923 lines
44 KiB
Python
923 lines
44 KiB
Python
# --------------------------------------------------------
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# SEEM -- Segment Everything Everywhere All at Once
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# Licensed under The Apache License 2.0 [see LICENSE for details]
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# Written by Xueyan Zou (xueyan@cs.wisc.edu)
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# --------------------------------------------------------
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import random
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from typing import Tuple
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import numpy as np
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import torch
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from torch import nn
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from torch.nn import functional as F
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from kornia.contrib import distance_transform
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from detectron2.structures import Boxes, ImageList, Instances, BitMasks
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from detectron2.utils.memory import retry_if_cuda_oom
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from detectron2.data import MetadataCatalog
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from .build import register_model
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from ..utils import configurable, get_class_names, get_iou
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from ..vision.backbone import build_backbone, Backbone
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from ..body import build_xdecoder_head
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from ..modules import sem_seg_postprocess, SetCriterion, HungarianMatcher, bbox_postprocess
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from ..language import build_language_encoder
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from ..language.loss import vl_similarity
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from utils.prompt_engineering import prompt_engineering
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from utils.constants import COCO_PANOPTIC_CLASSES
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class GeneralizedSEEM(nn.Module):
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@configurable
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def __init__(
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self,
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*,
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backbone: Backbone,
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sem_seg_head: nn.Module,
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criterion: nn.Module,
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losses: dict,
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num_queries: int,
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object_mask_threshold: float,
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overlap_threshold: float,
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metadata,
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task_switch: dict,
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phrase_prob: float,
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size_divisibility: int,
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sem_seg_postprocess_before_inference: bool,
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pixel_mean: Tuple[float],
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pixel_std: Tuple[float],
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# inference
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semantic_on: bool,
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panoptic_on: bool,
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instance_on: bool,
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test_topk_per_image: int,
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train_dataset_name: str,
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interactive_mode: str,
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interactive_iter: str,
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dilation_kernel: torch.Tensor,
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):
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super().__init__()
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self.backbone = backbone
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self.sem_seg_head = sem_seg_head
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self.criterion = criterion
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self.losses = losses
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self.num_queries = num_queries
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self.overlap_threshold = overlap_threshold
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self.object_mask_threshold = object_mask_threshold
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self.metadata = metadata
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if size_divisibility < 0:
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# use backbone size_divisibility if not set
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size_divisibility = self.backbone.size_divisibility
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self.size_divisibility = size_divisibility
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self.sem_seg_postprocess_before_inference = sem_seg_postprocess_before_inference
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self.register_buffer("pixel_mean", torch.Tensor(pixel_mean).view(-1, 1, 1), False)
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self.register_buffer("pixel_std", torch.Tensor(pixel_std).view(-1, 1, 1), False)
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# additional args
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self.semantic_on = semantic_on
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self.instance_on = instance_on
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self.panoptic_on = panoptic_on
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# caption argument
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self.task_switch = task_switch
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self.phrase_prob = phrase_prob
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self.test_topk_per_image = test_topk_per_image
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self.train_class_names = None
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self.interactive_mode = interactive_mode
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self.interactive_iter = interactive_iter
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if not self.semantic_on:
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assert self.sem_seg_postprocess_before_inference
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self.register_buffer("dilation_kernel", dilation_kernel)
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@classmethod
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def from_config(cls, cfg):
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enc_cfg = cfg['MODEL']['ENCODER']
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dec_cfg = cfg['MODEL']['DECODER']
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openimage_switch = {'grounding': dec_cfg['OPENIMAGE']['GROUNDING'].get('ENABLED', False),
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'mask': dec_cfg['OPENIMAGE'].get('ENABLED', False)}
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task_switch = {'bbox': dec_cfg.get('DETECTION', False),
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'mask': dec_cfg.get('MASK', True),
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'spatial': dec_cfg['SPATIAL'].get('ENABLED', False),
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'grounding': dec_cfg['GROUNDING'].get('ENABLED', False),
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'openimage': openimage_switch,
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'visual': dec_cfg['VISUAL'].get('ENABLED', False),
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'audio': dec_cfg['AUDIO'].get('ENABLED', False)}
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# build model
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extra = {'task_switch': task_switch}
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backbone = build_backbone(cfg)
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lang_encoder = build_language_encoder(cfg)
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sem_seg_head = build_xdecoder_head(cfg, backbone.output_shape(), lang_encoder, extra=extra)
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# Training Settings.
