core': + remaining_modules.append(child) + remaining_params = itertools.chain( + *[child.parameters() for child in remaining_modules]) + param_conf.append({'params': remaining_params, 'lr': lr}) + return param_conf + + def get_conf_parameters(self, conf_name): + """ + Returns parameters of all the ModuleDicts children that are exclusively used for the given bin configuration + """ + params = [] + for name, child in self.named_children(): + if isinstance(child, nn.ModuleDict): + for bin_conf_name, module in child.items(): + if bin_conf_name == conf_name: + params += list(module.parameters()) + return params + + def freeze_conf(self, conf_name): + """ + Freezes all the parameters of all the ModuleDicts children that are exclusively used for the given bin configuration + """ + for p in self.get_conf_parameters(conf_name): + p.requires_grad = False + + def unfreeze_conf(self, conf_name): + """ + Unfreezes all the parameters of all the ModuleDicts children that are exclusively used for the given bin configuration + """ + for p in self.get_conf_parameters(conf_name): + p.requires_grad = True + + def freeze_all_confs(self): + """ + Freezes all the parameters of all the ModuleDicts children + """ + for name, child in self.named_children(): + if isinstance(child, nn.ModuleDict): + for bin_conf_name, module in child.items(): + for p in module.parameters(): + p.requires_grad = False + + @staticmethod + def build(midas_model_type="DPT_BEiT_L_384", pretrained_resource=None, use_pretrained_midas=False, train_midas=False, freeze_midas_bn=True, **kwargs): + # core = MidasCore.build(midas_model_type=midas_model_type, use_pretrained_midas=use_pretrained_midas, + # train_midas=train_midas, fetch_features=True, freeze_bn=freeze_midas_bn, **kwargs) + + core = DepthAnythingCore.build(midas_model_type='dinov2_large', use_pretrained_midas=use_pretrained_midas, + train_midas=train_midas, fetch_features=True, freeze_bn=freeze_midas_bn, **kwargs) + + model = ZoeDepthNK(core, **kwargs) + if pretrained_resource: + assert isinstance(pretrained_resource, str), "pretrained_resource must be a string" + model = load_state_from_resource(model, pretrained_resource) + return model + + @staticmethod + def build_from_config(config): + return ZoeDepthNK.build(**config) diff --git a/metric_depth/zoedepth/trainers/base_trainer.py b/metric_depth/zoedepth/trainers/base_trainer.py new file mode 100644 index 0000000000000000000000000000000000000000..33fbbea3a7d49efe11b005adb5127f441eabfaf6 --- /dev/null +++ b/metric_depth/zoedepth/trainers/base_trainer.py @@ -0,0 +1,326 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import os +import uuid +import warnings +from datetime import datetime as dt +from typing import Dict + +import matplotlib.pyplot as plt +import numpy as np +import torch +import torch.distributed as dist +import torch.nn as nn +import torch.optim as optim +import wandb +from tqdm import tqdm + +from zoedepth.utils.config import flatten +from zoedepth.utils.misc import RunningAverageDict, colorize, colors + + +def is_rank_zero(args): + return args.rank == 0 + + +class BaseTrainer: + def __init__(self, config, model, train_loader, test_loader=None, device=None): + """ Base Trainer class for training a model.""" + + self.config = config + self.metric_criterion = "abs_rel" + if device is None: + device = torch.device( + 'cuda') if torch.cuda.is_available() else torch.device('cpu') + self.device = device + self.model = model + self.train_loader = train_loader + self.test_loader = test_loader + self.optimizer = self.init_optimizer() + self.scheduler = self.init_scheduler() + + def resize_to_target(self, prediction, target): + if prediction.shape[2:] != target.shape[-2:]: + prediction = nn.functional.interpolate( + prediction, size=target.shape[-2:], mode="bilinear", align_corners=True + ) + return prediction + + def load_ckpt(self, checkpoint_dir="./checkpoints", ckpt_type="best"): + import glob + import os + + from zoedepth.models.model_io import load_wts + + if hasattr(self.config, "checkpoint"): + checkpoint = self.config.checkpoint + elif hasattr(self.config, "ckpt_pattern"): + pattern = self.config.ckpt_pattern + matches = glob.glob(os.path.join( + checkpoint_dir, f"*{pattern}*{ckpt_type}*")) + if not (len(matches) > 0): + raise ValueError(f"No matches found for the pattern {pattern}") + checkpoint = matches[0] + else: + return + model = load_wts(self.model, checkpoint) + # TODO : Resuming training is not properly supported in this repo. Implement loading / saving of optimizer and scheduler to support it. + print("Loaded weights from {0}".format(checkpoint)) + warnings.warn( + "Resuming training is not properly supported in this repo. Implement loading / saving of optimizer and scheduler to support it.") + self.model = model + + def init_optimizer(self): + m = self.model.module if self.config.multigpu else self.model + + if self.config.same_lr: + print("Using same LR") + if hasattr(m, 'core'): + m.core.unfreeze() + params = self.model.parameters() + else: + print("Using diff LR") + if not hasattr(m, 'get_lr_params'): + raise NotImplementedError( + f"Model {m.__class__.__name__} does not implement get_lr_params. Please implement it or use the same LR for all parameters.") + + params = m.get_lr_params(self.config.lr) + + return optim.AdamW(params, lr=self.config.lr, weight_decay=self.config.wd) + + def init_scheduler(self): + lrs = [l['lr'] for l in self.optimizer.param_groups] + return optim.lr_scheduler.OneCycleLR(self.optimizer, lrs, epochs=self.config.epochs, steps_per_epoch=len(self.train_loader), + cycle_momentum=self.config.cycle_momentum, + base_momentum=0.85, max_momentum=0.95, div_factor=self.config.div_factor, final_div_factor=self.config.final_div_factor, pct_start=self.config.pct_start, three_phase=self.config.three_phase) + + def train_on_batch(self, batch, train_step): + raise NotImplementedError + + def validate_on_batch(self, batch, val_step): + raise NotImplementedError + + def raise_if_nan(self, losses): + for key, value in losses.items(): + if torch.isnan(value): + raise ValueError(f"{key} is NaN, Stopping training") + + @property + def iters_per_epoch(self): + return len(self.train_loader) + + @property + def total_iters(self): + return self.config.epochs * self.iters_per_epoch + + def should_early_stop(self): + if self.config.get('early_stop', False) and self.step > self.config.early_stop: + return True + + def train(self): + print(f"Training {self.config.name}") + if self.config.uid is None: + self.config.uid = str(uuid.uuid4()).split('-')[-1] + run_id = f"{dt.now().strftime('%d-%h_%H-%M')}-{self.config.uid}" + self.config.run_id = run_id + self.config.experiment_id = f"{self.config.name}{self.config.version_name}_{run_id}" + self.should_write = ((not self.config.distributed) + or self.config.rank == 0) + self.should_log = self.should_write # and logging + if self.should_log: + tags = self.config.tags.split( + ',') if self.config.tags != '' else None + wandb.init(project=self.config.project, name=self.config.experiment_id, config=flatten(self.config), dir=self.config.root, + tags=tags, notes=self.config.notes, settings=wandb.Settings(start_method="fork")) + + self.model.train() + self.step = 0 + best_loss = np.inf + validate_every = int(self.config.validate_every * self.iters_per_epoch) + + + if self.config.prefetch: + + for i, batch in tqdm(enumerate(self.train_loader), desc=f"Prefetching...", + total=self.iters_per_epoch) if is_rank_zero(self.config) else enumerate(self.train_loader): + pass + + losses = {} + def stringify_losses(L): return "; ".join(map( + lambda kv: f"{colors.fg.purple}{kv[0]}{colors.reset}: {round(kv[1].item(),3):.4e}", L.items())) + for epoch in range(self.config.epochs): + if self.should_early_stop(): + break + + self.epoch = epoch + ################################# Train loop ########################################################## + if self.should_log: + wandb.log({"Epoch": epoch}, step=self.step) + pbar = tqdm(enumerate(self.train_loader), desc=f"Epoch: {epoch + 1}/{self.config.epochs}. Loop: Train", + total=self.iters_per_epoch) if is_rank_zero(self.config) else enumerate(self.train_loader) + for i, batch in pbar: + if self.should_early_stop(): + print("Early stopping") + break + # print(f"Batch {self.step+1} on rank {self.config.rank}") + losses = self.train_on_batch(batch, i) + # print(f"trained batch {self.step+1} on rank {self.config.rank}") + + self.raise_if_nan(losses) + if is_rank_zero(self.config) and self.config.print_losses: + pbar.set_description( + f"Epoch: {epoch + 1}/{self.config.epochs}. Loop: Train. Losses: {stringify_losses(losses)}") + self.scheduler.step() + + if self.should_log and self.step % 50 == 0: + wandb.log({f"Train/{name}": loss.item() + for name, loss in losses.items()}, step=self.step) + + self.step += 1 + + ######################################################################################################## + + if self.test_loader: + if (self.step % validate_every) == 0: + self.model.eval() + if self.should_write: + self.save_checkpoint( + f"{self.config.experiment_id}_latest.pt") + + ################################# Validation loop ################################################## + # validate on the entire validation set in every process but save only from rank 0, I know, inefficient, but avoids divergence of processes + metrics, test_losses = self.validate() + # print("Validated: {}".format(metrics)) + if self.should_log: + wandb.log( + {f"Test/{name}": tloss for name, tloss in test_losses.items()}, step=self.step) + + wandb.log({f"Metrics/{k}": v for k, + v in metrics.items()}, step=self.step) + + if (metrics[self.metric_criterion] < best_loss) and self.should_write: + self.save_checkpoint( + f"{self.config.experiment_id}_best.pt") + best_loss = metrics[self.metric_criterion] + + self.model.train() + + if self.config.distributed: + dist.barrier() + # print(f"Validated: {metrics} on device {self.config.rank}") + + # print(f"Finished step {self.step} on device {self.config.rank}") + ################################################################################################# + + # Save / validate at the end + self.step += 1 # log as final point + self.model.eval() + self.save_checkpoint(f"{self.config.experiment_id}_latest.pt") + if self.test_loader: + + ################################# Validation loop ################################################## + metrics, test_losses = self.validate() + # print("Validated: {}".format(metrics)) + if self.should_log: + wandb.log({f"Test/{name}": tloss for name, + tloss in test_losses.items()}, step=self.step) + wandb.log({f"Metrics/{k}": v for k, + v in metrics.items()}, step=self.step) + + if (metrics[self.metric_criterion] < best_loss) and self.should_write: + self.save_checkpoint( + f"{self.config.experiment_id}_best.pt") + best_loss = metrics[self.metric_criterion] + + self.model.train() + + def validate(self): + with torch.no_grad(): + losses_avg = RunningAverageDict() + metrics_avg = RunningAverageDict() + for i, batch in tqdm(enumerate(self.test_loader), desc=f"Epoch: {self.epoch + 1}/{self.config.epochs}. Loop: Validation", total=len(self.test_loader), disable=not is_rank_zero(self.config)): + metrics, losses = self.validate_on_batch(batch, val_step=i) + + if losses: + losses_avg.update(losses) + if metrics: + metrics_avg.update(metrics) + + return metrics_avg.get_value(), losses_avg.get_value() + + def save_checkpoint(self, filename): + if not self.should_write: + return + root = self.config.save_dir + if not os.path.isdir(root): + os.makedirs(root) + + fpath = os.path.join(root, filename) + m = self.model.module if self.config.multigpu else self.model + torch.save( + { + "model": m.state_dict(), + "optimizer": None, # TODO : Change to self.optimizer.state_dict() if resume support is needed, currently None to reduce file size + "epoch": self.epoch + }, fpath) + + def log_images(self, rgb: Dict[str, list] = {}, depth: Dict[str, list] = {}, scalar_field: Dict[str, list] = {}, prefix="", scalar_cmap="jet", min_depth=None, max_depth=None): + if not self.should_log: + return + + if min_depth is None: + try: + min_depth = self.config.min_depth + max_depth = self.config.max_depth + except AttributeError: + min_depth = None + max_depth = None + + depth = {k: colorize(v, vmin=min_depth, vmax=max_depth) + for k, v in depth.items()} + scalar_field = {k: colorize( + v, vmin=None, vmax=None, cmap=scalar_cmap) for k, v in scalar_field.items()} + images = {**rgb, **depth, **scalar_field} + wimages = { + prefix+"Predictions": [wandb.Image(v, caption=k) for k, v in images.items()]} + wandb.log(wimages, step=self.step) + + def log_line_plot(self, data): + if not self.should_log: + return + + plt.plot(data) + plt.ylabel("Scale factors") + wandb.log({"Scale factors": wandb.Image(plt)}, step=self.step) + plt.close() + + def log_bar_plot(self, title, labels, values): + if not self.should_log: + return + + data = [[label, val] for (label, val) in zip(labels, values)] + table = wandb.Table(data=data, columns=["label", "value"]) + wandb.log({title: wandb.plot.bar(table, "label", + "value", title=title)}, step=self.step) diff --git a/metric_depth/zoedepth/trainers/builder.py b/metric_depth/zoedepth/trainers/builder.py new file mode 100644 index 0000000000000000000000000000000000000000..a663541b08912ebedce21a68c7599ce4c06e85d0 --- /dev/null +++ b/metric_depth/zoedepth/trainers/builder.py @@ -0,0 +1,48 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +from importlib import import_module + + +def get_trainer(config): + """Builds and returns a trainer based on the config. + + Args: + config (dict): the config dict (typically constructed using utils.config.get_config) + config.trainer (str): the name of the trainer to use. The module named "{config.trainer}_trainer" must exist in trainers root module + + Raises: + ValueError: If the specified trainer does not exist under trainers/ folder + + Returns: + Trainer (inherited from zoedepth.trainers.BaseTrainer): The Trainer object + """ + assert "trainer" in config and config.trainer is not None and config.trainer != '', "Trainer not specified. Config: {0}".format( + config) + try: + Trainer = getattr(import_module( + f"zoedepth.trainers.{config.trainer}_trainer"), 'Trainer') + except ModuleNotFoundError as e: + raise ValueError(f"Trainer {config.trainer}_trainer not found.") from e + return Trainer diff --git a/metric_depth/zoedepth/trainers/loss.py b/metric_depth/zoedepth/trainers/loss.py new file mode 100644 index 0000000000000000000000000000000000000000..0c5a1c15cdf5628c1474c566fdc6e58159d7f5ab --- /dev/null +++ b/metric_depth/zoedepth/trainers/loss.py @@ -0,0 +1,316 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.nn as nn +import torch.nn.functional as F +import torch.cuda.amp as amp +import numpy as np + + +KEY_OUTPUT = 'metric_depth' + + +def extract_key(prediction, key): + if isinstance(prediction, dict): + return prediction[key] + return prediction + + +# Main loss function used for ZoeDepth. Copy/paste from AdaBins repo (https://github.com/shariqfarooq123/AdaBins/blob/0952d91e9e762be310bb4cd055cbfe2448c0ce20/loss.py#L7) +class SILogLoss(nn.Module): + """SILog loss (pixel-wise)""" + def __init__(self, beta=0.15): + super(SILogLoss, self).__init__() + self.name = 'SILog' + self.beta = beta + + def forward(self, input, target, mask=None, interpolate=True, return_interpolated=False): + input = extract_key(input, KEY_OUTPUT) + if input.shape[-1] != target.shape[-1] and interpolate: + input = nn.functional.interpolate( + input, target.shape[-2:], mode='bilinear', align_corners=True) + intr_input = input + else: + intr_input = input + + if target.ndim == 3: + target = target.unsqueeze(1) + + if mask is not None: + if mask.ndim == 3: + mask = mask.unsqueeze(1) + + input = input[mask] + target = target[mask] + + with amp.autocast(enabled=False): # amp causes NaNs in this loss function + alpha = 1e-7 + g = torch.log(input + alpha) - torch.log(target + alpha) + + # n, c, h, w = g.shape + # norm = 1/(h*w) + # Dg = norm * torch.sum(g**2) - (0.85/(norm**2)) * (torch.sum(g))**2 + + Dg = torch.var(g) + self.beta * torch.pow(torch.mean(g), 2) + + loss = 10 * torch.sqrt(Dg) + + if torch.isnan(loss): + print("Nan SILog loss") + print("input:", input.shape) + print("target:", target.shape) + print("G", torch.sum(torch.isnan(g))) + print("Input min max", torch.min(input), torch.max(input)) + print("Target min max", torch.min(target), torch.max(target)) + print("Dg", torch.isnan(Dg)) + print("loss", torch.isnan(loss)) + + if not return_interpolated: + return loss + + return loss, intr_input + + +def grad(x): + # x.shape : n, c, h, w + diff_x = x[..., 1:, 1:] - x[..., 1:, :-1] + diff_y = x[..., 1:, 1:] - x[..., :-1, 1:] + mag = diff_x**2 + diff_y**2 + # angle_ratio + angle = torch.atan(diff_y / (diff_x + 1e-10)) + return mag, angle + + +def grad_mask(mask): + return mask[..., 1:, 1:] & mask[..., 1:, :-1] & mask[..., :-1, 1:] + + +class GradL1Loss(nn.Module): + """Gradient loss""" + def __init__(self): + super(GradL1Loss, self).__init__() + self.name = 'GradL1' + + def forward(self, input, target, mask=None, interpolate=True, return_interpolated=False): + input = extract_key(input, KEY_OUTPUT) + if input.shape[-1] != target.shape[-1] and interpolate: + input = nn.functional.interpolate( + input, target.shape[-2:], mode='bilinear', align_corners=True) + intr_input = input + else: + intr_input = input + + grad_gt = grad(target) + grad_pred = grad(input) + mask_g = grad_mask(mask) + + loss = nn.functional.l1_loss(grad_pred[0][mask_g], grad_gt[0][mask_g]) + loss = loss + \ + nn.functional.l1_loss(grad_pred[1][mask_g], grad_gt[1][mask_g]) + if not return_interpolated: + return loss + return loss, intr_input + + +class OrdinalRegressionLoss(object): + + def __init__(self, ord_num, beta, discretization="SID"): + self.ord_num = ord_num + self.beta = beta + self.discretization = discretization + + def _create_ord_label(self, gt): + N,one, H, W = gt.shape + # print("gt shape:", gt.shape) + + ord_c0 = torch.ones(N, self.ord_num, H, W).to(gt.device) + if self.discretization == "SID": + label = self.ord_num * torch.log(gt) / np.log(self.beta) + else: + label = self.ord_num * (gt - 1.0) / (self.beta - 1.0) + label = label.long() + mask = torch.linspace(0, self.ord_num - 1, self.ord_num, requires_grad=False) \ + .view(1, self.ord_num, 1, 1).to(gt.device) + mask = mask.repeat(N, 1, H, W).contiguous().long() + mask = (mask > label) + ord_c0[mask] = 0 + ord_c1 = 1 - ord_c0 + # implementation according to the paper. + # ord_label = torch.ones(N, self.ord_num * 2, H, W).to(gt.device) + # ord_label[:, 0::2, :, :] = ord_c0 + # ord_label[:, 1::2, :, :] = ord_c1 + # reimplementation for fast speed. + ord_label = torch.cat((ord_c0, ord_c1), dim=1) + return ord_label, mask + + def __call__(self, prob, gt): + """ + :param prob: ordinal regression probability, N x 2*Ord Num x H x W, torch.Tensor + :param gt: depth ground truth, NXHxW, torch.Tensor + :return: loss: loss value, torch.float + """ + # N, C, H, W = prob.shape + valid_mask = gt > 0. + ord_label, mask = self._create_ord_label(gt) + # print("prob shape: {}, ord label shape: {}".format(prob.shape, ord_label.shape)) + entropy = -prob * ord_label + loss = torch.sum(entropy, dim=1)[valid_mask.squeeze(1)] + return loss.mean() + + +class DiscreteNLLLoss(nn.Module): + """Cross entropy loss""" + def __init__(self, min_depth=1e-3, max_depth=10, depth_bins=64): + super(DiscreteNLLLoss, self).__init__() + self.name = 'CrossEntropy' + self.ignore_index = -(depth_bins + 1) + # self._loss_func = nn.NLLLoss(ignore_index=self.ignore_index) + self._loss_func = nn.CrossEntropyLoss(ignore_index=self.ignore_index) + self.min_depth = min_depth + self.max_depth = max_depth + self.depth_bins = depth_bins + self.alpha = 1 + self.zeta = 1 - min_depth + self.beta = max_depth + self.zeta + + def quantize_depth(self, depth): + # depth : N1HW + # output : NCHW + + # Quantize depth log-uniformly on [1, self.beta] into self.depth_bins bins + depth = torch.log(depth / self.alpha) / np.log(self.beta / self.alpha) + depth = depth * (self.depth_bins - 1) + depth = torch.round(depth) + depth = depth.long() + return depth + + + + def _dequantize_depth(self, depth): + """ + Inverse of quantization + depth : NCHW -> N1HW + """ + # Get the center of the bin + + + + + def forward(self, input, target, mask=None, interpolate=True, return_interpolated=False): + input = extract_key(input, KEY_OUTPUT) + # assert torch.all(input <= 0), "Input should be negative" + + if input.shape[-1] != target.shape[-1] and interpolate: + input = nn.functional.interpolate( + input, target.shape[-2:], mode='bilinear', align_corners=True) + intr_input = input + else: + intr_input = input + + # assert torch.all(input)<=1) + if target.ndim == 3: + target = target.unsqueeze(1) + + target = self.quantize_depth(target) + if mask is not None: + if mask.ndim == 3: + mask = mask.unsqueeze(1) + + # Set the mask to ignore_index + mask = mask.long() + input = input * mask + (1 - mask) * self.ignore_index + target = target * mask + (1 - mask) * self.ignore_index + + + + input = input.flatten(2) # N, nbins, H*W + target = target.flatten(1) # N, H*W + loss = self._loss_func(input, target) + + if not return_interpolated: + return loss + return loss, intr_input + + + + +def compute_scale_and_shift(prediction, target, mask): + # system matrix: A = [[a_00, a_01], [a_10, a_11]] + a_00 = torch.sum(mask * prediction * prediction, (1, 2)) + a_01 = torch.sum(mask * prediction, (1, 2)) + a_11 = torch.sum(mask, (1, 2)) + + # right hand side: b = [b_0, b_1] + b_0 = torch.sum(mask * prediction * target, (1, 2)) + b_1 = torch.sum(mask * target, (1, 2)) + + # solution: x = A^-1 . b = [[a_11, -a_01], [-a_10, a_00]] / (a_00 * a_11 - a_01 * a_10) . b + x_0 = torch.zeros_like(b_0) + x_1 = torch.zeros_like(b_1) + + det = a_00 * a_11 - a_01 * a_01 + # A needs to be a positive definite matrix. + valid = det > 0 + + x_0[valid] = (a_11[valid] * b_0[valid] - a_01[valid] * b_1[valid]) / det[valid] + x_1[valid] = (-a_01[valid] * b_0[valid] + a_00[valid] * b_1[valid]) / det[valid] + + return x_0, x_1 +class ScaleAndShiftInvariantLoss(nn.Module): + def __init__(self): + super().__init__() + self.name = "SSILoss" + + def forward(self, prediction, target, mask, interpolate=True, return_interpolated=False): + + if prediction.shape[-1] != target.shape[-1] and interpolate: + prediction = nn.functional.interpolate(prediction, target.shape[-2:], mode='bilinear', align_corners=True) + intr_input = prediction + else: + intr_input = prediction + + + prediction, target, mask = prediction.squeeze(), target.squeeze(), mask.squeeze() + assert prediction.shape == target.shape, f"Shape mismatch: Expected same shape but got {prediction.shape} and {target.shape}." + + scale, shift = compute_scale_and_shift(prediction, target, mask) + + scaled_prediction = scale.view(-1, 1, 1) * prediction + shift.view(-1, 1, 1) + + loss = nn.functional.l1_loss(scaled_prediction[mask], target[mask]) + if not return_interpolated: + return loss + return loss, intr_input + + + + +if __name__ == '__main__': + # Tests for DiscreteNLLLoss + celoss = DiscreteNLLLoss() + print(celoss(torch.rand(4, 64, 26, 32)*10, torch.rand(4, 1, 26, 32)*10, )) + + d = torch.Tensor([6.59, 3.8, 10.0]) + print(celoss.dequantize_depth(celoss.quantize_depth(d))) diff --git a/metric_depth/zoedepth/trainers/zoedepth_nk_trainer.py b/metric_depth/zoedepth/trainers/zoedepth_nk_trainer.py new file mode 100644 index 0000000000000000000000000000000000000000..d528ae126f1c51b2f25fd31f94a39591ceb2f43a --- /dev/null +++ b/metric_depth/zoedepth/trainers/zoedepth_nk_trainer.py @@ -0,0 +1,143 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.cuda.amp as amp +import torch.nn as nn + +from zoedepth.trainers.loss import GradL1Loss, SILogLoss +from zoedepth.utils.config import DATASETS_CONFIG +from zoedepth.utils.misc import compute_metrics + +from .base_trainer import BaseTrainer + + +class Trainer(BaseTrainer): + def __init__(self, config, model, train_loader, test_loader=None, device=None): + super().__init__(config, model, train_loader, + test_loader=test_loader, device=device) + self.device = device + self.silog_loss = SILogLoss() + self.grad_loss = GradL1Loss() + self.domain_classifier_loss = nn.CrossEntropyLoss() + + self.scaler = amp.GradScaler(enabled=self.config.use_amp) + + def train_on_batch(self, batch, train_step): + """ + Expects a batch of images and depth as input + batch["image"].shape : batch_size, c, h, w + batch["depth"].shape : batch_size, 1, h, w + + Assumes all images in a batch are from the same dataset + """ + + images, depths_gt = batch['image'].to( + self.device), batch['depth'].to(self.device) + # batch['dataset'] is a tensor strings all valued either 'nyu' or 'kitti'. labels nyu -> 0, kitti -> 1 + dataset = batch['dataset'][0] + # Convert to 0s or 1s + domain_labels = torch.Tensor([dataset == 'kitti' for _ in range( + images.size(0))]).to(torch.long).to(self.device) + + # m = self.model.module if self.config.multigpu else self.model + + b, c, h, w = images.size() + mask = batch["mask"].to(self.device).to(torch.bool) + + losses = {} + + with amp.autocast(enabled=self.config.use_amp): + output = self.model(images) + pred_depths = output['metric_depth'] + domain_logits = output['domain_logits'] + + l_si, pred = self.silog_loss( + pred_depths, depths_gt, mask=mask, interpolate=True, return_interpolated=True) + loss = self.config.w_si * l_si + losses[self.silog_loss.name] = l_si + + if self.config.w_grad > 0: + l_grad = self.grad_loss(pred, depths_gt, mask=mask) + loss = loss + self.config.w_grad * l_grad + losses[self.grad_loss.name] = l_grad + else: + l_grad = torch.Tensor([0]) + + if self.config.w_domain > 0: + l_domain = self.domain_classifier_loss( + domain_logits, domain_labels) + loss = loss + self.config.w_domain * l_domain + losses["DomainLoss"] = l_domain + else: + l_domain = torch.Tensor([0.]) + + self.scaler.scale(loss).backward() + + if self.config.clip_grad > 0: + self.scaler.unscale_(self.optimizer) + nn.utils.clip_grad_norm_( + self.model.parameters(), self.config.clip_grad) + + self.scaler.step(self.optimizer) + + if self.should_log and self.step > 1 and (self.step % int(self.config.log_images_every * self.iters_per_epoch)) == 0: + depths_gt[torch.logical_not(mask)] = -99 + self.log_images(rgb={"Input": images[0, ...]}, depth={"GT": depths_gt[0], "PredictedMono": pred[0]}, prefix="Train", + min_depth=DATASETS_CONFIG[dataset]['min_depth'], max_depth=DATASETS_CONFIG[dataset]['max_depth']) + + self.scaler.update() + self.optimizer.zero_grad(set_to_none=True) + + return losses + + def validate_on_batch(self, batch, val_step): + images = batch['image'].to(self.device) + depths_gt = batch['depth'].to(self.device) + dataset = batch['dataset'][0] + if 'has_valid_depth' in batch: + if not batch['has_valid_depth']: + return None, None + + depths_gt = depths_gt.squeeze().unsqueeze(0).unsqueeze(0) + with amp.autocast(enabled=self.config.use_amp): + m = self.model.module if self.config.multigpu else self.model + pred_depths = m(images)["metric_depth"] + pred_depths = pred_depths.squeeze().unsqueeze(0).unsqueeze(0) + + mask = torch.logical_and( + depths_gt > self.config.min_depth, depths_gt < self.config.max_depth) + with amp.autocast(enabled=self.config.use_amp): + l_depth = self.silog_loss( + pred_depths, depths_gt, mask=mask.to(torch.bool), interpolate=True) + + metrics = compute_metrics(depths_gt, pred_depths, **self.config) + losses = {f"{self.silog_loss.name}": l_depth.item()} + + if val_step == 1 and self.should_log: + depths_gt[torch.logical_not(mask)] = -99 + self.log_images(rgb={"Input": images[0]}, depth={"GT": depths_gt[0], "PredictedMono": pred_depths[0]}, prefix="Test", + min_depth=DATASETS_CONFIG[dataset]['min_depth'], max_depth=DATASETS_CONFIG[dataset]['max_depth']) + + return metrics, losses diff --git a/metric_depth/zoedepth/trainers/zoedepth_trainer.py b/metric_depth/zoedepth/trainers/zoedepth_trainer.py new file mode 100644 index 0000000000000000000000000000000000000000..3ac1c24c0512c1c1b191670a7c24abb4fca47ba1 --- /dev/null +++ b/metric_depth/zoedepth/trainers/zoedepth_trainer.py @@ -0,0 +1,177 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import torch +import torch.cuda.amp as amp +import torch.nn as nn + +from zoedepth.trainers.loss import GradL1Loss, SILogLoss +from zoedepth.utils.config import DATASETS_CONFIG +from zoedepth.utils.misc import compute_metrics +from zoedepth.data.preprocess import get_black_border + +from .base_trainer import BaseTrainer +from torchvision import transforms +from PIL import Image +import numpy as np + +class Trainer(BaseTrainer): + def __init__(self, config, model, train_loader, test_loader=None, device=None): + super().__init__(config, model, train_loader, + test_loader=test_loader, device=device) + self.device = device + self.silog_loss = SILogLoss() + self.grad_loss = GradL1Loss() + self.scaler = amp.GradScaler(enabled=self.config.use_amp) + + def train_on_batch(self, batch, train_step): + """ + Expects a batch of images and depth as input + batch["image"].shape : batch_size, c, h, w + batch["depth"].shape : batch_size, 1, h, w + """ + + images, depths_gt = batch['image'].to( + self.device), batch['depth'].to(self.device) + dataset = batch['dataset'][0] + + b, c, h, w = images.size() + mask = batch["mask"].to(self.device).to(torch.bool) + + losses = {} + + with amp.autocast(enabled=self.config.use_amp): + + output = self.model(images) + pred_depths = output['metric_depth'] + + l_si, pred = self.silog_loss( + pred_depths, depths_gt, mask=mask, interpolate=True, return_interpolated=True) + loss = self.config.w_si * l_si + losses[self.silog_loss.name] = l_si + + if self.config.w_grad > 0: + l_grad = self.grad_loss(pred, depths_gt, mask=mask) + loss = loss + self.config.w_grad * l_grad + losses[self.grad_loss.name] = l_grad + else: + l_grad = torch.Tensor([0]) + + self.scaler.scale(loss).backward() + + if self.config.clip_grad > 0: + self.scaler.unscale_(self.optimizer) + nn.utils.clip_grad_norm_( + self.model.parameters(), self.config.clip_grad) + + self.scaler.step(self.optimizer) + + if self.should_log and (self.step % int(self.config.log_images_every * self.iters_per_epoch)) == 0: + # -99 is treated as invalid depth in the log_images function and is colored grey. + depths_gt[torch.logical_not(mask)] = -99 + + self.log_images(rgb={"Input": images[0, ...]}, depth={"GT": depths_gt[0], "PredictedMono": pred[0]}, prefix="Train", + min_depth=DATASETS_CONFIG[dataset]['min_depth'], max_depth=DATASETS_CONFIG[dataset]['max_depth']) + + if self.config.get("log_rel", False): + self.log_images( + scalar_field={"RelPred": output["relative_depth"][0]}, prefix="TrainRel") + + self.scaler.update() + self.optimizer.zero_grad() + + return losses + + @torch.no_grad() + def eval_infer(self, x): + with amp.autocast(enabled=self.config.use_amp): + m = self.model.module if self.config.multigpu else self.model + pred_depths = m(x)['metric_depth'] + return pred_depths + + @torch.no_grad() + def crop_aware_infer(self, x): + # if we are not avoiding the black border, we can just use the normal inference + if not self.config.get("avoid_boundary", False): + return self.eval_infer(x) + + # otherwise, we need to crop the image to avoid the black border + # For now, this may be a bit slow due to converting to numpy and back + # We assume no normalization is done on the input image + + # get the black border + assert x.shape[0] == 1, "Only batch size 1 is supported for now" + x_pil = transforms.ToPILImage()(x[0].cpu()) + x_np = np.array(x_pil, dtype=np.uint8) + black_border_params = get_black_border(x_np) + top, bottom, left, right = black_border_params.top, black_border_params.bottom, black_border_params.left, black_border_params.right + x_np_cropped = x_np[top:bottom, left:right, :] + x_cropped = transforms.ToTensor()(Image.fromarray(x_np_cropped)) + + # run inference on the cropped image + pred_depths_cropped = self.eval_infer(x_cropped.unsqueeze(0).to(self.device)) + + # resize the prediction to x_np_cropped's size + pred_depths_cropped = nn.functional.interpolate( + pred_depths_cropped, size=(x_np_cropped.shape[0], x_np_cropped.shape[1]), mode="bilinear", align_corners=False) + + + # pad the prediction back to the original size + pred_depths = torch.zeros((1, 1, x_np.shape[0], x_np.shape[1]), device=pred_depths_cropped.device, dtype=pred_depths_cropped.dtype) + pred_depths[:, :, top:bottom, left:right] = pred_depths_cropped + + return pred_depths + + + + def validate_on_batch(self, batch, val_step): + images = batch['image'].to(self.device) + depths_gt = batch['depth'].to(self.device) + dataset = batch['dataset'][0] + mask = batch["mask"].to(self.device) + if 'has_valid_depth' in batch: + if not batch['has_valid_depth']: + return None, None + + depths_gt = depths_gt.squeeze().unsqueeze(0).unsqueeze(0) + mask = mask.squeeze().unsqueeze(0).unsqueeze(0) + if dataset == 'nyu': + pred_depths = self.crop_aware_infer(images) + else: + pred_depths = self.eval_infer(images) + pred_depths = pred_depths.squeeze().unsqueeze(0).unsqueeze(0) + + with amp.autocast(enabled=self.config.use_amp): + l_depth = self.silog_loss( + pred_depths, depths_gt, mask=mask.to(torch.bool), interpolate=True) + + metrics = compute_metrics(depths_gt, pred_depths, **self.config) + losses = {f"{self.silog_loss.name}": l_depth.item()} + + if val_step == 1 and self.should_log: + depths_gt[torch.logical_not(mask)] = -99 + self.log_images(rgb={"Input": images[0]}, depth={"GT": depths_gt[0], "PredictedMono": pred_depths[0]}, prefix="Test", + min_depth=DATASETS_CONFIG[dataset]['min_depth'], max_depth=DATASETS_CONFIG[dataset]['max_depth']) + + return metrics, losses diff --git a/metric_depth/zoedepth/utils/__init__.py b/metric_depth/zoedepth/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5f2668792389157609abb2a0846fb620e7d67eb9 --- /dev/null +++ b/metric_depth/zoedepth/utils/__init__.py @@ -0,0 +1,24 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + diff --git a/metric_depth/zoedepth/utils/arg_utils.py b/metric_depth/zoedepth/utils/arg_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..8a3004ec3679c0a40fd8961253733fb4343ad545 --- /dev/null +++ b/metric_depth/zoedepth/utils/arg_utils.py @@ -0,0 +1,33 @@ + + +def infer_type(x): # hacky way to infer type from string args + if not isinstance(x, str): + return x + + try: + x = int(x) + return x + except ValueError: + pass + + try: + x = float(x) + return x + except ValueError: + pass + + return x + + +def parse_unknown(unknown_args): + clean = [] + for a in unknown_args: + if "=" in a: + k, v = a.split("=") + clean.extend([k, v]) + else: + clean.append(a) + + keys = clean[::2] + values = clean[1::2] + return {k.replace("--", ""): infer_type(v) for k, v in zip(keys, values)} diff --git a/metric_depth/zoedepth/utils/config.py b/metric_depth/zoedepth/utils/config.py new file mode 100644 index 0000000000000000000000000000000000000000..2a411e63b442e994ab74d38539c459685ae4f934 --- /dev/null +++ b/metric_depth/zoedepth/utils/config.py @@ -0,0 +1,437 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import json +import os + +from zoedepth.utils.easydict import EasyDict as edict + +from zoedepth.utils.arg_utils import infer_type +import pathlib +import platform + +ROOT = pathlib.Path(__file__).parent.parent.resolve() + +HOME_DIR = os.path.expanduser("./data") + +COMMON_CONFIG = { + "save_dir": os.path.expanduser("./depth_anything_finetune"), + "project": "ZoeDepth", + "tags": '', + "notes": "", + "gpu": None, + "root": ".", + "uid": None, + "print_losses": False +} + +DATASETS_CONFIG = { + "kitti": { + "dataset": "kitti", + "min_depth": 0.001, + "max_depth": 80, + "data_path": os.path.join(HOME_DIR, "Kitti/raw_data"), + "gt_path": os.path.join(HOME_DIR, "Kitti/data_depth_annotated_zoedepth"), + "filenames_file": "./train_test_inputs/kitti_eigen_train_files_with_gt.txt", + "input_height": 352, + "input_width": 1216, # 704 + "data_path_eval": os.path.join(HOME_DIR, "Kitti/raw_data"), + "gt_path_eval": os.path.join(HOME_DIR, "Kitti/data_depth_annotated_zoedepth"), + "filenames_file_eval": "./train_test_inputs/kitti_eigen_test_files_with_gt.txt", + + "min_depth_eval": 1e-3, + "max_depth_eval": 80, + + "do_random_rotate": True, + "degree": 1.0, + "do_kb_crop": True, + "garg_crop": True, + "eigen_crop": False, + "use_right": False + }, + "kitti_test": { + "dataset": "kitti", + "min_depth": 0.001, + "max_depth": 80, + "data_path": os.path.join(HOME_DIR, "Kitti/raw_data"), + "gt_path": os.path.join(HOME_DIR, "Kitti/data_depth_annotated_zoedepth"), + "filenames_file": "./train_test_inputs/kitti_eigen_train_files_with_gt.txt", + "input_height": 352, + "input_width": 1216, + "data_path_eval": os.path.join(HOME_DIR, "Kitti/raw_data"), + "gt_path_eval": os.path.join(HOME_DIR, "Kitti/data_depth_annotated_zoedepth"), + "filenames_file_eval": "./train_test_inputs/kitti_eigen_test_files_with_gt.txt", + + "min_depth_eval": 1e-3, + "max_depth_eval": 80, + + "do_random_rotate": False, + "degree": 1.0, + "do_kb_crop": True, + "garg_crop": True, + "eigen_crop": False, + "use_right": False + }, + "nyu": { + "dataset": "nyu", + "avoid_boundary": False, + "min_depth": 1e-3, # originally 0.1 + "max_depth": 10, + "data_path": os.path.join(HOME_DIR, "nyu"), + "gt_path": os.path.join(HOME_DIR, "nyu"), + "filenames_file": "./train_test_inputs/nyudepthv2_train_files_with_gt.txt", + "input_height": 480, + "input_width": 640, + "data_path_eval": os.path.join(HOME_DIR, "nyu"), + "gt_path_eval": os.path.join(HOME_DIR, "nyu"), + "filenames_file_eval": "./train_test_inputs/nyudepthv2_test_files_with_gt.txt", + "min_depth_eval": 1e-3, + "max_depth_eval": 10, + "min_depth_diff": -10, + "max_depth_diff": 10, + + "do_random_rotate": True, + "degree": 1.0, + "do_kb_crop": False, + "garg_crop": False, + "eigen_crop": True + }, + "ibims": { + "dataset": "ibims", + "ibims_root": os.path.join(HOME_DIR, "iBims1/m1455541/ibims1_core_raw/"), + "eigen_crop": True, + "garg_crop": False, + "do_kb_crop": False, + "min_depth_eval": 0, + "max_depth_eval": 10, + "min_depth": 1e-3, + "max_depth": 10 + }, + "sunrgbd": { + "dataset": "sunrgbd", + "sunrgbd_root": os.path.join(HOME_DIR, "SUNRGB-D"), + "eigen_crop": True, + "garg_crop": False, + "do_kb_crop": False, + "min_depth_eval": 0, + "max_depth_eval": 8, + "min_depth": 1e-3, + "max_depth": 10 + }, + "diml_indoor": { + "dataset": "diml_indoor", + "diml_indoor_root": os.path.join(HOME_DIR, "DIML/indoor/sample/testset/"), + "eigen_crop": True, + "garg_crop": False, + "do_kb_crop": False, + "min_depth_eval": 0, + "max_depth_eval": 10, + "min_depth": 1e-3, + "max_depth": 10 + }, + "diml_outdoor": { + "dataset": "diml_outdoor", + "diml_outdoor_root": os.path.join(HOME_DIR, "DIML/outdoor/test/LR"), + "eigen_crop": False, + "garg_crop": True, + "do_kb_crop": False, + "min_depth_eval": 2, + "max_depth_eval": 80, + "min_depth": 1e-3, + "max_depth": 80 + }, + "diode_indoor": { + "dataset": "diode_indoor", + "diode_indoor_root": os.path.join(HOME_DIR, "DIODE/val/indoors/"), + "eigen_crop": True, + "garg_crop": False, + "do_kb_crop": False, + "min_depth_eval": 1e-3, + "max_depth_eval": 10, + "min_depth": 1e-3, + "max_depth": 10 + }, + "diode_outdoor": { + "dataset": "diode_outdoor", + "diode_outdoor_root": os.path.join(HOME_DIR, "DIODE/val/outdoor/"), + "eigen_crop": False, + "garg_crop": True, + "do_kb_crop": False, + "min_depth_eval": 1e-3, + "max_depth_eval": 80, + "min_depth": 1e-3, + "max_depth": 80 + }, + "hypersim_test": { + "dataset": "hypersim_test", + "hypersim_test_root": os.path.join(HOME_DIR, "HyperSim/"), + "eigen_crop": True, + "garg_crop": False, + "do_kb_crop": False, + "min_depth_eval": 1e-3, + "max_depth_eval": 80, + "min_depth": 1e-3, + "max_depth": 10 + }, + "vkitti": { + "dataset": "vkitti", + "vkitti_root": os.path.join(HOME_DIR, "shortcuts/datasets/vkitti_test/"), + "eigen_crop": False, + "garg_crop": True, + "do_kb_crop": True, + "min_depth_eval": 1e-3, + "max_depth_eval": 80, + "min_depth": 1e-3, + "max_depth": 80 + }, + "vkitti2": { + "dataset": "vkitti2", + "vkitti2_root": os.path.join(HOME_DIR, "vKitti2/"), + "eigen_crop": False, + "garg_crop": True, + "do_kb_crop": True, + "min_depth_eval": 1e-3, + "max_depth_eval": 80, + "min_depth": 1e-3, + "max_depth": 80, + }, + "ddad": { + "dataset": "ddad", + "ddad_root": os.path.join(HOME_DIR, "shortcuts/datasets/ddad/ddad_val/"), + "eigen_crop": False, + "garg_crop": True, + "do_kb_crop": True, + "min_depth_eval": 1e-3, + "max_depth_eval": 80, + "min_depth": 1e-3, + "max_depth": 80, + }, +} + +ALL_INDOOR = ["nyu", "ibims", "sunrgbd", "diode_indoor", "hypersim_test"] +ALL_OUTDOOR = ["kitti", "diml_outdoor", "diode_outdoor", "vkitti2", "ddad"] +ALL_EVAL_DATASETS = ALL_INDOOR + ALL_OUTDOOR + +COMMON_TRAINING_CONFIG = { + "dataset": "nyu", + "distributed": True, + "workers": 16, + "clip_grad": 0.1, + "use_shared_dict": False, + "shared_dict": None, + "use_amp": False, + + "aug": True, + "random_crop": False, + "random_translate": False, + "translate_prob": 0.2, + "max_translation": 100, + + "validate_every": 0.25, + "log_images_every": 0.1, + "prefetch": False, +} + + +def flatten(config, except_keys=('bin_conf')): + def recurse(inp): + if isinstance(inp, dict): + for key, value in inp.items(): + if key in except_keys: + yield (key, value) + if isinstance(value, dict): + yield from recurse(value) + else: + yield (key, value) + + return dict(list(recurse(config))) + + +def split_combined_args(kwargs): + """Splits the arguments that are combined with '__' into multiple arguments. + Combined arguments should have equal number of keys and values. + Keys are separated by '__' and Values are separated with ';'. + For example, '__n_bins__lr=256;0.001' + + Args: + kwargs (dict): key-value pairs of arguments where key-value is optionally combined according to the above format. + + Returns: + dict: Parsed dict with the combined arguments split into individual key-value pairs. + """ + new_kwargs = dict(kwargs) + for key, value in kwargs.items(): + if key.startswith("__"): + keys = key.split("__")[1:] + values = value.split(";") + assert len(keys) == len( + values), f"Combined arguments should have equal number of keys and values. Keys are separated by '__' and Values are separated with ';'. For example, '__n_bins__lr=256;0.001. Given (keys,values) is ({keys}, {values})" + for k, v in zip(keys, values): + new_kwargs[k] = v + return new_kwargs + + +def parse_list(config, key, dtype=int): + """Parse a list of values for the key if the value is a string. The values are separated by a comma. + Modifies the config in place. + """ + if key in config: + if isinstance(config[key], str): + config[key] = list(map(dtype, config[key].split(','))) + assert isinstance(config[key], list) and all([isinstance(e, dtype) for e in config[key]] + ), f"{key} should be a list of values dtype {dtype}. Given {config[key]} of type {type(config[key])} with values of type {[type(e) for e in config[key]]}." + + +def get_model_config(model_name, model_version=None): + """Find and parse the .json config file for the model. + + Args: + model_name (str): name of the model. The config file should be named config_{model_name}[_{model_version}].json under the models/{model_name} directory. + model_version (str, optional): Specific config version. If specified config_{model_name}_{model_version}.json is searched for and used. Otherwise config_{model_name}.json is used. Defaults to None. + + Returns: + easydict: the config dictionary for the model. + """ + config_fname = f"config_{model_name}_{model_version}.json" if model_version is not None