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loss_weights = {}
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matcher = None
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losses = {}
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weight_dict = {}
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grd_weight = {}
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top_x_layers = {}
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criterion = None
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train_dataset_name = None
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phrase_prob = None
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# Loss parameters:
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deep_supervision = None
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no_object_weight = None
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interactive_mode = 'best'
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interactive_iter = 20
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dilation = 3
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dilation_kernel = torch.ones((1, 1, dilation, dilation), device=torch.cuda.current_device())
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return {
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"backbone": backbone,
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"sem_seg_head": sem_seg_head,
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"criterion": criterion,
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"losses": losses,
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"num_queries": dec_cfg['NUM_OBJECT_QUERIES'],
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"object_mask_threshold": dec_cfg['TEST']['OBJECT_MASK_THRESHOLD'],
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"overlap_threshold": dec_cfg['TEST']['OVERLAP_THRESHOLD'],
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"metadata": None,
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"size_divisibility": dec_cfg['SIZE_DIVISIBILITY'],
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"sem_seg_postprocess_before_inference": (
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dec_cfg['TEST']['SEM_SEG_POSTPROCESSING_BEFORE_INFERENCE']
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or dec_cfg['TEST']['PANOPTIC_ON']
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or dec_cfg['TEST']['INSTANCE_ON']
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),
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"pixel_mean": cfg['INPUT']['PIXEL_MEAN'],
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"pixel_std": cfg['INPUT']['PIXEL_STD'],
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"task_switch": task_switch,
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"phrase_prob": phrase_prob,
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# inference
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"semantic_on": dec_cfg['TEST']['SEMANTIC_ON'],
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"instance_on": dec_cfg['TEST']['INSTANCE_ON'],
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"panoptic_on": dec_cfg['TEST']['PANOPTIC_ON'],
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"test_topk_per_image": cfg['MODEL']['DECODER']['TEST']['DETECTIONS_PER_IMAGE'],
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"train_dataset_name": train_dataset_name,
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"interactive_mode": interactive_mode,
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"interactive_iter": interactive_iter,
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"dilation_kernel": dilation_kernel,
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}
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@property
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def device(self):
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return self.pixel_mean.device
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def forward(self, batched_inputs, mode='default'):
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if self.training:
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losses = {}
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if self.task_switch['mask']:
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losses_seg = self.forward_seg(batched_inputs)
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losses.update(losses_seg)
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if self.task_switch['openimage'] and self.task_switch['openimage']['mask']:
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losses_openimage = self.forward_openimage(batched_inputs['openimage'])
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losses_openimage = {key.replace('mask', 'openimage'):value for key, value in losses_openimage.items()}
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losses_openimage = {key.replace('grounding', 'grounding_openimage'):value for key, value in losses_openimage.items()}
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losses.update(losses_openimage)
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for k in list(losses.keys()):
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if k in self.criterion.weight_dict:
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losses[k] *= self.criterion.weight_dict[k]
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else: # remove this loss if not specified in `weight_dict`
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losses.pop(k)
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return losses
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else:
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if mode == 'interactive':
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return self.evaluate_interactive(batched_inputs)
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elif mode == 'grounding_spatial':
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return self.evaluate_grounding_sptial(batched_inputs, mode)
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elif mode in ['grounding_phrasecut', 'grounding_refcoco']:
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return self.evaluate_grounding(batched_inputs, mode)
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else:
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return self.evaluate(batched_inputs)
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def forward_seg(self, batched_inputs):
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images = [x["image"].to(self.device) for x in batched_inputs]
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images = [(x - self.pixel_mean) / self.pixel_std for x in images]
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images = ImageList.from_tensors(images, self.size_divisibility)
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self.sem_seg_head.predictor.lang_encoder.get_text_embeddings(self.train_class_names, is_eval=False)
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extra = {}
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# mask classification target
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if "instances" in batched_inputs[0]:
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# input bounding box is checked to be correct.
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targets = self.prepare_targets(batched_inputs, images)
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if self.task_switch['grounding']:
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grounding_tokens = [x['grounding_query_embs'] for x in targets] # need to pad for more than one grounding token
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grounding_tokens = nn.utils.rnn.pad_sequence(grounding_tokens, padding_value=-1)
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non_zero_query_mask = (grounding_tokens.sum(dim=-1) == -grounding_tokens.shape[-1])
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grounding_tokens[non_zero_query_mask] = 0
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extra['grounding_tokens'] = grounding_tokens
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extra['grounding_nonzero_mask'] = non_zero_query_mask.t()
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if self.task_switch['spatial']:
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pos_masks = [x['spatial_query']['rand_shape'].to(self.device) for x in batched_inputs]
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neg_masks = [(x['spatial_query']['rand_shape'].to(self.device) & False) for x in batched_inputs]
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fp_masks = torch.stack([(x['spatial_query']['rand_shape'].to(self.device) & False) for x in batched_inputs])
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extra.update({'spatial_query_pos_mask': pos_masks, 'spatial_query_neg_mask': neg_masks, 'false_positive_mask': fp_masks})
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features = self.backbone(images.tensor)
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mask_features, _, multi_scale_features = self.sem_seg_head.pixel_decoder.forward_features(features)
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# forward spatial only without gradient
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if self.task_switch['spatial']:
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with torch.no_grad():
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# generate random integeter between [0,3]
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rand_iter_num = random.randint(0, 2)
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for i in range(rand_iter_num):
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outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, extra=extra, task='spatial')
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extra.update(outputs)
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extra.update(self.prepare_next_spaital_mask(extra, batched_inputs))
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outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, extra=extra, task='seg')
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extra = {'lang_logit': self.sem_seg_head.predictor.lang_encoder.logit_scale,
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'class_embeddings': getattr(self.sem_seg_head.predictor.lang_encoder, '{}_text_embeddings'.format('default')),
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'false_positive_mask': extra['false_positive_mask']}
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# bipartite matching-based loss
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self.criterion.losses = self.losses['seg'] # seg criterion losses
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losses = self.criterion(outputs, targets, extra)
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del outputs
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return losses
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def evaluate_demo(self, batched_inputs):
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assert len(batched_inputs) == 1, "only support batch size equal to 1"
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images = [x["image"].to(self.device) for x in batched_inputs]
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images = [(x - self.pixel_mean) / self.pixel_std for x in images]
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images = ImageList.from_tensors(images, self.size_divisibility)
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img_bs = images.tensor.shape[0]
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targets = targets_grounding = queries_grounding = None
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features = self.backbone(images.tensor)
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mask_features, transformer_encoder_features, multi_scale_features = self.sem_seg_head.pixel_decoder.forward_features(features)
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image_sizes = [x["image"].shape[-2:] for x in batched_inputs]
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extra = {}
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if 'stroke' in batched_inputs[0]:
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pos_masks = (batched_inputs[0]['stroke'].to(self.device)).unbind(0)
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pos_masks = ImageList.from_tensors(pos_masks, self.size_divisibility).tensor.unbind(0)
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neg_masks = (batched_inputs[0]['stroke'].to(self.device) & False).unbind(0)
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neg_masks = ImageList.from_tensors(neg_masks, self.size_divisibility).tensor.unbind(0)
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extra.update({'spatial_query_pos_mask': pos_masks, 'spatial_query_neg_mask': neg_masks})
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if 'visual' in batched_inputs[0]:
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extra.update(batched_inputs[0]['visual'])
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if 'text' in batched_inputs[0]:
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gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings(batched_inputs[0]['text'], name='grounding', token=False, norm=False)
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token_emb = gtext['token_emb']
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tokens = gtext['tokens']