else f"config_{model_name}.json" + config_file = os.path.join(ROOT, "models", model_name, config_fname) + if not os.path.exists(config_file): + return None + + with open(config_file, "r") as f: + config = edict(json.load(f)) + + # handle dictionary inheritance + # only training config is supported for inheritance + if "inherit" in config.train and config.train.inherit is not None: + inherit_config = get_model_config(config.train["inherit"]).train + for key, value in inherit_config.items(): + if key not in config.train: + config.train[key] = value + return edict(config) + + +def update_model_config(config, mode, model_name, model_version=None, strict=False): + model_config = get_model_config(model_name, model_version) + if model_config is not None: + config = {**config, ** + flatten({**model_config.model, **model_config[mode]})} + elif strict: + raise ValueError(f"Config file for model {model_name} not found.") + return config + + +def check_choices(name, value, choices): + # return # No checks in dev branch + if value not in choices: + raise ValueError(f"{name} {value} not in supported choices {choices}") + + +KEYS_TYPE_BOOL = ["use_amp", "distributed", "use_shared_dict", "same_lr", "aug", "three_phase", + "prefetch", "cycle_momentum"] # Casting is not necessary as their int casted values in config are 0 or 1 + + +def get_config(model_name, mode='train', dataset=None, **overwrite_kwargs): + """Main entry point to get the config for the model. + + Args: + model_name (str): name of the desired model. + mode (str, optional): "train" or "infer". Defaults to 'train'. + dataset (str, optional): If specified, the corresponding dataset configuration is loaded as well. Defaults to None. + + Keyword Args: key-value pairs of arguments to overwrite the default config. + + The order of precedence for overwriting the config is (Higher precedence first): + # 1. overwrite_kwargs + # 2. "config_version": Config file version if specified in overwrite_kwargs. The corresponding config loaded is config_{model_name}_{config_version}.json + # 3. "version_name": Default Model version specific config specified in overwrite_kwargs. The corresponding config loaded is config_{model_name}_{version_name}.json + # 4. common_config: Default config for all models specified in COMMON_CONFIG + + Returns: + easydict: The config dictionary for the model. + """ + + + check_choices("Model", model_name, ["zoedepth", "zoedepth_nk"]) + check_choices("Mode", mode, ["train", "infer", "eval"]) + if mode == "train": + check_choices("Dataset", dataset, ["nyu", "kitti", "mix", None]) + + config = flatten({**COMMON_CONFIG, **COMMON_TRAINING_CONFIG}) + config = update_model_config(config, mode, model_name) + + # update with model version specific config + version_name = overwrite_kwargs.get("version_name", config["version_name"]) + config = update_model_config(config, mode, model_name, version_name) + + # update with config version if specified + config_version = overwrite_kwargs.get("config_version", None) + if config_version is not None: + print("Overwriting config with config_version", config_version) + config = update_model_config(config, mode, model_name, config_version) + + # update with overwrite_kwargs + # Combined args are useful for hyperparameter search + overwrite_kwargs = split_combined_args(overwrite_kwargs) + config = {**config, **overwrite_kwargs} + + # Casting to bool # TODO: Not necessary. Remove and test + for key in KEYS_TYPE_BOOL: + if key in config: + config[key] = bool(config[key]) + + # Model specific post processing of config + parse_list(config, "n_attractors") + + # adjust n_bins for each bin configuration if bin_conf is given and n_bins is passed in overwrite_kwargs + if 'bin_conf' in config and 'n_bins' in overwrite_kwargs: + bin_conf = config['bin_conf'] # list of dicts + n_bins = overwrite_kwargs['n_bins'] + new_bin_conf = [] + for conf in bin_conf: + conf['n_bins'] = n_bins + new_bin_conf.append(conf) + config['bin_conf'] = new_bin_conf + + if mode == "train": + orig_dataset = dataset + if dataset == "mix": + dataset = 'nyu' # Use nyu as default for mix. Dataset config is changed accordingly while loading the dataloader + if dataset is not None: + config['project'] = f"MonoDepth3-{orig_dataset}" # Set project for wandb + + if dataset is not None: + config['dataset'] = dataset + config = {**DATASETS_CONFIG[dataset], **config} + + + config['model'] = model_name + typed_config = {k: infer_type(v) for k, v in config.items()} + # add hostname to config + config['hostname'] = platform.node() + return edict(typed_config) + + +def change_dataset(config, new_dataset): + config.update(DATASETS_CONFIG[new_dataset]) + return config diff --git a/metric_depth/zoedepth/utils/easydict/__init__.py b/metric_depth/zoedepth/utils/easydict/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..15928179b0182c6045d98bc0a7be1c6ca45f675e --- /dev/null +++ b/metric_depth/zoedepth/utils/easydict/__init__.py @@ -0,0 +1,158 @@ +""" +EasyDict +Copy/pasted from https://github.com/makinacorpus/easydict +Original author: Mathieu Leplatre +""" + +class EasyDict(dict): + """ + Get attributes + + >>> d = EasyDict({'foo':3}) + >>> d['foo'] + 3 + >>> d.foo + 3 + >>> d.bar + Traceback (most recent call last): + ... + AttributeError: 'EasyDict' object has no attribute 'bar' + + Works recursively + + >>> d = EasyDict({'foo':3, 'bar':{'x':1, 'y':2}}) + >>> isinstance(d.bar, dict) + True + >>> d.bar.x + 1 + + Bullet-proof + + >>> EasyDict({}) + {} + >>> EasyDict(d={}) + {} + >>> EasyDict(None) + {} + >>> d = {'a': 1} + >>> EasyDict(**d) + {'a': 1} + >>> EasyDict((('a', 1), ('b', 2))) + {'a': 1, 'b': 2} + + Set attributes + + >>> d = EasyDict() + >>> d.foo = 3 + >>> d.foo + 3 + >>> d.bar = {'prop': 'value'} + >>> d.bar.prop + 'value' + >>> d + {'foo': 3, 'bar': {'prop': 'value'}} + >>> d.bar.prop = 'newer' + >>> d.bar.prop + 'newer' + + + Values extraction + + >>> d = EasyDict({'foo':0, 'bar':[{'x':1, 'y':2}, {'x':3, 'y':4}]}) + >>> isinstance(d.bar, list) + True + >>> from operator import attrgetter + >>> list(map(attrgetter('x'), d.bar)) + [1, 3] + >>> list(map(attrgetter('y'), d.bar)) + [2, 4] + >>> d = EasyDict() + >>> list(d.keys()) + [] + >>> d = EasyDict(foo=3, bar=dict(x=1, y=2)) + >>> d.foo + 3 + >>> d.bar.x + 1 + + Still like a dict though + + >>> o = EasyDict({'clean':True}) + >>> list(o.items()) + [('clean', True)] + + And like a class + + >>> class Flower(EasyDict): + ... power = 1 + ... + >>> f = Flower() + >>> f.power + 1 + >>> f = Flower({'height': 12}) + >>> f.height + 12 + >>> f['power'] + 1 + >>> sorted(f.keys()) + ['height', 'power'] + + update and pop items + >>> d = EasyDict(a=1, b='2') + >>> e = EasyDict(c=3.0, a=9.0) + >>> d.update(e) + >>> d.c + 3.0 + >>> d['c'] + 3.0 + >>> d.get('c') + 3.0 + >>> d.update(a=4, b=4) + >>> d.b + 4 + >>> d.pop('a') + 4 + >>> d.a + Traceback (most recent call last): + ... + AttributeError: 'EasyDict' object has no attribute 'a' + """ + def __init__(self, d=None, **kwargs): + if d is None: + d = {} + else: + d = dict(d) + if kwargs: + d.update(**kwargs) + for k, v in d.items(): + setattr(self, k, v) + # Class attributes + for k in self.__class__.__dict__.keys(): + if not (k.startswith('__') and k.endswith('__')) and not k in ('update', 'pop'): + setattr(self, k, getattr(self, k)) + + def __setattr__(self, name, value): + if isinstance(value, (list, tuple)): + value = [self.__class__(x) + if isinstance(x, dict) else x for x in value] + elif isinstance(value, dict) and not isinstance(value, self.__class__): + value = self.__class__(value) + super(EasyDict, self).__setattr__(name, value) + super(EasyDict, self).__setitem__(name, value) + + __setitem__ = __setattr__ + + def update(self, e=None, **f): + d = e or dict() + d.update(f) + for k in d: + setattr(self, k, d[k]) + + def pop(self, k, d=None): + delattr(self, k) + return super(EasyDict, self).pop(k, d) + + +if __name__ == "__main__": + import doctest + doctest.testmod() \ No newline at end of file diff --git a/metric_depth/zoedepth/utils/geometry.py b/metric_depth/zoedepth/utils/geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..e3da8c75b5a8e39b4b58a4dcd827b84d79b9115c --- /dev/null +++ b/metric_depth/zoedepth/utils/geometry.py @@ -0,0 +1,98 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +import numpy as np + +def get_intrinsics(H,W): + """ + Intrinsics for a pinhole camera model. + Assume fov of 55 degrees and central principal point. + """ + f = 0.5 * W / np.tan(0.5 * 55 * np.pi / 180.0) + cx = 0.5 * W + cy = 0.5 * H + return np.array([[f, 0, cx], + [0, f, cy], + [0, 0, 1]]) + +def depth_to_points(depth, R=None, t=None): + + K = get_intrinsics(depth.shape[1], depth.shape[2]) + Kinv = np.linalg.inv(K) + if R is None: + R = np.eye(3) + if t is None: + t = np.zeros(3) + + # M converts from your coordinate to PyTorch3D's coordinate system + M = np.eye(3) + M[0, 0] = -1.0 + M[1, 1] = -1.0 + + height, width = depth.shape[1:3] + + x = np.arange(width) + y = np.arange(height) + coord = np.stack(np.meshgrid(x, y), -1) + coord = np.concatenate((coord, np.ones_like(coord)[:, :, [0]]), -1) # z=1 + coord = coord.astype(np.float32) + # coord = torch.as_tensor(coord, dtype=torch.float32, device=device) + coord = coord[None] # bs, h, w, 3 + + D = depth[:, :, :, None, None] + # print(D.shape, Kinv[None, None, None, ...].shape, coord[:, :, :, :, None].shape ) + pts3D_1 = D * Kinv[None, None, None, ...] @ coord[:, :, :, :, None] + # pts3D_1 live in your coordinate system. Convert them to Py3D's + pts3D_1 = M[None, None, None, ...] @ pts3D_1 + # from reference to targe tviewpoint + pts3D_2 = R[None, None, None, ...] @ pts3D_1 + t[None, None, None, :, None] + # pts3D_2 = pts3D_1 + # depth_2 = pts3D_2[:, :, :, 2, :] # b,1,h,w + return pts3D_2[:, :, :, :3, 0][0] + + +def create_triangles(h, w, mask=None): + """ + Reference: https://github.com/google-research/google-research/blob/e96197de06613f1b027d20328e06d69829fa5a89/infinite_nature/render_utils.py#L68 + Creates mesh triangle indices from a given pixel grid size. + This function is not and need not be differentiable as triangle indices are + fixed. + Args: + h: (int) denoting the height of the image. + w: (int) denoting the width of the image. + Returns: + triangles: 2D numpy array of indices (int) with shape (2(W-1)(H-1) x 3) + """ + x, y = np.meshgrid(range(w - 1), range(h - 1)) + tl = y * w + x + tr = y * w + x + 1 + bl = (y + 1) * w + x + br = (y + 1) * w + x + 1 + triangles = np.array([tl, bl, tr, br, tr, bl]) + triangles = np.transpose(triangles, (1, 2, 0)).reshape( + ((w - 1) * (h - 1) * 2, 3)) + if mask is not None: + mask = mask.reshape(-1) + triangles = triangles[mask[triangles].all(1)] + return triangles diff --git a/metric_depth/zoedepth/utils/misc.py b/metric_depth/zoedepth/utils/misc.py new file mode 100644 index 0000000000000000000000000000000000000000..4bbe403d3669829eecdf658458c76aa5e87e2b33 --- /dev/null +++ b/metric_depth/zoedepth/utils/misc.py @@ -0,0 +1,368 @@ +# MIT License + +# Copyright (c) 2022 Intelligent Systems Lab Org + +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: + +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. + +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# File author: Shariq Farooq Bhat + +"""Miscellaneous utility functions.""" + +from scipy import ndimage + +import base64 +import math +import re +from io import BytesIO + +import matplotlib +import matplotlib.cm +import numpy as np +import requests +import torch +import torch.distributed as dist +import torch.nn +import torch.nn as nn +import torch.utils.data.distributed +from PIL import Image +from torchvision.transforms import ToTensor + + +class RunningAverage: + def __init__(self): + self.avg = 0 + self.count = 0 + + def append(self, value): + self.avg = (value + self.count * self.avg) / (self.count + 1) + self.count += 1 + + def get_value(self): + return self.avg + + +def denormalize(x): + """Reverses the imagenet normalization applied to the input. + + Args: + x (torch.Tensor - shape(N,3,H,W)): input tensor + + Returns: + torch.Tensor - shape(N,3,H,W): Denormalized input + """ + mean = torch.Tensor([0.485, 0.456, 0.406]).view(1, 3, 1, 1).to(x.device) + std = torch.Tensor([0.229, 0.224, 0.225]).view(1, 3, 1, 1).to(x.device) + return x * std + mean + + +class RunningAverageDict: + """A dictionary of running averages.""" + def __init__(self): + self._dict = None + + def update(self, new_dict): + if new_dict is None: + return + + if self._dict is None: + self._dict = dict() + for key, value in new_dict.items(): + self._dict[key] = RunningAverage() + + for key, value in new_dict.items(): + self._dict[key].append(value) + + def get_value(self): + if self._dict is None: + return None + return {key: value.get_value() for key, value in self._dict.items()} + + +def colorize(value, vmin=None, vmax=None, cmap='gray_r', invalid_val=-99, invalid_mask=None, background_color=(128, 128, 128, 255), gamma_corrected=False, value_transform=None): + """Converts a depth map to a color image. + + Args: + value (torch.Tensor, numpy.ndarry): Input depth map. Shape: (H, W) or (1, H, W) or (1, 1, H, W). All singular dimensions are squeezed + vmin (float, optional): vmin-valued entries are mapped to start color of cmap. If None, value.min() is used. Defaults to None. + vmax (float, optional): vmax-valued entries are mapped to end color of cmap. If None, value.max() is used. Defaults to None. + cmap (str, optional): matplotlib colormap to use. Defaults to 'magma_r'. + invalid_val (int, optional): Specifies value of invalid pixels that should be colored as 'background_color'. Defaults to -99. + invalid_mask (numpy.ndarray, optional): Boolean mask for invalid regions. Defaults to None. + background_color (tuple[int], optional): 4-tuple RGB color to give to invalid pixels. Defaults to (128, 128, 128, 255). + gamma_corrected (bool, optional): Apply gamma correction to colored image. Defaults to False. + value_transform (Callable, optional): Apply transform function to valid pixels before coloring. Defaults to None. + + Returns: + numpy.ndarray, dtype - uint8: Colored depth map. Shape: (H, W, 4) + """ + if isinstance(value, torch.Tensor): + value = value.detach().cpu().numpy() + + value = value.squeeze() + if invalid_mask is None: + invalid_mask = value == invalid_val + mask = np.logical_not(invalid_mask) + + # normalize + vmin = np.percentile(value[mask],2) if vmin is None else vmin + vmax = np.percentile(value[mask],85) if vmax is None else vmax + if vmin != vmax: + value = (value - vmin) / (vmax - vmin) # vmin..vmax + else: + # Avoid 0-division + value = value * 0. + + # squeeze last dim if it exists + # grey out the invalid values + + value[invalid_mask] = np.nan + cmapper = matplotlib.cm.get_cmap(cmap) + if value_transform: + value = value_transform(value) + # value = value / value.max() + value = cmapper(value, bytes=True) # (nxmx4) + + # img = value[:, :, :] + img = value[...] + img[invalid_mask] = background_color + + # return img.transpose((2, 0, 1)) + if gamma_corrected: + # gamma correction + img = img / 255 + img = np.power(img, 2.2) + img = img * 255 + img = img.astype(np.uint8) + return img + + +def count_parameters(model, include_all=False): + return sum(p.numel() for p in model.parameters() if p.requires_grad or include_all) + + +def compute_errors(gt, pred): + """Compute metrics for 'pred' compared to 'gt' + + Args: + gt (numpy.ndarray): Ground truth values + pred (numpy.ndarray): Predicted values + + gt.shape should be equal to pred.shape + + Returns: + dict: Dictionary containing the following metrics: + 'a1': Delta1 accuracy: Fraction of pixels that are within a scale factor of 1.25 + 'a2': Delta2 accuracy: Fraction of pixels that are within a scale factor of 1.25^2 + 'a3': Delta3 accuracy: Fraction of pixels that are within a scale factor of 1.25^3 + 'abs_rel': Absolute relative error + 'rmse': Root mean squared error + 'log_10': Absolute log10 error + 'sq_rel': Squared relative error + 'rmse_log': Root mean squared error on the log scale + 'silog': Scale invariant log error + """ + thresh = np.maximum((gt / pred), (pred / gt)) + a1 = (thresh < 1.25).mean() + a2 = (thresh < 1.25 ** 2).mean() + a3 = (thresh < 1.25 ** 3).mean() + + abs_rel = np.mean(np.abs(gt - pred) / gt) + sq_rel = np.mean(((gt - pred) ** 2) / gt) + + rmse = (gt - pred) ** 2 + rmse = np.sqrt(rmse.mean()) + + rmse_log = (np.log(gt) - np.log(pred)) ** 2 + rmse_log = np.sqrt(rmse_log.mean()) + + err = np.log(pred) - np.log(gt) + silog = np.sqrt(np.mean(err ** 2) - np.mean(err) ** 2) * 100 + + log_10 = (np.abs(np.log10(gt) - np.log10(pred))).mean() + return dict(a1=a1, a2=a2, a3=a3, abs_rel=abs_rel, rmse=rmse, log_10=log_10, rmse_log=rmse_log, + silog=silog, sq_rel=sq_rel) + + +def compute_metrics(gt, pred, interpolate=True, garg_crop=False, eigen_crop=True, dataset='nyu', min_depth_eval=0.1, max_depth_eval=10, **kwargs): + """Compute metrics of predicted depth maps. Applies cropping and masking as necessary or specified via arguments. Refer to compute_errors for more details on metrics. + """ + if 'config' in kwargs: + config = kwargs['config'] + garg_crop = config.garg_crop + eigen_crop = config.eigen_crop + min_depth_eval = config.min_depth_eval + max_depth_eval = config.max_depth_eval + + if gt.shape[-2:] != pred.shape[-2:] and interpolate: + pred = nn.functional.interpolate( + pred, gt.shape[-2:], mode='bilinear', align_corners=True) + + pred = pred.squeeze().cpu().numpy() + pred[pred < min_depth_eval] = min_depth_eval + pred[pred > max_depth_eval] = max_depth_eval + pred[np.isinf(pred)] = max_depth_eval + pred[np.isnan(pred)] = min_depth_eval + + gt_depth = gt.squeeze().cpu().numpy() + valid_mask = np.logical_and( + gt_depth > min_depth_eval, gt_depth < max_depth_eval) + + if garg_crop or eigen_crop: + gt_height, gt_width = gt_depth.shape + eval_mask = np.zeros(valid_mask.shape) + + if garg_crop: + eval_mask[int(0.40810811 * gt_height):int(0.99189189 * gt_height), + int(0.03594771 * gt_width):int(0.96405229 * gt_width)] = 1 + + elif eigen_crop: + # print("-"*10, " EIGEN CROP ", "-"*10) + if dataset == 'kitti': + eval_mask[int(0.3324324 * gt_height):int(0.91351351 * gt_height), + int(0.0359477 * gt_width):int(0.96405229 * gt_width)] = 1 + else: + # assert gt_depth.shape == (480, 640), "Error: Eigen crop is currently only valid for (480, 640) images" + eval_mask[45:471, 41:601] = 1 + else: + eval_mask = np.ones(valid_mask.shape) + valid_mask = np.logical_and(valid_mask, eval_mask) + return compute_errors(gt_depth[valid_mask], pred[valid_mask]) + + +#################################### Model uilts ################################################ + + +def parallelize(config, model, find_unused_parameters=True): + + if config.gpu is not None: + torch.cuda.set_device(config.gpu) + model = model.cuda(config.gpu) + + config.multigpu = False + if config.distributed: + # Use DDP + config.multigpu = True + config.rank = config.rank * config.ngpus_per_node + config.gpu + dist.init_process_group(backend=config.dist_backend, init_method=config.dist_url, + world_size=config.world_size, rank=config.rank) + config.batch_size = int(config.batch_size / config.ngpus_per_node) + # config.batch_size = 8 + config.workers = int( + (config.num_workers + config.ngpus_per_node - 1) / config.ngpus_per_node) + print("Device", config.gpu, "Rank", config.rank, "batch size", + config.batch_size, "Workers", config.workers) + torch.cuda.set_device(config.gpu) + model = nn.SyncBatchNorm.convert_sync_batchnorm(model) + model = model.cuda(config.gpu) + model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[config.gpu], output_device=config.gpu, + find_unused_parameters=find_unused_parameters) + + elif config.gpu is None: + # Use DP + config.multigpu = True + model = model.cuda() + model = torch.nn.DataParallel(model) + + return model + + +################################################################################################# + + +##################################################################################################### + + +class colors: + '''Colors class: + Reset all colors with colors.reset + Two subclasses fg for foreground and bg for background. + Use as colors.subclass.colorname. + i.e. colors.fg.red or colors.bg.green + Also, the generic bold, disable, underline, reverse, strikethrough, + and invisible work with the main class + i.e. colors.bold + ''' + reset = '\033[0m' + bold = '\033[01m' + disable = '\033[02m' + underline = '\033[04m' + reverse = '\033[07m' + strikethrough = '\033[09m' + invisible = '\033[08m' + + class fg: + black = '\033[30m' + red = '\033[31m' + green = '\033[32m' + orange = '\033[33m' + blue = '\033[34m' + purple = '\033[35m' + cyan = '\033[36m' + lightgrey = '\033[37m' + darkgrey = '\033[90m' + lightred = '\033[91m' + lightgreen = '\033[92m' + yellow = '\033[93m' + lightblue = '\033[94m' + pink = '\033[95m' + lightcyan = '\033[96m' + + class bg: + black = '\033[40m' + red = '\033[41m' + green = '\033[42m' + orange = '\033[43m' + blue = '\033[44m' + purple = '\033[45m' + cyan = '\033[46m' + lightgrey = '\033[47m' + + +def printc(text, color): + print(f"{color}{text}{colors.reset}") + +############################################ + +def get_image_from_url(url): + response = requests.get(url) + img = Image.open(BytesIO(response.content)).convert("RGB") + return img + +def url_to_torch(url, size=(384, 384)): + img = get_image_from_url(url) + img = img.resize(size, Image.ANTIALIAS) + img = torch.from_numpy(np.asarray(img)).float() + img = img.permute(2, 0, 1) + img.div_(255) + return img + +def pil_to_batched_tensor(img): + return ToTensor()(img).unsqueeze(0) + +def save_raw_16bit(depth, fpath="raw.png"): + if isinstance(depth, torch.Tensor): + depth = depth.squeeze().cpu().numpy() + + assert isinstance(depth, np.ndarray), "Depth must be a torch tensor or numpy array" + assert depth.ndim == 2, "Depth must be 2D" + depth = depth * 256 # scale for 16-bit png + depth = depth.astype(np.uint16) + depth = Image.fromarray(depth) + depth.save(fpath) + print("Saved raw depth to", fpath) \ No newline at end of file diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..f3ed6703aba14bd49bcf811cf5524a1ee7eb2612 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,4 @@ +torch +torchvision +opencv-python +huggingface_hub \ No newline at end of file diff --git a/run.py b/run.py new file mode 100644 index 0000000000000000000000000000000000000000..06c7716b6f135e9c9f4862a325d86842b1734119 --- /dev/null +++ b/run.py @@ -0,0 +1,113 @@ +import argparse +import cv2 +import numpy as np +import os +import torch +import torch.nn.functional as F +from torchvision.transforms import Compose +from tqdm import tqdm + +from depth_anything.dpt import DepthAnything +from depth_anything.util.transform import Resize, NormalizeImage, PrepareForNet + + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--img-path', type=str) + parser.add_argument('--outdir', type=str, default='./vis_depth') + parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl']) + + parser.add_argument('--pred-only', dest='pred_only', action='store_true', help='only display the prediction') + parser.add_argument('--grayscale', dest='grayscale', action='store_true', help='do not apply colorful palette') + + args = parser.parse_args() + + margin_width = 50 + caption_height = 60 + + font = cv2.FONT_HERSHEY_SIMPLEX + font_scale = 1 + font_thickness = 2 + + DEVICE = 'cuda' if torch.cuda.is_available() else 'cpu' + + depth_anything = DepthAnything.from_pretrained('LiheYoung/depth_anything_{}14'.format(args.encoder)).to(DEVICE).eval() + + total_params = sum(param.numel() for param in depth_anything.parameters()) + print('Total parameters: {:.2f}M'.format(total_params / 1e6)) + + transform = Compose([ + Resize( + width=518, + height=518, + resize_target=False, + keep_aspect_ratio=True, + ensure_multiple_of=14, + resize_method='lower_bound', + image_interpolation_method=cv2.INTER_CUBIC, + ), + NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), + PrepareForNet(), + ]) + + if os.path.isfile(args.img_path): + if args.img_path.endswith('txt'): + with open(args.img_path, 'r') as f: + filenames = f.read().splitlines() + else: + filenames = [args.img_path] + else: + filenames = os.listdir(args.img_path) + filenames = [os.path.join(args.img_path, filename) for filename in filenames if not filename.startswith('.')] + filenames.sort() + + os.makedirs(args.outdir, exist_ok=True) + + for filename in tqdm(filenames): + raw_image = cv2.imread(filename) + image = cv2.cvtColor(raw_image, cv2.COLOR_BGR2RGB) / 255.0 + + h, w = image.shape[:2] + + image = transform({'image': image})['image'] + image = torch.from_numpy(image).unsqueeze(0).to(DEVICE) + + with torch.no_grad(): + depth = depth_anything(image) + + depth = F.interpolate(depth[None], (h, w), mode='bilinear', align_corners=False)[0, 0] + depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 + + depth = depth.cpu().numpy().astype(np.uint8) + + if args.grayscale: + depth = np.repeat(depth[..., np.newaxis], 3, axis=-1) + else: + depth = cv2.applyColorMap(depth, cv2.COLORMAP_INFERNO) + + filename = os.path.basename(filename) + + if args.pred_only: + cv2.imwrite(os.path.join(args.outdir, filename[:filename.rfind('.')] + '_depth.png'), depth) + else: + split_region = np.ones((raw_image.shape[0], margin_width, 3), dtype=np.uint8) * 255 + combined_results = cv2.hconcat([raw_image, split_region, depth]) + + caption_space = np.ones((caption_height, combined_results.shape[1], 3), dtype=np.uint8) * 255 + captions = ['Raw image', 'Depth Anything'] + segment_width = w + margin_width + + for i, caption in enumerate(captions): + # Calculate text size + text_size = cv2.getTextSize(caption, font, font_scale, font_thickness)[0] + + # Calculate x-coordinate to center the text + text_x = int((segment_width * i) + (w - text_size[0]) / 2) + + # Add text caption + cv2.putText(caption_space, caption, (text_x, 40), font, font_scale, (0, 0, 0), font_thickness) + + final_result = cv2.vconcat([caption_space, combined_results]) + + cv2.imwrite(os.path.join(args.outdir, filename[:filename.rfind('.')] + '_img_depth.png'), final_result) + \ No newline at end of file diff --git a/run_video.py b/run_video.py new file mode 100644 index 0000000000000000000000000000000000000000..16edb66248c8b1cc505c7312318ee87b19f57b20 --- /dev/null +++ b/run_video.py @@ -0,0 +1,94 @@ +import argparse +import cv2 +import numpy as np +import os +import torch +import torch.nn.functional as F +from torchvision.transforms import Compose + +from depth_anything.dpt import DepthAnything +from depth_anything.util.transform import Resize, NormalizeImage, PrepareForNet + + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--video-path', type=str) + parser.add_argument('--outdir', type=str, default='./vis_video_depth') + parser.add_argument('--encoder', type=str, default='vitl', choices=['vits', 'vitb', 'vitl']) + + args = parser.parse_args() + + margin_width = 50 + + DEVICE = 'cuda' if torch.cuda.is_available() else 'cpu' + + depth_anything = DepthAnything.from_pretrained('LiheYoung/depth_anything_{}14'.format(args.encoder)).to(DEVICE).eval() + + total_params = sum(param.numel() for param in depth_anything.parameters()) + print('Total parameters: {:.2f}M'.format(total_params / 1e6)) + + transform = Compose([ + Resize( + width=518, + height=518, + resize_target=False, + keep_aspect_ratio=True, + ensure_multiple_of=14, + resize_method='lower_bound', + image_interpolation_method=cv2.INTER_CUBIC, + ), + NormalizeImage(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]), + PrepareForNet(), + ]) + + if os.path.isfile(args.video_path): + if args.video_path.endswith('txt'): + with open(args.video_path, 'r') as f: + lines = f.read().splitlines() + else: + filenames = [args.video_path] + else: + filenames = os.listdir(args.video_path) + filenames = [os.path.join(args.video_path, filename) for filename in filenames if not filename.startswith('.')] + filenames.sort() + + os.makedirs(args.outdir, exist_ok=True) + + for k, filename in enumerate(filenames): + print('Progress {:}/{:},'.format(k+1, len(filenames)), 'Processing', filename) + + raw_video = cv2.VideoCapture(filename) + frame_width, frame_height = int(raw_video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(raw_video.get(cv2.CAP_PROP_FRAME_HEIGHT)) + frame_rate = int(raw_video.get(cv2.CAP_PROP_FPS)) + output_width = frame_width * 2 + margin_width + + filename = os.path.basename(filename) + output_path = os.path.join(args.outdir, filename[:filename.rfind('.')] + '_video_depth.mp4') + out = cv2.VideoWriter(output_path, cv2.VideoWriter_fourcc(*"mp4v"), frame_rate, (output_width, frame_height)) + + while raw_video.isOpened(): + ret, raw_frame = raw_video.read() + if not ret: + break + + frame = cv2.cvtColor(raw_frame, cv2.COLOR_BGR2RGB) / 255.0 + + frame = transform({'image': frame})['image'] + frame = torch.from_numpy(frame).unsqueeze(0).to(DEVICE) + + with torch.no_grad(): + depth = depth_anything(frame) + + depth = F.interpolate(depth[None], (frame_height, frame_width), mode='bilinear', align_corners=False)[0, 0] + depth = (depth - depth.min()) / (depth.max() - depth.min()) * 255.0 + + depth = depth.cpu().numpy().astype(np.uint8) + depth_color = cv2.applyColorMap(depth, cv2.COLORMAP_INFERNO) + + split_region = np.ones((frame_height, margin_width, 3), dtype=np.uint8) * 255 + combined_frame = cv2.hconcat([raw_frame, split_region, depth_color]) + + out.write(combined_frame) + + raw_video.release() + out.release() diff --git a/semseg/README.md b/semseg/README.md new file mode 100644 index 0000000000000000000000000000000000000000..bb6beec232d30f9f729c3b5804b5fb43a3404f2b --- /dev/null +++ b/semseg/README.md @@ -0,0 +1,55 @@ +# Depth Anything for Semantic Segmentation + +We use our Depth Anything pre-trained ViT-L encoder to fine-tune downstream semantic segmentation models. + + +## Performance + +### Cityscapes + +Note that our results are obtained *without* Mapillary pre-training. + +| Method | Encoder | mIoU (s.s.) | m.s. | +|:-:|:-:|:-:|:-:| +| SegFormer | MiT-B5 | 82.4 | 84.0 | +| Mask2Former | Swin-L | 83.3 | 84.3 | +| OneFormer | Swin-L | 83.0 | 84.4 | +| OneFormer | ConNeXt-XL | 83.6 | 84.6 | +| DDP | ConNeXt-L | 83.2 | 83.9 | +| **Ours** | ViT-L | **84.8** | **86.2** | + + +### ADE20K + +| Method | Encoder | mIoU | +|:-:|:-:|:-:| +| SegFormer | MiT-B5 | 51.0 | +| Mask2Former | Swin-L | 56.4 | +| UperNet | BEiT-L | 56.3 | +| ViT-Adapter | BEiT-L | 58.3 | +| OneFormer | Swin-L | 57.4 | +| OneFormer | ConNeXt-XL | 57.4 | +| **Ours** | ViT-L | **59.4** | + + +## Pre-trained models + +- [Cityscapes-ViT-L-mIoU-86.4](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints_semseg/cityscapes_vitl_mIoU_86.4.pth) +- [ADE20K-ViT-L-mIoU-59.4](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints_semseg/ade20k_vitl_mIoU_59.4.pth) + + +## Installation + +Please refer to [MMSegmentation](https://github.com/open-mmlab/mmsegmentation/blob/main/docs/en/get_started.md#installation) for instructions. *Do not forget to install ``mmdet`` to support ``Mask2Former``:* +```bash +pip install "mmdet>=3.0.0rc4" +``` + +After installation: +- move our [config/depth_anything](./config/depth_anything/) to mmseg's [config](https://github.com/open-mmlab/mmsegmentation/tree/main/configs) +- move our [dinov2.py](./dinov2.py) to mmseg's [backbones](https://github.com/open-mmlab/mmsegmentation/tree/main/mmseg/models/backbones) +- add DINOv2 in mmseg's [models/backbones/\_\_init\_\_.py](https://github.com/open-mmlab/mmsegmentation/blob/main/mmseg/models/backbones/__init__.py) +- download our provided [torchhub](https://github.com/LiheYoung/Depth-Anything/tree/main/torchhub) directory and put it at the root of your working directory +- download the [Depth Anything pre-trained model](https://huggingface.co/spaces/LiheYoung/Depth-Anything/blob/main/checkpoints/depth_anything_vitl14.pth) (to initialize the encoder) and 2) put it under the ``checkpoints`` folder. + +For training or inference with our pre-trained models, please refer to MMSegmentation [instructions](https://github.com/open-mmlab/mmsegmentation/blob/main/docs/en/user_guides/4_train_test.md). diff --git a/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_160k_ade20k_896x896.py b/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_160k_ade20k_896x896.py new file mode 100644 index 0000000000000000000000000000000000000000..5bc733c43a384a96d5ed7dcc73f7e04ab25b6b64 --- /dev/null +++ b/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_160k_ade20k_896x896.py @@ -0,0 +1,230 @@ +_base_ = [ + '../_base_/default_runtime.py', '../_base_/datasets/ade20k_640x640.py' +] + +crop_size = (896, 896) +data_preprocessor = dict( + type='SegDataPreProcessor', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + bgr_to_rgb=True, + pad_val=0, + seg_pad_val=255, + size=crop_size) +num_classes = 150 + +model = dict( + type='EncoderDecoder', + data_preprocessor=data_preprocessor, + backbone=dict( + type='DINOv2', + version='large', + freeze=False, + load_from='./checkpoints/depth_anything_vitl14.pth'), + neck=dict(type='Feature2Pyramid', embed_dim=1024, rescales=[4, 2, 1, 0.5]), + decode_head=dict( + type='Mask2FormerHead', + in_channels=[1024, 1024, 1024, 1024], + # strides=[4, 8, 16, 32], + feat_channels=1024, + out_channels=1024, + num_classes=num_classes, + num_queries=200, + num_transformer_feat_level=3, + align_corners=False, + pixel_decoder=dict( + type='mmdet.MSDeformAttnPixelDecoder', + num_outs=3, + norm_cfg=dict(type='GN', num_groups=32), + act_cfg=dict(type='ReLU'), + encoder=dict( # DeformableDetrTransformerEncoder + num_layers=6, + layer_cfg=dict( # DeformableDetrTransformerEncoderLayer + self_attn_cfg=dict( # MultiScaleDeformableAttention + embed_dims=1024, + num_heads=32, + num_levels=3, + num_points=4, + im2col_step=64, + dropout=0.0, + batch_first=True, + norm_cfg=None, + init_cfg=None), + ffn_cfg=dict( + embed_dims=1024, + feedforward_channels=4096, + num_fcs=2, + ffn_drop=0.0, + act_cfg=dict(type='ReLU', inplace=True))), + init_cfg=None), + positional_encoding=dict( # SinePositionalEncoding + num_feats=512, normalize=True), + init_cfg=None), + enforce_decoder_input_project=False, + positional_encoding=dict( # SinePositionalEncoding + num_feats=512, normalize=True), + transformer_decoder=dict( # Mask2FormerTransformerDecoder + return_intermediate=True, + num_layers=9, + layer_cfg=dict( # Mask2FormerTransformerDecoderLayer + self_attn_cfg=dict( # MultiheadAttention + embed_dims=1024, + num_heads=32, + attn_drop=0.0, + proj_drop=0.0, + dropout_layer=None, + batch_first=True), + cross_attn_cfg=dict( # MultiheadAttention + embed_dims=1024, + num_heads=32, + attn_drop=0.0, + proj_drop=0.0, + dropout_layer=None, + batch_first=True), + ffn_cfg=dict( + embed_dims=1024, + feedforward_channels=4096, + num_fcs=2, + act_cfg=dict(type='ReLU', inplace=True), + ffn_drop=0.0, + dropout_layer=None, + add_identity=True)), + init_cfg=None), + loss_cls=dict( + type='mmdet.CrossEntropyLoss', + use_sigmoid=False, + loss_weight=2.0, + reduction='mean', + class_weight=[1.0] * num_classes + [0.1]), + loss_mask=dict( + type='mmdet.CrossEntropyLoss', + use_sigmoid=True, + reduction='mean', + loss_weight=5.0), + loss_dice=dict( + type='mmdet.DiceLoss', + use_sigmoid=True, + activate=True, + reduction='mean', + naive_dice=True, + eps=1.0, + loss_weight=5.0), + train_cfg=dict( + num_points=12544, + oversample_ratio=3.0, + importance_sample_ratio=0.75, + assigner=dict( + type='mmdet.HungarianAssigner', + match_costs=[ + dict(type='mmdet.ClassificationCost', weight=2.0), + dict( + type='mmdet.CrossEntropyLossCost', + weight=5.0, + use_sigmoid=True), + dict( + type='mmdet.DiceCost', + weight=5.0, + pred_act=True, + eps=1.0) + ]), + sampler=dict(type='mmdet.MaskPseudoSampler'))), + train_cfg=dict(), + test_cfg=dict(mode='slide', crop_size=crop_size, stride=(426, 426))) + +# dataset config +train_pipeline = [ + dict(type='LoadImageFromFile'), + dict(type='LoadAnnotations', reduce_zero_label=True), + dict( + type='RandomChoiceResize', + scales=[int(x * 0.1 * 896) for x in range(5, 21)], + resize_type='ResizeShortestEdge', + max_size=3584), + dict(type='RandomCrop', crop_size=crop_size, cat_max_ratio=0.75), + dict(type='RandomFlip', prob=0.5), + dict(type='PhotoMetricDistortion'), + dict(type='PackSegInputs') +] +test_pipeline = [ + dict(type='LoadImageFromFile'), + dict(type='Resize', scale=(3584, 896), keep_ratio=True), + # add loading annotation after ``Resize`` because ground truth + # does not need to do resize data transform + dict(type='LoadAnnotations', reduce_zero_label=True), + dict(type='PackSegInputs') +] +train_dataloader = dict(batch_size=1, dataset=dict(pipeline=train_pipeline)) +val_dataloader = dict(dataset=dict(pipeline=test_pipeline)) +test_dataloader = val_dataloader + +# optim_wrapper = dict( +# _delete_=True, +# type='OptimWrapper', +# optimizer=dict( +# type='AdamW', lr=3e-5, betas=(0.9, 0.999), weight_decay=0.05), +# constructor='LayerDecayOptimizerConstructor', +# paramwise_cfg=dict(num_layers=12, layer_decay_rate=0.9)) + +# set all layers in backbone to lr_mult=0.1 +# set all norm layers, position_embeding, +# query_embeding, level_embeding to decay_multi=0.0 +backbone_norm_multi = dict(lr_mult=0.1, decay_mult=0.0) +backbone_embed_multi = dict(lr_mult=0.1, decay_mult=0.0) +embed_multi = dict(lr_mult=1.0, decay_mult=0.0) +custom_keys = { + 'backbone.dinov2': dict(lr_mult=0.1, decay_mult=1.0), + 'backbone.dinov2.norm': backbone_norm_multi, + 'pos_embed': backbone_embed_multi, + 'query_embed': embed_multi, + 'query_feat': embed_multi, + 'level_embed': embed_multi +} +custom_keys.update({ + f'backbone.dinov2.blocks.{block_id}.norm': backbone_norm_multi + for block_id in range(24) +}) +# optimizer +optimizer = dict( + type='AdamW', lr=0.00003, weight_decay=0.05, eps=1e-8, betas=(0.9, 0.999)) +optim_wrapper = dict( + type='OptimWrapper', + optimizer=optimizer, + clip_grad=dict(max_norm=0.01, norm_type=2), + paramwise_cfg=dict(custom_keys=custom_keys, norm_decay_mult=0.0)) + +find_unused_parameters=True + +param_scheduler = [ + dict( + type='LinearLR', start_factor=1e-6, by_epoch=False, begin=0, end=1500), + dict( + type='PolyLR', + power=1.0, + begin=1500, + end=160000, + eta_min=0.0, + by_epoch=False, + ) +] + +# training schedule for 160k +train_cfg = dict( + type='IterBasedTrainLoop', max_iters=160000, val_interval=5000) +val_cfg = dict(type='ValLoop') +test_cfg = dict(type='TestLoop') +default_hooks = dict( + timer=dict(type='IterTimerHook'), + logger=dict(type='LoggerHook', interval=50, log_metric_by_epoch=False), + param_scheduler=dict(type='ParamSchedulerHook'), + checkpoint=dict( + type='CheckpointHook', by_epoch=False, interval=5000, save_best='mIoU', max_keep_ckpts=1), + sampler_seed=dict(type='DistSamplerSeedHook'), + visualization=dict(type='SegVisualizationHook')) + +# Default setting for scaling LR automatically +# - `enable` means enable scaling LR automatically +# or not by default. +# - `base_batch_size` = (8 GPUs) x (2 samples per GPU). +auto_scale_lr = dict(enable=False, base_batch_size=16) + +work_dir = './work_dirs/depth_anything_large_mask2former_16xb1_160k_ade20k_896x896' diff --git a/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896.py b/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896.py new file mode 100644 index 0000000000000000000000000000000000000000..614daddfa55e5d4e6b1dbfa0d4fab4c450ab75d6 --- /dev/null +++ b/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896.py @@ -0,0 +1,222 @@ +_base_ = [ + '../_base_/default_runtime.py', '../_base_/datasets/cityscapes.py' +] + +crop_size = (896, 896) +data_preprocessor = dict( + type='SegDataPreProcessor', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + bgr_to_rgb=True, + pad_val=0, + seg_pad_val=255, + size=crop_size) +num_classes = 19 + +model = dict( + type='EncoderDecoder', + data_preprocessor=data_preprocessor, + backbone=dict( + type='DINOv2', + version='large', + freeze=False, + load_from='./checkpoints/depth_anything_vitl14.pth'), + neck=dict(type='Feature2Pyramid', embed_dim=1024, rescales=[4, 2, 1, 0.5]), + decode_head=dict( + type='Mask2FormerHead', + in_channels=[1024, 1024, 1024, 1024], + # strides=[4, 8, 16, 32], + feat_channels=1024, + out_channels=1024, + num_classes=num_classes, + num_queries=200, + num_transformer_feat_level=3, + align_corners=False, + pixel_decoder=dict( + type='mmdet.MSDeformAttnPixelDecoder', + num_outs=3, + norm_cfg=dict(type='GN', num_groups=32), + act_cfg=dict(type='ReLU'), + encoder=dict( # DeformableDetrTransformerEncoder + num_layers=6, + layer_cfg=dict( # DeformableDetrTransformerEncoderLayer + self_attn_cfg=dict( # MultiScaleDeformableAttention + embed_dims=1024, + num_heads=32, + num_levels=3, + num_points=4, + im2col_step=64, + dropout=0.0, + batch_first=True, + norm_cfg=None, + init_cfg=None), + ffn_cfg=dict( + embed_dims=1024, + feedforward_channels=4096, + num_fcs=2, + ffn_drop=0.0, + act_cfg=dict(type='ReLU', inplace=True))), + init_cfg=None), + positional_encoding=dict( # SinePositionalEncoding + num_feats=512, normalize=True), + init_cfg=None), + enforce_decoder_input_project=False, + positional_encoding=dict( # SinePositionalEncoding + num_feats=512, normalize=True), + transformer_decoder=dict( # Mask2FormerTransformerDecoder + return_intermediate=True, + num_layers=9, + layer_cfg=dict( # Mask2FormerTransformerDecoderLayer + self_attn_cfg=dict( # MultiheadAttention + embed_dims=1024, + num_heads=32, + attn_drop=0.0, + proj_drop=0.0, + dropout_layer=None, + batch_first=True), + cross_attn_cfg=dict( # MultiheadAttention + embed_dims=1024, + num_heads=32, + attn_drop=0.0, + proj_drop=0.0, + dropout_layer=None, + batch_first=True), + ffn_cfg=dict( + embed_dims=1024, + feedforward_channels=4096, + num_fcs=2, + act_cfg=dict(type='ReLU', inplace=True), + ffn_drop=0.0, + dropout_layer=None, + add_identity=True)), + init_cfg=None), + loss_cls=dict( + type='mmdet.CrossEntropyLoss', + use_sigmoid=False, + loss_weight=2.0, + reduction='mean', + class_weight=[1.0] * num_classes + [0.1]), + loss_mask=dict( + type='mmdet.CrossEntropyLoss', + use_sigmoid=True, + reduction='mean', + loss_weight=5.0), + loss_dice=dict( + type='mmdet.DiceLoss', + use_sigmoid=True, + activate=True, + reduction='mean', + naive_dice=True, + eps=1.0, + loss_weight=5.0), + train_cfg=dict( + num_points=12544, + oversample_ratio=3.0, + importance_sample_ratio=0.75, + assigner=dict( + type='mmdet.HungarianAssigner', + match_costs=[ + dict(type='mmdet.ClassificationCost', weight=2.0), + dict( + type='mmdet.CrossEntropyLossCost', + weight=5.0, + use_sigmoid=True), + dict( + type='mmdet.DiceCost', + weight=5.0, + pred_act=True, + eps=1.0) + ]), + sampler=dict(type='mmdet.MaskPseudoSampler'))), + train_cfg=dict(), + test_cfg=dict(mode='slide', crop_size=crop_size, stride=(518, 518))) + +# dataset config +train_pipeline = [ + dict(type='LoadImageFromFile'), + dict(type='LoadAnnotations'), + dict( + type='RandomChoiceResize', + scales=[int(x * 0.1 * 896) for x in range(5, 21)], + resize_type='ResizeShortestEdge', + max_size=896 * 4), + dict(type='RandomCrop', crop_size=crop_size, cat_max_ratio=0.75), + dict(type='RandomFlip', prob=0.5), + dict(type='PhotoMetricDistortion'), + dict(type='PackSegInputs') +] +test_pipeline = [ + dict(type='LoadImageFromFile'), + dict(type='Resize', scale=(896 * 4, 896), keep_ratio=True), + # add loading annotation after ``Resize`` because ground truth + # does not need to do resize data transform + dict(type='LoadAnnotations'), + dict(type='PackSegInputs') +] +train_dataloader = dict(batch_size=1, dataset=dict(pipeline=train_pipeline)) +val_dataloader = dict(dataset=dict(pipeline=test_pipeline)) +test_dataloader = val_dataloader + +# set all layers in backbone to lr_mult=0.1 +# set all norm layers, position_embeding, +# query_embeding, level_embeding to decay_multi=0.0 +backbone_norm_multi = dict(lr_mult=0.1, decay_mult=0.0) +backbone_embed_multi = dict(lr_mult=0.1, decay_mult=0.0) +embed_multi = dict(lr_mult=1.0, decay_mult=0.0) +custom_keys = { + 'backbone.dinov2': dict(lr_mult=0.1, decay_mult=1.0), + 'backbone.dinov2.norm': backbone_norm_multi, + 'pos_embed': backbone_embed_multi, + 'query_embed': embed_multi, + 'query_feat': embed_multi, + 'level_embed': embed_multi +} +custom_keys.update({ + f'backbone.dinov2.blocks.{block_id}.norm': backbone_norm_multi + for block_id in range(24) +}) +# optimizer +optimizer = dict( + type='AdamW', lr=0.00003, weight_decay=0.05, eps=1e-8, betas=(0.9, 0.999)) +optim_wrapper = dict( + type='OptimWrapper', + optimizer=optimizer, + clip_grad=dict(max_norm=0.01, norm_type=2), + paramwise_cfg=dict(custom_keys=custom_keys, norm_decay_mult=0.0)) + +find_unused_parameters=True + +param_scheduler = [ + dict( + type='LinearLR', start_factor=1e-6, by_epoch=False, begin=0, end=1500), + dict( + type='PolyLR', + power=1.0, + begin=1500, + end=80000, + eta_min=0.0, + by_epoch=False, + ) +] + +# training schedule for 160k +train_cfg = dict( + type='IterBasedTrainLoop', max_iters=80000, val_interval=5000) +val_cfg = dict(type='ValLoop') +test_cfg = dict(type='TestLoop') +default_hooks = dict( + timer=dict(type='IterTimerHook'), + logger=dict(type='LoggerHook', interval=50, log_metric_by_epoch=False), + param_scheduler=dict(type='ParamSchedulerHook'), + checkpoint=dict( + type='CheckpointHook', by_epoch=False, interval=5000, save_best='mIoU', max_keep_ckpts=1), + sampler_seed=dict(type='DistSamplerSeedHook'), + visualization=dict(type='SegVisualizationHook')) + +# Default setting for scaling LR automatically +# - `enable` means enable scaling LR automatically +# or not by default. +# - `base_batch_size` = (8 GPUs) x (2 samples per GPU). +auto_scale_lr = dict(enable=False, base_batch_size=16) + +work_dir = './work_dirs/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896' diff --git a/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896_ms.py b/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896_ms.py new file mode 100644 index 0000000000000000000000000000000000000000..8ae5de1ae482c35c234d3b979707da93d3407e7d --- /dev/null +++ b/semseg/config/depth_anything/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896_ms.py @@ -0,0 +1,244 @@ +_base_ = [ + '../_base_/default_runtime.py', '../_base_/datasets/cityscapes.py' +] + +crop_size = (896, 896) +data_preprocessor = dict( + type='SegDataPreProcessor', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + bgr_to_rgb=True, + pad_val=0, + seg_pad_val=255, + size=crop_size, + test_cfg=dict(size_divisor=14)) +num_classes = 19 + +model = dict( + type='EncoderDecoder', + data_preprocessor=data_preprocessor, + backbone=dict( + type='DINOv2', + version='large', + freeze=False, + load_from='./checkpoints/depth_anything_vitl14.pth'), + neck=dict(type='Feature2Pyramid', embed_dim=1024, rescales=[4, 2, 1, 0.5]), + decode_head=dict( + type='Mask2FormerHead', + in_channels=[1024, 1024, 1024, 1024], + # strides=[4, 8, 16, 32], + feat_channels=1024, + out_channels=1024, + num_classes=num_classes, + num_queries=200, + num_transformer_feat_level=3, + align_corners=False, + pixel_decoder=dict( + type='mmdet.MSDeformAttnPixelDecoder', + num_outs=3, + norm_cfg=dict(type='GN', num_groups=32), + act_cfg=dict(type='ReLU'), + encoder=dict( # DeformableDetrTransformerEncoder + num_layers=6, + layer_cfg=dict( # DeformableDetrTransformerEncoderLayer + self_attn_cfg=dict( # MultiScaleDeformableAttention + embed_dims=1024, + num_heads=32, + num_levels=3, + num_points=4, + im2col_step=64, + dropout=0.0, + batch_first=True, + norm_cfg=None, + init_cfg=None), + ffn_cfg=dict( + embed_dims=1024, + feedforward_channels=4096, + num_fcs=2, + ffn_drop=0.0, + act_cfg=dict(type='ReLU', inplace=True))), + init_cfg=None), + positional_encoding=dict( # SinePositionalEncoding + num_feats=512, normalize=True), + init_cfg=None), + enforce_decoder_input_project=False, + positional_encoding=dict( # SinePositionalEncoding + num_feats=512, normalize=True), + transformer_decoder=dict( # Mask2FormerTransformerDecoder + return_intermediate=True, + num_layers=9, + layer_cfg=dict( # Mask2FormerTransformerDecoderLayer + self_attn_cfg=dict( # MultiheadAttention + embed_dims=1024, + num_heads=32, + attn_drop=0.0, + proj_drop=0.0, + dropout_layer=None, + batch_first=True), + cross_attn_cfg=dict( # MultiheadAttention + embed_dims=1024, + num_heads=32, + attn_drop=0.0, + proj_drop=0.0, + dropout_layer=None, + batch_first=True), + ffn_cfg=dict( + embed_dims=1024, + feedforward_channels=4096, + num_fcs=2, + act_cfg=dict(type='ReLU', inplace=True), + ffn_drop=0.0, + dropout_layer=None, + add_identity=True)), + init_cfg=None), + loss_cls=dict( + type='mmdet.CrossEntropyLoss', + use_sigmoid=False, + loss_weight=2.0, + reduction='mean', + class_weight=[1.0] * num_classes + [0.1]), + loss_mask=dict( + type='mmdet.CrossEntropyLoss', + use_sigmoid=True, + reduction='mean', + loss_weight=5.0), + loss_dice=dict( + type='mmdet.DiceLoss', + use_sigmoid=True, + activate=True, + reduction='mean', + naive_dice=True, + eps=1.0, + loss_weight=5.0), + train_cfg=dict( + num_points=12544, + oversample_ratio=3.0, + importance_sample_ratio=0.75, + assigner=dict( + type='mmdet.HungarianAssigner', + match_costs=[ + dict(type='mmdet.ClassificationCost', weight=2.0), + dict( + type='mmdet.CrossEntropyLossCost', + weight=5.0, + use_sigmoid=True), + dict( + type='mmdet.DiceCost', + weight=5.0, + pred_act=True, + eps=1.0) + ]), + sampler=dict(type='mmdet.MaskPseudoSampler'))), + train_cfg=dict(), + test_cfg=dict(mode='slide', crop_size=crop_size, stride=(518, 518))) + +# dataset config +img_norm_cfg = dict( + mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True) +train_pipeline = [ + dict(type='LoadImageFromFile'), + dict(type='LoadAnnotations'), + dict( + type='RandomChoiceResize', + scales=[int(x * 0.1 * 896) for x in range(5, 21)], + resize_type='ResizeShortestEdge', + max_size=896 * 4), + dict(type='RandomCrop', crop_size=crop_size, cat_max_ratio=0.75), + dict(type='RandomFlip', prob=0.5), + dict(type='PhotoMetricDistortion'), + dict(type='PackSegInputs') +] +test_pipeline = [ + dict(type='LoadImageFromFile'), + dict(type='Resize', scale=(896 * 4, 896), keep_ratio=True), + # add loading annotation after ``Resize`` because ground truth + # does not need to do resize data transform + dict(type='LoadAnnotations'), + dict(type='PackSegInputs') +] + +img_ratios = [0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0] +# img_ratios = [1.0] +tta_pipeline = [ + dict(type='LoadImageFromFile', backend_args=None), + dict( + type='TestTimeAug', + transforms=[ + [ + dict(type='Resize', scale_factor=r, keep_ratio=True) + for r in img_ratios + ], + [ + dict(type='RandomFlip', prob=0., direction='horizontal'), + dict(type='RandomFlip', prob=1., direction='horizontal') + ], [dict(type='LoadAnnotations')], [dict(type='PackSegInputs')] + ]) +] + +train_dataloader = dict(batch_size=1, dataset=dict(pipeline=train_pipeline)) +val_dataloader = dict(dataset=dict(pipeline=test_pipeline)) +test_dataloader = val_dataloader + +# set all layers in backbone to lr_mult=0.1 +# set all norm layers, position_embeding, +# query_embeding, level_embeding to decay_multi=0.0 +backbone_norm_multi = dict(lr_mult=0.1, decay_mult=0.0) +backbone_embed_multi = dict(lr_mult=0.1, decay_mult=0.0) +embed_multi = dict(lr_mult=1.0, decay_mult=0.0) +custom_keys = { + 'backbone.dinov2': dict(lr_mult=0.1, decay_mult=1.0), + 'backbone.dinov2.norm': backbone_norm_multi, + 'pos_embed': backbone_embed_multi, + 'query_embed': embed_multi, + 'query_feat': embed_multi, + 'level_embed': embed_multi +} +custom_keys.update({ + f'backbone.dinov2.blocks.{block_id}.norm': backbone_norm_multi + for block_id in range(24) +}) +# optimizer +optimizer = dict( + type='AdamW', lr=0.00003, weight_decay=0.05, eps=1e-8, betas=(0.9, 0.999)) +optim_wrapper = dict( + type='OptimWrapper', + optimizer=optimizer, + clip_grad=dict(max_norm=0.01, norm_type=2), + paramwise_cfg=dict(custom_keys=custom_keys, norm_decay_mult=0.0)) + +find_unused_parameters=True + +param_scheduler = [ + dict( + type='LinearLR', start_factor=1e-6, by_epoch=False, begin=0, end=1500), + dict( + type='PolyLR', + power=1.0, + begin=1500, + end=80000, + eta_min=0.0, + by_epoch=False, + ) +] + +# training schedule for 160k +train_cfg = dict( + type='IterBasedTrainLoop', max_iters=80000, val_interval=5000) +val_cfg = dict(type='ValLoop') +test_cfg = dict(type='TestLoop') +default_hooks = dict( + timer=dict(type='IterTimerHook'), + logger=dict(type='LoggerHook', interval=1, log_metric_by_epoch=False), + param_scheduler=dict(type='ParamSchedulerHook'), + checkpoint=dict( + type='CheckpointHook', by_epoch=False, interval=5000, save_best='mIoU', max_keep_ckpts=1), + sampler_seed=dict(type='DistSamplerSeedHook'), + visualization=dict(type='SegVisualizationHook')) + +# Default setting for scaling LR automatically +# - `enable` means enable scaling LR automatically +# or not by default. +# - `base_batch_size` = (8 GPUs) x (2 samples per GPU). +auto_scale_lr = dict(enable=False, base_batch_size=16) + +work_dir = './work_dirs/depth_anything_large_mask2former_16xb1_80k_cityscapes_896x896_ms' diff --git a/semseg/dinov2.py b/semseg/dinov2.py new file mode 100644 index 0000000000000000000000000000000000000000..047a4e0d22b84b00c2059e376f7d461c88c638c1 --- /dev/null +++ b/semseg/dinov2.py @@ -0,0 +1,47 @@ +import torch +from mmengine.model import BaseModule +from torch import nn + +from mmseg.registry import MODELS + + + +@MODELS.register_module() +class DINOv2(nn.Module): + """Use DINOv2 pre-trained models + """ + + def __init__(self, version='large', freeze=False, load_from=None): + super().__init__() + + if version == 'large': + self.dinov2 = torch.hub.load('torchhub/facebookresearch_dinov2_main', 'dinov2_vitl14', source='local', pretrained=False) + else: + raise NotImplementedError + + if load_from is not None: + d = torch.load(load_from, map_location='cpu') + new_d = {} + for key, value in d.items(): + if 'pretrained' in key: + new_d[key.replace('pretrained.', '')] = value + self.dinov2.load_state_dict(new_d) + + self.freeze = freeze + + def forward(self, inputs): + B, _, h, w = inputs.shape + + if self.freeze: + with torch.no_grad(): + features = self.dinov2.get_intermediate_layers(inputs, 4) + else: + features = self.dinov2.get_intermediate_layers(inputs, 4) + + outs = [] + for feature in features: + C = feature.shape[-1] + feature = feature.permute(0, 2, 1).reshape(B, C, h // 14, w // 14).contiguous() + outs.append(feature) + + return outs diff --git a/torchhub/README.md b/torchhub/README.md new file mode 100644 index 0000000000000000000000000000000000000000..eade757c3b0a25c350ba6bf3b5d2e6f048ad1de6 --- /dev/null +++ b/torchhub/README.md @@ -0,0 +1,3 @@ +# Local PyTorch Hub + +This directory is for loading the DINOv2 encoder locally in case of no Internet connection. diff --git a/torchhub/facebookresearch_dinov2_main/CODE_OF_CONDUCT.md b/torchhub/facebookresearch_dinov2_main/CODE_OF_CONDUCT.md new file mode 100644 index 0000000000000000000000000000000000000000..3232ed665566ec047ce55a929db1581dbda266a1 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/CODE_OF_CONDUCT.md @@ -0,0 +1,80 @@ +# Code of Conduct + +## Our Pledge + +In the interest of fostering an open and welcoming environment, we as +contributors and maintainers pledge to make participation in our project and +our community a harassment-free experience for everyone, regardless of age, body +size, disability, ethnicity, sex characteristics, gender identity and expression, +level of experience, education, socio-economic status, nationality, personal +appearance, race, religion, or sexual identity and orientation. + +## Our Standards + +Examples of behavior that contributes to creating a positive environment +include: + +* Using welcoming and inclusive language +* Being respectful of differing viewpoints and experiences +* Gracefully accepting constructive criticism +* Focusing on what is best for the community +* Showing empathy towards other community members + +Examples of unacceptable behavior by participants include: + +* The use of sexualized language or imagery and unwelcome sexual attention or +advances +* Trolling, insulting/derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or electronic +address, without explicit permission +* Other conduct which could reasonably be considered inappropriate in a +professional setting + +## Our Responsibilities + +Project maintainers are responsible for clarifying the standards of acceptable +behavior and are expected to take appropriate and fair corrective action in +response to any instances of unacceptable behavior. + +Project maintainers have the right and responsibility to remove, edit, or +reject comments, commits, code, wiki edits, issues, and other contributions +that are not aligned to this Code of Conduct, or to ban temporarily or +permanently any contributor for other behaviors that they deem inappropriate, +threatening, offensive, or harmful. + +## Scope + +This Code of Conduct applies within all project spaces, and it also applies when +an individual is representing the project or its community in public spaces. +Examples of representing a project or community include using an official +project e-mail address, posting via an official social media account, or acting +as an appointed representative at an online or offline event. Representation of +a project may be further defined and clarified by project maintainers. + +This Code of Conduct also applies outside the project spaces when there is a +reasonable belief that an individual's behavior may have a negative impact on +the project or its community. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported by contacting the project team at . All +complaints will be reviewed and investigated and will result in a response that +is deemed necessary and appropriate to the circumstances. The project team is +obligated to maintain confidentiality with regard to the reporter of an incident. +Further details of specific enforcement policies may be posted separately. + +Project maintainers who do not follow or enforce the Code of Conduct in good +faith may face temporary or permanent repercussions as determined by other +members of the project's leadership. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, +available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html + +[homepage]: https://www.contributor-covenant.org + +For answers to common questions about this code of conduct, see +https://www.contributor-covenant.org/faq diff --git a/torchhub/facebookresearch_dinov2_main/CONTRIBUTING.md b/torchhub/facebookresearch_dinov2_main/CONTRIBUTING.md new file mode 100644 index 0000000000000000000000000000000000000000..afc89823fc90b920f0758f50e4d808df6a884a34 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/CONTRIBUTING.md @@ -0,0 +1,31 @@ +# Contributing to DINOv2 +We want to make contributing to this project as easy and transparent as +possible. + +## Pull Requests +We actively welcome your pull requests. + +1. Fork the repo and create your branch from `main`. +2. If you've added code that should be tested, add tests. +3. If you've changed APIs, update the documentation. +4. Ensure the test suite passes. +5. Make sure your code lints. +6. If you haven't already, complete the Contributor License Agreement ("CLA"). + +## Contributor License Agreement ("CLA") +In order to accept your pull request, we need you to submit a CLA. You only need +to do this once to work on any of Meta's open source projects. + +Complete your CLA here: + +## Issues +We use GitHub issues to track public bugs. Please ensure your description is +clear and has sufficient instructions to be able to reproduce the issue. + +Meta has a [bounty program](https://www.facebook.com/whitehat/) for the safe +disclosure of security bugs. In those cases, please go through the process +outlined on that page and do not file a public issue. + +## License +By contributing to DINOv2, you agree that your contributions will be licensed +under the LICENSE file in the root directory of this source tree. diff --git a/torchhub/facebookresearch_dinov2_main/LICENSE b/torchhub/facebookresearch_dinov2_main/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..a115f899f8d09ef3b1def4a16c7bae1a0bd50fbe --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/LICENSE @@ -0,0 +1,400 @@ + +Attribution-NonCommercial 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. Distribution of +Creative Commons public licenses does not create a lawyer-client or +other relationship. 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For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. diff --git a/torchhub/facebookresearch_dinov2_main/MODEL_CARD.md b/torchhub/facebookresearch_dinov2_main/MODEL_CARD.md new file mode 100644 index 0000000000000000000000000000000000000000..5cd35748eb3c5d8f607f83ff068367a0102117c5 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/MODEL_CARD.md @@ -0,0 +1,201 @@ +# Model Card for DINOv2-S/B/L/g + +These are Vision Transformer models trained following the method described in the paper: +"DINOv2: Learning Robust Visual Features without Supervision" + +We provide 4 models: 1 ViT-g trained from scratch, and 3 ViT-S/B/L models distilled from the ViT-g. + +## Model Details +The model takes an image as input and returns a class token and patch tokens. + +The embedding dimension is: +- 384 for ViT-S. +- 768 for ViT-B. +- 1024 for ViT-L. +- 1536 for ViT-g. + +The models follow a Transformer architecture, with a patch size of 14. + +For a 224x224 image, this results in 1 class token + 256 patch tokens. + +The models can accept larger images provided the image shapes are multiples of the patch size (14). +If this condition is not verified, the model will crop to the closest smaller multiple of the patch size. + +### Model Description + +- **Developed by:** Meta AI +- **Model type:** Vision Transformer +- **License:** CC-BY-NC + +- **Repository:** https://github.com/facebookresearch/dinov2 +- **Paper:** https://arxiv.org/abs/2304.07193 +- **Demo:** https://dinov2.metademolab.com/ + +## Uses + +The models are vision backbones providing multi-purpose features for downstream tasks. + +### Direct Use + +The models can be used without fine-tuning, with downstream classifiers as simple as linear layers, to obtain competitive results: +- on depth estimation, semantic segmentation, using linear layers. +- on image classification, using k-NN classifiers on the class token. +- on image classification, with logistic regression classifiers applied on the class token. +- on image classification, with a linear layer applied on the class token and the average of the patch tokens. +- on image retrieval using nearest neighbors. + +### Downstream Use + +It is technically possible to perform fine-tuning on the models, for small gains (we measured +2% on ImageNet-1k classification). +We recommend keeping this as a very last step and only when necessary, as the features already provide good performance out-of-the-box. + +## Bias, Risks, and Limitations + +Despite improvements thanks to the training method not using annotations, we still observe significant biases in our models toward rich households from Western countries. + +### Recommendations + +We expect fine-tuning will increase the biases in the features produced by the model as they will be tuned to the fine-tuning labels. + +## How to Get Started with the Model + +Use the code below to get started with the model. + +```python +import torch +dinov2_vits14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vits14') +dinov2_vitb14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vitb14') +dinov2_vitl14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vitl14') +dinov2_vitg14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vitg14') +``` + +## Training Details + +### Training Data + +- **Training data:** LVD-142M (see paper) +- **Training regime:** fp16 using PyTorch-FSDP mixed-precision. + +### Training Procedure + +- **Training objective:** + - DINO self-distillation loss with multi-crop + - iBOT masked-image modeling loss + - KoLeo regularization on [CLS] tokens +- **Architectures:** + - ViT-S (21M params): Patch size 14, embedding dimension 384, 6 heads, MLP FFN + - ViT-B (86M params): Patch size 14, embedding dimension 768, 12 heads, MLP FFN + - ViT-L (0.3B params): Patch size 14, embedding dimension 1024, 16 heads, MLP FFN + - ViT-g (1.1B params): Patch size 14, embedding dimension 1536, 24 heads, SwiGLU FFN +- **Distillation:** + - Distillation follows the standard DINOv2 pretraining procedure, except the teacher is a pretrained ViT-g, frozen. + +## Evaluation + +We refer users to the associated paper for the evaluation protocols. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
modelImageNet-1kNYU-Depth v2SUN-RGBDADE20kiNaturalist 2018Oxford-H
taskclassif. (acc)classif. (acc)classif. V2 (acc)depth (RMSE)depth (RMSE)segm. (mAP)classif. (acc)retrieval (mAP)
k-NNlinearlinearlinear
4 layers		NYU-D transfermultiscalelinearnearest neighbor
ViT-S/1479.0%81.1%70.8%0.4170.43147.269.5%43.2
ViT-B/1482.1%84.5%74.9%0.3620.40051.376.3%49.5
ViT-L/1483.5%86.3%77.6%0.3330.39653.179.8%54.0
ViT-g/1483.5%86.5%78.4%0.2980.36253.081.6%52.3
+ +## Environmental Impact + +- **Hardware Type:** Nvidia A100 +- **Hours used:** 22,000 for ViT-g, 4,500 for ViT-S distillation, 5,300 for ViT-B distillation, 8,000 for ViT-L distillation +- **Cloud Provider:** Private infra +- **Compute Region:** USA +- **Carbon Emitted:** 7t CO2eq + +#### Hardware + +Nvidia A100 GPUs + +#### Software + +PyTorch 2.0, +xFormers 0.0.18 + +**BibTeX** + +``` +@misc{oquab2023dinov2, + title={DINOv2: Learning Robust Visual Features without Supervision}, + author={Oquab, Maxime and Darcet, Timothée and Moutakanni, Theo and Vo, Huy and Szafraniec, Marc and Khalidov, Vasil and Fernandez, Pierre and Haziza, Daniel and Massa, Francisco and El-Nouby, Alaaeldin and Howes, Russell and Huang, Po-Yao and Xu, Hu and Sharma, Vasu and Li, Shang-Wen and Galuba, Wojciech and Rabbat, Mike and Assran, Mido and Ballas, Nicolas and Synnaeve, Gabriel and Misra, Ishan and Jegou, Herve and Mairal, Julien and Labatut, Patrick and Joulin, Armand and Bojanowski, Piotr}, + journal={arXiv:2304.07193}, + year={2023} +} +``` diff --git a/torchhub/facebookresearch_dinov2_main/README.md b/torchhub/facebookresearch_dinov2_main/README.md new file mode 100644 index 0000000000000000000000000000000000000000..96453e567dee10148be83b5e92d91f347f8521d5 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/README.md @@ -0,0 +1,277 @@ +# DINOv2: Learning Robust Visual Features without Supervision + +**[Meta AI Research, FAIR](https://ai.facebook.com/research/)** + +Maxime Oquab, +Timothée Darcet, +Théo Moutakanni, +Huy V. Vo, +Marc Szafraniec, +Vasil Khalidov, +Patrick Labatut, +Armand Joulin, +Piotr Bojanowski + +[[`Paper`](https://arxiv.org/abs/2304.07193)] [[`Blog`](https://ai.facebook.com/blog/dino-v2-computer-vision-self-supervised-learning/)] [[`Demo`](https://dinov2.metademolab.com)] [[`BibTeX`](#citing-dinov2)] + +PyTorch implementation and pretrained models for DINOv2. For details, see the paper: **[DINOv2: Learning Robust Visual Features without Supervision](https://arxiv.org/abs/2304.07193)**. + +DINOv2 models produce high-performance visual features that can be directly employed with classifiers as simple as linear layers on a variety of computer vision tasks; these visual features are robust and perform well across domains without any requirement for fine-tuning. The models were pretrained on a dataset of 142 M images without using any labels or annotations. + +https://github.com/facebookresearch/dinov2/assets/60359573/f168823e-7922-415a-b429-578badf5c356 + +
+ Visualization of the three first principal components of the patch features of all frames, mapped to RGB values. +
+ +## Pretrained models + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
model# of
params		ImageNet
k-NN		ImageNet
linear		download
ViT-S/14 distilled21 M79.0%81.1%backbone only
ViT-B/14 distilled86 M82.1%84.5%backbone only
ViT-L/14 distilled300 M83.5%86.3%backbone only
ViT-g/141,100 M83.5%86.5%backbone only
+ +### Pretrained models via PyTorch Hub + +Please follow the instructions [here](https://pytorch.org/get-started/locally/) to install PyTorch (the only required dependency for loading the model). Installing PyTorch with CUDA support is strongly recommended. + +A corresponding [model card](MODEL_CARD.md) is included in the repository. + +```python +import torch + +dinov2_vits14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vits14') +dinov2_vitb14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vitb14') +dinov2_vitl14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vitl14') +dinov2_vitg14 = torch.hub.load('facebookresearch/dinov2', 'dinov2_vitg14') +``` + +## Installation + +The training and evaluation code requires PyTorch 2.0 and [xFormers](https://github.com/facebookresearch/xformers) 0.0.18 as well as a number of other 3rd party packages. Note that the code has only been tested with the specified versions and also expects a Linux environment. To setup all the required dependencies for training and evaluation, please follow the instructions below: + +*[conda](https://docs.conda.io/projects/conda/en/latest/user-guide/getting-started.html)* **(Recommended)** - Clone the repository and then create and activate a `dinov2` conda environment using the provided environment definition: + +```shell +conda env create -f conda.yaml +conda activate dinov2 +``` + +*[pip](https://pip.pypa.io/en/stable/getting-started/)* - Clone the repository and then use the provided `requirements.txt` to install the dependencies: + +```shell +pip install -r requirements.txt +``` + +## Data preparation + +### ImageNet-1k + +The root directory of the dataset should hold the following contents: + +- `/test/ILSVRC2012_test_00000001.JPEG` +- `/test/[..]` +- `/test/ILSVRC2012_test_00100000.JPEG` +- `/train/n01440764/n01440764_10026.JPEG` +- `/train/[...]` +- `/train/n15075141/n15075141_9993.JPEG` +- `/val/n01440764/ILSVRC2012_val_00000293.JPEG` +- `/val/[...]` +- `/val/n15075141/ILSVRC2012_val_00049174.JPEG` +- `/labels.txt` + +The provided dataset implementation expects a few additional metadata files to be present under the extra directory: + +- `/class-ids-TRAIN.npy` +- `/class-ids-VAL.npy` +- `/class-names-TRAIN.npy` +- `/class-names-VAL.npy` +- `/entries-TEST.npy` +- `/entries-TRAIN.npy` +- `/entries-VAL.npy` + +These metadata files can be generated (once) with the following lines of Python code: + +```python +from dinov2.data.datasets import ImageNet + +for split in ImageNet.Split: + dataset = ImageNet(split=split, root="", extra="") + dataset.dump_extra() +``` + +Note that the root and extra directories do not have to be distinct directories. + +### ImageNet-22k + +Please adapt the [dataset class](dinov2/data/datasets/image_net_22k.py) to match your local setup. + +
+ +:warning: To execute the commands provided in the next sections for training and evaluation, the `dinov2` package should be included in the Python module search path, i.e. simply prefix the command to run with `PYTHONPATH=.`. + +## Training + +### Fast setup: training DINOv2 ViT-L/16 on ImageNet-1k + +Run DINOv2 training on 4 A100-80GB nodes (32 GPUs) in a SLURM cluster environment with submitit: + +```shell +python dinov2/run/train/train.py \ + --nodes 4 \ + --config-file dinov2/configs/train/vitl16_short.yaml \ + --output-dir \ + train.dataset_path=ImageNet:split=TRAIN:root=:extra= +``` + +Training time is approximately 1 day and the resulting checkpoint should reach 81.6% on k-NN eval and 82.9% on linear eval. + +The training code saves the weights of the teacher in the `eval` folder every 12500 iterations for evaluation. + +### Long setup: training DINOv2 ViT-L/14 on ImageNet-22k + +Run DINOv2 training on 12 A100-80GB nodes (96 GPUs) in a SLURM cluster environment with submitit: + +```shell +python dinov2/run/train/train.py \ + --nodes 12 \ + --config-file dinov2/configs/train/vitl14.yaml \ + --output-dir \ + train.dataset_path=ImageNet22k:root=:extra= +``` + +Training time is approximately 3.3 days and the resulting checkpoint should reach 82.0% on k-NN eval and 84.5% on linear eval. + +The training code saves the weights of the teacher in the `eval` folder every 12500 iterations for evaluation. + + +## Evaluation + +The training code regularly saves the teacher weights. In order to evaluate the model, run the following evaluation on a single node: + +### k-NN classification on ImageNet-1k + +```shell +python dinov2/run/eval/knn.py \ + --config-file /config.yaml \ + --pretrained-weights /eval/training_24999/teacher_checkpoint.pth \ + --output-dir /eval/training_24999/knn \ + --train-dataset ImageNet:split=TRAIN:root=:extra= \ + --val-dataset ImageNet:split=VAL:root=:extra= +``` + +### Logistic regression classification on ImageNet-1k + +```shell +python dinov2/run/eval/log_regression.py \ + --config-file /config.yaml \ + --pretrained-weights /eval/training_24999/teacher_checkpoint.pth \ + --output-dir /eval/training_24999/logreg \ + --train-dataset ImageNet:split=TRAIN:root=:extra= \ + --val-dataset ImageNet:split=VAL:root=:extra= +``` + +### Linear classification with data augmentation on ImageNet-1k + +```shell +python dinov2/run/eval/linear.py \ + --config-file /config.yaml \ + --pretrained-weights /eval/training_24999/teacher_checkpoint.pth \ + --output-dir /eval/training_24999/linear \ + --train-dataset ImageNet:split=TRAIN:root=:extra= \ + --val-dataset ImageNet:split=VAL:root=:extra= +``` + +We release the weights from evaluating the different models: + + + + + + + + + + + + + + + + + + + + + + + + + + + +
modelImageNet
top-1		linear evaluation
ViT-S/14 distilled81.1%linear head weights
ViT-B/14 distilled84.5%linear head weights
ViT-L/14 distilled86.3%linear head weights
ViT-g/1486.5%linear head weights
+ +The performance of the provided pretrained model weights can be evaluated as follows on ImageNet-1k: + +```shell +python dinov2/run/eval/linear.py \ + --config-file dinov2/configs/eval/vitg14_pretrain.yaml \ + --pretrained-weights https://dl.fbaipublicfiles.com/dinov2/dinov2_vitg14/dinov2_vitg14_pretrain.pth \ + --train-dataset ImageNet:split=TRAIN:root=:extra= \ + --val-dataset ImageNet:split=VAL:root=:extra= +``` + +## License + +DINOv2 code and model weights are released under the CC-BY-NC 4.0 license. See [LICENSE](LICENSE) for additional details. + +## Contributing + +See [contributing](CONTRIBUTING.md) and the [code of conduct](CODE_OF_CONDUCT.md). + +## Citing DINOv2 + +If you find this repository useful, please consider giving a star :star: and citation :t-rex:: + +``` +@misc{oquab2023dinov2, + title={DINOv2: Learning Robust Visual Features without Supervision}, + author={Oquab, Maxime and Darcet, Timothée and Moutakanni, Theo and Vo, Huy V. and Szafraniec, Marc and Khalidov, Vasil and Fernandez, Pierre and Haziza, Daniel and Massa, Francisco and El-Nouby, Alaaeldin and Howes, Russell and Huang, Po-Yao and Xu, Hu and Sharma, Vasu and Li, Shang-Wen and Galuba, Wojciech and Rabbat, Mike and Assran, Mido and Ballas, Nicolas and Synnaeve, Gabriel and Misra, Ishan and Jegou, Herve and Mairal, Julien and Labatut, Patrick and Joulin, Armand and Bojanowski, Piotr}, + journal={arXiv:2304.07193}, + year={2023} +} +``` diff --git 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0000000000000000000000000000000000000000..35dfc30adc275da51b58ff2340dd1d53d2cb9250 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/conda.yaml @@ -0,0 +1,22 @@ +name: dinov2 +channels: + - defaults + - pytorch + - nvidia + - xformers + - conda-forge +dependencies: + - python=3.9 + - pytorch::pytorch=2.0.0 + - pytorch::pytorch-cuda=11.7.0 + - pytorch::torchvision=0.15.0 + - omegaconf + - torchmetrics=0.10.3 + - fvcore + - iopath + - xformers::xformers=0.0.18 + - pip + - pip: + - git+https://github.com/facebookincubator/submitit + - --extra-index-url https://pypi.nvidia.com + - cuml-cu11 diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5b4afb514783786adf76744f9b97f3e1db1d6081 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/__init__.py @@ -0,0 +1,7 @@ +# 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. + +__version__ = "0.0.1" diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/__pycache__/__init__.cpython-310.pyc b/torchhub/facebookresearch_dinov2_main/dinov2/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..5e2531e81721bf26c92b5dd9200e5b7709bfc8b4 Binary files /dev/null and b/torchhub/facebookresearch_dinov2_main/dinov2/__pycache__/__init__.cpython-310.pyc differ diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/configs/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..033c35660450afec6612adb342c7c30e1ccd15ee --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/__init__.py @@ -0,0 +1,23 @@ +# 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 pathlib + +from omegaconf import OmegaConf + + +def load_config(config_name: str): + config_filename = config_name + ".yaml" + return OmegaConf.load(pathlib.Path(__file__).parent.resolve() / config_filename) + + +dinov2_default_config = load_config("ssl_default_config") + + +def load_and_merge_config(config_name: str): + default_config = OmegaConf.create(dinov2_default_config) + loaded_config = load_config(config_name) + return OmegaConf.merge(default_config, loaded_config) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitb14_pretrain.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitb14_pretrain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..117d0f027ca26cd8ce6c010bb78d5a8fac42c70e --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitb14_pretrain.yaml @@ -0,0 +1,6 @@ +student: + arch: vit_base + patch_size: 14 +crops: + global_crops_size: 518 # this is to set up the position embeddings properly + local_crops_size: 98 \ No newline at end of file diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitg14_pretrain.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitg14_pretrain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a96dd5b117b4d59ee210b65037821f1b3e3f16e3 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitg14_pretrain.yaml @@ -0,0 +1,7 @@ +student: + arch: vit_giant2 + patch_size: 14 + ffn_layer: swiglufused +crops: + global_crops_size: 518 # this is to set up the position embeddings properly + local_crops_size: 98 \ No newline at end of file diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitl14_pretrain.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitl14_pretrain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a984548bd034f762d455419d7193917fa462dd8 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vitl14_pretrain.yaml @@ -0,0 +1,6 @@ +student: + arch: vit_large + patch_size: 14 +crops: + global_crops_size: 518 # this is to set up the position embeddings properly + local_crops_size: 98 \ No newline at end of file diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vits14_pretrain.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vits14_pretrain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..afbdb4ba14f1c97130a25b579360f4d817cda495 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/eval/vits14_pretrain.yaml @@ -0,0 +1,6 @@ +student: + arch: vit_small + patch_size: 14 +crops: + global_crops_size: 518 # this is to set up the position embeddings properly + local_crops_size: 98 \ No newline at end of file diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/ssl_default_config.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/ssl_default_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a4ef04545ce9d6cc52b5179236008adc8a9bbda2 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/ssl_default_config.yaml @@ -0,0 +1,115 @@ +MODEL: + WEIGHTS: '' +compute_precision: + grad_scaler: true + teacher: + backbone: + sharding_strategy: SHARD_GRAD_OP + mixed_precision: + param_dtype: fp16 + reduce_dtype: fp16 + buffer_dtype: fp32 + dino_head: + sharding_strategy: SHARD_GRAD_OP + mixed_precision: + param_dtype: fp16 + reduce_dtype: fp16 + buffer_dtype: fp32 + ibot_head: + sharding_strategy: SHARD_GRAD_OP + mixed_precision: + param_dtype: fp16 + reduce_dtype: fp16 + buffer_dtype: fp32 + student: + backbone: + sharding_strategy: SHARD_GRAD_OP + mixed_precision: + param_dtype: fp16 + reduce_dtype: fp16 + buffer_dtype: fp32 + dino_head: + sharding_strategy: SHARD_GRAD_OP + mixed_precision: + param_dtype: fp16 + reduce_dtype: fp32 + buffer_dtype: fp32 + ibot_head: + sharding_strategy: SHARD_GRAD_OP + mixed_precision: + param_dtype: fp16 + reduce_dtype: fp32 + buffer_dtype: fp32 +dino: + loss_weight: 1.0 + head_n_prototypes: 65536 + head_bottleneck_dim: 256 + head_nlayers: 3 + head_hidden_dim: 2048 + koleo_loss_weight: 0.1 +ibot: + loss_weight: 1.0 + mask_sample_probability: 0.5 + mask_ratio_min_max: + - 0.1 + - 0.5 + separate_head: false + head_n_prototypes: 65536 + head_bottleneck_dim: 256 + head_nlayers: 3 + head_hidden_dim: 2048 +train: + batch_size_per_gpu: 64 + dataset_path: ImageNet:split=TRAIN + output_dir: . + saveckp_freq: 20 + seed: 0 + num_workers: 10 + OFFICIAL_EPOCH_LENGTH: 1250 + cache_dataset: true + centering: "centering" # or "sinkhorn_knopp" +student: + arch: vit_large + patch_size: 16 + drop_path_rate: 0.3 + layerscale: 1.0e-05 + drop_path_uniform: true + pretrained_weights: '' + ffn_layer: "mlp" + block_chunks: 0 + qkv_bias: true + proj_bias: true + ffn_bias: true +teacher: + momentum_teacher: 0.992 + final_momentum_teacher: 1 + warmup_teacher_temp: 0.04 + teacher_temp: 0.07 + warmup_teacher_temp_epochs: 30 +optim: + epochs: 100 + weight_decay: 0.04 + weight_decay_end: 0.4 + base_lr: 0.004 # learning rate for a batch size of 1024 + lr: 0. # will be set after applying scaling rule + warmup_epochs: 10 + min_lr: 1.0e-06 + clip_grad: 3.0 + freeze_last_layer_epochs: 1 + scaling_rule: sqrt_wrt_1024 + patch_embed_lr_mult: 0.2 + layerwise_decay: 0.9 + adamw_beta1: 0.9 + adamw_beta2: 0.999 +crops: + global_crops_scale: + - 0.32 + - 1.0 + local_crops_number: 8 + local_crops_scale: + - 0.05 + - 0.32 + global_crops_size: 224 + local_crops_size: 96 +evaluation: + eval_period_iterations: 12500 diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitg14.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitg14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d05cf0d59e07ac6e4a2b0f9bdcb6131d7c508962 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitg14.yaml @@ -0,0 +1,26 @@ +dino: + head_n_prototypes: 131072 + head_bottleneck_dim: 384 +ibot: + separate_head: true + head_n_prototypes: 131072 +train: + batch_size_per_gpu: 12 + dataset_path: ImageNet22k + centering: sinkhorn_knopp +student: + arch: vit_giant2 + patch_size: 14 + drop_path_rate: 0.4 + ffn_layer: swiglufused + block_chunks: 4 +teacher: + momentum_teacher: 0.994 +optim: + epochs: 500 + weight_decay_end: 0.2 + base_lr: 2.0e-04 # learning rate for a batch size of 1024 + warmup_epochs: 80 + layerwise_decay: 1.0 +crops: + local_crops_size: 98 \ No newline at end of file diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitl14.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitl14.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d9b491dcc6a522c71328fc2933dd0501123c8f6b --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitl14.yaml @@ -0,0 +1,26 @@ +dino: + head_n_prototypes: 131072 + head_bottleneck_dim: 384 +ibot: + separate_head: true + head_n_prototypes: 131072 +train: + batch_size_per_gpu: 32 + dataset_path: ImageNet22k + centering: sinkhorn_knopp +student: + arch: vit_large + patch_size: 14 + drop_path_rate: 0.4 + ffn_layer: swiglufused + block_chunks: 4 +teacher: + momentum_teacher: 0.994 +optim: + epochs: 500 + weight_decay_end: 0.2 + base_lr: 2.0e-04 # learning rate for a batch size of 1024 + warmup_epochs: 80 + layerwise_decay: 1.0 +crops: + local_crops_size: 98 \ No newline at end of file diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitl16_short.yaml b/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitl16_short.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e7e72864c92175a1354142ac1d64da8070d1e5e --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/configs/train/vitl16_short.yaml @@ -0,0 +1,6 @@ +# this corresponds to the default config +train: + dataset_path: ImageNet:split=TRAIN + batch_size_per_gpu: 64 +student: + block_chunks: 4 diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..357db5c542c5810391ba2bd45a60c13c01c3737a --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/__init__.py @@ -0,0 +1,11 @@ +# 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 .adapters import DatasetWithEnumeratedTargets +from .loaders import make_data_loader, make_dataset, SamplerType +from .collate import collate_data_and_cast +from .masking import MaskingGenerator +from .augmentations import DataAugmentationDINO diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/adapters.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/adapters.py new file mode 100644 index 0000000000000000000000000000000000000000..7dcbc68e046f03460d5867f1388d5380d9c6f603 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/adapters.py @@ -0,0 +1,29 @@ +# 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 Any, Tuple + +from torch.utils.data import Dataset + + +class DatasetWithEnumeratedTargets(Dataset): + def __init__(self, dataset): + self._dataset = dataset + + def get_image_data(self, index: int) -> bytes: + return self._dataset.get_image_data(index) + + def get_target(self, index: int) -> Tuple[Any, int]: + target = self._dataset.get_target(index) + return (index, target) + + def __getitem__(self, index: int) -> Tuple[Any, Tuple[Any, int]]: + image, target = self._dataset[index] + target = index if target is None else target + return image, (index, target) + + def __len__(self) -> int: + return len(self._dataset) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/augmentations.