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query_emb = token_emb[tokens['attention_mask'].bool()]
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non_zero_query_mask = torch.zeros(query_emb[:,None].shape[:-1], dtype=torch.bool, device=query_emb.device)
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extra['grounding_tokens'] = query_emb[:,None]
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extra['grounding_nonzero_mask'] = non_zero_query_mask.t()
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extra['grounding_class'] = gtext['class_emb']
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if 'audio' in batched_inputs[0]:
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gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings(batched_inputs[0]['audio'], name='grounding', token=False, norm=False)
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token_emb = gtext['token_emb']
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tokens = gtext['tokens']
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query_emb = token_emb[tokens['attention_mask'].bool()]
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non_zero_query_mask = torch.zeros(query_emb[:,None].shape[:-1], dtype=torch.bool, device=query_emb.device)
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extra['audio_tokens'] = query_emb[:,None]
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extra['audio_nonzero_mask'] = non_zero_query_mask.t()
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extra['audio_class'] = gtext['class_emb']
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outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, target_queries=queries_grounding, extra=extra, task='demo')
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return outputs, images.tensor.shape, extra
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assert self.task_switch['spatial']
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assert 'spatial_query' in batched_inputs[0]
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assert len(batched_inputs) == 1, "only support batch size equal to 1"
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images = [x["image"].to(self.device) for x in batched_inputs]
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images = [(x - self.pixel_mean) / self.pixel_std for x in images]
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images = ImageList.from_tensors(images, self.size_divisibility)
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img_bs = images.tensor.shape[0]
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targets = targets_grounding = queries_grounding = None
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extra = {}
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features = self.backbone(images.tensor)
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mask_features, transformer_encoder_features, multi_scale_features = self.sem_seg_head.pixel_decoder.forward_features(features)
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image_sizes = [x["image"].shape[-2:] for x in batched_inputs]
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nm = len(batched_inputs[0]['spatial_query']['rand_shape'])
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multi_scale_features = [m.repeat(nm,1,1,1) for m in multi_scale_features]
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mask_features = mask_features.repeat(nm,1,1,1)
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all_batch_shape_iou = []
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pred_smask_pointer = None
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prev_smask_pointer = None
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pred_smask_all = None
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query_index = self.sem_seg_head.predictor.query_index
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assert self.interactive_mode == 'best'
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pos_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device)).unbind(0)
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pos_masks = ImageList.from_tensors(pos_masks, self.size_divisibility).tensor.unbind(0)
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neg_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device) & False).unbind(0)
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neg_masks = ImageList.from_tensors(neg_masks, self.size_divisibility).tensor.unbind(0)
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extra.update({'spatial_query_pos_mask': pos_masks, 'spatial_query_neg_mask': neg_masks})
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for i in range(self.interactive_iter):
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outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, target_queries=queries_grounding, extra=extra, task='spatial')
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extra.update(outputs)
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pred_smask = F.interpolate(outputs['prev_mask'], images.tensor.shape[-2:], mode='bicubic')
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s = image_sizes[0]
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b = batched_inputs[0]
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pred_smask_all = F.interpolate(pred_smask[:,:,:s[0],:s[1]], (b['height'], b['width']), mode='bicubic')[:,0].sigmoid() > 0.5
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gt_smask = b['gt_masks_orisize']
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all_batch_shape_iou += [get_iou(gt_smask, pred_smask_all)]
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extra.update(self.prepare_next_spaital_mask(extra, batched_inputs))
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all_batch_shape_iou = torch.stack(all_batch_shape_iou)
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processed_results = [{"mask_iou": all_batch_shape_iou[:,i]} for i in range(len(all_batch_shape_iou[0]))]
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return processed_results
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def evaluate(self, batched_inputs):
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images = [x["image"].to(self.device) for x in batched_inputs]
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images = [(x - self.pixel_mean) / self.pixel_std for x in images]
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images = ImageList.from_tensors(images, self.size_divisibility)
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img_bs = images.tensor.shape[0]
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targets = targets_grounding = queries_grounding = None