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/augmentations.py new file mode 100644 index 0000000000000000000000000000000000000000..7ca28cb59a4de2566a6c9ef9c301cbbb4e54b5ee --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/augmentations.py @@ -0,0 +1,119 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging + +from torchvision import transforms + +from .transforms import ( + GaussianBlur, + make_normalize_transform, +) + + +logger = logging.getLogger("dinov2") + + +class DataAugmentationDINO(object): + def __init__( + self, + global_crops_scale, + local_crops_scale, + local_crops_number, + global_crops_size=224, + local_crops_size=96, + ): + self.global_crops_scale = global_crops_scale + self.local_crops_scale = local_crops_scale + self.local_crops_number = local_crops_number + self.global_crops_size = global_crops_size + self.local_crops_size = local_crops_size + + logger.info("###################################") + logger.info("Using data augmentation parameters:") + logger.info(f"global_crops_scale: {global_crops_scale}") + logger.info(f"local_crops_scale: {local_crops_scale}") + logger.info(f"local_crops_number: {local_crops_number}") + logger.info(f"global_crops_size: {global_crops_size}") + logger.info(f"local_crops_size: {local_crops_size}") + logger.info("###################################") + + # random resized crop and flip + self.geometric_augmentation_global = transforms.Compose( + [ + transforms.RandomResizedCrop( + global_crops_size, scale=global_crops_scale, interpolation=transforms.InterpolationMode.BICUBIC + ), + transforms.RandomHorizontalFlip(p=0.5), + ] + ) + + self.geometric_augmentation_local = transforms.Compose( + [ + transforms.RandomResizedCrop( + local_crops_size, scale=local_crops_scale, interpolation=transforms.InterpolationMode.BICUBIC + ), + transforms.RandomHorizontalFlip(p=0.5), + ] + ) + + # color distorsions / blurring + color_jittering = transforms.Compose( + [ + transforms.RandomApply( + [transforms.ColorJitter(brightness=0.4, contrast=0.4, saturation=0.2, hue=0.1)], + p=0.8, + ), + transforms.RandomGrayscale(p=0.2), + ] + ) + + global_transfo1_extra = GaussianBlur(p=1.0) + + global_transfo2_extra = transforms.Compose( + [ + GaussianBlur(p=0.1), + transforms.RandomSolarize(threshold=128, p=0.2), + ] + ) + + local_transfo_extra = GaussianBlur(p=0.5) + + # normalization + self.normalize = transforms.Compose( + [ + transforms.ToTensor(), + make_normalize_transform(), + ] + ) + + self.global_transfo1 = transforms.Compose([color_jittering, global_transfo1_extra, self.normalize]) + self.global_transfo2 = transforms.Compose([color_jittering, global_transfo2_extra, self.normalize]) + self.local_transfo = transforms.Compose([color_jittering, local_transfo_extra, self.normalize]) + + def __call__(self, image): + output = {} + + # global crops: + im1_base = self.geometric_augmentation_global(image) + global_crop_1 = self.global_transfo1(im1_base) + + im2_base = self.geometric_augmentation_global(image) + global_crop_2 = self.global_transfo2(im2_base) + + output["global_crops"] = [global_crop_1, global_crop_2] + + # global crops for teacher: + output["global_crops_teacher"] = [global_crop_1, global_crop_2] + + # local crops: + local_crops = [ + self.local_transfo(self.geometric_augmentation_local(image)) for _ in range(self.local_crops_number) + ] + output["local_crops"] = local_crops + output["offsets"] = () + + return output diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/collate.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/collate.py new file mode 100644 index 0000000000000000000000000000000000000000..9f0d98906808ed326dff4486d95b3ec04f8a5e75 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/collate.py @@ -0,0 +1,50 @@ +# 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 random + + +def collate_data_and_cast(samples_list, mask_ratio_tuple, mask_probability, dtype, n_tokens=None, mask_generator=None): + # dtype = torch.half # TODO: Remove + + n_global_crops = len(samples_list[0][0]["global_crops"]) + n_local_crops = len(samples_list[0][0]["local_crops"]) + + collated_global_crops = torch.stack([s[0]["global_crops"][i] for i in range(n_global_crops) for s in samples_list]) + + collated_local_crops = torch.stack([s[0]["local_crops"][i] for i in range(n_local_crops) for s in samples_list]) + + B = len(collated_global_crops) + N = n_tokens + n_samples_masked = int(B * mask_probability) + probs = torch.linspace(*mask_ratio_tuple, n_samples_masked + 1) + upperbound = 0 + masks_list = [] + for i in range(0, n_samples_masked): + prob_min = probs[i] + prob_max = probs[i + 1] + masks_list.append(torch.BoolTensor(mask_generator(int(N * random.uniform(prob_min, prob_max))))) + upperbound += int(N * prob_max) + for i in range(n_samples_masked, B): + masks_list.append(torch.BoolTensor(mask_generator(0))) + + random.shuffle(masks_list) + + collated_masks = torch.stack(masks_list).flatten(1) + mask_indices_list = collated_masks.flatten().nonzero().flatten() + + masks_weight = (1 / collated_masks.sum(-1).clamp(min=1.0)).unsqueeze(-1).expand_as(collated_masks)[collated_masks] + + return { + "collated_global_crops": collated_global_crops.to(dtype), + "collated_local_crops": collated_local_crops.to(dtype), + "collated_masks": collated_masks, + "mask_indices_list": mask_indices_list, + "masks_weight": masks_weight, + "upperbound": upperbound, + "n_masked_patches": torch.full((1,), fill_value=mask_indices_list.shape[0], dtype=torch.long), + } diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..7b537aee8fe31d7e0fa06713d2cfe9233ff0ef60 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/__init__.py @@ -0,0 +1,8 @@ +# 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 .image_net import ImageNet +from .image_net_22k import ImageNet22k diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/decoders.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/decoders.py new file mode 100644 index 0000000000000000000000000000000000000000..548720b3b9959b4949f71fb2dd5cf6af3d184066 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/decoders.py @@ -0,0 +1,32 @@ +# 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 io import BytesIO +from typing import Any + +from PIL import Image + + +class Decoder: + def decode(self) -> Any: + raise NotImplementedError + + +class ImageDataDecoder(Decoder): + def __init__(self, image_data: bytes) -> None: + self._image_data = image_data + + def decode(self) -> Image: + f = BytesIO(self._image_data) + return Image.open(f).convert(mode="RGB") + + +class TargetDecoder(Decoder): + def __init__(self, target: Any): + self._target = target + + def decode(self) -> Any: + return self._target diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/extended.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/extended.py new file mode 100644 index 0000000000000000000000000000000000000000..4da831e6ad275025ed55eaa490f780ecf6083f2c --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/extended.py @@ -0,0 +1,39 @@ +# 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 Any, Tuple + +from torchvision.datasets import VisionDataset + +from .decoders import TargetDecoder, ImageDataDecoder + + +class ExtendedVisionDataset(VisionDataset): + def __init__(self, *args, **kwargs) -> None: + super().__init__(*args, **kwargs) # type: ignore + + def get_image_data(self, index: int) -> bytes: + raise NotImplementedError + + def get_target(self, index: int) -> Any: + raise NotImplementedError + + def __getitem__(self, index: int) -> Tuple[Any, Any]: + try: + image_data = self.get_image_data(index) + image = ImageDataDecoder(image_data).decode() + except Exception as e: + raise RuntimeError(f"can not read image for sample {index}") from e + target = self.get_target(index) + target = TargetDecoder(target).decode() + + if self.transforms is not None: + image, target = self.transforms(image, target) + + return image, target + + def __len__(self) -> int: + raise NotImplementedError diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/image_net.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/image_net.py new file mode 100644 index 0000000000000000000000000000000000000000..1e1c384cc96ceb6afeb3e555d9b3e2a2c008c5d4 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/image_net.py @@ -0,0 +1,291 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import csv +from enum import Enum +import logging +import os +from typing import Callable, List, Optional, Tuple, Union + +import numpy as np + +from .extended import ExtendedVisionDataset + + +logger = logging.getLogger("dinov2") +_Target = int + + +class _Split(Enum): + TRAIN = "train" + VAL = "val" + TEST = "test" # NOTE: torchvision does not support the test split + + @property + def length(self) -> int: + split_lengths = { + _Split.TRAIN: 1_281_167, + _Split.VAL: 50_000, + _Split.TEST: 100_000, + } + return split_lengths[self] + + def get_dirname(self, class_id: Optional[str] = None) -> str: + return self.value if class_id is None else os.path.join(self.value, class_id) + + def get_image_relpath(self, actual_index: int, class_id: Optional[str] = None) -> str: + dirname = self.get_dirname(class_id) + if self == _Split.TRAIN: + basename = f"{class_id}_{actual_index}" + else: # self in (_Split.VAL, _Split.TEST): + basename = f"ILSVRC2012_{self.value}_{actual_index:08d}" + return os.path.join(dirname, basename + ".JPEG") + + def parse_image_relpath(self, image_relpath: str) -> Tuple[str, int]: + assert self != _Split.TEST + dirname, filename = os.path.split(image_relpath) + class_id = os.path.split(dirname)[-1] + basename, _ = os.path.splitext(filename) + actual_index = int(basename.split("_")[-1]) + return class_id, actual_index + + +class ImageNet(ExtendedVisionDataset): + Target = Union[_Target] + Split = Union[_Split] + + def __init__( + self, + *, + split: "ImageNet.Split", + root: str, + extra: str, + transforms: Optional[Callable] = None, + transform: Optional[Callable] = None, + target_transform: Optional[Callable] = None, + ) -> None: + super().__init__(root, transforms, transform, target_transform) + self._extra_root = extra + self._split = split + + self._entries = None + self._class_ids = None + self._class_names = None + + @property + def split(self) -> "ImageNet.Split": + return self._split + + def _get_extra_full_path(self, extra_path: str) -> str: + return os.path.join(self._extra_root, extra_path) + + def _load_extra(self, extra_path: str) -> np.ndarray: + extra_full_path = self._get_extra_full_path(extra_path) + return np.load(extra_full_path, mmap_mode="r") + + def _save_extra(self, extra_array: np.ndarray, extra_path: str) -> None: + extra_full_path = self._get_extra_full_path(extra_path) + os.makedirs(self._extra_root, exist_ok=True) + np.save(extra_full_path, extra_array) + + @property + def _entries_path(self) -> str: + return f"entries-{self._split.value.upper()}.npy" + + @property + def _class_ids_path(self) -> str: + return f"class-ids-{self._split.value.upper()}.npy" + + @property + def _class_names_path(self) -> str: + return f"class-names-{self._split.value.upper()}.npy" + + def _get_entries(self) -> np.ndarray: + if self._entries is None: + self._entries = self._load_extra(self._entries_path) + assert self._entries is not None + return self._entries + + def _get_class_ids(self) -> np.ndarray: + if self._split == _Split.TEST: + assert False, "Class IDs are not available in TEST split" + if self._class_ids is None: + self._class_ids = self._load_extra(self._class_ids_path) + assert self._class_ids is not None + return self._class_ids + + def _get_class_names(self) -> np.ndarray: + if self._split == _Split.TEST: + assert False, "Class names are not available in TEST split" + if self._class_names is None: + self._class_names = self._load_extra(self._class_names_path) + assert self._class_names is not None + return self._class_names + + def find_class_id(self, class_index: int) -> str: + class_ids = self._get_class_ids() + return str(class_ids[class_index]) + + def find_class_name(self, class_index: int) -> str: + class_names = self._get_class_names() + return str(class_names[class_index]) + + def get_image_data(self, index: int) -> bytes: + entries = self._get_entries() + actual_index = entries[index]["actual_index"] + + class_id = self.get_class_id(index) + + image_relpath = self.split.get_image_relpath(actual_index, class_id) + image_full_path = os.path.join(self.root, image_relpath) + with open(image_full_path, mode="rb") as f: + image_data = f.read() + return image_data + + def get_target(self, index: int) -> Optional[Target]: + entries = self._get_entries() + class_index = entries[index]["class_index"] + return None if self.split == _Split.TEST else int(class_index) + + def get_targets(self) -> Optional[np.ndarray]: + entries = self._get_entries() + return None if self.split == _Split.TEST else entries["class_index"] + + def get_class_id(self, index: int) -> Optional[str]: + entries = self._get_entries() + class_id = entries[index]["class_id"] + return None if self.split == _Split.TEST else str(class_id) + + def get_class_name(self, index: int) -> Optional[str]: + entries = self._get_entries() + class_name = entries[index]["class_name"] + return None if self.split == _Split.TEST else str(class_name) + + def __len__(self) -> int: + entries = self._get_entries() + assert len(entries) == self.split.length + return len(entries) + + def _load_labels(self, labels_path: str) -> List[Tuple[str, str]]: + labels_full_path = os.path.join(self.root, labels_path) + labels = [] + + try: + with open(labels_full_path, "r") as f: + reader = csv.reader(f) + for row in reader: + class_id, class_name = row + labels.append((class_id, class_name)) + except OSError as e: + raise RuntimeError(f'can not read labels file "{labels_full_path}"') from e + + return labels + + def _dump_entries(self) -> None: + split = self.split + if split == ImageNet.Split.TEST: + dataset = None + sample_count = split.length + max_class_id_length, max_class_name_length = 0, 0 + else: + labels_path = "labels.txt" + logger.info(f'loading labels from "{labels_path}"') + labels = self._load_labels(labels_path) + + # NOTE: Using torchvision ImageFolder for consistency + from torchvision.datasets import ImageFolder + + dataset_root = os.path.join(self.root, split.get_dirname()) + dataset = ImageFolder(dataset_root) + sample_count = len(dataset) + max_class_id_length, max_class_name_length = -1, -1 + for sample in dataset.samples: + _, class_index = sample + class_id, class_name = labels[class_index] + max_class_id_length = max(len(class_id), max_class_id_length) + max_class_name_length = max(len(class_name), max_class_name_length) + + dtype = np.dtype( + [ + ("actual_index", " old_percent: + logger.info(f"creating entries: {percent}%") + old_percent = percent + + actual_index = index + 1 + class_index = np.uint32(-1) + class_id, class_name = "", "" + entries_array[index] = (actual_index, class_index, class_id, class_name) + else: + class_names = {class_id: class_name for class_id, class_name in labels} + + assert dataset + old_percent = -1 + for index in range(sample_count): + percent = 100 * (index + 1) // sample_count + if percent > old_percent: + logger.info(f"creating entries: {percent}%") + old_percent = percent + + image_full_path, class_index = dataset.samples[index] + image_relpath = os.path.relpath(image_full_path, self.root) + class_id, actual_index = split.parse_image_relpath(image_relpath) + class_name = class_names[class_id] + entries_array[index] = (actual_index, class_index, class_id, class_name) + + logger.info(f'saving entries to "{self._entries_path}"') + self._save_extra(entries_array, self._entries_path) + + def _dump_class_ids_and_names(self) -> None: + split = self.split + if split == ImageNet.Split.TEST: + return + + entries_array = self._load_extra(self._entries_path) + + max_class_id_length, max_class_name_length, max_class_index = -1, -1, -1 + for entry in entries_array: + class_index, class_id, class_name = ( + entry["class_index"], + entry["class_id"], + entry["class_name"], + ) + max_class_index = max(int(class_index), max_class_index) + max_class_id_length = max(len(str(class_id)), max_class_id_length) + max_class_name_length = max(len(str(class_name)), max_class_name_length) + + class_count = max_class_index + 1 + class_ids_array = np.empty(class_count, dtype=f"U{max_class_id_length}") + class_names_array = np.empty(class_count, dtype=f"U{max_class_name_length}") + for entry in entries_array: + class_index, class_id, class_name = ( + entry["class_index"], + entry["class_id"], + entry["class_name"], + ) + class_ids_array[class_index] = class_id + class_names_array[class_index] = class_name + + logger.info(f'saving class IDs to "{self._class_ids_path}"') + self._save_extra(class_ids_array, self._class_ids_path) + + logger.info(f'saving class names to "{self._class_names_path}"') + self._save_extra(class_names_array, self._class_names_path) + + def dump_extra(self) -> None: + self._dump_entries() + self._dump_class_ids_and_names() diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/image_net_22k.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/image_net_22k.py new file mode 100644 index 0000000000000000000000000000000000000000..2c0bfd335a68b67e02c241f39b1ae06f9fbe1dd0 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/datasets/image_net_22k.py @@ -0,0 +1,303 @@ +# 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 dataclasses import dataclass +from enum import Enum +from functools import lru_cache +from gzip import GzipFile +from io import BytesIO +from mmap import ACCESS_READ, mmap +import os +from typing import Any, Callable, List, Optional, Set, Tuple +import warnings + +import numpy as np + +from .extended import ExtendedVisionDataset + + +_Labels = int + +_DEFAULT_MMAP_CACHE_SIZE = 16 # Warning: This can exhaust file descriptors + + +@dataclass +class _ClassEntry: + block_offset: int + maybe_filename: Optional[str] = None + + +@dataclass +class _Entry: + class_index: int # noqa: E701 + start_offset: int + end_offset: int + filename: str + + +class _Split(Enum): + TRAIN = "train" + VAL = "val" + + @property + def length(self) -> int: + return { + _Split.TRAIN: 11_797_647, + _Split.VAL: 561_050, + }[self] + + def entries_path(self): + return f"imagenet21kp_{self.value}.txt" + + +def _get_tarball_path(class_id: str) -> str: + return f"{class_id}.tar" + + +def _make_mmap_tarball(tarballs_root: str, mmap_cache_size: int): + @lru_cache(maxsize=mmap_cache_size) + def _mmap_tarball(class_id: str) -> mmap: + tarball_path = _get_tarball_path(class_id) + tarball_full_path = os.path.join(tarballs_root, tarball_path) + with open(tarball_full_path) as f: + return mmap(fileno=f.fileno(), length=0, access=ACCESS_READ) + + return _mmap_tarball + + +class ImageNet22k(ExtendedVisionDataset): + _GZIPPED_INDICES: Set[int] = { + 841_545, + 1_304_131, + 2_437_921, + 2_672_079, + 2_795_676, + 2_969_786, + 6_902_965, + 6_903_550, + 6_903_628, + 7_432_557, + 7_432_589, + 7_813_809, + 8_329_633, + 10_296_990, + 10_417_652, + 10_492_265, + 10_598_078, + 10_782_398, + 10_902_612, + 11_203_736, + 11_342_890, + 11_397_596, + 11_589_762, + 11_705_103, + 12_936_875, + 13_289_782, + } + Labels = _Labels + + def __init__( + self, + *, + root: str, + extra: str, + transforms: Optional[Callable] = None, + transform: Optional[Callable] = None, + target_transform: Optional[Callable] = None, + mmap_cache_size: int = _DEFAULT_MMAP_CACHE_SIZE, + ) -> None: + super().__init__(root, transforms, transform, target_transform) + self._extra_root = extra + + entries_path = self._get_entries_path(root) + self._entries = self._load_extra(entries_path) + + class_ids_path = self._get_class_ids_path(root) + self._class_ids = self._load_extra(class_ids_path) + + self._gzipped_indices = ImageNet22k._GZIPPED_INDICES + self._mmap_tarball = _make_mmap_tarball(self._tarballs_root, mmap_cache_size) + + def _get_entries_path(self, root: Optional[str] = None) -> str: + return "entries.npy" + + def _get_class_ids_path(self, root: Optional[str] = None) -> str: + return "class-ids.npy" + + def _find_class_ids(self, path: str) -> List[str]: + class_ids = [] + + with os.scandir(path) as entries: + for entry in entries: + root, ext = os.path.splitext(entry.name) + if ext != ".tar": + continue + class_ids.append(root) + + return sorted(class_ids) + + def _load_entries_class_ids(self, root: Optional[str] = None) -> Tuple[List[_Entry], List[str]]: + root = self.get_root(root) + entries: List[_Entry] = [] + class_ids = self._find_class_ids(root) + + for class_index, class_id in enumerate(class_ids): + path = os.path.join(root, "blocks", f"{class_id}.log") + class_entries = [] + + try: + with open(path) as f: + for line in f: + line = line.rstrip() + block, filename = line.split(":") + block_offset = int(block[6:]) + filename = filename[1:] + + maybe_filename = None + if filename != "** Block of NULs **": + maybe_filename = filename + _, ext = os.path.splitext(filename) + # assert ext == ".JPEG" + + class_entry = _ClassEntry(block_offset, maybe_filename) + class_entries.append(class_entry) + except OSError as e: + raise RuntimeError(f'can not read blocks file "{path}"') from e + + assert class_entries[-1].maybe_filename is None + + for class_entry1, class_entry2 in zip(class_entries, class_entries[1:]): + assert class_entry1.block_offset <= class_entry2.block_offset + start_offset = 512 * class_entry1.block_offset + end_offset = 512 * class_entry2.block_offset + assert class_entry1.maybe_filename is not None + filename = class_entry1.maybe_filename + entry = _Entry(class_index, start_offset, end_offset, filename) + # Skip invalid image files (PIL throws UnidentifiedImageError) + if filename == "n06470073_47249.JPEG": + continue + entries.append(entry) + + return entries, class_ids + + def _load_extra(self, extra_path: str) -> np.ndarray: + extra_root = self._extra_root + extra_full_path = os.path.join(extra_root, extra_path) + return np.load(extra_full_path, mmap_mode="r") + + def _save_extra(self, extra_array: np.ndarray, extra_path: str) -> None: + extra_root = self._extra_root + extra_full_path = os.path.join(extra_root, extra_path) + os.makedirs(extra_root, exist_ok=True) + np.save(extra_full_path, extra_array) + + @property + def _tarballs_root(self) -> str: + return self.root + + def find_class_id(self, class_index: int) -> str: + return str(self._class_ids[class_index]) + + def get_image_data(self, index: int) -> bytes: + entry = self._entries[index] + class_id = entry["class_id"] + class_mmap = self._mmap_tarball(class_id) + + start_offset, end_offset = entry["start_offset"], entry["end_offset"] + try: + mapped_data = class_mmap[start_offset:end_offset] + data = mapped_data[512:] # Skip entry header block + + if len(data) >= 2 and tuple(data[:2]) == (0x1F, 0x8B): + assert index in self._gzipped_indices, f"unexpected gzip header for sample {index}" + with GzipFile(fileobj=BytesIO(data)) as g: + data = g.read() + except Exception as e: + raise RuntimeError(f"can not retrieve image data for sample {index} " f'from "{class_id}" tarball') from e + + return data + + def get_target(self, index: int) -> Any: + return int(self._entries[index]["class_index"]) + + def get_targets(self) -> np.ndarray: + return self._entries["class_index"] + + def get_class_id(self, index: int) -> str: + return str(self._entries[index]["class_id"]) + + def get_class_ids(self) -> np.ndarray: + return self._entries["class_id"] + + def __getitem__(self, index: int) -> Tuple[Any, Any]: + with warnings.catch_warnings(): + warnings.simplefilter("ignore") + return super().__getitem__(index) + + def __len__(self) -> int: + return len(self._entries) + + def _dump_entries(self, *args, **kwargs) -> None: + entries, class_ids = self._load_entries_class_ids(*args, **kwargs) + + max_class_id_length, max_filename_length, max_class_index = -1, -1, -1 + for entry in entries: + class_id = class_ids[entry.class_index] + max_class_index = max(entry.class_index, max_class_index) + max_class_id_length = max(len(class_id), max_class_id_length) + max_filename_length = max(len(entry.filename), max_filename_length) + + dtype = np.dtype( + [ + ("class_index", " None: + entries_path = self._get_entries_path(*args, **kwargs) + entries_array = self._load_extra(entries_path) + + max_class_id_length, max_class_index = -1, -1 + for entry in entries_array: + class_index, class_id = entry["class_index"], entry["class_id"] + max_class_index = max(int(class_index), max_class_index) + max_class_id_length = max(len(str(class_id)), max_class_id_length) + + class_ids_array = np.empty(max_class_index + 1, dtype=f"U{max_class_id_length}") + for entry in entries_array: + class_index, class_id = entry["class_index"], entry["class_id"] + class_ids_array[class_index] = class_id + class_ids_path = self._get_class_ids_path(*args, **kwargs) + self._save_extra(class_ids_array, class_ids_path) + + def _dump_extra(self, *args, **kwargs) -> None: + self._dump_entries(*args, *kwargs) + self._dump_class_ids(*args, *kwargs) + + def dump_extra(self, root: Optional[str] = None) -> None: + return self._dump_extra(root) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/loaders.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/loaders.py new file mode 100644 index 0000000000000000000000000000000000000000..9fb6f25a0a3c3251b803f48d0a515aa0b9591226 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/loaders.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. + +import logging +from enum import Enum +from typing import Any, Callable, List, Optional, TypeVar + +import torch +from torch.utils.data import Sampler + +from .datasets import ImageNet, ImageNet22k +from .samplers import EpochSampler, InfiniteSampler, ShardedInfiniteSampler + + +logger = logging.getLogger("dinov2") + + +class SamplerType(Enum): + DISTRIBUTED = 0 + EPOCH = 1 + INFINITE = 2 + SHARDED_INFINITE = 3 + SHARDED_INFINITE_NEW = 4 + + +def _make_bool_str(b: bool) -> str: + return "yes" if b else "no" + + +def _make_sample_transform(image_transform: Optional[Callable] = None, target_transform: Optional[Callable] = None): + def transform(sample): + image, target = sample + if image_transform is not None: + image = image_transform(image) + if target_transform is not None: + target = target_transform(target) + return image, target + + return transform + + +def _parse_dataset_str(dataset_str: str): + tokens = dataset_str.split(":") + + name = tokens[0] + kwargs = {} + + for token in tokens[1:]: + key, value = token.split("=") + assert key in ("root", "extra", "split") + kwargs[key] = value + + if name == "ImageNet": + class_ = ImageNet + if "split" in kwargs: + kwargs["split"] = ImageNet.Split[kwargs["split"]] + elif name == "ImageNet22k": + class_ = ImageNet22k + else: + raise ValueError(f'Unsupported dataset "{name}"') + + return class_, kwargs + + +def make_dataset( + *, + dataset_str: str, + transform: Optional[Callable] = None, + target_transform: Optional[Callable] = None, +): + """ + Creates a dataset with the specified parameters. + + Args: + dataset_str: A dataset string description (e.g. ImageNet:split=TRAIN). + transform: A transform to apply to images. + target_transform: A transform to apply to targets. + + Returns: + The created dataset. + """ + logger.info(f'using dataset: "{dataset_str}"') + + class_, kwargs = _parse_dataset_str(dataset_str) + dataset = class_(transform=transform, target_transform=target_transform, **kwargs) + + logger.info(f"# of dataset samples: {len(dataset):,d}") + + # Aggregated datasets do not expose (yet) these attributes, so add them. + if not hasattr(dataset, "transform"): + setattr(dataset, "transform", transform) + if not hasattr(dataset, "target_transform"): + setattr(dataset, "target_transform", target_transform) + + return dataset + + +def _make_sampler( + *, + dataset, + type: Optional[SamplerType] = None, + shuffle: bool = False, + seed: int = 0, + size: int = -1, + advance: int = 0, +) -> Optional[Sampler]: + sample_count = len(dataset) + + if type == SamplerType.INFINITE: + logger.info("sampler: infinite") + if size > 0: + raise ValueError("sampler size > 0 is invalid") + return InfiniteSampler( + sample_count=sample_count, + shuffle=shuffle, + seed=seed, + advance=advance, + ) + elif type in (SamplerType.SHARDED_INFINITE, SamplerType.SHARDED_INFINITE_NEW): + logger.info("sampler: sharded infinite") + if size > 0: + raise ValueError("sampler size > 0 is invalid") + # TODO: Remove support for old shuffling + use_new_shuffle_tensor_slice = type == SamplerType.SHARDED_INFINITE_NEW + return ShardedInfiniteSampler( + sample_count=sample_count, + shuffle=shuffle, + seed=seed, + advance=advance, + use_new_shuffle_tensor_slice=use_new_shuffle_tensor_slice, + ) + elif type == SamplerType.EPOCH: + logger.info("sampler: epoch") + if advance > 0: + raise NotImplementedError("sampler advance > 0 is not supported") + size = size if size > 0 else sample_count + logger.info(f"# of samples / epoch: {size:,d}") + return EpochSampler( + size=size, + sample_count=sample_count, + shuffle=shuffle, + seed=seed, + ) + elif type == SamplerType.DISTRIBUTED: + logger.info("sampler: distributed") + if size > 0: + raise ValueError("sampler size > 0 is invalid") + if advance > 0: + raise ValueError("sampler advance > 0 is invalid") + return torch.utils.data.DistributedSampler( + dataset=dataset, + shuffle=shuffle, + seed=seed, + drop_last=False, + ) + + logger.info("sampler: none") + return None + + +T = TypeVar("T") + + +def make_data_loader( + *, + dataset, + batch_size: int, + num_workers: int, + shuffle: bool = True, + seed: int = 0, + sampler_type: Optional[SamplerType] = SamplerType.INFINITE, + sampler_size: int = -1, + sampler_advance: int = 0, + drop_last: bool = True, + persistent_workers: bool = False, + collate_fn: Optional[Callable[[List[T]], Any]] = None, +): + """ + Creates a data loader with the specified parameters. + + Args: + dataset: A dataset (third party, LaViDa or WebDataset). + batch_size: The size of batches to generate. + num_workers: The number of workers to use. + shuffle: Whether to shuffle samples. + seed: The random seed to use. + sampler_type: Which sampler to use: EPOCH, INFINITE, SHARDED_INFINITE, SHARDED_INFINITE_NEW, DISTRIBUTED or None. + sampler_size: The number of images per epoch (when applicable) or -1 for the entire dataset. + sampler_advance: How many samples to skip (when applicable). + drop_last: Whether the last non-full batch of data should be dropped. + persistent_workers: maintain the workers Dataset instances alive after a dataset has been consumed once. + collate_fn: Function that performs batch collation + """ + + sampler = _make_sampler( + dataset=dataset, + type=sampler_type, + shuffle=shuffle, + seed=seed, + size=sampler_size, + advance=sampler_advance, + ) + + logger.info("using PyTorch data loader") + data_loader = torch.utils.data.DataLoader( + dataset, + sampler=sampler, + batch_size=batch_size, + num_workers=num_workers, + pin_memory=True, + drop_last=drop_last, + persistent_workers=persistent_workers, + collate_fn=collate_fn, + ) + + try: + logger.info(f"# of batches: {len(data_loader):,d}") + except TypeError: # data loader has no length + logger.info("infinite data loader") + return data_loader diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/masking.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/masking.py new file mode 100644 index 0000000000000000000000000000000000000000..dc3c72648c3e440dcdb284366b98d2df12ad1272 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/masking.py @@ -0,0 +1,87 @@ +# 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 random +import math +import numpy as np + + +class MaskingGenerator: + def __init__( + self, + input_size, + num_masking_patches=None, + min_num_patches=4, + max_num_patches=None, + min_aspect=0.3, + max_aspect=None, + ): + if not isinstance(input_size, tuple): + input_size = (input_size,) * 2 + self.height, self.width = input_size + + self.num_patches = self.height * self.width + self.num_masking_patches = num_masking_patches + + self.min_num_patches = min_num_patches + self.max_num_patches = num_masking_patches if max_num_patches is None else max_num_patches + + max_aspect = max_aspect or 1 / min_aspect + self.log_aspect_ratio = (math.log(min_aspect), math.log(max_aspect)) + + def __repr__(self): + repr_str = "Generator(%d, %d -> [%d ~ %d], max = %d, %.3f ~ %.3f)" % ( + self.height, + self.width, + self.min_num_patches, + self.max_num_patches, + self.num_masking_patches, + self.log_aspect_ratio[0], + self.log_aspect_ratio[1], + ) + return repr_str + + def get_shape(self): + return self.height, self.width + + def _mask(self, mask, max_mask_patches): + delta = 0 + for _ in range(10): + target_area = random.uniform(self.min_num_patches, max_mask_patches) + aspect_ratio = math.exp(random.uniform(*self.log_aspect_ratio)) + h = int(round(math.sqrt(target_area * aspect_ratio))) + w = int(round(math.sqrt(target_area / aspect_ratio))) + if w < self.width and h < self.height: + top = random.randint(0, self.height - h) + left = random.randint(0, self.width - w) + + num_masked = mask[top : top + h, left : left + w].sum() + # Overlap + if 0 < h * w - num_masked <= max_mask_patches: + for i in range(top, top + h): + for j in range(left, left + w): + if mask[i, j] == 0: + mask[i, j] = 1 + delta += 1 + + if delta > 0: + break + return delta + + def __call__(self, num_masking_patches=0): + mask = np.zeros(shape=self.get_shape(), dtype=bool) + mask_count = 0 + while mask_count < num_masking_patches: + max_mask_patches = num_masking_patches - mask_count + max_mask_patches = min(max_mask_patches, self.max_num_patches) + + delta = self._mask(mask, max_mask_patches) + if delta == 0: + break + else: + mask_count += delta + + return mask diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/samplers.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/samplers.py new file mode 100644 index 0000000000000000000000000000000000000000..e356edf603a33ce2d18a388fd799694e22d1980f --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/samplers.py @@ -0,0 +1,230 @@ +# 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 itertools +from typing import Any, Optional +import warnings + +import numpy as np +import torch +from torch.utils.data.sampler import Sampler + +import dinov2.distributed as distributed + + +class EpochSampler(Sampler): + def __init__( + self, + *, + size: int, + sample_count: int, + shuffle: bool = False, + seed: int = 0, + start: Optional[int] = None, + step: Optional[int] = None, + ): + self._size = size + self._sample_count = sample_count + self._shuffle = shuffle + self._seed = seed + self._start = distributed.get_global_rank() if start is None else start + self._step = distributed.get_global_size() if step is None else step + self._epoch = 0 + + def __iter__(self): + count = (self._size + self._sample_count - 1) // self._sample_count + tiled_indices = np.tile(np.arange(self._sample_count), count) + if self._shuffle: + seed = self._seed * self._epoch if self._seed != 0 else self._epoch + rng = np.random.default_rng(seed) + iterable = rng.choice(tiled_indices, self._size, replace=False) + else: + iterable = tiled_indices[: self._size] + + yield from itertools.islice(iterable, self._start, None, self._step) + + def __len__(self): + return (self._size - self._start + self._step - 1) // self._step + + def set_epoch(self, epoch): + self._epoch = epoch + + +def _get_numpy_dtype(size: int) -> Any: + return np.int32 if size <= 2**31 else np.int64 + + +def _get_torch_dtype(size: int) -> Any: + return torch.int32 if size <= 2**31 else torch.int64 + + +def _generate_randperm_indices(*, size: int, generator: torch.Generator): + """Generate the indices of a random permutation.""" + dtype = _get_torch_dtype(size) + # This is actually matching PyTorch's CPU implementation, see: https://github.com/pytorch/pytorch/blob/master/aten/src/ATen/native/TensorFactories.cpp#L900-L921 + perm = torch.arange(size, dtype=dtype) + for i in range(size): + j = torch.randint(i, size, size=(1,), generator=generator).item() + + # Always swap even if no-op + value = perm[j].item() + perm[j] = perm[i].item() + perm[i] = value + yield value + + +class InfiniteSampler(Sampler): + def __init__( + self, + *, + sample_count: int, + shuffle: bool = False, + seed: int = 0, + start: Optional[int] = None, + step: Optional[int] = None, + advance: int = 0, + ): + self._sample_count = sample_count + self._seed = seed + self._shuffle = shuffle + self._start = distributed.get_global_rank() if start is None else start + self._step = distributed.get_global_size() if step is None else step + self._advance = advance + + def __iter__(self): + if self._shuffle: + iterator = self._shuffled_iterator() + else: + iterator = self._iterator() + + yield from itertools.islice(iterator, self._advance, None) + + def _iterator(self): + assert not self._shuffle + + while True: + iterable = range(self._sample_count) + yield from itertools.islice(iterable, self._start, None, self._step) + + def _shuffled_iterator(self): + assert self._shuffle + + # Instantiate a generator here (rather than in the ctor) to keep the class + # picklable (requirement of mp.spawn) + generator = torch.Generator().manual_seed(self._seed) + + while True: + iterable = _generate_randperm_indices(size=self._sample_count, generator=generator) + yield from itertools.islice(iterable, self._start, None, self._step) + + +# The following function is somewhat equivalent to _new_shuffle_tensor_slice below, +# but avoids a full in-place random permutation generation. +def _shuffle_tensor_slice( + *, tensor: torch.Tensor, start: int = 0, step: int = 1, generator: torch.Generator +) -> np.ndarray: + stop = len(tensor) + count = stop // step + drop_count = stop - step * count + if drop_count: + warnings.warn(f"# of dropped samples: {drop_count}") + + dtype = _get_numpy_dtype(stop) + result = np.empty(count, dtype=dtype) + + for i in range(count): + j = torch.randint(0, i + 1, size=(1,), generator=generator).item() if i > 0 else 0 + + result[i] = result[j] + result[j] = tensor[start + i * step].item() + + return result + + +def _new_shuffle_tensor_slice( + *, tensor: torch.Tensor, start: int = 0, step: int = 1, generator: torch.Generator +) -> np.ndarray: + stop = len(tensor) + count = stop // step + dtype = torch.int64 # Needed for using randperm result as indices + count = stop // step + drop_count = stop - step * count + if drop_count: + warnings.warn(f"# of dropped samples: {drop_count}") + indices = torch.randperm(count, dtype=dtype, generator=generator) + return tensor[start::step][indices].numpy() + + +def _make_seed(seed: int, start: int, iter_count: int) -> int: + # NOTE: Tried a few variants (including iter_count << 32), this one worked best. + return seed + start + (iter_count << 24) + + +class ShardedInfiniteSampler(Sampler): + def __init__( + self, + *, + sample_count: int, + shuffle: bool = False, + seed: int = 0, + start: Optional[int] = None, + step: Optional[int] = None, + advance: int = 0, + use_new_shuffle_tensor_slice: bool = False, + ): + self._sample_count = sample_count + self._seed = seed + self._shuffle = shuffle + self._start = distributed.get_global_rank() if start is None else start + self._step = distributed.get_global_size() if step is None else step + self._advance = advance + self._iter_count = 0 + self._shuffle_tensor_slice_fn = ( + _new_shuffle_tensor_slice if use_new_shuffle_tensor_slice else _shuffle_tensor_slice + ) + + def __iter__(self): + iter_count = self._advance // self._sample_count + if iter_count > 0: + self._advance -= iter_count * self._sample_count + self._iter_count += iter_count + + if self._shuffle: + iterator = self._shuffled_iterator() + else: + iterator = self._iterator() + + yield from itertools.islice(iterator, self._advance, None) + + def _iterator(self): + assert not self._shuffle + + while True: + iterable = range(self._sample_count) + yield from itertools.islice(iterable, self._start, None, self._step) + + def _shuffled_iterator(self): + assert self._shuffle + + # Instantiate a generator here (rather than in the ctor) to be keep the class + # picklable (requirement of mp.spawn) + generator = torch.Generator() + + # Always shuffle everything first + generator.manual_seed(self._seed) + dtype = _get_torch_dtype(self._sample_count) + perm = torch.randperm(self._sample_count, dtype=dtype, generator=generator) + + while True: + # Re-seed on each iteration to allow skipping whole permutations + seed = _make_seed(self._seed, self._start, self._iter_count) + generator.manual_seed(seed) + + iterable = self._shuffle_tensor_slice_fn( + tensor=perm, start=self._start, step=self._step, generator=generator + ) + yield from iterable + self._iter_count += 1 diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/data/transforms.py b/torchhub/facebookresearch_dinov2_main/dinov2/data/transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..f1bc4cbd1a459a9f44314806cf9ccedea112ab14 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/data/transforms.py @@ -0,0 +1,92 @@ +# 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 Sequence + +import torch +from torchvision import transforms + + +class GaussianBlur(transforms.RandomApply): + """ + Apply Gaussian Blur to the PIL image. + """ + + def __init__(self, *, p: float = 0.5, radius_min: float = 0.1, radius_max: float = 2.0): + # NOTE: torchvision is applying 1 - probability to return the original image + keep_p = 1 - p + transform = transforms.GaussianBlur(kernel_size=9, sigma=(radius_min, radius_max)) + super().__init__(transforms=[transform], p=keep_p) + + +class MaybeToTensor(transforms.ToTensor): + """ + Convert a ``PIL Image`` or ``numpy.ndarray`` to tensor, or keep as is if already a tensor. + """ + + def __call__(self, pic): + """ + Args: + pic (PIL Image, numpy.ndarray or torch.tensor): Image to be converted to tensor. + Returns: + Tensor: Converted image. + """ + if isinstance(pic, torch.Tensor): + return pic + return super().