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features = self.backbone(images.tensor)
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outputs = self.sem_seg_head(features, target_queries=queries_grounding)
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mask_cls_results = outputs["pred_logits"]
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mask_pred_results = outputs["pred_masks"]
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box_pred_results = outputs["pred_boxes"] if self.task_switch['bbox'] else [None for i in range(len(mask_pred_results))]
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# upsample masks
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mask_pred_results = F.interpolate(
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mask_pred_results,
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size=(images.tensor.shape[-2], images.tensor.shape[-1]),
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mode="bilinear",
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align_corners=False,
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)
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input_size = mask_pred_results.shape[-2:]
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del outputs
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processed_results = []
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for mask_cls_result, mask_pred_result, box_pred_result, input_per_image, image_size in zip(
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mask_cls_results, mask_pred_results, box_pred_results, batched_inputs, images.image_sizes
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):
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height = input_per_image.get("height", image_size[0])
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width = input_per_image.get("width", image_size[1])
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processed_results.append({})
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if self.sem_seg_postprocess_before_inference:
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mask_pred_result = retry_if_cuda_oom(sem_seg_postprocess)(
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mask_pred_result, image_size, height, width
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)
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mask_cls_result = mask_cls_result.to(mask_pred_result)
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# semantic segmentation inference
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if self.semantic_on:
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r = retry_if_cuda_oom(self.semantic_inference)(mask_cls_result, mask_pred_result)
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if not self.sem_seg_postprocess_before_inference:
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r = retry_if_cuda_oom(sem_seg_postprocess)(r, image_size, height, width)
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processed_results[-1]["sem_seg"] = r
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# panoptic segmentation inference
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if self.panoptic_on:
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panoptic_r = retry_if_cuda_oom(self.panoptic_inference)(mask_cls_result, mask_pred_result)
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processed_results[-1]["panoptic_seg"] = panoptic_r
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# instance segmentation inference
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if self.instance_on:
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if self.task_switch['bbox']:
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box_pred_result = bbox_postprocess(box_pred_result, input_size, image_size, height, width)
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instance_r = retry_if_cuda_oom(self.instance_inference)(mask_cls_result, mask_pred_result, box_pred_result)
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processed_results[-1]["instances"] = instance_r
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return processed_results
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def evaluate_interactive(self, batched_inputs):
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assert self.task_switch['spatial']
|
|
assert 'spatial_query' in batched_inputs[0]
|
|
assert len(batched_inputs) == 1, "only support batch size equal to 1"
|
|
|
|
images = [x["image"].to(self.device) for x in batched_inputs]
|
|
images = [(x - self.pixel_mean) / self.pixel_std for x in images]
|
|
images = ImageList.from_tensors(images, self.size_divisibility)
|
|
img_bs = images.tensor.shape[0]
|
|
|
|
targets = targets_grounding = queries_grounding = None
|
|
extra = {}
|
|
|
|
features = self.backbone(images.tensor)
|
|
mask_features, transformer_encoder_features, multi_scale_features = self.sem_seg_head.pixel_decoder.forward_features(features)
|
|
|
|
image_sizes = [x["image"].shape[-2:] for x in batched_inputs]
|
|
nm = len(batched_inputs[0]['spatial_query']['rand_shape'])
|
|
multi_scale_features = [m.repeat(nm,1,1,1) for m in multi_scale_features]
|
|
mask_features = mask_features.repeat(nm,1,1,1)
|
|
|
|
all_batch_shape_iou = []
|
|
pred_smask_pointer = None
|
|
prev_smask_pointer = None
|
|
pred_smask_all = None
|
|
|
|
query_index = self.sem_seg_head.predictor.query_index
|
|
assert self.interactive_mode == 'best'
|
|
pos_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device)).unbind(0)
|
|
pos_masks = ImageList.from_tensors(pos_masks, self.size_divisibility).tensor.unbind(0)
|
|
|
|
neg_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device) & False).unbind(0)
|
|
neg_masks = ImageList.from_tensors(neg_masks, self.size_divisibility).tensor.unbind(0)
|
|
extra.update({'spatial_query_pos_mask': pos_masks, 'spatial_query_neg_mask': neg_masks})
|
|
|
|
for i in range(self.interactive_iter):
|
|
outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, target_queries=queries_grounding, extra=extra, task='spatial')
|
|
extra.update(outputs)
|
|
pred_smask = F.interpolate(outputs['prev_mask'], images.tensor.shape[-2:], mode='bicubic')
|
|
|
|
s = image_sizes[0]
|
|
b = batched_inputs[0]
|
|
pred_smask_all = F.interpolate(pred_smask[:,:,:s[0],:s[1]], (b['height'], b['width']), mode='bicubic')[:,0].sigmoid() > 0.5
|
|
gt_smask = b['gt_masks_orisize']
|
|
all_batch_shape_iou += [get_iou(gt_smask, pred_smask_all)]
|
|
extra.update(self.prepare_next_spaital_mask(extra, batched_inputs))
|
|
|
|
all_batch_shape_iou = torch.stack(all_batch_shape_iou)
|
|
processed_results = [{"mask_iou": all_batch_shape_iou[:,i]} for i in range(len(all_batch_shape_iou[0]))]
|
|
return processed_results
|
|
|
|
def evaluate_referring_image(self, batched_inputs, extra={}):
|
|
assert self.task_switch['spatial']
|
|
assert len(batched_inputs) == 1, "only support batch size equal to 1"
|
|
assert self.interactive_mode == 'best'
|
|
|
|
images = [x["image"].to(self.device) for x in batched_inputs]
|
|
images = [(x - self.pixel_mean) / self.pixel_std for x in images]
|
|
images = ImageList.from_tensors(images, self.size_divisibility)
|
|
img_bs = images.tensor.shape[0]
|
|
|
|
targets = targets_grounding = queries_grounding = None
|
|
features = self.backbone(images.tensor)
|
|
mask_features, transformer_encoder_features, multi_scale_features = self.sem_seg_head.pixel_decoder.forward_features(features)
|
|
|
|
if 'spatial_query' in batched_inputs[0]:
|
|
image_sizes = [x["image"].shape[-2:] for x in batched_inputs]
|
|
nm = len(batched_inputs[0]['spatial_query']['rand_shape'])
|
|
multi_scale_features = [m.repeat(nm,1,1,1) for m in multi_scale_features]
|
|
mask_features = mask_features.repeat(nm,1,1,1)
|
|
|
|
query_index = self.sem_seg_head.predictor.query_index
|
|
pos_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device)).unbind(0)
|
|
pos_masks = ImageList.from_tensors(pos_masks, self.size_divisibility).tensor.unbind(0)
|
|
|
|
neg_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device) & False).unbind(0)
|
|
neg_masks = ImageList.from_tensors(neg_masks, self.size_divisibility).tensor.unbind(0)
|
|
extra.update({'spatial_query_pos_mask': pos_masks, 'spatial_query_neg_mask': neg_masks})
|
|
|
|
outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, target_queries=queries_grounding, extra=extra, task='refimg')
|
|
return outputs, images.tensor.shape
|
|
|
|
def evaluate_grounding(self, batched_inputs, mode):
|
|
images = [x["image"].to(self.device) for x in batched_inputs]
|
|
images = [(x - self.pixel_mean) / self.pixel_std for x in images]
|
|
images = ImageList.from_tensors(images, self.size_divisibility)
|
|
assert len(images.tensor) == 1, "grounding evaluation only support single batch size now"
|
|
|
|
extra = {}
|
|
# mask_pred_results = []
|
|
# for idx, batch_per_image in enumerate(batched_inputs):
|
|
# grd_texts = batch_per_image['groundings']['texts']
|
|
# grd_masks = []
|
|
# for anno_text in grd_texts:
|
|
# gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings([anno_text[0]], name='grounding', token=False, norm=False)
|
|
# token_emb = gtext['token_emb']
|
|
# tokens = gtext['tokens']
|
|
|
|
# grd_emb = token_emb[0][tokens['attention_mask'].bool()[0]]
|
|
# extra['grounding_tokens'] = grd_emb[:,None]
|
|
|
|
# assert len(images.tensor) == 1, "grounding evaluation only support single batch size now"
|
|
# features = self.backbone(images.tensor)
|
|
# outputs = self.sem_seg_head(features, extra=extra, task='grounding_eval')
|
|
|
|
# pred_gmasks = outputs['pred_masks'][idx,self.num_queries:2*self.num_queries-1]
|
|
# v_emb = outputs['pred_captions'][idx,self.num_queries:2*self.num_queries-1]
|
|
# t_emb = grd_emb[-1:]
|
|
|
|
# t_emb = t_emb / (t_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
# v_emb = v_emb / (v_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
|
|
# temperature = self.sem_seg_head.predictor.lang_encoder.logit_scale
|
|
# out_prob = vl_similarity(v_emb, t_emb, temperature=temperature)
|
|
|
|
# matched_id = out_prob.max(0)[1]
|
|
# grd_masks += [pred_gmasks[matched_id,:,:]]
|
|
# mask_pred_results += [torch.cat(grd_masks)]
|
|
|
|
# comment for multi object inference.
|
|
mask_pred_results = []
|
|
for idx, batch_per_image in enumerate(batched_inputs):
|
|
grd_texts = batch_per_image['groundings']['texts']
|
|
grd_texts = [x[0] for x in grd_texts]
|
|
|
|
gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings(grd_texts, name='grounding', token=False, norm=False)
|
|
token_emb = gtext['token_emb']
|
|
tokens = gtext['tokens']
|
|
query_emb = token_emb[tokens['attention_mask'].bool()]
|
|
non_zero_query_mask = torch.zeros(query_emb[:,None].shape[:-1], dtype=torch.bool, device=query_emb.device)
|
|
|
|
extra['grounding_tokens'] = query_emb[:,None]
|
|
extra['grounding_nonzero_mask'] = non_zero_query_mask.t()
|
|
|
|
features = self.backbone(images.tensor)
|
|
outputs = self.sem_seg_head(features, extra=extra, task='grounding_eval')
|
|
|
|
pred_gmasks = outputs['pred_gmasks'][idx]
|
|
v_emb = outputs['pred_gtexts'][idx]
|
|
t_emb = gtext['class_emb']
|
|
|
|
t_emb = t_emb / (t_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
v_emb = v_emb / (v_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
|
|
temperature = self.sem_seg_head.predictor.lang_encoder.logit_scale
|
|
out_prob = vl_similarity(v_emb, t_emb, temperature=temperature)
|
|
|
|
matched_id = out_prob.max(0)[1]
|
|
mask_pred_results += [pred_gmasks[matched_id,:,:]]
|
|
|
|
for i in range(len(mask_pred_results)):
|
|
# upsample masks
|
|
mask_pred_results[i] = F.interpolate(
|
|
mask_pred_results[i][None,],
|
|
size=(images.tensor.shape[-2], images.tensor.shape[-1]),
|
|
mode="bilinear",
|
|
align_corners=False,
|
|
)[0]
|
|
|
|
processed_results = []
|
|
for mask_pred_result, input_per_image, image_size in zip(
|
|
mask_pred_results, batched_inputs, images.image_sizes
|
|
):
|
|
height = input_per_image.get("height", image_size[0])
|
|
width = input_per_image.get("width", image_size[1])
|
|
processed_results.append({})
|
|
|
|
mask_pred_result = retry_if_cuda_oom(sem_seg_postprocess)(
|
|
mask_pred_result, image_size, height, width
|
|
)
|
|
processed_results[-1]['grounding_mask'] = mask_pred_result
|
|
|
|
# compute bbox
|
|
# bbox = BitMasks(mask_pred_result > 0).get_bounding_boxes()
|
|
# bbox = BoxMode.convert(bbox.tensor, BoxMode.XYXY_ABS, BoxMode.XYWH_ABS)
|
|
# processed_results[-1]['grounding_box'] = bbox
|
|
|
|
return processed_results
|
|
|
|
def evaluate_grounding_sptial(self, batched_inputs, mode):
|
|
images = [x["image"].to(self.device) for x in batched_inputs]
|
|
images = [(x - self.pixel_mean) / self.pixel_std for x in images]
|
|
images = ImageList.from_tensors(images, self.size_divisibility)
|
|
assert len(images.tensor) == 1, "grounding evaluation only support single batch size now"
|
|
|
|
extra = {}
|
|
dilation = 3
|
|
pos_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device)).unbind(0)
|
|
pos_masks = ImageList.from_tensors(pos_masks, self.size_divisibility).tensor
|
|
pos_masks = (F.conv2d(pos_masks.float(), self.dilation_kernel, padding=dilation//2) > 0).unbind(0)
|
|
|
|
neg_masks = (batched_inputs[0]['spatial_query']['rand_shape'].to(self.device) & False).unbind(0)
|
|
neg_masks = ImageList.from_tensors(neg_masks, self.size_divisibility).tensor.unbind(0)
|
|
|
|
mask_pred_results = []
|
|
for idx, batch_per_image in enumerate(batched_inputs):
|
|
grd_texts = batch_per_image['groundings']['texts']
|
|
grd_masks = []
|
|
for idx2, anno_text in enumerate(grd_texts):
|
|
extra.update({'spatial_query_pos_mask': [pos_masks[idx2]], 'spatial_query_neg_mask': [neg_masks[idx2]]})