__call__(pic) + + +# Use timm's names +IMAGENET_DEFAULT_MEAN = (0.485, 0.456, 0.406) +IMAGENET_DEFAULT_STD = (0.229, 0.224, 0.225) + + +def make_normalize_transform( + mean: Sequence[float] = IMAGENET_DEFAULT_MEAN, + std: Sequence[float] = IMAGENET_DEFAULT_STD, +) -> transforms.Normalize: + return transforms.Normalize(mean=mean, std=std) + + +# This roughly matches torchvision's preset for classification training: +# https://github.com/pytorch/vision/blob/main/references/classification/presets.py#L6-L44 +def make_classification_train_transform( + *, + crop_size: int = 224, + interpolation=transforms.InterpolationMode.BICUBIC, + hflip_prob: float = 0.5, + mean: Sequence[float] = IMAGENET_DEFAULT_MEAN, + std: Sequence[float] = IMAGENET_DEFAULT_STD, +): + transforms_list = [transforms.RandomResizedCrop(crop_size, interpolation=interpolation)] + if hflip_prob > 0.0: + transforms_list.append(transforms.RandomHorizontalFlip(hflip_prob)) + transforms_list.extend( + [ + MaybeToTensor(), + make_normalize_transform(mean=mean, std=std), + ] + ) + return transforms.Compose(transforms_list) + + +# This matches (roughly) torchvision's preset for classification evaluation: +# https://github.com/pytorch/vision/blob/main/references/classification/presets.py#L47-L69 +def make_classification_eval_transform( + *, + resize_size: int = 256, + interpolation=transforms.InterpolationMode.BICUBIC, + crop_size: int = 224, + mean: Sequence[float] = IMAGENET_DEFAULT_MEAN, + std: Sequence[float] = IMAGENET_DEFAULT_STD, +) -> transforms.Compose: + transforms_list = [ + transforms.Resize(resize_size, interpolation=interpolation), + transforms.CenterCrop(crop_size), + MaybeToTensor(), + make_normalize_transform(mean=mean, std=std), + ] + return transforms.Compose(transforms_list) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/distributed/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/distributed/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..4ccd663f33d5a21ad1f9d25db7bd378ec52aeac2 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/distributed/__init__.py @@ -0,0 +1,271 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import os +import random +import re +import socket +from typing import Dict, List + +import torch +import torch.distributed as dist + +_LOCAL_RANK = -1 +_LOCAL_WORLD_SIZE = -1 + + +def is_enabled() -> bool: + """ + Returns: + True if distributed training is enabled + """ + return dist.is_available() and dist.is_initialized() + + +def get_global_size() -> int: + """ + Returns: + The number of processes in the process group + """ + return dist.get_world_size() if is_enabled() else 1 + + +def get_global_rank() -> int: + """ + Returns: + The rank of the current process within the global process group. + """ + return dist.get_rank() if is_enabled() else 0 + + +def get_local_rank() -> int: + """ + Returns: + The rank of the current process within the local (per-machine) process group. + """ + if not is_enabled(): + return 0 + assert 0 <= _LOCAL_RANK < _LOCAL_WORLD_SIZE + return _LOCAL_RANK + + +def get_local_size() -> int: + """ + Returns: + The size of the per-machine process group, + i.e. the number of processes per machine. + """ + if not is_enabled(): + return 1 + assert 0 <= _LOCAL_RANK < _LOCAL_WORLD_SIZE + return _LOCAL_WORLD_SIZE + + +def is_main_process() -> bool: + """ + Returns: + True if the current process is the main one. + """ + return get_global_rank() == 0 + + +def _restrict_print_to_main_process() -> None: + """ + This function disables printing when not in the main process + """ + import builtins as __builtin__ + + builtin_print = __builtin__.print + + def print(*args, **kwargs): + force = kwargs.pop("force", False) + if is_main_process() or force: + builtin_print(*args, **kwargs) + + __builtin__.print = print + + +def _get_master_port(seed: int = 0) -> int: + MIN_MASTER_PORT, MAX_MASTER_PORT = (20_000, 60_000) + + master_port_str = os.environ.get("MASTER_PORT") + if master_port_str is None: + rng = random.Random(seed) + return rng.randint(MIN_MASTER_PORT, MAX_MASTER_PORT) + + return int(master_port_str) + + +def _get_available_port() -> int: + with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: + # A "" host address means INADDR_ANY i.e. binding to all interfaces. + # Note this is not compatible with IPv6. + s.bind(("", 0)) + port = s.getsockname()[1] + return port + + +_TORCH_DISTRIBUTED_ENV_VARS = ( + "MASTER_ADDR", + "MASTER_PORT", + "RANK", + "WORLD_SIZE", + "LOCAL_RANK", + "LOCAL_WORLD_SIZE", +) + + +def _collect_env_vars() -> Dict[str, str]: + return {env_var: os.environ[env_var] for env_var in _TORCH_DISTRIBUTED_ENV_VARS if env_var in os.environ} + + +def _is_slurm_job_process() -> bool: + return "SLURM_JOB_ID" in os.environ + + +def _parse_slurm_node_list(s: str) -> List[str]: + nodes = [] + # Extract "hostname", "hostname[1-2,3,4-5]," substrings + p = re.compile(r"(([^\[]+)(?:\[([^\]]+)\])?),?") + for m in p.finditer(s): + prefix, suffixes = s[m.start(2) : m.end(2)], s[m.start(3) : m.end(3)] + for suffix in suffixes.split(","): + span = suffix.split("-") + if len(span) == 1: + nodes.append(prefix + suffix) + else: + width = len(span[0]) + start, end = int(span[0]), int(span[1]) + 1 + nodes.extend([prefix + f"{i:0{width}}" for i in range(start, end)]) + return nodes + + +def _check_env_variable(key: str, new_value: str): + # Only check for difference with preset environment variables + if key in os.environ and os.environ[key] != new_value: + raise RuntimeError(f"Cannot export environment variables as {key} is already set") + + +class _TorchDistributedEnvironment: + def __init__(self): + self.master_addr = "127.0.0.1" + self.master_port = 0 + self.rank = -1 + self.world_size = -1 + self.local_rank = -1 + self.local_world_size = -1 + + if _is_slurm_job_process(): + return self._set_from_slurm_env() + + env_vars = _collect_env_vars() + if not env_vars: + # Environment is not set + pass + elif len(env_vars) == len(_TORCH_DISTRIBUTED_ENV_VARS): + # Environment is fully set + return self._set_from_preset_env() + else: + # Environment is partially set + collected_env_vars = ", ".join(env_vars.keys()) + raise RuntimeError(f"Partially set environment: {collected_env_vars}") + + if torch.cuda.device_count() > 0: + return self._set_from_local() + + raise RuntimeError("Can't initialize PyTorch distributed environment") + + # Slurm job created with sbatch, submitit, etc... + def _set_from_slurm_env(self): + # logger.info("Initialization from Slurm environment") + job_id = int(os.environ["SLURM_JOB_ID"]) + node_count = int(os.environ["SLURM_JOB_NUM_NODES"]) + nodes = _parse_slurm_node_list(os.environ["SLURM_JOB_NODELIST"]) + assert len(nodes) == node_count + + self.master_addr = nodes[0] + self.master_port = _get_master_port(seed=job_id) + self.rank = int(os.environ["SLURM_PROCID"]) + self.world_size = int(os.environ["SLURM_NTASKS"]) + assert self.rank < self.world_size + self.local_rank = int(os.environ["SLURM_LOCALID"]) + self.local_world_size = self.world_size // node_count + assert self.local_rank < self.local_world_size + + # Single node job with preset environment (i.e. torchrun) + def _set_from_preset_env(self): + # logger.info("Initialization from preset environment") + self.master_addr = os.environ["MASTER_ADDR"] + self.master_port = os.environ["MASTER_PORT"] + self.rank = int(os.environ["RANK"]) + self.world_size = int(os.environ["WORLD_SIZE"]) + assert self.rank < self.world_size + self.local_rank = int(os.environ["LOCAL_RANK"]) + self.local_world_size = int(os.environ["LOCAL_WORLD_SIZE"]) + assert self.local_rank < self.local_world_size + + # Single node and GPU job (i.e. local script run) + def _set_from_local(self): + # logger.info("Initialization from local") + self.master_addr = "127.0.0.1" + self.master_port = _get_available_port() + self.rank = 0 + self.world_size = 1 + self.local_rank = 0 + self.local_world_size = 1 + + def export(self, *, overwrite: bool) -> "_TorchDistributedEnvironment": + # See the "Environment variable initialization" section from + # https://pytorch.org/docs/stable/distributed.html for the complete list of + # environment variables required for the env:// initialization method. + env_vars = { + "MASTER_ADDR": self.master_addr, + "MASTER_PORT": str(self.master_port), + "RANK": str(self.rank), + "WORLD_SIZE": str(self.world_size), + "LOCAL_RANK": str(self.local_rank), + "LOCAL_WORLD_SIZE": str(self.local_world_size), + } + if not overwrite: + for k, v in env_vars.items(): + _check_env_variable(k, v) + + os.environ.update(env_vars) + return self + + +def enable(*, set_cuda_current_device: bool = True, overwrite: bool = False, allow_nccl_timeout: bool = False): + """Enable distributed mode + + Args: + set_cuda_current_device: If True, call torch.cuda.set_device() to set the + current PyTorch CUDA device to the one matching the local rank. + overwrite: If True, overwrites already set variables. Else fails. + """ + + global _LOCAL_RANK, _LOCAL_WORLD_SIZE + if _LOCAL_RANK >= 0 or _LOCAL_WORLD_SIZE >= 0: + raise RuntimeError("Distributed mode has already been enabled") + torch_env = _TorchDistributedEnvironment() + torch_env.export(overwrite=overwrite) + + if set_cuda_current_device: + torch.cuda.set_device(torch_env.local_rank) + + if allow_nccl_timeout: + # This allows to use torch distributed timeout in a NCCL backend + key, value = "NCCL_ASYNC_ERROR_HANDLING", "1" + if not overwrite: + _check_env_variable(key, value) + os.environ[key] = value + + dist.init_process_group(backend="nccl") + dist.barrier() + + # Finalize setup + _LOCAL_RANK = torch_env.local_rank + _LOCAL_WORLD_SIZE = torch_env.local_world_size + _restrict_print_to_main_process() diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/eval/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/eval/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..0952fcc3f57e34b3747962e9ebd6fc57aeea63fa --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/eval/__init__.py @@ -0,0 +1,5 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/eval/knn.py b/torchhub/facebookresearch_dinov2_main/dinov2/eval/knn.py new file mode 100644 index 0000000000000000000000000000000000000000..02ee261348e9871b10bfc40b7283b4f6205cba18 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/eval/knn.py @@ -0,0 +1,405 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import argparse +from functools import partial +import json +import logging +import os +import sys +from typing import List, Optional + +import torch +from torch.nn.functional import one_hot, softmax + +import dinov2.distributed as distributed +from dinov2.data import SamplerType, make_data_loader, make_dataset +from dinov2.data.transforms import make_classification_eval_transform +from dinov2.eval.metrics import AccuracyAveraging, build_topk_accuracy_metric +from dinov2.eval.setup import get_args_parser as get_setup_args_parser +from dinov2.eval.setup import setup_and_build_model +from dinov2.eval.utils import ModelWithNormalize, evaluate, extract_features + + +logger = logging.getLogger("dinov2") + + +def get_args_parser( + description: Optional[str] = None, + parents: Optional[List[argparse.ArgumentParser]] = None, + add_help: bool = True, +): + parents = parents or [] + setup_args_parser = get_setup_args_parser(parents=parents, add_help=False) + parents = [setup_args_parser] + parser = argparse.ArgumentParser( + description=description, + parents=parents, + add_help=add_help, + ) + parser.add_argument( + "--train-dataset", + dest="train_dataset_str", + type=str, + help="Training dataset", + ) + parser.add_argument( + "--val-dataset", + dest="val_dataset_str", + type=str, + help="Validation dataset", + ) + parser.add_argument( + "--nb_knn", + nargs="+", + type=int, + help="Number of NN to use. 20 is usually working the best.", + ) + parser.add_argument( + "--temperature", + type=float, + help="Temperature used in the voting coefficient", + ) + parser.add_argument( + "--gather-on-cpu", + action="store_true", + help="Whether to gather the train features on cpu, slower" + "but useful to avoid OOM for large datasets (e.g. ImageNet22k).", + ) + parser.add_argument( + "--batch-size", + type=int, + help="Batch size.", + ) + parser.add_argument( + "--n-per-class-list", + nargs="+", + type=int, + help="Number to take per class", + ) + parser.add_argument( + "--n-tries", + type=int, + help="Number of tries", + ) + parser.set_defaults( + train_dataset_str="ImageNet:split=TRAIN", + val_dataset_str="ImageNet:split=VAL", + nb_knn=[10, 20, 100, 200], + temperature=0.07, + batch_size=256, + n_per_class_list=[-1], + n_tries=1, + ) + return parser + + +class KnnModule(torch.nn.Module): + """ + Gets knn of test features from all processes on a chunk of the train features + + Each rank gets a chunk of the train features as well as a chunk of the test features. + In `compute_neighbors`, for each rank one after the other, its chunk of test features + is sent to all devices, partial knns are computed with each chunk of train features + then collated back on the original device. + """ + + def __init__(self, train_features, train_labels, nb_knn, T, device, num_classes=1000): + super().__init__() + + self.global_rank = distributed.get_global_rank() + self.global_size = distributed.get_global_size() + + self.device = device + self.train_features_rank_T = train_features.chunk(self.global_size)[self.global_rank].T.to(self.device) + self.candidates = train_labels.chunk(self.global_size)[self.global_rank].view(1, -1).to(self.device) + + self.nb_knn = nb_knn + self.max_k = max(self.nb_knn) + self.T = T + self.num_classes = num_classes + + def _get_knn_sims_and_labels(self, similarity, train_labels): + topk_sims, indices = similarity.topk(self.max_k, largest=True, sorted=True) + neighbors_labels = torch.gather(train_labels, 1, indices) + return topk_sims, neighbors_labels + + def _similarity_for_rank(self, features_rank, source_rank): + # Send the features from `source_rank` to all ranks + broadcast_shape = torch.tensor(features_rank.shape).to(self.device) + torch.distributed.broadcast(broadcast_shape, source_rank) + + broadcasted = features_rank + if self.global_rank != source_rank: + broadcasted = torch.zeros(*broadcast_shape, dtype=features_rank.dtype, device=self.device) + torch.distributed.broadcast(broadcasted, source_rank) + + # Compute the neighbors for `source_rank` among `train_features_rank_T` + similarity_rank = torch.mm(broadcasted, self.train_features_rank_T) + candidate_labels = self.candidates.expand(len(similarity_rank), -1) + return self._get_knn_sims_and_labels(similarity_rank, candidate_labels) + + def _gather_all_knn_for_rank(self, topk_sims, neighbors_labels, target_rank): + # Gather all neighbors for `target_rank` + topk_sims_rank = retrieved_rank = None + if self.global_rank == target_rank: + topk_sims_rank = [torch.zeros_like(topk_sims) for _ in range(self.global_size)] + retrieved_rank = [torch.zeros_like(neighbors_labels) for _ in range(self.global_size)] + + torch.distributed.gather(topk_sims, topk_sims_rank, dst=target_rank) + torch.distributed.gather(neighbors_labels, retrieved_rank, dst=target_rank) + + if self.global_rank == target_rank: + # Perform a second top-k on the k * global_size retrieved neighbors + topk_sims_rank = torch.cat(topk_sims_rank, dim=1) + retrieved_rank = torch.cat(retrieved_rank, dim=1) + results = self._get_knn_sims_and_labels(topk_sims_rank, retrieved_rank) + return results + return None + + def compute_neighbors(self, features_rank): + for rank in range(self.global_size): + topk_sims, neighbors_labels = self._similarity_for_rank(features_rank, rank) + results = self._gather_all_knn_for_rank(topk_sims, neighbors_labels, rank) + if results is not None: + topk_sims_rank, neighbors_labels_rank = results + return topk_sims_rank, neighbors_labels_rank + + def forward(self, features_rank): + """ + Compute the results on all values of `self.nb_knn` neighbors from the full `self.max_k` + """ + assert all(k <= self.max_k for k in self.nb_knn) + + topk_sims, neighbors_labels = self.compute_neighbors(features_rank) + batch_size = neighbors_labels.shape[0] + topk_sims_transform = softmax(topk_sims / self.T, 1) + matmul = torch.mul( + one_hot(neighbors_labels, num_classes=self.num_classes), + topk_sims_transform.view(batch_size, -1, 1), + ) + probas_for_k = {k: torch.sum(matmul[:, :k, :], 1) for k in self.nb_knn} + return probas_for_k + + +class DictKeysModule(torch.nn.Module): + def __init__(self, keys): + super().__init__() + self.keys = keys + + def forward(self, features_dict, targets): + for k in self.keys: + features_dict = features_dict[k] + return {"preds": features_dict, "target": targets} + + +def create_module_dict(*, module, n_per_class_list, n_tries, nb_knn, train_features, train_labels): + modules = {} + mapping = create_class_indices_mapping(train_labels) + for npc in n_per_class_list: + if npc < 0: # Only one try needed when using the full data + full_module = module( + train_features=train_features, + train_labels=train_labels, + nb_knn=nb_knn, + ) + modules["full"] = ModuleDictWithForward({"1": full_module}) + continue + all_tries = {} + for t in range(n_tries): + final_indices = filter_train(mapping, npc, seed=t) + k_list = list(set(nb_knn + [npc])) + k_list = sorted([el for el in k_list if el <= npc]) + all_tries[str(t)] = module( + train_features=train_features[final_indices], + train_labels=train_labels[final_indices], + nb_knn=k_list, + ) + modules[f"{npc} per class"] = ModuleDictWithForward(all_tries) + + return ModuleDictWithForward(modules) + + +def filter_train(mapping, n_per_class, seed): + torch.manual_seed(seed) + final_indices = [] + for k in mapping.keys(): + index = torch.randperm(len(mapping[k]))[:n_per_class] + final_indices.append(mapping[k][index]) + return torch.cat(final_indices).squeeze() + + +def create_class_indices_mapping(labels): + unique_labels, inverse = torch.unique(labels, return_inverse=True) + mapping = {unique_labels[i]: (inverse == i).nonzero() for i in range(len(unique_labels))} + return mapping + + +class ModuleDictWithForward(torch.nn.ModuleDict): + def forward(self, *args, **kwargs): + return {k: module(*args, **kwargs) for k, module in self._modules.items()} + + +def eval_knn( + model, + train_dataset, + val_dataset, + accuracy_averaging, + nb_knn, + temperature, + batch_size, + num_workers, + gather_on_cpu, + n_per_class_list=[-1], + n_tries=1, +): + model = ModelWithNormalize(model) + + logger.info("Extracting features for train set...") + train_features, train_labels = extract_features( + model, train_dataset, batch_size, num_workers, gather_on_cpu=gather_on_cpu + ) + logger.info(f"Train features created, shape {train_features.shape}.") + + val_dataloader = make_data_loader( + dataset=val_dataset, + batch_size=batch_size, + num_workers=num_workers, + sampler_type=SamplerType.DISTRIBUTED, + drop_last=False, + shuffle=False, + persistent_workers=True, + ) + num_classes = train_labels.max() + 1 + metric_collection = build_topk_accuracy_metric(accuracy_averaging, num_classes=num_classes) + + device = torch.cuda.current_device() + partial_module = partial(KnnModule, T=temperature, device=device, num_classes=num_classes) + knn_module_dict = create_module_dict( + module=partial_module, + n_per_class_list=n_per_class_list, + n_tries=n_tries, + nb_knn=nb_knn, + train_features=train_features, + train_labels=train_labels, + ) + postprocessors, metrics = {}, {} + for n_per_class, knn_module in knn_module_dict.items(): + for t, knn_try in knn_module.items(): + postprocessors = { + **postprocessors, + **{(n_per_class, t, k): DictKeysModule([n_per_class, t, k]) for k in knn_try.nb_knn}, + } + metrics = {**metrics, **{(n_per_class, t, k): metric_collection.clone() for k in knn_try.nb_knn}} + model_with_knn = torch.nn.Sequential(model, knn_module_dict) + + # ============ evaluation ... ============ + logger.info("Start the k-NN classification.") + _, results_dict = evaluate(model_with_knn, val_dataloader, postprocessors, metrics, device) + + # Averaging the results over the n tries for each value of n_per_class + for n_per_class, knn_module in knn_module_dict.items(): + first_try = list(knn_module.keys())[0] + k_list = knn_module[first_try].nb_knn + for k in k_list: + keys = results_dict[(n_per_class, first_try, k)].keys() # keys are e.g. `top-1` and `top-5` + results_dict[(n_per_class, k)] = { + key: torch.mean(torch.stack([results_dict[(n_per_class, t, k)][key] for t in knn_module.keys()])) + for key in keys + } + for t in knn_module.keys(): + del results_dict[(n_per_class, t, k)] + + return results_dict + + +def eval_knn_with_model( + model, + output_dir, + train_dataset_str="ImageNet:split=TRAIN", + val_dataset_str="ImageNet:split=VAL", + nb_knn=(10, 20, 100, 200), + temperature=0.07, + autocast_dtype=torch.float, + accuracy_averaging=AccuracyAveraging.MEAN_ACCURACY, + transform=None, + gather_on_cpu=False, + batch_size=256, + num_workers=5, + n_per_class_list=[-1], + n_tries=1, +): + transform = transform or make_classification_eval_transform() + + train_dataset = make_dataset( + dataset_str=train_dataset_str, + transform=transform, + ) + val_dataset = make_dataset( + dataset_str=val_dataset_str, + transform=transform, + ) + + with torch.cuda.amp.autocast(dtype=autocast_dtype): + results_dict_knn = eval_knn( + model=model, + train_dataset=train_dataset, + val_dataset=val_dataset, + accuracy_averaging=accuracy_averaging, + nb_knn=nb_knn, + temperature=temperature, + batch_size=batch_size, + num_workers=num_workers, + gather_on_cpu=gather_on_cpu, + n_per_class_list=n_per_class_list, + n_tries=n_tries, + ) + + results_dict = {} + if distributed.is_main_process(): + for knn_ in results_dict_knn.keys(): + top1 = results_dict_knn[knn_]["top-1"].item() * 100.0 + top5 = results_dict_knn[knn_]["top-5"].item() * 100.0 + results_dict[f"{knn_} Top 1"] = top1 + results_dict[f"{knn_} Top 5"] = top5 + logger.info(f"{knn_} classifier result: Top1: {top1:.2f} Top5: {top5:.2f}") + + metrics_file_path = os.path.join(output_dir, "results_eval_knn.json") + with open(metrics_file_path, "a") as f: + for k, v in results_dict.items(): + f.write(json.dumps({k: v}) + "\n") + + if distributed.is_enabled(): + torch.distributed.barrier() + return results_dict + + +def main(args): + model, autocast_dtype = setup_and_build_model(args) + eval_knn_with_model( + model=model, + output_dir=args.output_dir, + train_dataset_str=args.train_dataset_str, + val_dataset_str=args.val_dataset_str, + nb_knn=args.nb_knn, + temperature=args.temperature, + autocast_dtype=autocast_dtype, + accuracy_averaging=AccuracyAveraging.MEAN_ACCURACY, + transform=None, + gather_on_cpu=args.gather_on_cpu, + batch_size=args.batch_size, + num_workers=5, + n_per_class_list=args.n_per_class_list, + n_tries=args.n_tries, + ) + return 0 + + +if __name__ == "__main__": + description = "DINOv2 k-NN evaluation" + args_parser = get_args_parser(description=description) + args = args_parser.parse_args() + sys.exit(main(args)) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/eval/linear.py b/torchhub/facebookresearch_dinov2_main/dinov2/eval/linear.py new file mode 100644 index 0000000000000000000000000000000000000000..3d8202606999c0c01353904d8b02d2ff3509fef9 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/eval/linear.py @@ -0,0 +1,626 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import argparse +from functools import partial +import json +import logging +import os +import sys +from typing import List, Optional + +import numpy as np +import torch +import torch.nn as nn +from torch.nn.parallel import DistributedDataParallel +from fvcore.common.checkpoint import Checkpointer, PeriodicCheckpointer + +from dinov2.data import SamplerType, make_data_loader, make_dataset +from dinov2.data.transforms import make_classification_eval_transform, make_classification_train_transform +import dinov2.distributed as distributed +from dinov2.eval.metrics import MetricType, build_metric +from dinov2.eval.setup import get_args_parser as get_setup_args_parser +from dinov2.eval.setup import setup_and_build_model +from dinov2.eval.utils import ModelWithIntermediateLayers, evaluate +from dinov2.logging import MetricLogger + + +logger = logging.getLogger("dinov2") + + +def get_args_parser( + description: Optional[str] = None, + parents: Optional[List[argparse.ArgumentParser]] = None, + add_help: bool = True, +): + parents = parents or [] + setup_args_parser = get_setup_args_parser(parents=parents, add_help=False) + parents = [setup_args_parser] + parser = argparse.ArgumentParser( + description=description, + parents=parents, + add_help=add_help, + ) + parser.add_argument( + "--train-dataset", + dest="train_dataset_str", + type=str, + help="Training dataset", + ) + parser.add_argument( + "--val-dataset", + dest="val_dataset_str", + type=str, + help="Validation dataset", + ) + parser.add_argument( + "--test-datasets", + dest="test_dataset_strs", + type=str, + nargs="+", + help="Test datasets, none to reuse the validation dataset", + ) + parser.add_argument( + "--epochs", + type=int, + help="Number of training epochs", + ) + parser.add_argument( + "--batch-size", + type=int, + help="Batch Size (per GPU)", + ) + parser.add_argument( + "--num-workers", + type=int, + help="Number de Workers", + ) + parser.add_argument( + "--epoch-length", + type=int, + help="Length of an epoch in number of iterations", + ) + parser.add_argument( + "--save-checkpoint-frequency", + type=int, + help="Number of epochs between two named checkpoint saves.", + ) + parser.add_argument( + "--eval-period-iterations", + type=int, + help="Number of iterations between two evaluations.", + ) + parser.add_argument( + "--learning-rates", + nargs="+", + type=float, + help="Learning rates to grid search.", + ) + parser.add_argument( + "--no-resume", + action="store_true", + help="Whether to not resume from existing checkpoints", + ) + parser.add_argument( + "--val-metric-type", + type=MetricType, + choices=list(MetricType), + help="Validation metric", + ) + parser.add_argument( + "--test-metric-types", + type=MetricType, + choices=list(MetricType), + nargs="+", + help="Evaluation metric", + ) + parser.add_argument( + "--classifier-fpath", + type=str, + help="Path to a file containing pretrained linear classifiers", + ) + parser.add_argument( + "--val-class-mapping-fpath", + type=str, + help="Path to a file containing a mapping to adjust classifier outputs", + ) + parser.add_argument( + "--test-class-mapping-fpaths", + nargs="+", + type=str, + help="Path to a file containing a mapping to adjust classifier outputs", + ) + parser.set_defaults( + train_dataset_str="ImageNet:split=TRAIN", + val_dataset_str="ImageNet:split=VAL", + test_dataset_strs=None, + epochs=10, + batch_size=128, + num_workers=8, + epoch_length=1250, + save_checkpoint_frequency=20, + eval_period_iterations=1250, + learning_rates=[1e-5, 2e-5, 5e-5, 1e-4, 2e-4, 5e-4, 1e-3, 2e-3, 5e-3, 1e-2, 2e-2, 5e-2, 0.1], + val_metric_type=MetricType.MEAN_ACCURACY, + test_metric_types=None, + classifier_fpath=None, + val_class_mapping_fpath=None, + test_class_mapping_fpaths=[None], + ) + return parser + + +def has_ddp_wrapper(m: nn.Module) -> bool: + return isinstance(m, DistributedDataParallel) + + +def remove_ddp_wrapper(m: nn.Module) -> nn.Module: + return m.module if has_ddp_wrapper(m) else m + + +def _pad_and_collate(batch): + maxlen = max(len(targets) for image, targets in batch) + padded_batch = [ + (image, np.pad(targets, (0, maxlen - len(targets)), constant_values=-1)) for image, targets in batch + ] + return torch.utils.data.default_collate(padded_batch) + + +def create_linear_input(x_tokens_list, use_n_blocks, use_avgpool): + intermediate_output = x_tokens_list[-use_n_blocks:] + output = torch.cat([class_token for _, class_token in intermediate_output], dim=-1) + if use_avgpool: + output = torch.cat( + ( + output, + torch.mean(intermediate_output[-1][0], dim=1), # patch tokens + ), + dim=-1, + ) + output = output.reshape(output.shape[0], -1) + return output.float() + + +class LinearClassifier(nn.Module): + """Linear layer to train on top of frozen features""" + + def __init__(self, out_dim, use_n_blocks, use_avgpool, num_classes=1000): + super().__init__() + self.out_dim = out_dim + self.use_n_blocks = use_n_blocks + self.use_avgpool = use_avgpool + self.num_classes = num_classes + self.linear = nn.Linear(out_dim, num_classes) + self.linear.weight.data.normal_(mean=0.0, std=0.01) + self.linear.bias.data.zero_() + + def forward(self, x_tokens_list): + output = create_linear_input(x_tokens_list, self.use_n_blocks, self.use_avgpool) + return self.linear(output) + + +class AllClassifiers(nn.Module): + def __init__(self, classifiers_dict): + super().__init__() + self.classifiers_dict = nn.ModuleDict() + self.classifiers_dict.update(classifiers_dict) + + def forward(self, inputs): + return {k: v.forward(inputs) for k, v in self.classifiers_dict.items()} + + def __len__(self): + return len(self.classifiers_dict) + + +class LinearPostprocessor(nn.Module): + def __init__(self, linear_classifier, class_mapping=None): + super().__init__() + self.linear_classifier = linear_classifier + self.register_buffer("class_mapping", None if class_mapping is None else torch.LongTensor(class_mapping)) + + def forward(self, samples, targets): + preds = self.linear_classifier(samples) + return { + "preds": preds[:, self.class_mapping] if self.class_mapping is not None else preds, + "target": targets, + } + + +def scale_lr(learning_rates, batch_size): + return learning_rates * (batch_size * distributed.get_global_size()) / 256.0 + + +def setup_linear_classifiers(sample_output, n_last_blocks_list, learning_rates, batch_size, num_classes=1000): + linear_classifiers_dict = nn.ModuleDict() + optim_param_groups = [] + for n in n_last_blocks_list: + for avgpool in [False, True]: + for _lr in learning_rates: + lr = scale_lr(_lr, batch_size) + out_dim = create_linear_input(sample_output, use_n_blocks=n, use_avgpool=avgpool).shape[1] + linear_classifier = LinearClassifier( + out_dim, use_n_blocks=n, use_avgpool=avgpool, num_classes=num_classes + ) + linear_classifier = linear_classifier.cuda() + linear_classifiers_dict[ + f"classifier_{n}_blocks_avgpool_{avgpool}_lr_{lr:.5f}".replace(".", "_") + ] = linear_classifier + optim_param_groups.append({"params": linear_classifier.parameters(), "lr": lr}) + + linear_classifiers = AllClassifiers(linear_classifiers_dict) + if distributed.is_enabled(): + linear_classifiers = nn.parallel.DistributedDataParallel(linear_classifiers) + + return linear_classifiers, optim_param_groups + + +@torch.no_grad() +def evaluate_linear_classifiers( + feature_model, + linear_classifiers, + data_loader, + metric_type, + metrics_file_path, + training_num_classes, + iteration, + prefixstring="", + class_mapping=None, + best_classifier_on_val=None, +): + logger.info("running validation !") + + num_classes = len(class_mapping) if class_mapping is not None else training_num_classes + metric = build_metric(metric_type, num_classes=num_classes) + postprocessors = {k: LinearPostprocessor(v, class_mapping) for k, v in linear_classifiers.classifiers_dict.items()} + metrics = {k: metric.clone() for k in linear_classifiers.classifiers_dict} + + _, results_dict_temp = evaluate( + feature_model, + data_loader, + postprocessors, + metrics, + torch.cuda.current_device(), + ) + + logger.info("") + results_dict = {} + max_accuracy = 0 + best_classifier = "" + for i, (classifier_string, metric) in enumerate(results_dict_temp.items()): + logger.info(f"{prefixstring} -- Classifier: {classifier_string} * {metric}") + if ( + best_classifier_on_val is None and metric["top-1"].item() > max_accuracy + ) or classifier_string == best_classifier_on_val: + max_accuracy = metric["top-1"].item() + best_classifier = classifier_string + + results_dict["best_classifier"] = {"name": best_classifier, "accuracy": max_accuracy} + + logger.info(f"best classifier: {results_dict['best_classifier']}") + + if distributed.is_main_process(): + with open(metrics_file_path, "a") as f: + f.write(f"iter: {iteration}\n") + for k, v in results_dict.items(): + f.write(json.dumps({k: v}) + "\n") + f.write("\n") + + return results_dict + + +def eval_linear( + *, + feature_model, + linear_classifiers, + train_data_loader, + val_data_loader, + metrics_file_path, + optimizer, + scheduler, + output_dir, + max_iter, + checkpoint_period, # In number of iter, creates a new file every period + running_checkpoint_period, # Period to update main checkpoint file + eval_period, + metric_type, + training_num_classes, + resume=True, + classifier_fpath=None, + val_class_mapping=None, +): + checkpointer = Checkpointer(linear_classifiers, output_dir, optimizer=optimizer, scheduler=scheduler) + start_iter = checkpointer.resume_or_load(classifier_fpath or "", resume=resume).get("iteration", -1) + 1 + + periodic_checkpointer = PeriodicCheckpointer(checkpointer, checkpoint_period, max_iter=max_iter) + iteration = start_iter + logger.info("Starting training from iteration {}".format(start_iter)) + metric_logger = MetricLogger(delimiter=" ") + header = "Training" + + for data, labels in metric_logger.log_every( + train_data_loader, + 10, + header, + max_iter, + start_iter, + ): + data = data.cuda(non_blocking=True) + labels = labels.cuda(non_blocking=True) + + features = feature_model(data) + outputs = linear_classifiers(features) + + losses = {f"loss_{k}": nn.CrossEntropyLoss()(v, labels) for k, v in outputs.items()} + loss = sum(losses.values()) + + # compute the gradients + optimizer.zero_grad() + loss.backward() + + # step + optimizer.step() + scheduler.step() + + # log + if iteration % 10 == 0: + torch.cuda.synchronize() + metric_logger.update(loss=loss.item()) + metric_logger.update(lr=optimizer.param_groups[0]["lr"]) + print("lr", optimizer.param_groups[0]["lr"]) + + if iteration - start_iter > 5: + if iteration % running_checkpoint_period == 0: + torch.cuda.synchronize() + if distributed.is_main_process(): + logger.info("Checkpointing running_checkpoint") + periodic_checkpointer.save("running_checkpoint_linear_eval", iteration=iteration) + torch.cuda.synchronize() + periodic_checkpointer.step(iteration) + + if eval_period > 0 and (iteration + 1) % eval_period == 0 and iteration != max_iter - 1: + _ = evaluate_linear_classifiers( + feature_model=feature_model, + linear_classifiers=remove_ddp_wrapper(linear_classifiers), + data_loader=val_data_loader, + metrics_file_path=metrics_file_path, + prefixstring=f"ITER: {iteration}", + metric_type=metric_type, + training_num_classes=training_num_classes, + iteration=iteration, + class_mapping=val_class_mapping, + ) + torch.cuda.synchronize() + + iteration = iteration + 1 + + val_results_dict = evaluate_linear_classifiers( + feature_model=feature_model, + linear_classifiers=remove_ddp_wrapper(linear_classifiers), + data_loader=val_data_loader, + metrics_file_path=metrics_file_path, + metric_type=metric_type, + training_num_classes=training_num_classes, + iteration=iteration, + class_mapping=val_class_mapping, + ) + return val_results_dict, feature_model, linear_classifiers, iteration + + +def make_eval_data_loader(test_dataset_str, batch_size, num_workers, metric_type): + test_dataset = make_dataset( + dataset_str=test_dataset_str, + transform=make_classification_eval_transform(), + ) + test_data_loader = make_data_loader( + dataset=test_dataset, + batch_size=batch_size, + num_workers=num_workers, + sampler_type=SamplerType.DISTRIBUTED, + drop_last=False, + shuffle=False, + persistent_workers=False, + collate_fn=_pad_and_collate if metric_type == MetricType.IMAGENET_REAL_ACCURACY else None, + ) + return test_data_loader + + +def test_on_datasets( + feature_model, + linear_classifiers, + test_dataset_strs, + batch_size, + num_workers, + test_metric_types, + metrics_file_path, + training_num_classes, + iteration, + best_classifier_on_val, + prefixstring="", + test_class_mappings=[None], +): + results_dict = {} + for test_dataset_str, class_mapping, metric_type in zip(test_dataset_strs, test_class_mappings, test_metric_types): + logger.info(f"Testing on {test_dataset_str}") + test_data_loader = make_eval_data_loader(test_dataset_str, batch_size, num_workers, metric_type) + dataset_results_dict = evaluate_linear_classifiers( + feature_model, + remove_ddp_wrapper(linear_classifiers), + test_data_loader, + metric_type, + metrics_file_path, + training_num_classes, + iteration, + prefixstring="", + class_mapping=class_mapping, + best_classifier_on_val=best_classifier_on_val, + ) + results_dict[f"{test_dataset_str}_accuracy"] = 100.0 * dataset_results_dict["best_classifier"]["accuracy"] + return results_dict + + +def run_eval_linear( + model, + output_dir, + train_dataset_str, + val_dataset_str, + batch_size, + epochs, + epoch_length, + num_workers, + save_checkpoint_frequency, + eval_period_iterations, + learning_rates, + autocast_dtype, + test_dataset_strs=None, + resume=True, + classifier_fpath=None, + val_class_mapping_fpath=None, + test_class_mapping_fpaths=[None], + val_metric_type=MetricType.MEAN_ACCURACY, + test_metric_types=None, +): + seed = 0 + + if test_dataset_strs is None: + test_dataset_strs = [val_dataset_str] + if test_metric_types is None: + test_metric_types = [val_metric_type] * len(test_dataset_strs) + else: + assert len(test_metric_types) == len(test_dataset_strs) + assert len(test_dataset_strs) == len(test_class_mapping_fpaths) + + train_transform = make_classification_train_transform() + train_dataset = make_dataset( + dataset_str=train_dataset_str, + transform=train_transform, + ) + training_num_classes = len(torch.unique(torch.Tensor(train_dataset.get_targets().astype(int)))) + sampler_type = SamplerType.SHARDED_INFINITE + # sampler_type = SamplerType.INFINITE + + n_last_blocks_list = [1, 4] + n_last_blocks = max(n_last_blocks_list) + autocast_ctx = partial(torch.cuda.amp.autocast, enabled=True, dtype=autocast_dtype) + feature_model = ModelWithIntermediateLayers(model, n_last_blocks, autocast_ctx) + sample_output = feature_model(train_dataset[0][0].unsqueeze(0).cuda()) + + linear_classifiers, optim_param_groups = setup_linear_classifiers( + sample_output, + n_last_blocks_list, + learning_rates, + batch_size, + training_num_classes, + ) + + optimizer = torch.optim.SGD(optim_param_groups, momentum=0.9, weight_decay=0) + max_iter = epochs * epoch_length + scheduler = torch.optim.lr_scheduler.CosineAnnealingLR(optimizer, max_iter, eta_min=0) + checkpointer = Checkpointer(linear_classifiers, output_dir, optimizer=optimizer, scheduler=scheduler) + start_iter = checkpointer.resume_or_load(classifier_fpath or "", resume=resume).get("iteration", -1) + 1 + train_data_loader = make_data_loader( + dataset=train_dataset, + batch_size=batch_size, + num_workers=num_workers, + shuffle=True, + seed=seed, + sampler_type=sampler_type, + sampler_advance=start_iter, + drop_last=True, + persistent_workers=True, + ) + val_data_loader = make_eval_data_loader(val_dataset_str, batch_size, num_workers, val_metric_type) + + checkpoint_period = save_checkpoint_frequency * epoch_length + + if val_class_mapping_fpath is not None: + logger.info(f"Using class mapping from {val_class_mapping_fpath}") + val_class_mapping = np.load(val_class_mapping_fpath) + else: + val_class_mapping = None + + test_class_mappings = [] + for class_mapping_fpath in test_class_mapping_fpaths: + if class_mapping_fpath is not None and class_mapping_fpath != "None": + logger.info(f"Using class mapping from {class_mapping_fpath}") + class_mapping = np.load(class_mapping_fpath) + else: + class_mapping = None + test_class_mappings.append(class_mapping) + + metrics_file_path = os.path.join(output_dir, "results_eval_linear.json") + val_results_dict, feature_model, linear_classifiers, iteration = eval_linear( + feature_model=feature_model, + linear_classifiers=linear_classifiers, + train_data_loader=train_data_loader, + val_data_loader=val_data_loader, + metrics_file_path=metrics_file_path, + optimizer=optimizer, + scheduler=scheduler, + output_dir=output_dir, + max_iter=max_iter, + checkpoint_period=checkpoint_period, + running_checkpoint_period=epoch_length, + eval_period=eval_period_iterations, + metric_type=val_metric_type, + training_num_classes=training_num_classes, + resume=resume, + val_class_mapping=val_class_mapping, + classifier_fpath=classifier_fpath, + ) + results_dict = {} + if len(test_dataset_strs) > 1 or test_dataset_strs[0] != val_dataset_str: + results_dict = test_on_datasets( + feature_model, + linear_classifiers, + test_dataset_strs, + batch_size, + 0, # num_workers, + test_metric_types, + metrics_file_path, + training_num_classes, + iteration, + val_results_dict["best_classifier"]["name"], + prefixstring="", + test_class_mappings=test_class_mappings, + ) + results_dict["best_classifier"] = val_results_dict["best_classifier"]["name"] + results_dict[f"{val_dataset_str}_accuracy"] = 100.0 * val_results_dict["best_classifier"]["accuracy"] + logger.info("Test Results Dict " + str(results_dict)) + + return results_dict + + +def main(args): + model, autocast_dtype = setup_and_build_model(args) + run_eval_linear( + model=model, + output_dir=args.output_dir, + train_dataset_str=args.train_dataset_str, + val_dataset_str=args.val_dataset_str, + test_dataset_strs=args.test_dataset_strs, + batch_size=args.batch_size, + epochs=args.epochs, + epoch_length=args.epoch_length, + num_workers=args.num_workers, + save_checkpoint_frequency=args.save_checkpoint_frequency, + eval_period_iterations=args.eval_period_iterations, + learning_rates=args.learning_rates, + autocast_dtype=autocast_dtype, + resume=not args.no_resume, + classifier_fpath=args.classifier_fpath, + val_metric_type=args.val_metric_type, + test_metric_types=args.test_metric_types, + val_class_mapping_fpath=args.val_class_mapping_fpath, + test_class_mapping_fpaths=args.test_class_mapping_fpaths, + ) + return 0 + + +if __name__ == "__main__": + description = "DINOv2 linear evaluation" + args_parser = get_args_parser(description=description) + args = args_parser.parse_args() + sys.exit(main(args)) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/eval/log_regression.py b/torchhub/facebookresearch_dinov2_main/dinov2/eval/log_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..2e6ede2b616208cb49c7af67d58c8e6e4afb60e1 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/eval/log_regression.py @@ -0,0 +1,445 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import argparse +import gc +import logging +import sys +import time +from typing import List, Optional + +from cuml.linear_model import LogisticRegression +import torch +import torch.backends.cudnn as cudnn +import torch.distributed +from torch import nn +from torch.utils.data import TensorDataset +from torchmetrics import MetricTracker + +from dinov2.data import make_dataset +from dinov2.data.transforms import make_classification_eval_transform +from dinov2.distributed import get_global_rank, get_global_size +from dinov2.eval.metrics import MetricType, build_metric +from dinov2.eval.setup import get_args_parser as get_setup_args_parser +from dinov2.eval.setup import setup_and_build_model +from dinov2.eval.utils import evaluate, extract_features +from dinov2.utils.dtype import as_torch_dtype + + +logger = logging.getLogger("dinov2") + +DEFAULT_MAX_ITER = 1_000 +C_POWER_RANGE = torch.linspace(-6, 5, 45) +_CPU_DEVICE = torch.device("cpu") + + +def get_args_parser( + description: Optional[str] = None, + parents: Optional[List[argparse.ArgumentParser]] = None, + add_help: bool = True, +): + parents = parents or [] + setup_args_parser = get_setup_args_parser(parents=parents, add_help=False) + parents = [setup_args_parser] + parser = argparse.ArgumentParser( + description=description, + parents=parents, + add_help=add_help, + ) + parser.add_argument( + "--train-dataset", + dest="train_dataset_str", + type=str, + help="Training dataset", + ) + parser.add_argument( + "--val-dataset", + dest="val_dataset_str", + type=str, + help="Validation dataset", + ) + parser.add_argument( + "--finetune-dataset-str", + dest="finetune_dataset_str", + type=str, + help="Fine-tuning dataset", + ) + parser.add_argument( + "--finetune-on-val", + action="store_true", + help="If there is no finetune dataset, whether to choose the " + "hyperparameters on the val set instead of 10%% of the train dataset", + ) + parser.add_argument( + "--metric-type", + type=MetricType, + choices=list(MetricType), + help="Metric type", + ) + parser.add_argument( + "--train-features-device", + type=str, + help="Device to gather train features (cpu, cuda, cuda:0, etc.), default: %(default)s", + ) + parser.add_argument( + "--train-dtype", + type=str, + help="Data type to convert the train features to (default: %(default)s)", + ) + parser.add_argument( + "--max-train-iters", + type=int, + help="Maximum number of train iterations (default: %(default)s)", + ) + parser.set_defaults( + train_dataset_str="ImageNet:split=TRAIN", + val_dataset_str="ImageNet:split=VAL", + finetune_dataset_str=None, + metric_type=MetricType.MEAN_ACCURACY, + train_features_device="cpu", + train_dtype="float64", + max_train_iters=DEFAULT_MAX_ITER, + finetune_on_val=False, + ) + return parser + + +class LogRegModule(nn.Module): + def __init__( + self, + C, + max_iter=DEFAULT_MAX_ITER, + dtype=torch.float64, + device=_CPU_DEVICE, + ): + super().__init__() + self.dtype = dtype + self.device = device + self.estimator = LogisticRegression( + penalty="l2", + C=C, + max_iter=max_iter, + output_type="numpy", + tol=1e-12, + linesearch_max_iter=50, + ) + + def forward(self, samples, targets): + samples_device = samples.device + samples = samples.to(dtype=self.dtype, device=self.device) + if self.device == _CPU_DEVICE: + samples = samples.numpy() + probas = self.estimator.predict_proba(samples) + return {"preds": torch.from_numpy(probas).to(samples_device), "target": targets} + + def fit(self, train_features, train_labels): + train_features = train_features.to(dtype=self.dtype, device=self.device) + train_labels = train_labels.to(dtype=self.dtype, device=self.device) + if self.device == _CPU_DEVICE: + # both cuML and sklearn only work with numpy arrays on CPU + train_features = train_features.numpy() + train_labels = train_labels.numpy() + self.estimator.fit(train_features, train_labels) + + +def evaluate_model(*, logreg_model, logreg_metric, test_data_loader, device): + postprocessors = {"metrics": logreg_model} + metrics = {"metrics": logreg_metric} + return evaluate(nn.Identity(), test_data_loader, postprocessors, metrics, device) + + +def train_for_C(*, C, max_iter, train_features, train_labels, dtype=torch.float64, device=_CPU_DEVICE): + logreg_model = LogRegModule(C, max_iter=max_iter, dtype=dtype, device=device) + logreg_model.fit(train_features, train_labels) + return logreg_model + + +def train_and_evaluate( + *, + C, + max_iter, + train_features, + train_labels, + logreg_metric, + test_data_loader, + train_dtype=torch.float64, + train_features_device, + eval_device, +): + logreg_model = train_for_C( + C=C, + max_iter=max_iter, + train_features=train_features, + train_labels=train_labels, + dtype=train_dtype, + device=train_features_device, + ) + return evaluate_model( + logreg_model=logreg_model, + logreg_metric=logreg_metric, + test_data_loader=test_data_loader, + device=eval_device, + ) + + +def sweep_C_values( + *, + train_features, + train_labels, + test_data_loader, + metric_type, + num_classes, + train_dtype=torch.float64, + train_features_device=_CPU_DEVICE, + max_train_iters=DEFAULT_MAX_ITER, +): + if metric_type == MetricType.PER_CLASS_ACCURACY: + # If we want to output per-class accuracy, we select the hyperparameters with mean per class + metric_type = MetricType.MEAN_PER_CLASS_ACCURACY + logreg_metric = build_metric(metric_type, num_classes=num_classes) + metric_tracker = MetricTracker(logreg_metric, maximize=True) + ALL_C = 10**C_POWER_RANGE + logreg_models = {} + + train_features = train_features.to(dtype=train_dtype, device=train_features_device) + train_labels = train_labels.to(device=train_features_device) + + for i in range(get_global_rank(), len(ALL_C), get_global_size()): + C = ALL_C[i].item() + logger.info( + f"Training for C = {C:.5f}, dtype={train_dtype}, " + f"features: {train_features.shape}, {train_features.dtype}, " + f"labels: {train_labels.shape}, {train_labels.dtype}" + ) + logreg_models[C] = train_for_C( + C=C, + max_iter=max_train_iters, + train_features=train_features, + train_labels=train_labels, + dtype=train_dtype, + device=train_features_device, + ) + + gather_list = [None for _ in range(get_global_size())] + torch.distributed.all_gather_object(gather_list, logreg_models) + + logreg_models_gathered = {} + for logreg_dict in gather_list: + logreg_models_gathered.update(logreg_dict) + + for i in range(len(ALL_C)): + metric_tracker.increment() + C = ALL_C[i].item() + evals = evaluate_model( + logreg_model=logreg_models_gathered[C], + logreg_metric=metric_tracker, + test_data_loader=test_data_loader, + device=torch.cuda.current_device(), + ) + logger.info(f"Trained for C = {C:.5f}, accuracies = {evals}") + + best_stats, which_epoch = metric_tracker.best_metric(return_step=True) + best_stats_100 = {k: 100.0 * v for k, v in best_stats.items()} + if which_epoch["top-1"] == i: + best_C = C + logger.info(f"Sweep best {best_stats_100}, best C = {best_C:.6f}") + + return best_stats, best_C + + +def eval_log_regression( + *, + model, + train_dataset, + val_dataset, + finetune_dataset, + metric_type, + batch_size, + num_workers, + finetune_on_val=False, + train_dtype=torch.float64, + train_features_device=_CPU_DEVICE, + max_train_iters=DEFAULT_MAX_ITER, +): + """ + Implements the "standard" process for log regression evaluation: + The value of C is chosen by training on train_dataset and evaluating on + finetune_dataset. Then, the final model is trained on a concatenation of + train_dataset and finetune_dataset, and is evaluated on val_dataset. + If there is no finetune_dataset, the value of C is the one that yields + the best results on a random 10% subset of the train dataset + """ + + start = time.time() + + train_features, train_labels = extract_features( + model, train_dataset, batch_size, num_workers, gather_on_cpu=(train_features_device == _CPU_DEVICE) + ) + val_features, val_labels = extract_features( + model, val_dataset, batch_size, num_workers, gather_on_cpu=(train_features_device == _CPU_DEVICE) + ) + val_data_loader = torch.utils.data.DataLoader( + TensorDataset(val_features, val_labels), + batch_size=batch_size, + drop_last=False, + num_workers=0, + persistent_workers=False, + ) + + if finetune_dataset is None and finetune_on_val: + logger.info("Choosing hyperparameters on the val dataset") + finetune_features, finetune_labels = val_features, val_labels + elif finetune_dataset is None and not finetune_on_val: + logger.info("Choosing hyperparameters on 10% of the train dataset") + torch.manual_seed(0) + indices = torch.randperm(len(train_features), device=train_features.device) + finetune_index = indices[: len(train_features) // 10] + train_index = indices[len(train_features) // 10 :] + finetune_features, finetune_labels = train_features[finetune_index], train_labels[finetune_index] + train_features, train_labels = train_features[train_index], train_labels[train_index] + else: + logger.info("Choosing hyperparameters on the finetune dataset") + finetune_features, finetune_labels = extract_features( + model, finetune_dataset, batch_size, num_workers, gather_on_cpu=(train_features_device == _CPU_DEVICE) + ) + # release the model - free GPU memory + del model + gc.collect() + torch.cuda.empty_cache() + finetune_data_loader = torch.utils.data.DataLoader( + TensorDataset(finetune_features, finetune_labels), + batch_size=batch_size, + drop_last=False, + ) + + if len(train_labels.shape) > 1: + num_classes = train_labels.shape[1] + else: + num_classes = train_labels.max() + 1 + + logger.info("Using cuML for logistic regression") + + best_stats, best_C = sweep_C_values( + train_features=train_features, + train_labels=train_labels, + test_data_loader=finetune_data_loader, + metric_type=metric_type, + num_classes=num_classes, + train_dtype=train_dtype, + train_features_device=train_features_device, + max_train_iters=max_train_iters, + ) + + if not finetune_on_val: + logger.info("Best parameter found, concatenating features") + train_features = torch.cat((train_features, finetune_features)) + train_labels = torch.cat((train_labels, finetune_labels)) + + logger.info("Training final model") + logreg_metric = build_metric(metric_type, num_classes=num_classes) + evals = train_and_evaluate( + C=best_C, + max_iter=max_train_iters, + train_features=train_features, + train_labels=train_labels, + logreg_metric=logreg_metric.clone(), + test_data_loader=val_data_loader, + eval_device=torch.cuda.current_device(), + train_dtype=train_dtype, + train_features_device=train_features_device, + ) + + best_stats = evals[1]["metrics"] + + best_stats["best_C"] = best_C + + logger.info(f"Log regression evaluation done in {int(time.time() - start)}s") + return best_stats + + +def eval_log_regression_with_model( + model, + train_dataset_str="ImageNet:split=TRAIN", + val_dataset_str="ImageNet:split=VAL", + finetune_dataset_str=None, + autocast_dtype=torch.float, + finetune_on_val=False, + metric_type=MetricType.MEAN_ACCURACY, + train_dtype=torch.float64, + train_features_device=_CPU_DEVICE, + max_train_iters=DEFAULT_MAX_ITER, +): + cudnn.benchmark = True + + transform = make_classification_eval_transform(resize_size=224) + target_transform = None + + train_dataset = make_dataset(dataset_str=train_dataset_str, transform=transform, target_transform=target_transform) + val_dataset = make_dataset(dataset_str=val_dataset_str, transform=transform, target_transform=target_transform) + if finetune_dataset_str is not None: + finetune_dataset = make_dataset( + dataset_str=finetune_dataset_str, transform=transform, target_transform=target_transform + ) + else: + finetune_dataset = None + + with torch.cuda.amp.autocast(dtype=autocast_dtype): + results_dict_logreg = eval_log_regression( + model=model, + train_dataset=train_dataset, + val_dataset=val_dataset, + finetune_dataset=finetune_dataset, + metric_type=metric_type, + batch_size=256, + num_workers=0, # 5, + finetune_on_val=finetune_on_val, + train_dtype=train_dtype, + train_features_device=train_features_device, + max_train_iters=max_train_iters, + ) + + results_dict = { + "top-1": results_dict_logreg["top-1"].cpu().numpy() * 100.0, + "top-5": results_dict_logreg.get("top-5", torch.tensor(0.0)).cpu().numpy() * 100.0, + "best_C": results_dict_logreg["best_C"], + } + logger.info( + "\n".join( + [ + "Training of the supervised logistic regression on frozen features completed.\n" + "Top-1 test accuracy: {acc:.1f}".format(acc=results_dict["top-1"]), + "Top-5 test accuracy: {acc:.1f}".format(acc=results_dict["top-5"]), + "obtained for C = {c:.6f}".format(c=results_dict["best_C"]), + ] + ) + ) + + torch.distributed.barrier() + return results_dict + + +def main(args): + model, autocast_dtype = setup_and_build_model(args) + eval_log_regression_with_model( + model=model, + train_dataset_str=args.train_dataset_str, + val_dataset_str=args.val_dataset_str, + finetune_dataset_str=args.finetune_dataset_str, + autocast_dtype=autocast_dtype, + finetune_on_val=args.finetune_on_val, + metric_type=args.metric_type, + train_dtype=as_torch_dtype(args.train_dtype), + train_features_device=torch.device(args.train_features_device), + max_train_iters=args.max_train_iters, + ) + return 0 + + +if __name__ == "__main__": + description = "DINOv2 logistic regression evaluation" + args_parser = get_args_parser(description=description) + args = args_parser.parse_args() + sys.exit(main(args)) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/eval/metrics.py b/torchhub/facebookresearch_dinov2_main/dinov2/eval/metrics.py new file mode 100644 index 0000000000000000000000000000000000000000..80bf88da224e749dd6b3dd4b2bd90ec99eaec34e --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/eval/metrics.py @@ -0,0 +1,114 @@ +# 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 enum import Enum +import logging +from typing import Any, Dict, Optional + +import torch +from torch import Tensor +from torchmetrics import Metric, MetricCollection +from torchmetrics.classification import MulticlassAccuracy +from torchmetrics.utilities.data import dim_zero_cat, select_topk + + +logger = logging.getLogger("dinov2") + + +class MetricType(Enum): + MEAN_ACCURACY = "mean_accuracy" + MEAN_PER_CLASS_ACCURACY = "mean_per_class_accuracy" + PER_CLASS_ACCURACY = "per_class_accuracy" + IMAGENET_REAL_ACCURACY = "imagenet_real_accuracy" + + @property + def accuracy_averaging(self): + return getattr(AccuracyAveraging, self.name, None) + + def __str__(self): + return self.value + + +class AccuracyAveraging(Enum): + MEAN_ACCURACY = "micro" + MEAN_PER_CLASS_ACCURACY = "macro" + PER_CLASS_ACCURACY = "none" + + def __str__(self): + return self.value + + +def build_metric(metric_type: MetricType, *, num_classes: int, ks: Optional[tuple] = None): + if metric_type.accuracy_averaging is not None: + return build_topk_accuracy_metric( + average_type=metric_type.accuracy_averaging, + num_classes=num_classes, + ks=(1, 5) if ks is None else ks, + ) + elif metric_type == MetricType.IMAGENET_REAL_ACCURACY: + return build_topk_imagenet_real_accuracy_metric( + num_classes=num_classes, + ks=(1, 5) if ks is None else ks, + ) + + raise ValueError(f"Unknown metric type {metric_type}") + + +def build_topk_accuracy_metric(average_type: AccuracyAveraging, num_classes: int, ks: tuple = (1, 5)): + metrics: Dict[str, Metric] = { + f"top-{k}": MulticlassAccuracy(top_k=k, num_classes=int(num_classes), average=average_type.value) for k in ks + } + return MetricCollection(metrics) + + +def build_topk_imagenet_real_accuracy_metric(num_classes: int, ks: tuple = (1, 5)): + metrics: Dict[str, Metric] = {f"top-{k}": ImageNetReaLAccuracy(top_k=k, num_classes=int(num_classes)) for k in ks} + return MetricCollection(metrics) + + +class ImageNetReaLAccuracy(Metric): + is_differentiable: bool = False + higher_is_better: Optional[bool] = None + full_state_update: bool = False + + def __init__( + self, + num_classes: int, + top_k: int = 1, + **kwargs: Any, + ) -> None: + super().__init__(**kwargs) + self.num_classes = num_classes + self.top_k = top_k + self.add_state("tp", [], dist_reduce_fx="cat") + + def update(self, preds: Tensor, target: Tensor) -> None: # type: ignore + # preds [B, D] + # target [B, A] + # preds_oh [B, D] with 0 and 1 + # select top K highest probabilities, use one hot representation + preds_oh = select_topk(preds, self.top_k) + # target_oh [B, D + 1] with 0 and 1 + target_oh = torch.zeros((preds_oh.shape[0], preds_oh.shape[1] + 1), device=target.device, dtype=torch.int32) + target = target.long() + # for undefined targets (-1) use a fake value `num_classes` + target[target == -1] = self.num_classes + # fill targets, use one hot representation + target_oh.scatter_(1, target, 1) + # target_oh [B, D] (remove the fake target at index `num_classes`) + target_oh = target_oh[:, :-1] + # tp [B] with 0 and 1 + tp = (preds_oh * target_oh == 1).sum(dim=1) + # at least one match between prediction and target + tp.clip_(max=1) + # ignore instances where no targets are defined + mask = target_oh.sum(dim=1) > 0 + tp = tp[mask] + self.tp.append(tp) # type: ignore + + def compute(self) -> Tensor: + tp = dim_zero_cat(self.tp) # type: ignore + return tp.float().mean() diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/eval/setup.py b/torchhub/facebookresearch_dinov2_main/dinov2/eval/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..e7fadc2b63b994f569c8def82a43ed08ccd15b33 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/eval/setup.py @@ -0,0 +1,76 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import argparse +from typing import Any, List, Optional, Tuple + +import torch +import torch.backends.cudnn as cudnn + +from dinov2.models import build_model_from_cfg +from dinov2.utils.config import setup +import dinov2.utils.utils as dinov2_utils + + +def get_args_parser( + description: Optional[str] = None, + parents: Optional[List[argparse.ArgumentParser]] = None, + add_help: bool = True, +): + parser = argparse.ArgumentParser( + description=description, + parents=parents or [], + add_help=add_help, + ) + parser.add_argument( + "--config-file", + type=str, + help="Model configuration file", + ) + parser.add_argument( + "--pretrained-weights", + type=str, + help="Pretrained model weights", + ) + parser.add_argument( + "--output-dir", + default="", + type=str, + help="Output directory to write results and logs", + ) + parser.add_argument( + "--opts", + help="Extra configuration options", + default=[], + nargs="+", + ) + return parser + + +def get_autocast_dtype(config): + teacher_dtype_str = config.compute_precision.teacher.backbone.mixed_precision.param_dtype + if teacher_dtype_str == "fp16": + return torch.half + elif teacher_dtype_str == "bf16": + return torch.bfloat16 + else: + return torch.float + + +def build_model_for_eval(config, pretrained_weights): + model, _ = build_model_from_cfg(config, only_teacher=True) + dinov2_utils.load_pretrained_weights(model, pretrained_weights, "teacher") + model.eval() + model.cuda() + return model + + +def setup_and_build_model(args) -> Tuple[Any, torch.dtype]: + cudnn.benchmark = True + config = setup(args) + model = build_model_for_eval(config, args.pretrained_weights) + autocast_dtype = get_autocast_dtype(config) + return model, autocast_dtype diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/eval/utils.py b/torchhub/facebookresearch_dinov2_main/dinov2/eval/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..b2f7e34f41ba6a0b911023e0c5375eef21f426fa --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/eval/utils.py @@ -0,0 +1,147 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging +from typing import Dict, Optional + +import torch +from torch import nn +from torchmetrics import MetricCollection + +from dinov2.data import DatasetWithEnumeratedTargets, SamplerType, make_data_loader +import dinov2.distributed as distributed +from dinov2.logging import MetricLogger + + +logger = logging.getLogger("dinov2") + + +class ModelWithNormalize(torch.nn.Module): + def __init__(self, model): + super().__init__() + self.model = model + + def forward(self, samples): + return nn.functional.normalize(self.model(samples), dim=1, p=2) + + +class ModelWithIntermediateLayers(nn.Module): + def __init__(self, feature_model, n_last_blocks, autocast_ctx): + super().__init__() + self.feature_model = feature_model + self.feature_model.eval() + self.n_last_blocks = n_last_blocks + self.autocast_ctx = autocast_ctx + + def forward(self, images): + with torch.inference_mode(): + with self.autocast_ctx(): + features = self.feature_model.get_intermediate_layers( + images, self.n_last_blocks, return_class_token=True + ) + return features + + +@torch.inference_mode() +def evaluate( + model: nn.Module, + data_loader, + postprocessors: Dict[str, nn.Module], + metrics: Dict[str, MetricCollection], + device: torch.device, + criterion: Optional[nn.Module] = None, +): + model.eval() + if criterion is not None: + criterion.eval() + + for metric in metrics.values(): + metric = metric.to(device) + + metric_logger = MetricLogger(delimiter=" ") + header = "Test:" + + for samples, targets, *_ in metric_logger.log_every(data_loader, 10, header): + outputs = model(samples.to(device)) + targets = targets.to(device) + + if criterion is not None: + loss = criterion(outputs, targets) + metric_logger.update(loss=loss.item()) + + for k, metric in metrics.items(): + metric_inputs = postprocessors[k](outputs, targets) + metric.update(**metric_inputs) + + metric_logger.synchronize_between_processes() + logger.info(f"Averaged stats: {metric_logger}") + + stats = {k: metric.compute() for k, metric in metrics.items()} + metric_logger_stats = {k: meter.global_avg for k, meter in metric_logger.meters.items()} + return metric_logger_stats, stats + + +def all_gather_and_flatten(tensor_rank): + tensor_all_ranks = torch.empty( + distributed.get_global_size(), + *tensor_rank.shape, + dtype=tensor_rank.dtype, + device=tensor_rank.device, + ) + tensor_list = list(tensor_all_ranks.unbind(0)) + torch.distributed.all_gather(tensor_list, tensor_rank.contiguous()) + return tensor_all_ranks.flatten(end_dim=1) + + +def extract_features(model, dataset, batch_size, num_workers, gather_on_cpu=False): + dataset_with_enumerated_targets = DatasetWithEnumeratedTargets(dataset) + sample_count = len(dataset_with_enumerated_targets) + data_loader = make_data_loader( + dataset=dataset_with_enumerated_targets, + batch_size=batch_size, + num_workers=num_workers, + sampler_type=SamplerType.DISTRIBUTED, + drop_last=False, + shuffle=False, + ) + return extract_features_with_dataloader(model, data_loader, sample_count, gather_on_cpu) + + +@torch.inference_mode() +def extract_features_with_dataloader(model, data_loader, sample_count, gather_on_cpu=False): + gather_device = torch.device("cpu") if gather_on_cpu else torch.device("cuda") + metric_logger = MetricLogger(delimiter=" ") + features, all_labels = None, None + for samples, (index, labels_rank) in metric_logger.log_every(data_loader, 10): + samples = samples.cuda(non_blocking=True) + labels_rank = labels_rank.cuda(non_blocking=True) + index = index.cuda(non_blocking=True) + features_rank = model(samples).float() + + # init storage feature matrix + if features is None: + features = torch.zeros(sample_count, features_rank.shape[-1], device=gather_device) + labels_shape = list(labels_rank.shape) + labels_shape[0] = sample_count + all_labels = torch.full(labels_shape, fill_value=-1, device=gather_device) + logger.info(f"Storing features into tensor of shape {features.shape}") + + # share indexes, features and labels between processes + index_all = all_gather_and_flatten(index).to(gather_device) + features_all_ranks = all_gather_and_flatten(features_rank).to(gather_device) + labels_all_ranks = all_gather_and_flatten(labels_rank).to(gather_device) + + # update storage feature matrix + if len(index_all) > 0: + features.index_copy_(0, index_all, features_all_ranks) + all_labels.index_copy_(0, index_all, labels_all_ranks) + + logger.info(f"Features shape: {tuple(features.shape)}") + logger.info(f"Labels shape: {tuple(all_labels.shape)}") + + assert torch.all(all_labels > -1) + + return features, all_labels diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/fsdp/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/fsdp/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..71d20397611619e6a02ea07f5305d650ffef2a51 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/fsdp/__init__.py @@ -0,0 +1,158 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import os +from typing import Any + +import torch +import dinov2.distributed as distributed +from functools import partial +from fvcore.common.checkpoint import Checkpointer +from torch.distributed.fsdp import FullyShardedDataParallel as FSDP +from torch.distributed.fsdp import ShardingStrategy +from torch.distributed.fsdp import MixedPrecision +from torch.distributed.fsdp import StateDictType +from torch.distributed.fsdp.sharded_grad_scaler import ShardedGradScaler +from torch.distributed.fsdp.wrap import ModuleWrapPolicy +from torch.distributed.fsdp._runtime_utils import _reshard + + +def get_fsdp_wrapper(model_cfg, modules_to_wrap=set()): + sharding_strategy_dict = { + "NO_SHARD": ShardingStrategy.NO_SHARD, + "SHARD_GRAD_OP": ShardingStrategy.SHARD_GRAD_OP, + "FULL_SHARD": ShardingStrategy.FULL_SHARD, + } + + dtype_dict = { + "fp32": torch.float32, + "fp16": torch.float16, + "bf16": torch.bfloat16, + } + + mixed_precision_config = MixedPrecision( + param_dtype=dtype_dict[model_cfg.mixed_precision.param_dtype], + reduce_dtype=dtype_dict[model_cfg.mixed_precision.reduce_dtype], + buffer_dtype=dtype_dict[model_cfg.mixed_precision.buffer_dtype], + ) + + sharding_strategy_config = sharding_strategy_dict[model_cfg.sharding_strategy] + + local_rank = distributed.get_local_rank() + + fsdp_wrapper = partial( + FSDP, + sharding_strategy=sharding_strategy_config, + mixed_precision=mixed_precision_config, + device_id=local_rank, + sync_module_states=True, + use_orig_params=True, + auto_wrap_policy=ModuleWrapPolicy(modules_to_wrap), + ) + return fsdp_wrapper + + +def is_fsdp(x): + return isinstance(x, FSDP) + + +def is_sharded_fsdp(x): + return is_fsdp(x) and x.sharding_strategy is not ShardingStrategy.NO_SHARD + + +def free_if_fsdp(x): + if is_sharded_fsdp(x): + handles = x._handles + true_list = [True for h in handles] + _reshard(x, handles, true_list) + + +def get_fsdp_modules(x): + return FSDP.fsdp_modules(x) + + +def reshard_fsdp_model(x): + for m in get_fsdp_modules(x): + free_if_fsdp(m) + + +def rankstr(): + return f"rank_{distributed.get_global_rank()}" + + +class FSDPCheckpointer(Checkpointer): + def save(self, name: str, **kwargs: Any) -> None: + """ + Dump model and checkpointables to a file. + + Args: + name (str): name of the file. + kwargs (dict): extra arbitrary data to save. + """ + if not self.save_dir or not self.save_to_disk: + return + + data = {} + with FSDP.state_dict_type(self.model, StateDictType.LOCAL_STATE_DICT): + data["model"] = self.model.state_dict() + + # data["model"] = self.model.state_dict() + for key, obj in self.checkpointables.items(): + data[key] = obj.state_dict() + data.update(kwargs) + + basename = f"{name}.{rankstr()}.pth" + save_file = os.path.join(self.save_dir, basename) + assert os.path.basename(save_file) == basename, basename + self.logger.info("Saving checkpoint to {}".format(save_file)) + with self.path_manager.open(save_file, "wb") as f: + torch.save(data, f) + self.tag_last_checkpoint(basename) + + def load(self, *args, **kwargs): + with FSDP.state_dict_type(self.model, StateDictType.LOCAL_STATE_DICT): + return super().load(*args, **kwargs) + + def has_checkpoint(self) -> bool: + """ + Returns: + bool: whether a checkpoint exists in the target directory. + """ + save_file = os.path.join(self.save_dir, f"last_checkpoint.{rankstr()}") + return self.path_manager.exists(save_file) + + def get_checkpoint_file(self) -> str: + """ + Returns: + str: The latest checkpoint file in target directory. + """ + save_file = os.path.join(self.save_dir, f"last_checkpoint.{rankstr()}") + try: + with self.path_manager.open(save_file, "r") as f: + last_saved = f.read().strip() + except IOError: + # if file doesn't exist, maybe because it has just been + # deleted by a separate process + return "" + # pyre-fixme[6]: For 2nd param expected `Union[PathLike[str], str]` but got + # `Union[bytes, str]`. + return os.path.join(self.save_dir, last_saved) + + def tag_last_checkpoint(self, last_filename_basename: str) -> None: + """ + Tag the last checkpoint. + + Args: + last_filename_basename (str): the basename of the last filename. + """ + if distributed.is_enabled(): + torch.distributed.barrier() + save_file = os.path.join(self.save_dir, f"last_checkpoint.{rankstr()}") + with self.path_manager.open(save_file, "w") as f: + f.write(last_filename_basename) # pyre-ignore + + +ShardedGradScaler = ShardedGradScaler diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/layers/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..31f196aacac5be8a7c537a3dfa8f97084671b466 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/__init__.py @@ -0,0 +1,12 @@ +# 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 .dino_head import DINOHead +from .mlp import Mlp +from .patch_embed import PatchEmbed +from .swiglu_ffn import SwiGLUFFN, SwiGLUFFNFused +from .block import NestedTensorBlock +from .attention import MemEffAttention diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/layers/__pycache__/__init__.cpython-310.pyc b/torchhub/facebookresearch_dinov2_main/dinov2/layers/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..27d04321b2d6d8c3db9bfd6a608edf5e1c1854bd Binary files /dev/null and b/torchhub/facebookresearch_dinov2_main/dinov2/layers/__pycache__/__init__.cpython-310.pyc differ diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/layers/__pycache__/attention.cpython-310.pyc b/torchhub/facebookresearch_dinov2_main/dinov2/layers/__pycache__/attention.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..108ee33c1cf69adc01a8adc4b4243883ff9e8e86 Binary 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0000000000000000000000000000000000000000..822a6eab0ed21b155bdbd8c3e226c6c0a8627351 Binary files /dev/null and b/torchhub/facebookresearch_dinov2_main/dinov2/layers/__pycache__/swiglu_ffn.cpython-310.pyc differ diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/layers/attention.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/attention.py new file mode 100644 index 0000000000000000000000000000000000000000..1f9b0c94b40967dfdff4f261c127cbd21328c905 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/attention.py @@ -0,0 +1,81 @@ +# 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 + +from torch import Tensor +from torch import nn + + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import memory_efficient_attention, unbind, fmha + + 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) + self.proj = nn.Linear(dim, dim, bias=proj_bias) + self.proj_drop = nn.Dropout(proj_drop) + + def forward(self, x: Tensor) -> 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) + + q, k, v = qkv[0] * self.scale, qkv[1], qkv[2] + attn = q @ k.transpose(-2, -1) + + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + + x = (attn @ v).transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x + + +class MemEffAttention(Attention): + def forward(self, x: Tensor, attn_bias=None) -> Tensor: + if not XFORMERS_AVAILABLE: + 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/torchhub/facebookresearch_dinov2_main/dinov2/layers/block.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/block.py new file mode 100644 index 0000000000000000000000000000000000000000..25488f57cc0ad3c692f86b62555f6668e2a66db1 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/block.py @@ -0,0 +1,252 @@ +# 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 Callable, List, Any, Tuple, Dict + +import torch +from torch import nn, Tensor + +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 + from xformers.ops import scaled_index_add, index_select_cat + + 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__() + # print(f"biases: qkv: {qkv_bias}, proj: {proj_bias}, ffn: {ffn_bias}") + 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: Tensor) -> Tensor: + def attn_residual_func(x: Tensor) -> Tensor: + return self.ls1(self.attn(self.norm1(x))) + + def ffn_residual_func(x: Tensor) -> 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: Tensor, + residual_func: Callable[[Tensor], Tensor], + sample_drop_ratio: float = 0.0, +) -> 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[Tensor], + residual_func: Callable[[Tensor, Any], Tensor], + sample_drop_ratio: float = 0.0, + scaling_vector=None, +) -> 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[Tensor]) -> List[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: Tensor, attn_bias=None) -> Tensor: + return self.attn(self.norm1(x), attn_bias=attn_bias) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> 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: Tensor, attn_bias=None) -> Tensor: + return self.ls1(self.attn(self.norm1(x), attn_bias=attn_bias)) + + def ffn_residual_func(x: Tensor, attn_bias=None) -> 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, 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/torchhub/facebookresearch_dinov2_main/dinov2/layers/dino_head.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/dino_head.py new file mode 100644 index 0000000000000000000000000000000000000000..7212db92a4fd8d4c7230e284e551a0234e9d8623 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/dino_head.py @@ -0,0 +1,59 @@ +# 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/torchhub/facebookresearch_dinov2_main/dinov2/layers/drop_path.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/drop_path.py new file mode 100644 index 0000000000000000000000000000000000000000..af05625984dd14682cc96a63bf0c97bab1f123b1 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/drop_path.py @@ -0,0 +1,35 @@ +# 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 + + +from torch import 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/torchhub/facebookresearch_dinov2_main/dinov2/layers/layer_scale.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/layer_scale.py new file mode 100644 index 0000000000000000000000000000000000000000..ca5daa52bd81d3581adeb2198ea5b7dba2a3aea1 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/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 +from torch import Tensor +from torch import nn + + +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/torchhub/facebookresearch_dinov2_main/dinov2/layers/mlp.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/mlp.py new file mode 100644 index 0000000000000000000000000000000000000000..5e4b315f972f9a9f54aef1e4ef4e81b52976f018 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/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) + + 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/torchhub/facebookresearch_dinov2_main/dinov2/layers/patch_embed.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/patch_embed.py new file mode 100644 index 0000000000000000000000000000000000000000..574abe41175568d700a389b8b96d1ba554914779 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/patch_embed.py @@ -0,0 +1,89 @@ +# 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 + +from torch import Tensor +import torch.nn as nn + + +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/torchhub/facebookresearch_dinov2_main/dinov2/layers/swiglu_ffn.py b/torchhub/facebookresearch_dinov2_main/dinov2/layers/swiglu_ffn.py new file mode 100644 index 0000000000000000000000000000000000000000..b3324b266fb0a50ccf8c3a0ede2ae10ac4dfa03e --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/layers/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 + +from torch import Tensor, nn +import torch.nn.functional as F + + +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/torchhub/facebookresearch_dinov2_main/dinov2/logging/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/logging/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e80dadb2d57056e9f6f4989cd24a3c7e26fee23f --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/logging/__init__.py @@ -0,0 +1,103 @@ +# 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 functools +import logging +import os +import sys +from typing import Optional + +import dinov2.distributed as distributed +from .helpers import MetricLogger, SmoothedValue + + +# So that calling _configure_logger multiple times won't add many handlers +@functools.lru_cache() +def _configure_logger( + name: Optional[str] = None, + *, + level: int = logging.DEBUG, + output: Optional[str] = None, +): + """ + Configure a logger. + + Adapted from Detectron2. + + Args: + name: The name of the logger to configure. + level: The logging level to use. + output: A file name or a directory to save log. If None, will not save log file. + If ends with ".txt" or ".log", assumed to be a file name. + Otherwise, logs will be saved to `output/log.txt`. + + Returns: + The configured logger. + """ + + logger = logging.getLogger(name) + logger.setLevel(level) + logger.propagate = False + + # Loosely match Google glog format: + # [IWEF]yyyymmdd hh:mm:ss.uuuuuu threadid file:line] msg + # but use a shorter timestamp and include the logger name: + # [IWEF]yyyymmdd hh:mm:ss logger threadid file:line] msg + fmt_prefix = "%(levelname).1s%(asctime)s %(process)s %(name)s %(filename)s:%(lineno)s] " + fmt_message = "%(message)s" + fmt = fmt_prefix + fmt_message + datefmt = "%Y%m%d %H:%M:%S" + formatter = logging.Formatter(fmt=fmt, datefmt=datefmt) + + # stdout logging for main worker only + if distributed.is_main_process(): + handler = logging.StreamHandler(stream=sys.stdout) + handler.setLevel(logging.DEBUG) + handler.setFormatter(formatter) + logger.addHandler(handler) + + # file logging for all workers + if output: + if os.path.splitext(output)[-1] in (".txt", ".log"): + filename = output + else: + filename = os.path.join(output, "logs", "log.txt") + + if not distributed.is_main_process(): + global_rank = distributed.get_global_rank() + filename = filename + ".rank{}".format(global_rank) + + os.makedirs(os.path.dirname(filename), exist_ok=True) + + handler = logging.StreamHandler(open(filename, "a")) + handler.setLevel(logging.DEBUG) + handler.setFormatter(formatter) + logger.addHandler(handler) + + return logger + + +def setup_logging( + output: Optional[str] = None, + *, + name: Optional[str] = None, + level: int = logging.DEBUG, + capture_warnings: bool = True, +) -> None: + """ + Setup logging. + + Args: + output: A file name or a directory to save log files. If None, log + files will not be saved. If output ends with ".txt" or ".log", it + is assumed to be a file name. + Otherwise, logs will be saved to `output/log.txt`. + name: The name of the logger to configure, by default the root logger. + level: The logging level to use. + capture_warnings: Whether warnings should be captured as logs. + """ + logging.captureWarnings(capture_warnings) + _configure_logger(name, level=level, output=output) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/logging/helpers.py b/torchhub/facebookresearch_dinov2_main/dinov2/logging/helpers.py new file mode 100644 index 0000000000000000000000000000000000000000..16d643500d2ee10ffea5916aad07f9b9d7c0af6d --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/logging/helpers.py @@ -0,0 +1,195 @@ +# 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 collections import defaultdict, deque +import datetime +import json +import logging +import time + +import torch + +import dinov2.distributed as distributed + + +logger = logging.getLogger("dinov2") + + +class MetricLogger(object): + def __init__(self, delimiter="\t", output_file=None): + self.meters = defaultdict(SmoothedValue) + self.delimiter = delimiter + self.output_file = output_file + + def update(self, **kwargs): + for k, v in kwargs.items(): + if isinstance(v, torch.Tensor): + v = v.item() + assert isinstance(v, (float, int)) + self.meters[k].update(v) + + def __getattr__(self, attr): + if attr in self.meters: + return self.meters[attr] + if attr in self.__dict__: + return self.__dict__[attr] + raise AttributeError("'{}' object has no attribute '{}'".format(type(self).__name__, attr)) + + def __str__(self): + loss_str = [] + for name, meter in self.meters.items(): + loss_str.append("{}: {}".format(name, str(meter))) + return self.delimiter.join(loss_str) + + def synchronize_between_processes(self): + for meter in self.meters.values(): + meter.synchronize_between_processes() + + def add_meter(self, name, meter): + self.meters[name] = meter + + def dump_in_output_file(self, iteration, iter_time, data_time): + if self.output_file is None or not distributed.is_main_process(): + return + dict_to_dump = dict( + iteration=iteration, + iter_time=iter_time, + data_time=data_time, + ) + dict_to_dump.update({k: v.median for k, v in self.meters.items()}) + with open(self.output_file, "a") as f: + f.write(json.dumps(dict_to_dump) + "\n") + pass + + def log_every(self, iterable, print_freq, header=None, n_iterations=None, start_iteration=0): + i = start_iteration + if not header: + header = "" + start_time = time.time() + end = time.time() + iter_time = SmoothedValue(fmt="{avg:.6f}") + data_time = SmoothedValue(fmt="{avg:.6f}") + + if n_iterations is None: + n_iterations = len(iterable) + + space_fmt = ":" + str(len(str(n_iterations))) + "d" + + log_list = [ + header, + "[{0" + space_fmt + "}/{1}]", + "eta: {eta}", + "{meters}", + "time: {time}", + "data: {data}", + ] + if torch.cuda.is_available(): + log_list += ["max mem: {memory:.0f}"] + + log_msg = self.delimiter.join(log_list) + MB = 1024.0 * 1024.0 + for obj in iterable: + data_time.update(time.time() - end) + yield obj + iter_time.update(time.time() - end) + if i % print_freq == 0 or i == n_iterations - 1: + self.dump_in_output_file(iteration=i, iter_time=iter_time.avg, data_time=data_time.avg) + eta_seconds = iter_time.global_avg * (n_iterations - i) + eta_string = str(datetime.timedelta(seconds=int(eta_seconds))) + if torch.cuda.is_available(): + logger.info( + log_msg.format( + i, + n_iterations, + eta=eta_string, + meters=str(self), + time=str(iter_time), + data=str(data_time), + memory=torch.cuda.max_memory_allocated() / MB, + ) + ) + else: + logger.info( + log_msg.format( + i, + n_iterations, + eta=eta_string, + meters=str(self), + time=str(iter_time), + data=str(data_time), + ) + ) + i += 1 + end = time.time() + if i >= n_iterations: + break + total_time = time.time() - start_time + total_time_str = str(datetime.timedelta(seconds=int(total_time))) + logger.info("{} Total time: {} ({:.6f} s / it)".format(header, total_time_str, total_time / n_iterations)) + + +class SmoothedValue: + """Track a series of values and provide access to smoothed values over a + window or the global series average. + """ + + def __init__(self, window_size=20, fmt=None): + if fmt is None: + fmt = "{median:.4f} ({global_avg:.4f})" + self.deque = deque(maxlen=window_size) + self.total = 0.0 + self.count = 0 + self.fmt = fmt + + def update(self, value, num=1): + self.deque.append(value) + self.count += num + self.total += value * num + + def synchronize_between_processes(self): + """ + Distributed synchronization of the metric + Warning: does not synchronize the deque! + """ + if not distributed.is_enabled(): + return + t = torch.tensor([self.count, self.total], dtype=torch.float64, device="cuda") + torch.distributed.barrier() + torch.distributed.all_reduce(t) + t = t.tolist() + self.count = int(t[0]) + self.total = t[1] + + @property + def median(self): + d = torch.tensor(list(self.deque)) + return d.median().item() + + @property + def avg(self): + d = torch.tensor(list(self.deque), dtype=torch.float32) + return d.mean().item() + + @property + def global_avg(self): + return self.total / self.count + + @property + def max(self): + return max(self.deque) + + @property + def value(self): + return self.deque[-1] + + def __str__(self): + return self.fmt.format( + median=self.median, + avg=self.avg, + global_avg=self.global_avg, + max=self.max, + value=self.value, + ) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/loss/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/loss/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..477b71b28259bf97b806df3f3d2f392dded866d6 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/loss/__init__.py @@ -0,0 +1,9 @@ +# 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 .dino_clstoken_loss import DINOLoss +from .ibot_patch_loss import iBOTPatchLoss +from .koleo_loss import KoLeoLoss diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/loss/dino_clstoken_loss.py b/torchhub/facebookresearch_dinov2_main/dinov2/loss/dino_clstoken_loss.py new file mode 100644 index 0000000000000000000000000000000000000000..2f33897efb1084e6c1c14ae00bc93ab332c61074 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/loss/dino_clstoken_loss.py @@ -0,0 +1,100 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import torch +import torch.distributed as dist +import torch.nn.functional as F +from torch import nn + + +class DINOLoss(nn.Module): + def __init__( + self, + out_dim, + student_temp=0.1, + center_momentum=0.9, + ): + super().__init__() + self.student_temp = student_temp + self.center_momentum = center_momentum + self.register_buffer("center", torch.zeros(1, out_dim)) + self.updated = True + self.reduce_handle = None + self.len_teacher_output = None + self.async_batch_center = None + + @torch.no_grad() + def softmax_center_teacher(self, teacher_output, teacher_temp): + self.apply_center_update() + # teacher centering and sharpening + return F.softmax((teacher_output - self.center) / teacher_temp, dim=-1) + + @torch.no_grad() + def sinkhorn_knopp_teacher(self, teacher_output, teacher_temp, n_iterations=3): + teacher_output = teacher_output.float() + world_size = dist.get_world_size() if dist.is_initialized() else 1 + Q = torch.exp(teacher_output / teacher_temp).t() # Q is K-by-B for consistency with notations from our paper + B = Q.shape[1] * world_size # number of samples to assign + K = Q.shape[0] # how many prototypes + + # make the matrix sums to 1 + sum_Q = torch.sum(Q) + if dist.is_initialized(): + dist.all_reduce(sum_Q) + Q /= sum_Q + + for it in range(n_iterations): + # normalize each row: total weight per prototype must be 1/K + sum_of_rows = torch.sum(Q, dim=1, keepdim=True) + if dist.is_initialized(): + dist.all_reduce(sum_of_rows) + Q /= sum_of_rows + Q /= K + + # normalize each column: total weight per sample must be 1/B + Q /= torch.sum(Q, dim=0, keepdim=True) + Q /= B + + Q *= B # the columns must sum to 1 so that Q is an assignment + return Q.t() + + def forward(self, student_output_list, teacher_out_softmaxed_centered_list): + """ + Cross-entropy between softmax outputs of the teacher and student networks. + """ + # TODO: Use cross_entropy_distribution here + total_loss = 0 + for s in student_output_list: + lsm = F.log_softmax(s / self.student_temp, dim=-1) + for t in teacher_out_softmaxed_centered_list: + loss = torch.sum(t * lsm, dim=-1) + total_loss -= loss.mean() + return total_loss + + @torch.no_grad() + def update_center(self, teacher_output): + self.reduce_center_update(teacher_output) + + @torch.no_grad() + def reduce_center_update(self, teacher_output): + self.updated = False + self.len_teacher_output = len(teacher_output) + self.async_batch_center = torch.sum(teacher_output, dim=0, keepdim=True) + if dist.is_initialized(): + self.reduce_handle = dist.all_reduce(self.async_batch_center, async_op=True) + + @torch.no_grad() + def apply_center_update(self): + if self.updated is False: + world_size = dist.get_world_size() if dist.is_initialized() else 1 + + if self.reduce_handle is not None: + self.reduce_handle.wait() + _t = self.async_batch_center / (self.len_teacher_output * world_size) + + self.center = self.center * self.center_momentum + _t * (1 - self.center_momentum) + + self.updated = True diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/loss/ibot_patch_loss.py b/torchhub/facebookresearch_dinov2_main/dinov2/loss/ibot_patch_loss.py new file mode 100644 index 0000000000000000000000000000000000000000..16bc5cf634d661f1fa337304273f60dcd43c79c3 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/loss/ibot_patch_loss.py @@ -0,0 +1,152 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import torch +import torch.distributed as dist +import torch.nn.functional as F +from torch import nn + +import logging + + +logger = logging.getLogger("dinov2") + + +try: + from xformers.ops import cross_entropy + + def lossfunc(t, s, temp): + s = s.float() + t = t.float() + if s.ndim == 2: + return -cross_entropy(s.unsqueeze(0), t.unsqueeze(0), temp, bw_inplace=True).squeeze(0) + elif s.ndim == 3: + return -cross_entropy(s, t, temp, bw_inplace=True) + +except ImportError: + + def lossfunc(t, s, temp): + return torch.sum(t * F.log_softmax(s / temp, dim=-1), dim=-1) + + +class iBOTPatchLoss(nn.Module): + def __init__(self, patch_out_dim, student_temp=0.1, center_momentum=0.9): + super().