|
|
|
|
gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings([anno_text[0]], name='grounding', token=False, norm=False)
|
|
token_emb = gtext['token_emb']
|
|
tokens = gtext['tokens']
|
|
|
|
grd_emb = token_emb[0][tokens['attention_mask'].bool()[0]]
|
|
non_zero_query_mask = torch.zeros(grd_emb[:,None].shape[:-1], dtype=torch.bool, device=grd_emb.device)
|
|
extra['grounding_tokens'] = grd_emb[:,None]
|
|
extra['grounding_nonzero_mask'] = non_zero_query_mask.t()
|
|
|
|
assert len(images.tensor) == 1, "grounding evaluation only support single batch size now"
|
|
features = self.backbone(images.tensor)
|
|
outputs = self.sem_seg_head(features, extra=extra, task='grounding_eval')
|
|
|
|
pred_gmasks = outputs['pred_gmasks'][idx]
|
|
v_emb = outputs['pred_gtexts'][idx]
|
|
t_emb = gtext['class_emb']
|
|
|
|
t_emb = t_emb / (t_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
v_emb = v_emb / (v_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
|
|
temperature = self.sem_seg_head.predictor.lang_encoder.logit_scale
|
|
out_prob = vl_similarity(v_emb, t_emb, temperature=temperature)
|
|
|
|
matched_id = out_prob.max(0)[1]
|
|
grd_masks += [pred_gmasks[matched_id,:,:]]
|
|
mask_pred_results += [torch.cat(grd_masks)]
|
|
|
|
# comment for multi object inference.
|
|
# mask_pred_results = []
|
|
# for idx, batch_per_image in enumerate(batched_inputs):
|
|
# grd_texts = batch_per_image['groundings']['texts']
|
|
# grd_texts = [x[0] for x in grd_texts]
|
|
|
|
# gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings(grd_texts, name='grounding', token=False, norm=False)
|
|
# token_emb = gtext['token_emb']
|
|
# tokens = gtext['tokens']
|
|
# query_emb = token_emb[tokens['attention_mask'].bool()]
|
|
# non_zero_query_mask = torch.zeros(query_emb[:,None].shape[:-1], dtype=torch.bool, device=query_emb.device)
|
|
|
|
# extra['grounding_tokens'] = query_emb[:,None]
|
|
# extra['grounding_nonzero_mask'] = non_zero_query_mask.t()
|
|
|
|
# features = self.backbone(images.tensor)
|
|
# outputs = self.sem_seg_head(features, extra=extra, task='grounding_eval')
|
|
|
|
# pred_gmasks = outputs['pred_gmasks'][idx]
|
|
# v_emb = outputs['pred_gtexts'][idx]
|
|
# t_emb = gtext['class_emb']
|
|
|
|
# t_emb = t_emb / (t_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
# v_emb = v_emb / (v_emb.norm(dim=-1, keepdim=True) + 1e-7)
|
|
|
|
# temperature = self.sem_seg_head.predictor.lang_encoder.logit_scale
|
|
# out_prob = vl_similarity(v_emb, t_emb, temperature=temperature)
|
|
|
|
# matched_id = out_prob.max(0)[1]
|
|
# mask_pred_results += [pred_gmasks[matched_id,:,:]]
|
|
|
|
for i in range(len(mask_pred_results)):
|
|
# upsample masks
|
|
mask_pred_results[i] = F.interpolate(
|
|
mask_pred_results[i][None,],
|
|
size=(images.tensor.shape[-2], images.tensor.shape[-1]),
|
|
mode="bilinear",
|
|
align_corners=False,
|
|
)[0]
|
|
|
|
processed_results = []
|
|
for mask_pred_result, input_per_image, image_size in zip(
|
|
mask_pred_results, batched_inputs, images.image_sizes
|
|
):
|
|
height = input_per_image.get("height", image_size[0])
|
|
width = input_per_image.get("width", image_size[1])
|
|
processed_results.append({})
|
|
|
|
mask_pred_result = retry_if_cuda_oom(sem_seg_postprocess)(
|
|
mask_pred_result, image_size, height, width
|
|
)
|
|
processed_results[-1]['grounding_mask'] = mask_pred_result
|
|
|
|
return processed_results
|
|
|
|
def prepare_targets(self, batched_inputs, images):
|
|
h_pad, w_pad = images.tensor.shape[-2:]
|
|
new_targets = []
|
|
for idx, batch_per_image in enumerate(batched_inputs):
|
|
targets_per_image = batch_per_image['instances'].to(self.device)
|
|
# pad gt
|
|
gt_masks = targets_per_image.gt_masks.tensor
|
|
padded_masks = torch.zeros((gt_masks.shape[0], h_pad, w_pad), dtype=gt_masks.dtype, device=gt_masks.device)
|
|
padded_masks[:, : gt_masks.shape[1], : gt_masks.shape[2]] = gt_masks
|
|
|
|
gt_boxes = targets_per_image.gt_boxes.tensor
|
|
ratio = torch.tensor([w_pad,h_pad,w_pad,h_pad]).to(gt_boxes.device)[None,:]
|
|
gt_boxes = gt_boxes / ratio
|
|
xc,yc,w,h = (gt_boxes[:,0] + gt_boxes[:,2])/2, (gt_boxes[:,1] + gt_boxes[:,3])/2, gt_boxes[:,2] - gt_boxes[:,0], gt_boxes[:,3] - gt_boxes[:,1]
|
|
gt_boxes = torch.stack([xc,yc,w,h]).permute(1,0)
|
|
|
|
target_dict = {
|
|
"labels": targets_per_image.gt_classes,
|
|
"is_things": targets_per_image.is_things,
|
|
"masks": padded_masks,
|
|
"boxes": gt_boxes,
|
|
}
|
|
|
|
if self.task_switch['spatial']:
|
|
# prepare targets for spatial query
|
|
target_dict['gt_spatial_masks'] = batch_per_image['spatial_query']['gt_masks']
|
|
|
|
if self.task_switch['grounding']:
|
|
grd_masks = batch_per_image['groundings']['masks']
|
|
grd_texts = batch_per_image['groundings']['texts']
|
|
grd_hash = batch_per_image['groundings']['hash']
|
|
grd_task = batch_per_image['groundings']['mode']
|
|
|
|
if len(grd_masks) == 0:
|
|
padded_masks = None
|
|
else:
|
|
padded_masks = torch.zeros((grd_masks.shape[0], h_pad, w_pad), dtype=grd_masks.dtype, device=grd_masks.device)
|
|
padded_masks[:, : grd_masks.shape[1], : grd_masks.shape[2]] = grd_masks
|
|
|
|
gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings(grd_texts, name='grounding', token=False, norm=False)
|
|
token_emb = gtext['token_emb']
|
|
tokens = gtext['tokens']
|
|
|
|
unique_hash_id = np.unique(grd_hash, return_index=True)[1]
|
|
selected_mask = np.zeros(len(grd_hash)).astype(np.bool)
|
|
selected_mask[unique_hash_id] = True
|
|
|
|
selected_token_emb = token_emb[selected_mask]
|
|
selected_attn_mask = tokens['attention_mask'][selected_mask]
|
|
query_emb = selected_token_emb[selected_attn_mask.bool()]
|
|
|
|
class_idx = tokens['attention_mask'].sum(dim=-1) - 1
|
|
class_idx = torch.stack((torch.arange(len(class_idx), device=class_idx.device), class_idx)).tolist()
|
|
class_emb = token_emb[class_idx]
|
|
|
|
target_dict['grounding_masks'] = padded_masks
|
|
target_dict['grounding_query_embs'] = query_emb
|
|
target_dict['grounding_class_embs'] = class_emb
|
|
target_dict['grounding_hash'] = grd_hash
|
|
target_dict['grounding_task'] = grd_task
|
|
|
|
new_targets.append(target_dict)
|
|
return new_targets
|
|
|
|
def prepare_next_spaital_mask(self, outputs, batched_inputs):
|
|
gt_masks = [batched_inputs[i]['spatial_query']['gt_masks'] for i in range(len(batched_inputs))]
|
|
if self.training:
|
|
gt_masks = ImageList.from_tensors(gt_masks, self.size_divisibility).tensor
|
|
else:
|
|
gt_masks = ImageList.from_tensors(gt_masks, self.size_divisibility).tensor.transpose(0,1)
|
|
|
|
pred_masks = (F.interpolate(outputs['prev_mask'], size=gt_masks.shape[-2:], mode='bilinear', align_corners=False).sigmoid() > 0.5)
|
|
prev_masks = torch.stack(outputs['spatial_query_pos_mask']) | torch.stack(outputs['spatial_query_neg_mask'])
|
|
|
|
fn = gt_masks & (~(gt_masks & pred_masks)) & (~prev_masks) # fn: False Negative, gt:1, pred:0, prev:0