__init__() + self.student_temp = student_temp + self.center_momentum = center_momentum + self.register_buffer("center", torch.zeros(1, 1, patch_out_dim)) + self.updated = True + self.reduce_handle = None + self.len_teacher_patch_tokens = None + self.async_batch_center = None + + @torch.no_grad() + def softmax_center_teacher(self, teacher_patch_tokens, teacher_temp): + self.apply_center_update() + # teacher centering and sharpening + # + # WARNING: + # as self.center is a float32, everything gets casted to float32 afterwards + # + # teacher_patch_tokens = teacher_patch_tokens.float() + # return F.softmax((teacher_patch_tokens.sub_(self.center.to(teacher_patch_tokens.dtype))).mul_(1 / teacher_temp), dim=-1) + + return F.softmax((teacher_patch_tokens - self.center) / teacher_temp, dim=-1) + + # this is experimental, keep everything in float16 and let's see what happens: + # return F.softmax((teacher_patch_tokens.sub_(self.center)) / teacher_temp, dim=-1) + + @torch.no_grad() + def sinkhorn_knopp_teacher(self, teacher_output, teacher_temp, n_masked_patches_tensor, n_iterations=3): + teacher_output = teacher_output.float() + # world_size = dist.get_world_size() if dist.is_initialized() else 1 + Q = torch.exp(teacher_output / teacher_temp).t() # Q is K-by-B for consistency with notations from our paper + # B = Q.shape[1] * world_size # number of samples to assign + B = n_masked_patches_tensor + dist.all_reduce(B) + K = Q.shape[0] # how many prototypes + + # make the matrix sums to 1 + sum_Q = torch.sum(Q) + if dist.is_initialized(): + dist.all_reduce(sum_Q) + Q /= sum_Q + + for it in range(n_iterations): + # normalize each row: total weight per prototype must be 1/K + sum_of_rows = torch.sum(Q, dim=1, keepdim=True) + if dist.is_initialized(): + dist.all_reduce(sum_of_rows) + Q /= sum_of_rows + Q /= K + + # normalize each column: total weight per sample must be 1/B + Q /= torch.sum(Q, dim=0, keepdim=True) + Q /= B + + Q *= B # the columns must sum to 1 so that Q is an assignment + return Q.t() + + def forward(self, student_patch_tokens, teacher_patch_tokens, student_masks_flat): + """ + Cross-entropy between softmax outputs of the teacher and student networks. + student_patch_tokens: (B, N, D) tensor + teacher_patch_tokens: (B, N, D) tensor + student_masks_flat: (B, N) tensor + """ + t = teacher_patch_tokens + s = student_patch_tokens + loss = torch.sum(t * F.log_softmax(s / self.student_temp, dim=-1), dim=-1) + loss = torch.sum(loss * student_masks_flat.float(), dim=-1) / student_masks_flat.sum(dim=-1).clamp(min=1.0) + return -loss.mean() + + def forward_masked( + self, + student_patch_tokens_masked, + teacher_patch_tokens_masked, + student_masks_flat, + n_masked_patches=None, + masks_weight=None, + ): + t = teacher_patch_tokens_masked + s = student_patch_tokens_masked + # loss = torch.sum(t * F.log_softmax(s / self.student_temp, dim=-1), dim=-1) + loss = lossfunc(t, s, self.student_temp) + if masks_weight is None: + masks_weight = ( + (1 / student_masks_flat.sum(-1).clamp(min=1.0)) + .unsqueeze(-1) + .expand_as(student_masks_flat)[student_masks_flat] + ) + if n_masked_patches is not None: + loss = loss[:n_masked_patches] + loss = loss * masks_weight + return -loss.sum() / student_masks_flat.shape[0] + + @torch.no_grad() + def update_center(self, teacher_patch_tokens): + self.reduce_center_update(teacher_patch_tokens) + + @torch.no_grad() + def reduce_center_update(self, teacher_patch_tokens): + self.updated = False + self.len_teacher_patch_tokens = len(teacher_patch_tokens) + self.async_batch_center = torch.sum(teacher_patch_tokens.mean(1), dim=0, keepdim=True) + if dist.is_initialized(): + self.reduce_handle = dist.all_reduce(self.async_batch_center, async_op=True) + + @torch.no_grad() + def apply_center_update(self): + if self.updated is False: + world_size = dist.get_world_size() if dist.is_initialized() else 1 + + if self.reduce_handle is not None: + self.reduce_handle.wait() + _t = self.async_batch_center / (self.len_teacher_patch_tokens * world_size) + + self.center = self.center * self.center_momentum + _t * (1 - self.center_momentum) + + self.updated = True diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/loss/koleo_loss.py b/torchhub/facebookresearch_dinov2_main/dinov2/loss/koleo_loss.py new file mode 100644 index 0000000000000000000000000000000000000000..e776d0426bb029cf48f25b0c94077720bc8421c4 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/loss/koleo_loss.py @@ -0,0 +1,49 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging + +import torch +import torch.nn as nn +import torch.nn.functional as F + +# import torch.distributed as dist + + +logger = logging.getLogger("dinov2") + + +class KoLeoLoss(nn.Module): + """Kozachenko-Leonenko entropic loss regularizer from Sablayrolles et al. - 2018 - Spreading vectors for similarity search""" + + def __init__(self): + super().__init__() + self.pdist = nn.PairwiseDistance(2, eps=1e-8) + + def pairwise_NNs_inner(self, x): + """ + Pairwise nearest neighbors for L2-normalized vectors. + Uses Torch rather than Faiss to remain on GPU. + """ + # parwise dot products (= inverse distance) + dots = torch.mm(x, x.t()) + n = x.shape[0] + dots.view(-1)[:: (n + 1)].fill_(-1) # Trick to fill diagonal with -1 + # max inner prod -> min distance + _, I = torch.max(dots, dim=1) # noqa: E741 + return I + + def forward(self, student_output, eps=1e-8): + """ + Args: + student_output (BxD): backbone output of student + """ + with torch.cuda.amp.autocast(enabled=False): + student_output = F.normalize(student_output, eps=eps, p=2, dim=-1) + I = self.pairwise_NNs_inner(student_output) # noqa: E741 + distances = self.pdist(student_output, student_output[I]) # BxD, BxD -> B + loss = -torch.log(distances + eps).mean() + return loss diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/models/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5e5a1f3832464f898752e57e865760e9864613cb --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/models/__init__.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. + +import logging + +from . import vision_transformer as vits + + +logger = logging.getLogger("dinov2") + + +def build_model(args, only_teacher=False, img_size=224): + args.arch = args.arch.removesuffix("_memeff") + if "vit" in args.arch: + vit_kwargs = dict( + img_size=img_size, + patch_size=args.patch_size, + init_values=args.layerscale, + ffn_layer=args.ffn_layer, + block_chunks=args.block_chunks, + qkv_bias=args.qkv_bias, + proj_bias=args.proj_bias, + ffn_bias=args.ffn_bias, + ) + teacher = vits.__dict__[args.arch](**vit_kwargs) + if only_teacher: + return teacher, teacher.embed_dim + student = vits.__dict__[args.arch]( + **vit_kwargs, + drop_path_rate=args.drop_path_rate, + drop_path_uniform=args.drop_path_uniform, + ) + embed_dim = student.embed_dim + return student, teacher, embed_dim + + +def build_model_from_cfg(cfg, only_teacher=False): + return build_model(cfg.student, only_teacher=only_teacher, img_size=cfg.crops.global_crops_size) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/models/vision_transformer.py b/torchhub/facebookresearch_dinov2_main/dinov2/models/vision_transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..18e159a986336af813c8f0e505b946f42cd83e47 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/models/vision_transformer.py @@ -0,0 +1,358 @@ +# 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/main/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +from functools import partial +import math +import logging +from typing import Sequence, Tuple, Union, Callable + +import torch +import torch.nn as nn +import torch.utils.checkpoint +from torch.nn.init import trunc_normal_ + +from dinov2.layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block + + +logger = logging.getLogger("dinov2") + + +def named_apply(fn: Callable, module: nn.Module, name="", depth_first=True, include_root=False) -> nn.Module: + if not depth_first and include_root: + fn(module=module, name=name) + for child_name, child_module in module.named_children(): + child_name = ".".join((name, child_name)) if name else child_name + named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True) + if depth_first and include_root: + fn(module=module, name=name) + return module + + +class BlockChunk(nn.ModuleList): + def forward(self, x): + for b in self: + x = b(x) + return x + + +class DinoVisionTransformer(nn.Module): + def __init__( + self, + img_size=224, + patch_size=16, + in_chans=3, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4.0, + qkv_bias=True, + ffn_bias=True, + proj_bias=True, + drop_path_rate=0.0, + drop_path_uniform=False, + init_values=None, # for layerscale: None or 0 => no layerscale + embed_layer=PatchEmbed, + act_layer=nn.GELU, + block_fn=Block, + ffn_layer="mlp", + block_chunks=1, + ): + """ + 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__() + norm_layer = partial(nn.LayerNorm, eps=1e-6) + + self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models + self.num_tokens = 1 + self.n_blocks = depth + self.num_heads = num_heads + self.patch_size = patch_size + + self.patch_embed = embed_layer(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 + self.num_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)] # stochastic depth decay rule + + if ffn_layer == "mlp": + logger.info("using MLP layer as FFN") + ffn_layer = Mlp + elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": + logger.info("using SwiGLU layer as FFN") + ffn_layer = SwiGLUFFNFused + elif ffn_layer == "identity": + logger.info("using Identity layer as FFN") + + def f(*args, **kwargs): + 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=norm_layer, + act_layer=act_layer, + ffn_layer=ffn_layer, + init_values=init_values, + ) + for i in range(depth) + ] + if block_chunks > 0: + self.chunked_blocks = True + chunked_blocks = [] + chunksize = depth // block_chunks + for i in range(0, depth, chunksize): + # this is to keep the block index consistent if we chunk the block list + chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize]) + self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks]) + else: + self.chunked_blocks = False + self.blocks = nn.ModuleList(blocks_list) + + self.norm = norm_layer(embed_dim) + self.head = nn.Identity() + + self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) + + self.init_weights() + + def init_weights(self): + trunc_normal_(self.pos_embed, std=0.02) + nn.init.normal_(self.cls_token, std=1e-6) + named_apply(init_weights_vit_timm, self) + + def interpolate_pos_encoding(self, x, w, h): + previous_dtype = x.dtype + npatch = x.shape[1] - 1 + N = self.pos_embed.shape[1] - 1 + if npatch == N and w == h: + return self.pos_embed + 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 + # we add a small number to avoid floating point error in the interpolation + # see discussion at https://github.com/facebookresearch/dino/issues/8 + w0, h0 = w0 + 0.1, h0 + 0.1 + + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape(1, int(math.sqrt(N)), int(math.sqrt(N)), dim).permute(0, 3, 1, 2), + scale_factor=(w0 / math.sqrt(N), h0 / math.sqrt(N)), + mode="bicubic", + ) + + assert int(w0) == patch_pos_embed.shape[-2] and int(h0) == patch_pos_embed.shape[-1] + 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 prepare_tokens_with_masks(self, x, masks=None): + B, nc, w, h = x.shape + x = self.patch_embed(x) + if masks is not None: + x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x) + + x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) + x = x + self.interpolate_pos_encoding(x, w, h) + + return x + + def forward_features_list(self, x_list, masks_list): + x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)] + for blk in self.blocks: + x = blk(x) + + all_x = x + output = [] + for x, masks in zip(all_x, masks_list): + x_norm = self.norm(x) + output.append( + { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_patchtokens": x_norm[:, 1:], + "x_prenorm": x, + "masks": masks, + } + ) + return output + + def forward_features(self, x, masks=None): + if isinstance(x, list): + return self.forward_features_list(x, masks) + + x = self.prepare_tokens_with_masks(x, masks) + + for blk in self.blocks: + x = blk(x) + + x_norm = self.norm(x) + return { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_patchtokens": x_norm[:, 1:], + "x_prenorm": x, + "masks": masks, + } + + def _get_intermediate_layers_not_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + # If n is an int, take the n last blocks. If it's a list, take them + output, total_block_len = [], len(self.blocks) + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for i, blk in enumerate(self.blocks): + x = blk(x) + if i in blocks_to_take: + output.append(x) + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def _get_intermediate_layers_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + output, i, total_block_len = [], 0, len(self.blocks[-1]) + # If n is an int, take the n last blocks. If it's a list, take them + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for block_chunk in self.blocks: + for blk in block_chunk[i:]: # Passing the nn.Identity() + x = blk(x) + if i in blocks_to_take: + output.append(x) + i += 1 + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def get_intermediate_layers( + self, + x: torch.Tensor, + n: Union[int, Sequence] = 1, # Layers or n last layers to take + reshape: bool = False, + return_class_token: bool = False, + norm=True, + ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: + if self.chunked_blocks: + outputs = self._get_intermediate_layers_chunked(x, n) + else: + outputs = self._get_intermediate_layers_not_chunked(x, n) + if norm: + outputs = [self.norm(out) for out in outputs] + class_tokens = [out[:, 0] for out in outputs] + outputs = [out[:, 1:] for out in outputs] + if reshape: + B, _, w, h = x.shape + outputs = [ + out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous() + for out in outputs + ] + if return_class_token: + return tuple(zip(outputs, class_tokens)) + return tuple(outputs) + + def forward(self, *args, is_training=False, **kwargs): + ret = self.forward_features(*args, **kwargs) + if is_training: + return ret + else: + return self.head(ret["x_norm_clstoken"]) + + +def init_weights_vit_timm(module: nn.Module, name: str = ""): + """ViT weight initialization, original timm impl (for reproducibility)""" + if isinstance(module, nn.Linear): + trunc_normal_(module.weight, std=0.02) + if module.bias is not None: + nn.init.zeros_(module.bias) + + +def vit_small(patch_size=16, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=384, + depth=12, + num_heads=6, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + **kwargs, + ) + return model + + +def vit_base(patch_size=16, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + **kwargs, + ) + return model + + +def vit_large(patch_size=16, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1024, + depth=24, + num_heads=16, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + **kwargs, + ) + return model + + +def vit_giant2(patch_size=16, **kwargs): + """ + Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64 + """ + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1536, + depth=40, + num_heads=24, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + **kwargs, + ) + return model diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/run/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/run/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..0952fcc3f57e34b3747962e9ebd6fc57aeea63fa --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/run/__init__.py @@ -0,0 +1,5 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/knn.py b/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/knn.py new file mode 100644 index 0000000000000000000000000000000000000000..15d674b78b0629aa0f041c2426c894925469a0e8 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/knn.py @@ -0,0 +1,60 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging +import os +import sys + +from dinov2.eval.knn import get_args_parser as get_knn_args_parser +from dinov2.logging import setup_logging +from dinov2.run.submit import get_args_parser, submit_jobs + + +logger = logging.getLogger("dinov2") + + +class Evaluator: + def __init__(self, args): + self.args = args + + def __call__(self): + from dinov2.eval.knn import main as knn_main + + self._setup_args() + knn_main(self.args) + + def checkpoint(self): + import submitit + + logger.info(f"Requeuing {self.args}") + empty = type(self)(self.args) + return submitit.helpers.DelayedSubmission(empty) + + def _setup_args(self): + import submitit + + job_env = submitit.JobEnvironment() + self.args.output_dir = self.args.output_dir.replace("%j", str(job_env.job_id)) + logger.info(f"Process group: {job_env.num_tasks} tasks, rank: {job_env.global_rank}") + logger.info(f"Args: {self.args}") + + +def main(): + description = "Submitit launcher for DINOv2 k-NN evaluation" + knn_args_parser = get_knn_args_parser(add_help=False) + parents = [knn_args_parser] + args_parser = get_args_parser(description=description, parents=parents) + args = args_parser.parse_args() + + setup_logging() + + assert os.path.exists(args.config_file), "Configuration file does not exist!" + submit_jobs(Evaluator, args, name="dinov2:knn") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/linear.py b/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/linear.py new file mode 100644 index 0000000000000000000000000000000000000000..f8c264762ac6bb82a3622c74e1e683ea5c6be437 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/linear.py @@ -0,0 +1,60 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging +import os +import sys + +from dinov2.eval.linear import get_args_parser as get_linear_args_parser +from dinov2.logging import setup_logging +from dinov2.run.submit import get_args_parser, submit_jobs + + +logger = logging.getLogger("dinov2") + + +class Evaluator: + def __init__(self, args): + self.args = args + + def __call__(self): + from dinov2.eval.linear import main as linear_main + + self._setup_args() + linear_main(self.args) + + def checkpoint(self): + import submitit + + logger.info(f"Requeuing {self.args}") + empty = type(self)(self.args) + return submitit.helpers.DelayedSubmission(empty) + + def _setup_args(self): + import submitit + + job_env = submitit.JobEnvironment() + self.args.output_dir = self.args.output_dir.replace("%j", str(job_env.job_id)) + logger.info(f"Process group: {job_env.num_tasks} tasks, rank: {job_env.global_rank}") + logger.info(f"Args: {self.args}") + + +def main(): + description = "Submitit launcher for DINOv2 linear evaluation" + linear_args_parser = get_linear_args_parser(add_help=False) + parents = [linear_args_parser] + args_parser = get_args_parser(description=description, parents=parents) + args = args_parser.parse_args() + + setup_logging() + + assert os.path.exists(args.config_file), "Configuration file does not exist!" + submit_jobs(Evaluator, args, name="dinov2:linear") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/log_regression.py b/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/log_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..9d3d5a5742792fc8d4ca3b39c15c47e8aa349bc7 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/run/eval/log_regression.py @@ -0,0 +1,60 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging +import os +import sys + +from dinov2.eval.log_regression import get_args_parser as get_log_regression_args_parser +from dinov2.logging import setup_logging +from dinov2.run.submit import get_args_parser, submit_jobs + + +logger = logging.getLogger("dinov2") + + +class Evaluator: + def __init__(self, args): + self.args = args + + def __call__(self): + from dinov2.eval.log_regression import main as log_regression_main + + self._setup_args() + log_regression_main(self.args) + + def checkpoint(self): + import submitit + + logger.info(f"Requeuing {self.args}") + empty = type(self)(self.args) + return submitit.helpers.DelayedSubmission(empty) + + def _setup_args(self): + import submitit + + job_env = submitit.JobEnvironment() + self.args.output_dir = self.args.output_dir.replace("%j", str(job_env.job_id)) + logger.info(f"Process group: {job_env.num_tasks} tasks, rank: {job_env.global_rank}") + logger.info(f"Args: {self.args}") + + +def main(): + description = "Submitit launcher for DINOv2 logistic evaluation" + log_regression_args_parser = get_log_regression_args_parser(add_help=False) + parents = [log_regression_args_parser] + args_parser = get_args_parser(description=description, parents=parents) + args = args_parser.parse_args() + + setup_logging() + + assert os.path.exists(args.config_file), "Configuration file does not exist!" + submit_jobs(Evaluator, args, name="dinov2:logreg") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/run/submit.py b/torchhub/facebookresearch_dinov2_main/dinov2/run/submit.py new file mode 100644 index 0000000000000000000000000000000000000000..68140f3d6d93dc67ccd7c45fe712eb15483d1ad6 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/run/submit.py @@ -0,0 +1,123 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import argparse +import logging +import os +from pathlib import Path +from typing import List, Optional + +import submitit + +from dinov2.utils.cluster import ( + get_slurm_executor_parameters, + get_slurm_partition, + get_user_checkpoint_path, +) + + +logger = logging.getLogger("dinov2") + + +def get_args_parser( + description: Optional[str] = None, + parents: Optional[List[argparse.ArgumentParser]] = None, + add_help: bool = True, +) -> argparse.ArgumentParser: + parents = parents or [] + slurm_partition = get_slurm_partition() + parser = argparse.ArgumentParser( + description=description, + parents=parents, + add_help=add_help, + ) + parser.add_argument( + "--ngpus", + "--gpus", + "--gpus-per-node", + default=8, + type=int, + help="Number of GPUs to request on each node", + ) + parser.add_argument( + "--nodes", + "--nnodes", + default=2, + type=int, + help="Number of nodes to request", + ) + parser.add_argument( + "--timeout", + default=2800, + type=int, + help="Duration of the job", + ) + parser.add_argument( + "--partition", + default=slurm_partition, + type=str, + help="Partition where to submit", + ) + parser.add_argument( + "--use-volta32", + action="store_true", + help="Request V100-32GB GPUs", + ) + parser.add_argument( + "--comment", + default="", + type=str, + help="Comment to pass to scheduler, e.g. priority message", + ) + parser.add_argument( + "--exclude", + default="", + type=str, + help="Nodes to exclude", + ) + return parser + + +def get_shared_folder() -> Path: + user_checkpoint_path = get_user_checkpoint_path() + if user_checkpoint_path is None: + raise RuntimeError("Path to user checkpoint cannot be determined") + path = user_checkpoint_path / "experiments" + path.mkdir(exist_ok=True) + return path + + +def submit_jobs(task_class, args, name: str): + if not args.output_dir: + args.output_dir = str(get_shared_folder() / "%j") + + Path(args.output_dir).mkdir(parents=True, exist_ok=True) + executor = submitit.AutoExecutor(folder=args.output_dir, slurm_max_num_timeout=30) + + kwargs = {} + if args.use_volta32: + kwargs["slurm_constraint"] = "volta32gb" + if args.comment: + kwargs["slurm_comment"] = args.comment + if args.exclude: + kwargs["slurm_exclude"] = args.exclude + + executor_params = get_slurm_executor_parameters( + nodes=args.nodes, + num_gpus_per_node=args.ngpus, + timeout_min=args.timeout, # max is 60 * 72 + slurm_signal_delay_s=120, + slurm_partition=args.partition, + **kwargs, + ) + executor.update_parameters(name=name, **executor_params) + + task = task_class(args) + job = executor.submit(task) + + logger.info(f"Submitted job_id: {job.job_id}") + str_output_dir = os.path.abspath(args.output_dir).replace("%j", str(job.job_id)) + logger.info(f"Logs and checkpoints will be saved at: {str_output_dir}") diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/run/train/train.py b/torchhub/facebookresearch_dinov2_main/dinov2/run/train/train.py new file mode 100644 index 0000000000000000000000000000000000000000..24716f2a314820a4cc15289fe0cb13ad52cf343c --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/run/train/train.py @@ -0,0 +1,60 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging +import os +import sys + +from dinov2.logging import setup_logging +from dinov2.train import get_args_parser as get_train_args_parser +from dinov2.run.submit import get_args_parser, submit_jobs + + +logger = logging.getLogger("dinov2") + + +class Trainer(object): + def __init__(self, args): + self.args = args + + def __call__(self): + from dinov2.train import main as train_main + + self._setup_args() + train_main(self.args) + + def checkpoint(self): + import submitit + + logger.info(f"Requeuing {self.args}") + empty = type(self)(self.args) + return submitit.helpers.DelayedSubmission(empty) + + def _setup_args(self): + import submitit + + job_env = submitit.JobEnvironment() + self.args.output_dir = self.args.output_dir.replace("%j", str(job_env.job_id)) + logger.info(f"Process group: {job_env.num_tasks} tasks, rank: {job_env.global_rank}") + logger.info(f"Args: {self.args}") + + +def main(): + description = "Submitit launcher for DINOv2 training" + train_args_parser = get_train_args_parser(add_help=False) + parents = [train_args_parser] + args_parser = get_args_parser(description=description, parents=parents) + args = args_parser.parse_args() + + setup_logging() + + assert os.path.exists(args.config_file), "Configuration file does not exist!" + submit_jobs(Trainer, args, name="dinov2:train") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/train/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/train/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..b0b66d17aa547ed5560e75a03f5c1587da2d4fd7 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/train/__init__.py @@ -0,0 +1,8 @@ +# 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 .train import get_args_parser, main +from .ssl_meta_arch import SSLMetaArch diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/train/ssl_meta_arch.py b/torchhub/facebookresearch_dinov2_main/dinov2/train/ssl_meta_arch.py new file mode 100644 index 0000000000000000000000000000000000000000..86d0c2413f9abc61953d0e12b43a5a843d97d244 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/train/ssl_meta_arch.py @@ -0,0 +1,403 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +from functools import partial +import logging + +import torch +from torch import nn + +from dinov2.loss import DINOLoss, iBOTPatchLoss, KoLeoLoss +from dinov2.models import build_model_from_cfg +from dinov2.layers import DINOHead +from dinov2.utils.utils import has_batchnorms +from dinov2.utils.param_groups import get_params_groups_with_decay, fuse_params_groups +from dinov2.fsdp import get_fsdp_wrapper, ShardedGradScaler, get_fsdp_modules, reshard_fsdp_model + +from dinov2.models.vision_transformer import BlockChunk + +try: + from xformers.ops import fmha + + XFORMERS_AVAILABLE = True +except ImportError: + XFORMERS_AVAILABLE = False +assert XFORMERS_AVAILABLE, "xFormers is required for DINOv2 training" + + +logger = logging.getLogger("dinov2") + + +class SSLMetaArch(nn.Module): + def __init__(self, cfg): + super().__init__() + self.cfg = cfg + self.fp16_scaler = ShardedGradScaler() if cfg.compute_precision.grad_scaler else None + + student_model_dict = dict() + teacher_model_dict = dict() + + student_backbone, teacher_backbone, embed_dim = build_model_from_cfg(cfg) + student_model_dict["backbone"] = student_backbone + teacher_model_dict["backbone"] = teacher_backbone + logger.info(f"OPTIONS -- architecture : embed_dim: {embed_dim}") + + if cfg.student.pretrained_weights: + chkpt = torch.load(cfg.student.pretrained_weights) + logger.info(f"OPTIONS -- pretrained weights: loading from {cfg.student.pretrained_weights}") + student_backbone.load_state_dict(chkpt["model"], strict=False) + + self.embed_dim = embed_dim + self.dino_out_dim = cfg.dino.head_n_prototypes + + self.do_dino = cfg.dino.loss_weight > 0 + self.do_koleo = cfg.dino.koleo_loss_weight > 0 + self.do_ibot = cfg.ibot.loss_weight > 0 + self.ibot_separate_head = cfg.ibot.separate_head + + logger.info("OPTIONS -- DINO") + if self.do_dino: + logger.info(f"OPTIONS -- DINO -- loss_weight: {cfg.dino.loss_weight}") + logger.info(f"OPTIONS -- DINO -- head_n_prototypes: {cfg.dino.head_n_prototypes}") + logger.info(f"OPTIONS -- DINO -- head_bottleneck_dim: {cfg.dino.head_bottleneck_dim}") + logger.info(f"OPTIONS -- DINO -- head_hidden_dim: {cfg.dino.head_hidden_dim}") + self.dino_loss_weight = cfg.dino.loss_weight + dino_head = partial( + DINOHead, + in_dim=embed_dim, + out_dim=cfg.dino.head_n_prototypes, + hidden_dim=cfg.dino.head_hidden_dim, + bottleneck_dim=cfg.dino.head_bottleneck_dim, + nlayers=cfg.dino.head_nlayers, + ) + self.dino_loss = DINOLoss(self.dino_out_dim) + if self.do_koleo: + logger.info("OPTIONS -- DINO -- applying KOLEO regularization") + self.koleo_loss = KoLeoLoss() + + else: + logger.info("OPTIONS -- DINO -- not using DINO") + + if self.do_dino or self.do_ibot: + student_model_dict["dino_head"] = dino_head() + teacher_model_dict["dino_head"] = dino_head() + + logger.info("OPTIONS -- IBOT") + logger.info(f"OPTIONS -- IBOT -- loss_weight: {cfg.ibot.loss_weight}") + logger.info(f"OPTIONS -- IBOT masking -- ibot_mask_ratio_tuple: {cfg.ibot.mask_ratio_min_max}") + logger.info(f"OPTIONS -- IBOT masking -- ibot_mask_sample_probability: {cfg.ibot.mask_sample_probability}") + if self.do_ibot: + self.ibot_loss_weight = cfg.ibot.loss_weight + assert max(cfg.ibot.mask_ratio_min_max) > 0, "please provide a positive mask ratio tuple for ibot" + assert cfg.ibot.mask_sample_probability > 0, "please provide a positive mask probability for ibot" + self.ibot_out_dim = cfg.ibot.head_n_prototypes if self.ibot_separate_head else cfg.dino.head_n_prototypes + self.ibot_patch_loss = iBOTPatchLoss(self.ibot_out_dim) + if self.ibot_separate_head: + logger.info(f"OPTIONS -- IBOT -- loss_weight: {cfg.ibot.loss_weight}") + logger.info(f"OPTIONS -- IBOT -- head_n_prototypes: {cfg.ibot.head_n_prototypes}") + logger.info(f"OPTIONS -- IBOT -- head_bottleneck_dim: {cfg.ibot.head_bottleneck_dim}") + logger.info(f"OPTIONS -- IBOT -- head_hidden_dim: {cfg.ibot.head_hidden_dim}") + ibot_head = partial( + DINOHead, + in_dim=embed_dim, + out_dim=cfg.ibot.head_n_prototypes, + hidden_dim=cfg.ibot.head_hidden_dim, + bottleneck_dim=cfg.ibot.head_bottleneck_dim, + nlayers=cfg.ibot.head_nlayers, + ) + student_model_dict["ibot_head"] = ibot_head() + teacher_model_dict["ibot_head"] = ibot_head() + else: + logger.info("OPTIONS -- IBOT -- head shared with DINO") + + self.need_to_synchronize_fsdp_streams = True + + self.student = nn.ModuleDict(student_model_dict) + self.teacher = nn.ModuleDict(teacher_model_dict) + + # there is no backpropagation through the teacher, so no need for gradients + for p in self.teacher.parameters(): + p.requires_grad = False + logger.info(f"Student and Teacher are built: they are both {cfg.student.arch} network.") + + def forward(self, inputs): + raise NotImplementedError + + def backprop_loss(self, loss): + if self.fp16_scaler is not None: + self.fp16_scaler.scale(loss).backward() + else: + loss.backward() + + def forward_backward(self, images, teacher_temp): + n_global_crops = 2 + assert n_global_crops == 2 + n_local_crops = self.cfg.crops.local_crops_number + + global_crops = images["collated_global_crops"].cuda(non_blocking=True) + local_crops = images["collated_local_crops"].cuda(non_blocking=True) + + masks = images["collated_masks"].cuda(non_blocking=True) + mask_indices_list = images["mask_indices_list"].cuda(non_blocking=True) + n_masked_patches_tensor = images["n_masked_patches"].cuda(non_blocking=True) + n_masked_patches = mask_indices_list.shape[0] + upperbound = images["upperbound"] + masks_weight = images["masks_weight"].cuda(non_blocking=True) + + n_local_crops_loss_terms = max(n_local_crops * n_global_crops, 1) + n_global_crops_loss_terms = (n_global_crops - 1) * n_global_crops + + do_dino = self.do_dino + do_ibot = self.do_ibot + + # loss scales + ibot_loss_scale = 1.0 / n_global_crops + + # teacher output + @torch.no_grad() + def get_teacher_output(): + x, n_global_crops_teacher = global_crops, n_global_crops + teacher_backbone_output_dict = self.teacher.backbone(x, is_training=True) + teacher_cls_tokens = teacher_backbone_output_dict["x_norm_clstoken"] + teacher_cls_tokens = teacher_cls_tokens.chunk(n_global_crops_teacher) + # watch out: these are chunked and cat'd in reverse so A is matched to B in the global crops dino loss + teacher_cls_tokens = torch.cat((teacher_cls_tokens[1], teacher_cls_tokens[0])) + ibot_teacher_patch_tokens = teacher_backbone_output_dict["x_norm_patchtokens"] + _dim = ibot_teacher_patch_tokens.shape[-1] + n_cls_tokens = teacher_cls_tokens.shape[0] + + if do_ibot and not self.ibot_separate_head: + buffer_tensor_teacher = ibot_teacher_patch_tokens.new_zeros(upperbound + n_cls_tokens, _dim) + buffer_tensor_teacher[:n_cls_tokens].copy_(teacher_cls_tokens) + torch.index_select( + ibot_teacher_patch_tokens.flatten(0, 1), + dim=0, + index=mask_indices_list, + out=buffer_tensor_teacher[n_cls_tokens : n_cls_tokens + n_masked_patches], + ) + tokens_after_head = self.teacher.dino_head(buffer_tensor_teacher) + teacher_cls_tokens_after_head = tokens_after_head[:n_cls_tokens] + masked_teacher_patch_tokens_after_head = tokens_after_head[ + n_cls_tokens : n_cls_tokens + n_masked_patches + ] + elif do_ibot and self.ibot_separate_head: + buffer_tensor_teacher = ibot_teacher_patch_tokens.new_zeros(upperbound, _dim) + torch.index_select( + ibot_teacher_patch_tokens.flatten(0, 1), + dim=0, + index=mask_indices_list, + out=buffer_tensor_teacher[:n_masked_patches], + ) + teacher_cls_tokens_after_head = self.teacher.dino_head(teacher_cls_tokens) + masked_teacher_patch_tokens_after_head = self.teacher.ibot_head(buffer_tensor_teacher)[ + :n_masked_patches + ] + else: + teacher_cls_tokens_after_head = self.teacher.dino_head(teacher_cls_tokens) + masked_teacher_ibot_softmaxed_centered = None + + if self.cfg.train.centering == "centering": + teacher_dino_softmaxed_centered_list = self.dino_loss.softmax_center_teacher( + teacher_cls_tokens_after_head, teacher_temp=teacher_temp + ).view(n_global_crops_teacher, -1, *teacher_cls_tokens_after_head.shape[1:]) + self.dino_loss.update_center(teacher_cls_tokens_after_head) + if do_ibot: + masked_teacher_patch_tokens_after_head = masked_teacher_patch_tokens_after_head.unsqueeze(0) + masked_teacher_ibot_softmaxed_centered = self.ibot_patch_loss.softmax_center_teacher( + masked_teacher_patch_tokens_after_head[:, :n_masked_patches], teacher_temp=teacher_temp + ) + masked_teacher_ibot_softmaxed_centered = masked_teacher_ibot_softmaxed_centered.squeeze(0) + self.ibot_patch_loss.update_center(masked_teacher_patch_tokens_after_head[:n_masked_patches]) + + elif self.cfg.train.centering == "sinkhorn_knopp": + teacher_dino_softmaxed_centered_list = self.dino_loss.sinkhorn_knopp_teacher( + teacher_cls_tokens_after_head, teacher_temp=teacher_temp + ).view(n_global_crops_teacher, -1, *teacher_cls_tokens_after_head.shape[1:]) + + if do_ibot: + masked_teacher_ibot_softmaxed_centered = self.ibot_patch_loss.sinkhorn_knopp_teacher( + masked_teacher_patch_tokens_after_head, + teacher_temp=teacher_temp, + n_masked_patches_tensor=n_masked_patches_tensor, + ) + + else: + raise NotImplementedError + + return teacher_dino_softmaxed_centered_list, masked_teacher_ibot_softmaxed_centered + + teacher_dino_softmaxed_centered_list, masked_teacher_ibot_softmaxed_centered = get_teacher_output() + reshard_fsdp_model(self.teacher) + + loss_dict = {} + + loss_accumulator = 0 # for backprop + student_global_backbone_output_dict, student_local_backbone_output_dict = self.student.backbone( + [global_crops, local_crops], masks=[masks, None], is_training=True + ) + + inputs_for_student_head_list = [] + + # 1a: local crops cls tokens + student_local_cls_tokens = student_local_backbone_output_dict["x_norm_clstoken"] + inputs_for_student_head_list.append(student_local_cls_tokens.unsqueeze(0)) + + # 1b: global crops cls tokens + student_global_cls_tokens = student_global_backbone_output_dict["x_norm_clstoken"] + inputs_for_student_head_list.append(student_global_cls_tokens.unsqueeze(0)) + + # 1c: global crops patch tokens + if do_ibot: + _dim = student_global_backbone_output_dict["x_norm_clstoken"].shape[-1] + ibot_student_patch_tokens = student_global_backbone_output_dict["x_norm_patchtokens"] + buffer_tensor_patch_tokens = ibot_student_patch_tokens.new_zeros(upperbound, _dim) + buffer_tensor_patch_tokens[:n_masked_patches].copy_( + torch.index_select(ibot_student_patch_tokens.flatten(0, 1), dim=0, index=mask_indices_list) + ) + if not self.ibot_separate_head: + inputs_for_student_head_list.append(buffer_tensor_patch_tokens.unsqueeze(0)) + else: + student_global_masked_patch_tokens_after_head = self.student.ibot_head(buffer_tensor_patch_tokens)[ + :n_masked_patches + ] + + # 2: run + _attn_bias, cat_inputs = fmha.BlockDiagonalMask.from_tensor_list(inputs_for_student_head_list) + outputs_list = _attn_bias.split(self.student.dino_head(cat_inputs)) + + # 3a: local crops cls tokens + student_local_cls_tokens_after_head = outputs_list.pop(0).squeeze(0) + + # 3b: global crops cls tokens + student_global_cls_tokens_after_head = outputs_list.pop(0).squeeze(0) + + # 3c: global crops patch tokens + if do_ibot and not self.ibot_separate_head: + student_global_masked_patch_tokens_after_head = outputs_list.pop(0).squeeze(0)[:n_masked_patches] + + if n_local_crops > 0: + dino_local_crops_loss = self.dino_loss( + student_output_list=student_local_cls_tokens_after_head.chunk(n_local_crops), + teacher_out_softmaxed_centered_list=teacher_dino_softmaxed_centered_list, + ) / (n_global_crops_loss_terms + n_local_crops_loss_terms) + + # store for display + loss_dict["dino_local_crops_loss"] = dino_local_crops_loss + + # accumulate loss + loss_accumulator += self.dino_loss_weight * dino_local_crops_loss + + # process global crops + loss_scales = 2 # this is here since we process global crops together + + if do_dino: + # compute loss + dino_global_crops_loss = ( + self.dino_loss( + student_output_list=[student_global_cls_tokens_after_head], + teacher_out_softmaxed_centered_list=[ + teacher_dino_softmaxed_centered_list.flatten(0, 1) + ], # these were chunked and stacked in reverse so A is matched to B + ) + * loss_scales + / (n_global_crops_loss_terms + n_local_crops_loss_terms) + ) + + loss_dict["dino_global_crops_loss"] = dino_global_crops_loss + + # accumulate loss + loss_accumulator += self.dino_loss_weight * dino_global_crops_loss + + student_cls_tokens = student_global_cls_tokens + + if self.do_koleo: + koleo_loss = self.cfg.dino.koleo_loss_weight * sum( + self.koleo_loss(p) for p in student_cls_tokens.chunk(2) + ) # we don't apply koleo loss between cls tokens of a same image + loss_accumulator += koleo_loss + loss_dict["koleo_loss"] = ( + koleo_loss / loss_scales + ) # this is to display the same losses as before but we can remove eventually + + if do_ibot: + # compute loss + ibot_patch_loss = ( + self.ibot_patch_loss.forward_masked( + student_global_masked_patch_tokens_after_head, + masked_teacher_ibot_softmaxed_centered, + student_masks_flat=masks, + n_masked_patches=n_masked_patches, + masks_weight=masks_weight, + ) + * loss_scales + * ibot_loss_scale + ) + + # store for display + loss_dict["ibot_loss"] = ibot_patch_loss / 2 + + # accumulate loss + loss_accumulator += self.ibot_loss_weight * ibot_patch_loss + + self.backprop_loss(loss_accumulator) + + self.fsdp_synchronize_streams() + + return loss_dict + + def fsdp_synchronize_streams(self): + if self.need_to_synchronize_fsdp_streams: + torch.cuda.synchronize() + self.student.dino_head._streams = ( + self.teacher.dino_head._streams + ) = self.student.backbone._streams = self.teacher.backbone._streams + self.need_to_synchronize_fsdp_streams = False + + def update_teacher(self, m): + student_param_list = [] + teacher_param_list = [] + with torch.no_grad(): + for k in self.student.keys(): + for ms, mt in zip(get_fsdp_modules(self.student[k]), get_fsdp_modules(self.teacher[k])): + student_param_list += ms.params + teacher_param_list += mt.params + torch._foreach_mul_(teacher_param_list, m) + torch._foreach_add_(teacher_param_list, student_param_list, alpha=1 - m) + + def train(self): + super().train() + self.teacher.eval() + + def get_maybe_fused_params_for_submodel(self, m): + params_groups = get_params_groups_with_decay( + model=m, + lr_decay_rate=self.cfg.optim.layerwise_decay, + patch_embed_lr_mult=self.cfg.optim.patch_embed_lr_mult, + ) + fused_params_groups = fuse_params_groups(params_groups) + logger.info("fusing param groups") + + for g in fused_params_groups: + g["foreach"] = True + return fused_params_groups + + def get_params_groups(self): + all_params_groups = [] + for m in self.student.values(): + all_params_groups += self.get_maybe_fused_params_for_submodel(m) + return all_params_groups + + def prepare_for_distributed_training(self): + logger.info("DISTRIBUTED FSDP -- preparing model for distributed training") + if has_batchnorms(self.student): + raise NotImplementedError + # below will synchronize all student subnetworks across gpus: + for k, v in self.student.items(): + self.teacher[k].load_state_dict(self.student[k].state_dict()) + student_model_cfg = self.cfg.compute_precision.student[k] + self.student[k] = get_fsdp_wrapper(student_model_cfg, modules_to_wrap={BlockChunk})(self.student[k]) + teacher_model_cfg = self.cfg.compute_precision.teacher[k] + self.teacher[k] = get_fsdp_wrapper(teacher_model_cfg, modules_to_wrap={BlockChunk})(self.teacher[k]) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/train/train.py b/torchhub/facebookresearch_dinov2_main/dinov2/train/train.py new file mode 100644 index 0000000000000000000000000000000000000000..5279b9c4317e56b5c0a9c39f7bf9bf56b04a1f8b --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/train/train.py @@ -0,0 +1,319 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import argparse +import logging +import math +import os +from functools import partial + +from fvcore.common.checkpoint import PeriodicCheckpointer +import torch + +from dinov2.data import SamplerType, make_data_loader, make_dataset +from dinov2.data import collate_data_and_cast, DataAugmentationDINO, MaskingGenerator +import dinov2.distributed as distributed +from dinov2.fsdp import FSDPCheckpointer +from dinov2.logging import MetricLogger +from dinov2.utils.config import setup +from dinov2.utils.utils import CosineScheduler + +from dinov2.train.ssl_meta_arch import SSLMetaArch + + +torch.backends.cuda.matmul.allow_tf32 = True # PyTorch 1.12 sets this to False by default +logger = logging.getLogger("dinov2") + + +def get_args_parser(add_help: bool = True): + parser = argparse.ArgumentParser("DINOv2 training", add_help=add_help) + parser.add_argument("--config-file", default="", metavar="FILE", help="path to config file") + parser.add_argument( + "--no-resume", + action="store_true", + help="Whether to not attempt to resume from the checkpoint directory. ", + ) + parser.add_argument("--eval-only", action="store_true", help="perform evaluation only") + parser.add_argument("--eval", type=str, default="", help="Eval type to perform") + parser.add_argument( + "opts", + help=""" +Modify config options at the end of the command. For Yacs configs, use +space-separated "PATH.KEY VALUE" pairs. +For python-based LazyConfig, use "path.key=value". + """.strip(), + default=None, + nargs=argparse.REMAINDER, + ) + parser.add_argument( + "--output-dir", + "--output_dir", + default="", + type=str, + help="Output directory to save logs and checkpoints", + ) + + return parser + + +def build_optimizer(cfg, params_groups): + return torch.optim.AdamW(params_groups, betas=(cfg.optim.adamw_beta1, cfg.optim.adamw_beta2)) + + +def build_schedulers(cfg): + OFFICIAL_EPOCH_LENGTH = cfg.train.OFFICIAL_EPOCH_LENGTH + lr = dict( + base_value=cfg.optim["lr"], + final_value=cfg.optim["min_lr"], + total_iters=cfg.optim["epochs"] * OFFICIAL_EPOCH_LENGTH, + warmup_iters=cfg.optim["warmup_epochs"] * OFFICIAL_EPOCH_LENGTH, + start_warmup_value=0, + ) + wd = dict( + base_value=cfg.optim["weight_decay"], + final_value=cfg.optim["weight_decay_end"], + total_iters=cfg.optim["epochs"] * OFFICIAL_EPOCH_LENGTH, + ) + momentum = dict( + base_value=cfg.teacher["momentum_teacher"], + final_value=cfg.teacher["final_momentum_teacher"], + total_iters=cfg.optim["epochs"] * OFFICIAL_EPOCH_LENGTH, + ) + teacher_temp = dict( + base_value=cfg.teacher["teacher_temp"], + final_value=cfg.teacher["teacher_temp"], + total_iters=cfg.teacher["warmup_teacher_temp_epochs"] * OFFICIAL_EPOCH_LENGTH, + warmup_iters=cfg.teacher["warmup_teacher_temp_epochs"] * OFFICIAL_EPOCH_LENGTH, + start_warmup_value=cfg.teacher["warmup_teacher_temp"], + ) + + lr_schedule = CosineScheduler(**lr) + wd_schedule = CosineScheduler(**wd) + momentum_schedule = CosineScheduler(**momentum) + teacher_temp_schedule = CosineScheduler(**teacher_temp) + last_layer_lr_schedule = CosineScheduler(**lr) + + last_layer_lr_schedule.schedule[ + : cfg.optim["freeze_last_layer_epochs"] * OFFICIAL_EPOCH_LENGTH + ] = 0 # mimicking the original schedules + + logger.info("Schedulers ready.") + + return ( + lr_schedule, + wd_schedule, + momentum_schedule, + teacher_temp_schedule, + last_layer_lr_schedule, + ) + + +def apply_optim_scheduler(optimizer, lr, wd, last_layer_lr): + for param_group in optimizer.param_groups: + is_last_layer = param_group["is_last_layer"] + lr_multiplier = param_group["lr_multiplier"] + wd_multiplier = param_group["wd_multiplier"] + param_group["weight_decay"] = wd * wd_multiplier + param_group["lr"] = (last_layer_lr if is_last_layer else lr) * lr_multiplier + + +def do_test(cfg, model, iteration): + new_state_dict = model.teacher.state_dict() + + if distributed.is_main_process(): + iterstring = str(iteration) + eval_dir = os.path.join(cfg.train.output_dir, "eval", iterstring) + os.makedirs(eval_dir, exist_ok=True) + # save teacher checkpoint + teacher_ckp_path = os.path.join(eval_dir, "teacher_checkpoint.pth") + torch.save({"teacher": new_state_dict}, teacher_ckp_path) + + +def do_train(cfg, model, resume=False): + model.train() + inputs_dtype = torch.half + fp16_scaler = model.fp16_scaler # for mixed precision training + + # setup optimizer + + optimizer = build_optimizer(cfg, model.get_params_groups()) + ( + lr_schedule, + wd_schedule, + momentum_schedule, + teacher_temp_schedule, + last_layer_lr_schedule, + ) = build_schedulers(cfg) + + # checkpointer + checkpointer = FSDPCheckpointer(model, cfg.train.output_dir, optimizer=optimizer, save_to_disk=True) + + start_iter = checkpointer.resume_or_load(cfg.MODEL.WEIGHTS, resume=resume).get("iteration", -1) + 1 + + OFFICIAL_EPOCH_LENGTH = cfg.train.OFFICIAL_EPOCH_LENGTH + max_iter = cfg.optim.epochs * OFFICIAL_EPOCH_LENGTH + + periodic_checkpointer = PeriodicCheckpointer( + checkpointer, + period=3 * OFFICIAL_EPOCH_LENGTH, + max_iter=max_iter, + max_to_keep=3, + ) + + # setup data preprocessing + + img_size = cfg.crops.global_crops_size + patch_size = cfg.student.patch_size + n_tokens = (img_size // patch_size) ** 2 + mask_generator = MaskingGenerator( + input_size=(img_size // patch_size, img_size // patch_size), + max_num_patches=0.5 * img_size // patch_size * img_size // patch_size, + ) + + data_transform = DataAugmentationDINO( + cfg.crops.global_crops_scale, + cfg.crops.local_crops_scale, + cfg.crops.local_crops_number, + global_crops_size=cfg.crops.global_crops_size, + local_crops_size=cfg.crops.local_crops_size, + ) + + collate_fn = partial( + collate_data_and_cast, + mask_ratio_tuple=cfg.ibot.mask_ratio_min_max, + mask_probability=cfg.ibot.mask_sample_probability, + n_tokens=n_tokens, + mask_generator=mask_generator, + dtype=inputs_dtype, + ) + + # setup data loader + + dataset = make_dataset( + dataset_str=cfg.train.dataset_path, + transform=data_transform, + target_transform=lambda _: (), + ) + # sampler_type = SamplerType.INFINITE + sampler_type = SamplerType.SHARDED_INFINITE + data_loader = make_data_loader( + dataset=dataset, + batch_size=cfg.train.batch_size_per_gpu, + num_workers=cfg.train.num_workers, + shuffle=True, + seed=start_iter, # TODO: Fix this -- cfg.train.seed + sampler_type=sampler_type, + sampler_advance=0, # TODO(qas): fix this -- start_iter * cfg.train.batch_size_per_gpu, + drop_last=True, + collate_fn=collate_fn, + ) + + # training loop + + iteration = start_iter + + logger.info("Starting training from iteration {}".format(start_iter)) + metrics_file = os.path.join(cfg.train.output_dir, "training_metrics.json") + metric_logger = MetricLogger(delimiter=" ", output_file=metrics_file) + header = "Training" + + for data in metric_logger.log_every( + data_loader, + 10, + header, + max_iter, + start_iter, + ): + current_batch_size = data["collated_global_crops"].shape[0] / 2 + if iteration > max_iter: + return + + # apply schedules + + lr = lr_schedule[iteration] + wd = wd_schedule[iteration] + mom = momentum_schedule[iteration] + teacher_temp = teacher_temp_schedule[iteration] + last_layer_lr = last_layer_lr_schedule[iteration] + apply_optim_scheduler(optimizer, lr, wd, last_layer_lr) + + # compute losses + + optimizer.zero_grad(set_to_none=True) + loss_dict = model.forward_backward(data, teacher_temp=teacher_temp) + + # clip gradients + + if fp16_scaler is not None: + if cfg.optim.clip_grad: + fp16_scaler.unscale_(optimizer) + for v in model.student.values(): + v.clip_grad_norm_(cfg.optim.clip_grad) + fp16_scaler.step(optimizer) + fp16_scaler.update() + else: + if cfg.optim.clip_grad: + for v in model.student.values(): + v.clip_grad_norm_(cfg.optim.clip_grad) + optimizer.step() + + # perform teacher EMA update + + model.update_teacher(mom) + + # logging + + if distributed.get_global_size() > 1: + for v in loss_dict.values(): + torch.distributed.all_reduce(v) + loss_dict_reduced = {k: v.item() / distributed.get_global_size() for k, v in loss_dict.items()} + + if math.isnan(sum(loss_dict_reduced.values())): + logger.info("NaN detected") + raise AssertionError + losses_reduced = sum(loss for loss in loss_dict_reduced.values()) + + metric_logger.update(lr=lr) + metric_logger.update(wd=wd) + metric_logger.update(mom=mom) + metric_logger.update(last_layer_lr=last_layer_lr) + metric_logger.update(current_batch_size=current_batch_size) + metric_logger.update(total_loss=losses_reduced, **loss_dict_reduced) + + # checkpointing and testing + + if cfg.evaluation.eval_period_iterations > 0 and (iteration + 1) % cfg.evaluation.eval_period_iterations == 0: + do_test(cfg, model, f"training_{iteration}") + torch.cuda.synchronize() + periodic_checkpointer.step(iteration) + + iteration = iteration + 1 + metric_logger.synchronize_between_processes() + return {k: meter.global_avg for k, meter in metric_logger.meters.items()} + + +def main(args): + cfg = setup(args) + + model = SSLMetaArch(cfg).to(torch.device("cuda")) + model.prepare_for_distributed_training() + + logger.info("Model:\n{}".format(model)) + if args.eval_only: + iteration = ( + FSDPCheckpointer(model, save_dir=cfg.train.output_dir) + .resume_or_load(cfg.MODEL.WEIGHTS, resume=not args.no_resume) + .get("iteration", -1) + + 1 + ) + return do_test(cfg, model, f"manual_{iteration}") + + do_train(cfg, model, resume=not args.no_resume) + + +if __name__ == "__main__": + args = get_args_parser(add_help=True).parse_args() + main(args) diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/utils/__init__.py b/torchhub/facebookresearch_dinov2_main/dinov2/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..0952fcc3f57e34b3747962e9ebd6fc57aeea63fa --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/utils/__init__.py @@ -0,0 +1,5 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/utils/cluster.py b/torchhub/facebookresearch_dinov2_main/dinov2/utils/cluster.py new file mode 100644 index 0000000000000000000000000000000000000000..8d98c05d68aa6e9dc165df3db06bd70d999b3fda --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/utils/cluster.py @@ -0,0 +1,96 @@ +# 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 enum import Enum +import os +from pathlib import Path +from typing import Any, Dict, Optional + + +class ClusterType(Enum): + AWS = "aws" + FAIR = "fair" + RSC = "rsc" + + +def _guess_cluster_type() -> ClusterType: + uname = os.uname() + if uname.sysname == "Linux": + if uname.release.endswith("-aws"): + # Linux kernel versions on AWS instances are of the form "5.4.0-1051-aws" + return ClusterType.AWS + elif uname.nodename.startswith("rsc"): + # Linux kernel versions on RSC instances are standard ones but hostnames start with "rsc" + return ClusterType.RSC + + return ClusterType.FAIR + + +def get_cluster_type(cluster_type: Optional[ClusterType] = None) -> Optional[ClusterType]: + if cluster_type is None: + return _guess_cluster_type() + + return cluster_type + + +def get_checkpoint_path(cluster_type: Optional[ClusterType] = None) -> Optional[Path]: + cluster_type = get_cluster_type(cluster_type) + if cluster_type is None: + return None + + CHECKPOINT_DIRNAMES = { + ClusterType.AWS: "checkpoints", + ClusterType.FAIR: "checkpoint", + ClusterType.RSC: "checkpoint/dino", + } + return Path("/") / CHECKPOINT_DIRNAMES[cluster_type] + + +def get_user_checkpoint_path(cluster_type: Optional[ClusterType] = None) -> Optional[Path]: + checkpoint_path = get_checkpoint_path(cluster_type) + if checkpoint_path is None: + return None + + username = os.environ.get("USER") + assert username is not None + return checkpoint_path / username + + +def get_slurm_partition(cluster_type: Optional[ClusterType] = None) -> Optional[str]: + cluster_type = get_cluster_type(cluster_type) + if cluster_type is None: + return None + + SLURM_PARTITIONS = { + ClusterType.AWS: "learnlab", + ClusterType.FAIR: "learnlab", + ClusterType.RSC: "learn", + } + return SLURM_PARTITIONS[cluster_type] + + +def get_slurm_executor_parameters( + nodes: int, num_gpus_per_node: int, cluster_type: Optional[ClusterType] = None, **kwargs +) -> Dict[str, Any]: + # create default parameters + params = { + "mem_gb": 0, # Requests all memory on a node, see https://slurm.schedmd.com/sbatch.html + "gpus_per_node": num_gpus_per_node, + "tasks_per_node": num_gpus_per_node, # one task per GPU + "cpus_per_task": 10, + "nodes": nodes, + "slurm_partition": get_slurm_partition(cluster_type), + } + # apply cluster-specific adjustments + cluster_type = get_cluster_type(cluster_type) + if cluster_type == ClusterType.AWS: + params["cpus_per_task"] = 12 + del params["mem_gb"] + elif cluster_type == ClusterType.RSC: + params["cpus_per_task"] = 12 + # set additional parameters / apply overrides + params.update(kwargs) + return params diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/utils/config.py b/torchhub/facebookresearch_dinov2_main/dinov2/utils/config.py new file mode 100644 index 0000000000000000000000000000000000000000..c3763a8b0808ad45cbbfc1dcb00d52b00113f9ad --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/utils/config.py @@ -0,0 +1,73 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import math +import logging +import os + +from omegaconf import OmegaConf + +import dinov2.distributed as distributed +from dinov2.logging import setup_logging +from dinov2.utils import utils +from dinov2.configs import dinov2_default_config + + +logger = logging.getLogger("dinov2") + + +def apply_scaling_rules_to_cfg(cfg): # to fix + if cfg.optim.scaling_rule == "sqrt_wrt_1024": + base_lr = cfg.optim.base_lr + cfg.optim.lr = base_lr + cfg.optim.lr *= math.sqrt(cfg.train.batch_size_per_gpu * distributed.get_global_size() / 1024.0) + logger.info(f"sqrt scaling learning rate; base: {base_lr}, new: {cfg.optim.lr}") + else: + raise NotImplementedError + return cfg + + +def write_config(cfg, output_dir, name="config.yaml"): + logger.info(OmegaConf.to_yaml(cfg)) + saved_cfg_path = os.path.join(output_dir, name) + with open(saved_cfg_path, "w") as f: + OmegaConf.save(config=cfg, f=f) + return saved_cfg_path + + +def get_cfg_from_args(args): + args.output_dir = os.path.abspath(args.output_dir) + args.opts += [f"train.output_dir={args.output_dir}"] + default_cfg = OmegaConf.create(dinov2_default_config) + cfg = OmegaConf.load(args.config_file) + cfg = OmegaConf.merge(default_cfg, cfg, OmegaConf.from_cli(args.opts)) + return cfg + + +def default_setup(args): + distributed.enable(overwrite=True) + seed = getattr(args, "seed", 0) + rank = distributed.get_global_rank() + + global logger + setup_logging(output=args.output_dir, level=logging.INFO) + logger = logging.getLogger("dinov2") + + utils.fix_random_seeds(seed + rank) + logger.info("git:\n {}\n".format(utils.get_sha())) + logger.info("\n".join("%s: %s" % (k, str(v)) for k, v in sorted(dict(vars(args)).items()))) + + +def setup(args): + """ + Create configs and perform basic setups. + """ + cfg = get_cfg_from_args(args) + os.makedirs(args.output_dir, exist_ok=True) + default_setup(args) + apply_scaling_rules_to_cfg(cfg) + write_config(cfg, args.output_dir) + return cfg diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/utils/dtype.py b/torchhub/facebookresearch_dinov2_main/dinov2/utils/dtype.py new file mode 100644 index 0000000000000000000000000000000000000000..cef122b25ff3533e004799a1d977f63eb213fee0 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/utils/dtype.py @@ -0,0 +1,38 @@ +# 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 Dict, Union + +import numpy as np +import torch + + +TypeSpec = Union[str, np.dtype, torch.dtype] + + +_NUMPY_TO_TORCH_DTYPE: Dict[np.dtype, torch.dtype] = { + np.dtype("bool"): torch.bool, + np.dtype("uint8"): torch.uint8, + np.dtype("int8"): torch.int8, + np.dtype("int16"): torch.int16, + np.dtype("int32"): torch.int32, + np.dtype("int64"): torch.int64, + np.dtype("float16"): torch.float16, + np.dtype("float32"): torch.float32, + np.dtype("float64"): torch.float64, + np.dtype("complex64"): torch.complex64, + np.dtype("complex128"): torch.complex128, +} + + +def as_torch_dtype(dtype: TypeSpec) -> torch.dtype: + if isinstance(dtype, torch.dtype): + return dtype + if isinstance(dtype, str): + dtype = np.dtype(dtype) + assert isinstance(dtype, np.dtype), f"Expected an instance of nunpy dtype, got {type(dtype)}" + return _NUMPY_TO_TORCH_DTYPE[dtype] diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/utils/param_groups.py b/torchhub/facebookresearch_dinov2_main/dinov2/utils/param_groups.py new file mode 100644 index 0000000000000000000000000000000000000000..d707e70cc11591858d4166410d6ed80621cd49ff --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/utils/param_groups.py @@ -0,0 +1,94 @@ +# 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 collections import defaultdict +import logging + + +logger = logging.getLogger("dinov2") + + +def get_vit_lr_decay_rate(name, lr_decay_rate=1.0, num_layers=12, force_is_backbone=False, chunked_blocks=False): + """ + Calculate lr decay rate for different ViT blocks. + Args: + name (string): parameter name. + lr_decay_rate (float): base lr decay rate. + num_layers (int): number of ViT blocks. + Returns: + lr decay rate for the given parameter. + """ + layer_id = num_layers + 1 + if name.startswith("backbone") or force_is_backbone: + if ".pos_embed" in name or ".patch_embed" in name or ".mask_token" in name or ".cls_token" in name: + layer_id = 0 + elif force_is_backbone and ( + "pos_embed" in name or "patch_embed" in name or "mask_token" in name or "cls_token" in name + ): + layer_id = 0 + elif ".blocks." in name and ".residual." not in name: + layer_id = int(name[name.find(".blocks.") :].split(".")[2]) + 1 + elif chunked_blocks and "blocks." in name and "residual." not in name: + layer_id = int(name[name.find("blocks.") :].split(".")[2]) + 1 + elif "blocks." in name and "residual." not in name: + layer_id = int(name[name.find("blocks.") :].split(".")[1]) + 1 + + return lr_decay_rate ** (num_layers + 1 - layer_id) + + +def get_params_groups_with_decay(model, lr_decay_rate=1.0, patch_embed_lr_mult=1.0): + chunked_blocks = False + if hasattr(model, "n_blocks"): + logger.info("chunked fsdp") + n_blocks = model.n_blocks + chunked_blocks = model.chunked_blocks + elif hasattr(model, "blocks"): + logger.info("first code branch") + n_blocks = len(model.blocks) + elif hasattr(model, "backbone"): + logger.info("second code branch") + n_blocks = len(model.backbone.blocks) + else: + logger.info("else code branch") + n_blocks = 0 + all_param_groups = [] + + for name, param in model.named_parameters(): + name = name.replace("_fsdp_wrapped_module.", "") + if not param.requires_grad: + continue + decay_rate = get_vit_lr_decay_rate( + name, lr_decay_rate, num_layers=n_blocks, force_is_backbone=n_blocks > 0, chunked_blocks=chunked_blocks + ) + d = {"params": param, "is_last_layer": False, "lr_multiplier": decay_rate, "wd_multiplier": 1.0, "name": name} + + if "last_layer" in name: + d.update({"is_last_layer": True}) + + if name.endswith(".bias") or "norm" in name or "gamma" in name: + d.update({"wd_multiplier": 0.0}) + + if "patch_embed" in name: + d.update({"lr_multiplier": d["lr_multiplier"] * patch_embed_lr_mult}) + + all_param_groups.append(d) + logger.info(f"""{name}: lr_multiplier: {d["lr_multiplier"]}, wd_multiplier: {d["wd_multiplier"]}""") + + return all_param_groups + + +def fuse_params_groups(all_params_groups, keys=("lr_multiplier", "wd_multiplier", "is_last_layer")): + fused_params_groups = defaultdict(lambda: {"params": []}) + for d in all_params_groups: + identifier = "" + for k in keys: + identifier += k + str(d[k]) + "_" + + for k in keys: + fused_params_groups[identifier][k] = d[k] + fused_params_groups[identifier]["params"].append(d["params"]) + + return fused_params_groups.values() diff --git a/torchhub/facebookresearch_dinov2_main/dinov2/utils/utils.py b/torchhub/facebookresearch_dinov2_main/dinov2/utils/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..53e63eb427f6d5396c8dc153ab07e825c72b68b4 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/dinov2/utils/utils.py @@ -0,0 +1,96 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# All rights reserved. +# +# This source code is licensed under the license found in the +# LICENSE file in the root directory of this source tree. + +import logging +import os +import random +import subprocess +from urllib.parse import urlparse + +import numpy as np +import torch +from torch import nn + + +logger = logging.getLogger("dinov2") + + +def load_pretrained_weights(model, pretrained_weights, checkpoint_key): + if urlparse(pretrained_weights).scheme: # If it looks like an URL + state_dict = torch.hub.load_state_dict_from_url(pretrained_weights, map_location="cpu") + else: + state_dict = torch.load(pretrained_weights, map_location="cpu") + if checkpoint_key is not None and checkpoint_key in state_dict: + logger.info(f"Take key {checkpoint_key} in provided checkpoint dict") + state_dict = state_dict[checkpoint_key] + # remove `module.` prefix + state_dict = {k.replace("module.", ""): v for k, v in state_dict.items()} + # remove `backbone.` prefix induced by multicrop wrapper + state_dict = {k.replace("backbone.", ""): v for k, v in state_dict.items()} + msg = model.load_state_dict(state_dict, strict=False) + logger.info("Pretrained weights found at {} and loaded with msg: {}".format(pretrained_weights, msg)) + + +def fix_random_seeds(seed=31): + """ + Fix random seeds. + """ + torch.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + np.random.seed(seed) + random.seed(seed) + + +def get_sha(): + cwd = os.path.dirname(os.path.abspath(__file__)) + + def _run(command): + return subprocess.check_output(command, cwd=cwd).decode("ascii").strip() + + sha = "N/A" + diff = "clean" + branch = "N/A" + try: + sha = _run(["git", "rev-parse", "HEAD"]) + subprocess.check_output(["git", "diff"], cwd=cwd) + diff = _run(["git", "diff-index", "HEAD"]) + diff = "has uncommitted changes" if diff else "clean" + branch = _run(["git", "rev-parse", "--abbrev-ref", "HEAD"]) + except Exception: + pass + message = f"sha: {sha}, status: {diff}, branch: {branch}" + return message + + +class CosineScheduler(object): + def __init__(self, base_value, final_value, total_iters, warmup_iters=0, start_warmup_value=0, freeze_iters=0): + super().__init__() + self.final_value = final_value + self.total_iters = total_iters + + freeze_schedule = np.zeros((freeze_iters)) + + warmup_schedule = np.linspace(start_warmup_value, base_value, warmup_iters) + + iters = np.arange(total_iters - warmup_iters - freeze_iters) + schedule = final_value + 0.5 * (base_value - final_value) * (1 + np.cos(np.pi * iters / len(iters))) + self.schedule = np.concatenate((freeze_schedule, warmup_schedule, schedule)) + + assert len(self.schedule) == self.total_iters + + def __getitem__(self, it): + if it >= self.total_iters: + return self.final_value + else: + return self.schedule[it] + + +def has_batchnorms(model): + bn_types = (nn.BatchNorm1d, nn.BatchNorm2d, nn.BatchNorm3d, nn.SyncBatchNorm) + for name, module in model.named_modules(): + if isinstance(module, bn_types): + return True + return False diff --git a/torchhub/facebookresearch_dinov2_main/hubconf.py b/torchhub/facebookresearch_dinov2_main/hubconf.py new file mode 100644 index 0000000000000000000000000000000000000000..b36b42cd2136182ea956d8be785cf492418163d8 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/hubconf.py @@ -0,0 +1,162 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +from enum import Enum +from typing import Union + +import torch + +_DINOV2_BASE_URL = "https://dl.fbaipublicfiles.com/dinov2" + + +def _make_dinov2_model_name(arch_name: str, patch_size: int, num_register_tokens: int = 0) -> str: + compact_arch_name = arch_name.replace("_", "")[:4] + registers_suffix = f"_reg{num_register_tokens}" if num_register_tokens else "" + return f"dinov2_{compact_arch_name}{patch_size}{registers_suffix}" + + +class Weights(Enum): + LVD142M = "LVD142M" + + +def _make_dinov2_model( + *, + arch_name: str = "vit_large", + img_size: int = 518, + patch_size: int = 14, + init_values: float = 1.0, + ffn_layer: str = "mlp", + block_chunks: int = 0, + num_register_tokens: int = 0, + interpolate_antialias: bool = False, + interpolate_offset: float = 0.1, + pretrained: bool = True, + weights: Union[Weights, str] = Weights.LVD142M, + **kwargs, +): + import vision_transformer as vits + + if isinstance(weights, str): + try: + weights = Weights[weights] + except KeyError: + raise AssertionError(f"Unsupported weights: {weights}") + + model_base_name = _make_dinov2_model_name(arch_name, patch_size) + vit_kwargs = dict( + img_size=img_size, + patch_size=patch_size, + init_values=init_values, + ffn_layer=ffn_layer, + block_chunks=block_chunks, + num_register_tokens=num_register_tokens, + interpolate_antialias=interpolate_antialias, + interpolate_offset=interpolate_offset, + ) + vit_kwargs.update(**kwargs) + model = vits.__dict__[arch_name](**vit_kwargs) + + if pretrained: + model_full_name = _make_dinov2_model_name(arch_name, patch_size, num_register_tokens) + url = _DINOV2_BASE_URL + f"/{model_base_name}/{model_full_name}_pretrain.pth" + state_dict = torch.hub.load_state_dict_from_url(url, map_location="cpu") + model.load_state_dict(state_dict, strict=True) + + return model + + +def dinov2_vits14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-S/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_small", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitb14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-B/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_base", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitl14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-L/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model(arch_name="vit_large", pretrained=pretrained, weights=weights, **kwargs) + + +def dinov2_vitg14(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-g/14 model (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_giant2", + ffn_layer="swiglufused", + weights=weights, + pretrained=pretrained, + **kwargs, + ) + + +def dinov2_vits14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-S/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_small", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitb14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-B/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_base", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitl14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-L/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_large", + pretrained=pretrained, + weights=weights, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) + + +def dinov2_vitg14_reg(*, pretrained: bool = True, weights: Union[Weights, str] = Weights.LVD142M, **kwargs): + """ + DINOv2 ViT-g/14 model with registers (optionally) pretrained on the LVD-142M dataset. + """ + return _make_dinov2_model( + arch_name="vit_giant2", + ffn_layer="swiglufused", + weights=weights, + pretrained=pretrained, + num_register_tokens=4, + interpolate_antialias=True, + interpolate_offset=0.0, + **kwargs, + ) diff --git a/torchhub/facebookresearch_dinov2_main/pyproject.toml b/torchhub/facebookresearch_dinov2_main/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..da67abd8ceabe6d427a96e5d9d4f04b25aebcd32 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/pyproject.toml @@ -0,0 +1,29 @@ +[tool.black] +line-length = 120 + +[tool.pylint.master] +persistent = false +score = false + +[tool.pylint.messages_control] +disable = "all" +enable = [ + "miscellaneous", + "similarities", +] + +[tool.pylint.similarities] +ignore-comments = true +ignore-docstrings = true +ignore-imports = true +min-similarity-lines = 8 + +[tool.pylint.reports] +reports = false + +[tool.pylint.miscellaneous] +notes = [ + "FIXME", + "XXX", + "TODO", +] diff --git a/torchhub/facebookresearch_dinov2_main/requirements-dev.txt b/torchhub/facebookresearch_dinov2_main/requirements-dev.txt new file mode 100644 index 0000000000000000000000000000000000000000..5cad34c34cde3a182b616d68b168588827eb9b7c --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/requirements-dev.txt @@ -0,0 +1,3 @@ +black==22.6.0 +flake8==5.0.4 +pylint==2.15.0 diff --git a/torchhub/facebookresearch_dinov2_main/requirements.txt b/torchhub/facebookresearch_dinov2_main/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..04c159c443b89330ff3c84257c41b011f9791257 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/requirements.txt @@ -0,0 +1,11 @@ +--extra-index-url https://download.pytorch.org/whl/cu117 +torch==2.0.0 +torchvision==0.15.0 +omegaconf +torchmetrics==0.10.3 +fvcore +iopath +xformers==0.0.18 +submitit +--extra-index-url https://pypi.nvidia.com +cuml-cu11 diff --git a/torchhub/facebookresearch_dinov2_main/scripts/lint.sh b/torchhub/facebookresearch_dinov2_main/scripts/lint.sh new file mode 100644 index 0000000000000000000000000000000000000000..b91acaf762c4be3a0c9d2a162210bfebfaacba08 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/scripts/lint.sh @@ -0,0 +1,28 @@ +#!/bin/sh + +if [ -n "$1" ]; then + echo "linting \"$1\"" +fi + +echo "running black" +if [ -n "$1" ]; then + black "$1" +else + black dinov2 +fi + +echo "running flake8" +if [ -n "$1" ]; then + flake8 "$1" +else + flake8 +fi + +echo "running pylint" +if [ -n "$1" ]; then + pylint "$1" +else + pylint dinov2 +fi + +exit 0 diff --git a/torchhub/facebookresearch_dinov2_main/setup.cfg b/torchhub/facebookresearch_dinov2_main/setup.cfg new file mode 100644 index 0000000000000000000000000000000000000000..3cac0c045434cde205eebe91fd5a2c35a1226b4b --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/setup.cfg @@ -0,0 +1,7 @@ +[flake8] +max-line-length = 120 +ignore = E203,E501,W503 +per-file-ignores = + __init__.py:F401 +exclude = + venv diff --git a/torchhub/facebookresearch_dinov2_main/setup.py b/torchhub/facebookresearch_dinov2_main/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..001987cfeef6c5fe3469ea09cd4698352fa90939 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/setup.py @@ -0,0 +1,87 @@ +# 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 pathlib import Path +import re +from typing import List, Tuple + +from setuptools import setup, find_packages + + +NAME = "dinov2" +DESCRIPTION = "PyTorch code and models for the DINOv2 self-supervised learning method." + +URL = "https://github.com/facebookresearch/dinov2" +AUTHOR = "FAIR" +REQUIRES_PYTHON = ">=3.9.0" +HERE = Path(__file__).parent + + +try: + with open(HERE / "README.md", encoding="utf-8") as f: + long_description = "\n" + f.read() +except FileNotFoundError: + long_description = DESCRIPTION + + +def get_requirements(path: str = HERE / "requirements.txt") -> Tuple[List[str], List[str]]: + requirements = [] + extra_indices = [] + with open(path) as f: + for line in f.readlines(): + line = line.rstrip("\r\n") + if line.startswith("--extra-index-url "): + extra_indices.append(line[18:]) + continue + requirements.append(line) + return requirements, extra_indices + + +def get_package_version() -> str: + with open(HERE / "dinov2/__init__.py") as f: + result = re.search(r"^__version__ = ['\"]([^'\"]*)['\"]", f.read(), re.M) + if result: + return result.group(1) + raise RuntimeError("Can't get package version") + + +requirements, extra_indices = get_requirements() +version = get_package_version() +dev_requirements, _ = get_requirements(HERE / "requirements-dev.txt") + + +setup( + name=NAME, + version=version, + description=DESCRIPTION, + long_description=long_description, + long_description_content_type="text/markdown", + author=AUTHOR, + python_requires=REQUIRES_PYTHON, + url=URL, + packages=find_packages(), + package_data={ + "": ["*.yaml"], + }, + install_requires=requirements, + dependency_links=extra_indices, + extras_require={ + "dev": dev_requirements, + }, + install_package_data=True, + license="CC-BY-NC", + license_files=("LICENSE",), + classifiers=[ + # Trove classifiers: https://github.com/pypa/trove-classifiers/blob/main/src/trove_classifiers/__init__.py + "Development Status :: 3 - Alpha", + "Intended Audience :: Developers", + "Intended Audience :: Science/Research", + "License :: Other/Proprietary License", + "Programming Language :: Python :: 3.9", + "Topic :: Scientific/Engineering :: Artificial Intelligence", + "Topic :: Software Development :: Libraries :: Python Modules", + ], +) diff --git a/torchhub/facebookresearch_dinov2_main/utils.py b/torchhub/facebookresearch_dinov2_main/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..9c6641404093652d5a2f19b4cf283d976ec39e64 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/utils.py @@ -0,0 +1,39 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +import itertools +import math + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +_DINOV2_BASE_URL = "https://dl.fbaipublicfiles.com/dinov2" + + +def _make_dinov2_model_name(arch_name: str, patch_size: int, num_register_tokens: int = 0) -> str: + compact_arch_name = arch_name.replace("_", "")[:4] + registers_suffix = f"_reg{num_register_tokens}" if num_register_tokens else "" + return f"dinov2_{compact_arch_name}{patch_size}{registers_suffix}" + + +class CenterPadding(nn.Module): + def __init__(self, multiple): + super().__init__() + self.multiple = multiple + + def _get_pad(self, size): + new_size = math.ceil(size / self.multiple) * self.multiple + pad_size = new_size - size + pad_size_left = pad_size // 2 + pad_size_right = pad_size - pad_size_left + return pad_size_left, pad_size_right + + @torch.inference_mode() + def forward(self, x): + pads = list(itertools.chain.from_iterable(self._get_pad(m) for m in x.shape[:1:-1])) + output = F.pad(x, pads) + return output diff --git a/torchhub/facebookresearch_dinov2_main/vision_transformer.py b/torchhub/facebookresearch_dinov2_main/vision_transformer.py new file mode 100644 index 0000000000000000000000000000000000000000..121318f9c77a69a4467888cce44e49549e9954c0 --- /dev/null +++ b/torchhub/facebookresearch_dinov2_main/vision_transformer.py @@ -0,0 +1,395 @@ +# Copyright (c) Meta Platforms, Inc. and affiliates. +# +# This source code is licensed under the Apache License, Version 2.0 +# found in the LICENSE file in the root directory of this source tree. + +# References: +# https://github.com/facebookresearch/dino/blob/main/vision_transformer.py +# https://github.com/rwightman/pytorch-image-models/tree/master/timm/models/vision_transformer.py + +from functools import partial +import math +import logging +from typing import Sequence, Tuple, Union, Callable + +import torch +import torch.nn as nn +import torch.utils.checkpoint +from torch.nn.init import trunc_normal_ + +from dinov2.layers import Mlp, PatchEmbed, SwiGLUFFNFused, MemEffAttention, NestedTensorBlock as Block + + +logger = logging.getLogger("dinov2") + + +def named_apply(fn: Callable, module: nn.Module, name="", depth_first=True, include_root=False) -> nn.Module: + if not depth_first and include_root: + fn(module=module, name=name) + for child_name, child_module in module.named_children(): + child_name = ".".join((name, child_name)) if name else child_name + named_apply(fn=fn, module=child_module, name=child_name, depth_first=depth_first, include_root=True) + if depth_first and include_root: + fn(module=module, name=name) + return module + + +class BlockChunk(nn.ModuleList): + def forward(self, x): + for b in self: + x = b(x) + return x + + +class DinoVisionTransformer(nn.Module): + def __init__( + self, + img_size=224, + patch_size=16, + in_chans=3, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4.0, + qkv_bias=True, + ffn_bias=True, + proj_bias=True, + drop_path_rate=0.0, + drop_path_uniform=False, + init_values=None, # for layerscale: None or 0 => no layerscale + embed_layer=PatchEmbed, + act_layer=nn.GELU, + block_fn=Block, + ffn_layer="mlp", + block_chunks=1, + num_register_tokens=0, + interpolate_antialias=False, + interpolate_offset=0.1, + ): + """ + 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 + num_register_tokens: (int) number of extra cls tokens (so-called "registers") + interpolate_antialias: (str) flag to apply anti-aliasing when interpolating positional embeddings + interpolate_offset: (float) work-around offset to apply when interpolating positional embeddings + """ + super().__init__() + norm_layer = partial(nn.LayerNorm, eps=1e-6) + + self.num_features = self.embed_dim = embed_dim # num_features for consistency with other models + self.num_tokens = 1 + self.n_blocks = depth + self.num_heads = num_heads + self.patch_size = patch_size + self.num_register_tokens = num_register_tokens + self.interpolate_antialias = interpolate_antialias + self.interpolate_offset = interpolate_offset + + self.patch_embed = embed_layer(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 + self.num_tokens, embed_dim)) + assert num_register_tokens >= 0 + self.register_tokens = ( + nn.Parameter(torch.zeros(1, num_register_tokens, embed_dim)) if num_register_tokens else None + ) + + 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)] # stochastic depth decay rule + + if ffn_layer == "mlp": + logger.info("using MLP layer as FFN") + ffn_layer = Mlp + elif ffn_layer == "swiglufused" or ffn_layer == "swiglu": + logger.info("using SwiGLU layer as FFN") + ffn_layer = SwiGLUFFNFused + elif ffn_layer == "identity": + logger.info("using Identity layer as FFN") + + def f(*args, **kwargs): + 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=norm_layer, + act_layer=act_layer, + ffn_layer=ffn_layer, + init_values=init_values, + ) + for i in range(depth) + ] + if block_chunks > 0: + self.chunked_blocks = True + chunked_blocks = [] + chunksize = depth // block_chunks + for i in range(0, depth, chunksize): + # this is to keep the block index consistent if we chunk the block list + chunked_blocks.append([nn.Identity()] * i + blocks_list[i : i + chunksize]) + self.blocks = nn.ModuleList([BlockChunk(p) for p in chunked_blocks]) + else: + self.chunked_blocks = False + self.blocks = nn.ModuleList(blocks_list) + + self.norm = norm_layer(embed_dim) + self.head = nn.Identity() + + self.mask_token = nn.Parameter(torch.zeros(1, embed_dim)) + + self.init_weights() + + def init_weights(self): + trunc_normal_(self.pos_embed, std=0.02) + nn.init.normal_(self.cls_token, std=1e-6) + if self.register_tokens is not None: + nn.init.normal_(self.register_tokens, std=1e-6) + named_apply(init_weights_vit_timm, self) + + def interpolate_pos_encoding(self, x, w, h): + previous_dtype = x.dtype + npatch = x.shape[1] - 1 + N = self.pos_embed.shape[1] - 1 + if npatch == N and w == h: + return self.pos_embed + 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 + # we add a small number to avoid floating point error in the interpolation + # see discussion at https://github.com/facebookresearch/dino/issues/8 + # DINOv2 with register modify the interpolate_offset from 0.1 to 0.0 + w0, h0 = w0 + self.interpolate_offset, h0 + self.interpolate_offset + # w0, h0 = w0 + 0.1, h0 + 0.1 + + sqrt_N = math.sqrt(N) + sx, sy = float(w0) / sqrt_N, float(h0) / sqrt_N + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape(1, int(sqrt_N), int(sqrt_N), dim).permute(0, 3, 1, 2), + scale_factor=(sx, sy), + # (int(w0), int(h0)), # to solve the upsampling shape issue + mode="bicubic", + antialias=self.interpolate_antialias + ) + + assert int(w0) == patch_pos_embed.shape[-2] + assert int(h0) == patch_pos_embed.shape[-1] + 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 prepare_tokens_with_masks(self, x, masks=None): + B, nc, w, h = x.shape + x = self.patch_embed(x) + if masks is not None: + x = torch.where(masks.unsqueeze(-1), self.mask_token.to(x.dtype).unsqueeze(0), x) + + x = torch.cat((self.cls_token.expand(x.shape[0], -1, -1), x), dim=1) + x = x + self.interpolate_pos_encoding(x, w, h) + + if self.register_tokens is not None: + x = torch.cat( + ( + x[:, :1], + self.register_tokens.expand(x.shape[0], -1, -1), + x[:, 1:], + ), + dim=1, + ) + + return x + + def forward_features_list(self, x_list, masks_list): + x = [self.prepare_tokens_with_masks(x, masks) for x, masks in zip(x_list, masks_list)] + for blk in self.blocks: + x = blk(x) + + all_x = x + output = [] + for x, masks in zip(all_x, masks_list): + x_norm = self.norm(x) + output.append( + { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + ) + return output + + def forward_features(self, x, masks=None): + if isinstance(x, list): + return self.forward_features_list(x, masks) + + x = self.prepare_tokens_with_masks(x, masks) + + for blk in self.blocks: + x = blk(x) + + x_norm = self.norm(x) + return { + "x_norm_clstoken": x_norm[:, 0], + "x_norm_regtokens": x_norm[:, 1 : self.num_register_tokens + 1], + "x_norm_patchtokens": x_norm[:, self.num_register_tokens + 1 :], + "x_prenorm": x, + "masks": masks, + } + + def _get_intermediate_layers_not_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + # If n is an int, take the n last blocks. If it's a list, take them + output, total_block_len = [], len(self.blocks) + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for i, blk in enumerate(self.blocks): + x = blk(x) + if i in blocks_to_take: + output.append(x) + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def _get_intermediate_layers_chunked(self, x, n=1): + x = self.prepare_tokens_with_masks(x) + output, i, total_block_len = [], 0, len(self.blocks[-1]) + # If n is an int, take the n last blocks. If it's a list, take them + blocks_to_take = range(total_block_len - n, total_block_len) if isinstance(n, int) else n + for block_chunk in self.blocks: + for blk in block_chunk[i:]: # Passing the nn.Identity() + x = blk(x) + if i in blocks_to_take: + output.append(x) + i += 1 + assert len(output) == len(blocks_to_take), f"only {len(output)} / {len(blocks_to_take)} blocks found" + return output + + def get_intermediate_layers( + self, + x: torch.Tensor, + n: Union[int, Sequence] = 1, # Layers or n last layers to take + reshape: bool = False, + return_class_token: bool = False, + norm=True, + ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: + if self.chunked_blocks: + outputs = self._get_intermediate_layers_chunked(x, n) + else: + outputs = self._get_intermediate_layers_not_chunked(x, n) + if norm: + outputs = [self.norm(out) for out in outputs] + class_tokens = [out[:, 0] for out in outputs] + outputs = [out[:, 1 + self.num_register_tokens:] for out in outputs] + if reshape: + B, _, w, h = x.shape + outputs = [ + out.reshape(B, w // self.patch_size, h // self.patch_size, -1).permute(0, 3, 1, 2).contiguous() + for out in outputs + ] + if return_class_token: + return tuple(zip(outputs, class_tokens)) + return tuple(outputs) + + def forward(self, *args, is_training=False, **kwargs): + ret = self.forward_features(*args, **kwargs) + if is_training: + return ret + else: + return self.head(ret["x_norm_clstoken"]) + + +def init_weights_vit_timm(module: nn.Module, name: str = ""): + """ViT weight initialization, original timm impl (for reproducibility)""" + if isinstance(module, nn.Linear): + trunc_normal_(module.weight, std=0.02) + if module.bias is not None: + nn.init.zeros_(module.bias) + + +def vit_small(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=384, + depth=12, + num_heads=6, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_base(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_large(patch_size=16, num_register_tokens=0, **kwargs): + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1024, + depth=24, + num_heads=16, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model + + +def vit_giant2(patch_size=16, num_register_tokens=0, **kwargs): + """ + Close to ViT-giant, with embed-dim 1536 and 24 heads => embed-dim per head 64 + """ + model = DinoVisionTransformer( + patch_size=patch_size, + embed_dim=1536, + depth=40, + num_heads=24, + mlp_ratio=4, + block_fn=partial(Block, attn_class=MemEffAttention), + num_register_tokens=num_register_tokens, + **kwargs, + ) + return model