|
|
fp = (~gt_masks & pred_masks) & (~prev_masks) # fp: False Positive, gt:0, pred:1, prev:0
|
|
|
|
# compute iou between gt and pred
|
|
iou = (gt_masks & pred_masks).sum(list(range(1,len(fn.shape)))) / ((gt_masks | pred_masks).sum(dim=list(range(1,len(fn.shape)))) + 1e-8)
|
|
fn_sum = fn.sum(dim=list(range(1,len(fn.shape))))
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fp_sum = fp.sum(dim=list(range(1,len(fp.shape))))
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|
|
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is_postive = fn_sum > fp_sum
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# is_postive = torch.ones(len(fn_sum), device=torch.cuda.current_device()).bool()
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select_mask = torch.stack([fn[i] if is_postive[i] else fp[i] for i in range(len(fn))])
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|
|
|
# conv implementation
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n,_,h,w=select_mask.shape
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mask_dt = (distance_transform((~F.pad(select_mask, pad=(1, 1, 1, 1), mode='constant', value=0)).float())[:,:,1:-1,1:-1]).reshape(n,-1)
|
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max_xy_idx = torch.stack([torch.arange(n), mask_dt.max(dim=-1)[1].cpu()]).tolist()
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next_mask = torch.zeros(gt_masks.shape, device=torch.cuda.current_device()).bool()
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next_mask = next_mask.view(n,-1)
|
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next_mask[max_xy_idx] = True
|
|
next_mask = next_mask.reshape((n,1,h,w)).float()
|
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dilation = 3
|
|
next_mask = F.conv2d(next_mask, self.dilation_kernel, padding=dilation//2) > 0
|
|
|
|
# determine whether next mask is zero
|
|
keep = (iou < 0.925)
|
|
next_mask = next_mask & keep.view(-1,1,1,1)
|
|
|
|
pos_mask = []
|
|
neg_mask = []
|
|
for idx, ip in enumerate(is_postive):
|
|
if ip:
|
|
pos_mask += [outputs['spatial_query_pos_mask'][idx] | next_mask[idx]]
|
|
neg_mask += [outputs['spatial_query_neg_mask'][idx]]
|
|
else:
|
|
pos_mask += [outputs['spatial_query_pos_mask'][idx]]
|
|
neg_mask += [outputs['spatial_query_neg_mask'][idx] | next_mask[idx]]
|
|
|
|
if 'false_positive_mask' in outputs:
|
|
fp = outputs['false_positive_mask'] | fp
|
|
return {'spatial_query_pos_mask': pos_mask, 'spatial_query_neg_mask': neg_mask, 'false_positive_mask': fp}
|
|
|
|
def semantic_inference(self, mask_cls, mask_pred):
|
|
mask_cls = F.softmax(mask_cls, dim=-1)[..., :-1]
|
|
mask_pred = mask_pred.sigmoid()
|
|
semseg = torch.einsum("qc,qhw->chw", mask_cls, mask_pred)
|
|
return semseg
|
|
|
|
def panoptic_inference(self, mask_cls, mask_pred):
|
|
scores, labels = F.softmax(mask_cls, dim=-1).max(-1)
|
|
mask_pred = mask_pred.sigmoid()
|
|
|
|
keep = labels.ne(self.sem_seg_head.num_classes) & (scores > self.object_mask_threshold)
|
|
cur_scores = scores[keep]
|
|
cur_classes = labels[keep]
|
|
cur_masks = mask_pred[keep]
|
|
cur_mask_cls = mask_cls[keep]
|
|
cur_mask_cls = cur_mask_cls[:, :-1]
|
|
|
|
cur_prob_masks = cur_scores.view(-1, 1, 1) * cur_masks
|
|
|
|
h, w = cur_masks.shape[-2:]
|
|
panoptic_seg = torch.zeros((h, w), dtype=torch.int32, device=cur_masks.device)
|
|
segments_info = []
|
|
|
|
current_segment_id = 0
|
|
|
|
if cur_masks.shape[0] == 0:
|
|
# We didn't detect any mask :(
|
|
return panoptic_seg, segments_info
|
|
else:
|
|
# take argmax
|
|
cur_mask_ids = cur_prob_masks.argmax(0)
|
|
stuff_memory_list = {}
|
|
for k in range(cur_classes.shape[0]):
|
|
pred_class = cur_classes[k].item()
|
|
isthing = pred_class in self.metadata.thing_dataset_id_to_contiguous_id.values()
|
|
mask_area = (cur_mask_ids == k).sum().item()
|
|
original_area = (cur_masks[k] >= 0.5).sum().item()
|
|
mask = (cur_mask_ids == k) & (cur_masks[k] >= 0.5)
|
|
|
|
if mask_area > 0 and original_area > 0 and mask.sum().item() > 0:
|
|
if mask_area / original_area < self.overlap_threshold:
|
|
continue
|
|
|
|
# merge stuff regions
|
|
if not isthing:
|
|
if int(pred_class) in stuff_memory_list.keys():
|
|
panoptic_seg[mask] = stuff_memory_list[int(pred_class)]
|
|
continue
|
|
else:
|
|
stuff_memory_list[int(pred_class)] = current_segment_id + 1
|
|
|
|
current_segment_id += 1
|
|
panoptic_seg[mask] = current_segment_id
|
|
|
|
segments_info.append(
|
|
{
|
|
"id": current_segment_id,
|
|
"isthing": bool(isthing),
|
|
"category_id": int(pred_class),
|
|
}
|
|
)
|
|
|
|
return panoptic_seg, segments_info
|
|
|
|
def instance_inference(self, mask_cls, mask_pred, box_pred):
|
|
# mask_pred is already processed to have the same shape as original input
|
|
image_size = mask_pred.shape[-2:]
|
|
|
|
# [Q, K]
|
|
scores = F.softmax(mask_cls, dim=-1)[:, :-1]
|
|
labels = torch.arange(self.sem_seg_head.num_classes, device=self.device).unsqueeze(0).repeat(self.num_queries, 1).flatten(0, 1)
|
|
# scores_per_image, topk_indices = scores.flatten(0, 1).topk(self.num_queries, sorted=False)
|
|
scores_per_image, topk_indices = scores.flatten(0, 1).topk(self.test_topk_per_image, sorted=False)
|
|
|
|
labels_per_image = labels[topk_indices]
|
|
topk_indices = (topk_indices // self.sem_seg_head.num_classes)
|
|
# mask_pred = mask_pred.unsqueeze(1).repeat(1, self.sem_seg_head.num_classes, 1).flatten(0, 1)
|
|
mask_pred = mask_pred[topk_indices]
|
|
if box_pred is not None:
|
|
box_pred = box_pred[topk_indices]
|
|
|
|
# if this is panoptic segmentation, we only keep the "thing" classes
|
|
if self.panoptic_on:
|
|
keep = torch.zeros_like(scores_per_image).bool()
|
|
for i, lab in enumerate(labels_per_image):
|
|
keep[i] = lab in self.metadata.thing_dataset_id_to_contiguous_id.values()
|
|
|
|
scores_per_image = scores_per_image[keep]
|
|
labels_per_image = labels_per_image[keep]
|
|
mask_pred = mask_pred[keep]
|
|
|
|
if box_pred is not None:
|
|
box_pred = box_pred[keep]
|
|
|
|
result = Instances(image_size)
|
|
# mask (before sigmoid)
|
|
result.pred_masks = (mask_pred > 0).float()
|
|
# result.pred_boxes = Boxes(torch.zeros(mask_pred.size(0), 4))
|
|
# Uncomment the following to get boxes from masks (this is slow)
|
|
|
|
if box_pred is not None:
|
|
result.pred_boxes = BitMasks(mask_pred > 0).get_bounding_boxes()
|
|
else:
|
|
result.pred_boxes = Boxes(torch.zeros(mask_pred.size(0), 4))
|
|
|
|
# calculate average mask prob
|
|
mask_scores_per_image = (mask_pred.sigmoid().flatten(1) * result.pred_masks.flatten(1)).sum(1) / (result.pred_masks.flatten(1).sum(1) + 1e-6)
|
|
result.scores = scores_per_image * mask_scores_per_image
|
|
result.pred_classes = labels_per_image
|
|
|
|
return result
|
|
|
|
|
|
@register_model
|
|
def get_seem_model(cfg, **kwargs):
|
|
return GeneralizedSEEM(cfg) |