first commit

.gitignore

@@ -0,0 +1 @@
+__pycache__

app.py

@@ -0,0 +1,390 @@
+import spaces
+
+import os
+import imageio
+import numpy as np
+import torch
+import rembg
+from PIL import Image
+from torchvision.transforms import v2
+from pytorch_lightning import seed_everything
+from omegaconf import OmegaConf
+from einops import rearrange, repeat
+from tqdm import tqdm
+from diffusers import DiffusionPipeline, EulerAncestralDiscreteScheduler
+
+from src.utils.train_util import instantiate_from_config
+from src.utils.camera_util import (
+    FOV_to_intrinsics, 
+    get_zero123plus_input_cameras,
+    get_circular_camera_poses,
+)
+from src.utils.mesh_util import save_obj, save_glb
+from src.utils.infer_util import remove_background, resize_foreground, images_to_video
+
+import tempfile
+from functools import partial
+
+from huggingface_hub import hf_hub_download
+
+import gradio as gr
+
+
+def get_render_cameras(batch_size=1, M=120, radius=2.5, elevation=10.0, is_flexicubes=False):
+    """
+    Get the rendering camera parameters.
+    """
+    c2ws = get_circular_camera_poses(M=M, radius=radius, elevation=elevation)
+    if is_flexicubes:
+        cameras = torch.linalg.inv(c2ws)
+        cameras = cameras.unsqueeze(0).repeat(batch_size, 1, 1, 1)
+    else:
+        extrinsics = c2ws.flatten(-2)
+        intrinsics = FOV_to_intrinsics(50.0).unsqueeze(0).repeat(M, 1, 1).float().flatten(-2)
+        cameras = torch.cat([extrinsics, intrinsics], dim=-1)
+        cameras = cameras.unsqueeze(0).repeat(batch_size, 1, 1)
+    return cameras
+
+
+def images_to_video(images, output_path, fps=30):
+    # images: (N, C, H, W)
+    os.makedirs(os.path.dirname(output_path), exist_ok=True)
+    frames = []
+    for i in range(images.shape[0]):
+        frame = (images[i].permute(1, 2, 0).cpu().numpy() * 255).astype(np.uint8).clip(0, 255)
+        assert frame.shape[0] == images.shape[2] and frame.shape[1] == images.shape[3], \
+            f"Frame shape mismatch: {frame.shape} vs {images.shape}"
+        assert frame.min() >= 0 and frame.max() <= 255, \
+            f"Frame value out of range: {frame.min()} ~ {frame.max()}"
+        frames.append(frame)
+    imageio.mimwrite(output_path, np.stack(frames), fps=fps, codec='h264')
+
+
+###############################################################################
+# Configuration.
+###############################################################################
+
+import shutil
+
+def find_cuda():
+    # Check if CUDA_HOME or CUDA_PATH environment variables are set
+    cuda_home = os.environ.get('CUDA_HOME') or os.environ.get('CUDA_PATH')
+
+    if cuda_home and os.path.exists(cuda_home):
+        return cuda_home
+
+    # Search for the nvcc executable in the system's PATH
+    nvcc_path = shutil.which('nvcc')
+
+    if nvcc_path:
+        # Remove the 'bin/nvcc' part to get the CUDA installation path
+        cuda_path = os.path.dirname(os.path.dirname(nvcc_path))
+        return cuda_path
+
+    return None
+
+cuda_path = find_cuda()
+
+if cuda_path:
+    print(f"CUDA installation found at: {cuda_path}")
+else:
+    print("CUDA installation not found")
+
+config_path = 'configs/instant-mesh-large.yaml'
+config = OmegaConf.load(config_path)
+config_name = os.path.basename(config_path).replace('.yaml', '')
+model_config = config.model_config
+infer_config = config.infer_config
+
+IS_FLEXICUBES = True if config_name.startswith('instant-mesh') else False
+
+device = torch.device('cuda')
+
+# load diffusion model
+print('Loading diffusion model ...')
+pipeline = DiffusionPipeline.from_pretrained(
+    "sudo-ai/zero123plus-v1.2", 
+    custom_pipeline="zero123plus",
+    torch_dtype=torch.float16,
+)
+pipeline.scheduler = EulerAncestralDiscreteScheduler.from_config(
+    pipeline.scheduler.config, timestep_spacing='trailing'
+)
+
+# load custom white-background UNet
+unet_ckpt_path = hf_hub_download(repo_id="TencentARC/InstantMesh", filename="diffusion_pytorch_model.bin", repo_type="model")
+state_dict = torch.load(unet_ckpt_path, map_location='cpu')
+pipeline.unet.load_state_dict(state_dict, strict=True)
+
+pipeline = pipeline.to(device)
+
+# load reconstruction model
+print('Loading reconstruction model ...')
+model_ckpt_path = hf_hub_download(repo_id="TencentARC/InstantMesh", filename="instant_mesh_large.ckpt", repo_type="model")
+model = instantiate_from_config(model_config)
+state_dict = torch.load(model_ckpt_path, map_location='cpu')['state_dict']
+state_dict = {k[14:]: v for k, v in state_dict.items() if k.startswith('lrm_generator.') and 'source_camera' not in k}
+model.load_state_dict(state_dict, strict=True)
+
+model = model.to(device)
+
+print('Loading Finished!')
+
+
+def check_input_image(input_image):
+    if input_image is None:
+        raise gr.Error("No image uploaded!")
+
+
+def preprocess(input_image, do_remove_background):
+
+    rembg_session = rembg.new_session() if do_remove_background else None
+
+    if do_remove_background:
+        input_image = remove_background(input_image, rembg_session)
+        input_image = resize_foreground(input_image, 0.85)
+
+    return input_image
+
+
+@spaces.GPU
+def generate_mvs(input_image, sample_steps, sample_seed):
+
+    seed_everything(sample_seed)
+    
+    # sampling
+    z123_image = pipeline(
+        input_image, 
+        num_inference_steps=sample_steps
+    ).images[0]
+
+    show_image = np.asarray(z123_image, dtype=np.uint8)
+    show_image = torch.from_numpy(show_image)     # (960, 640, 3)
+    show_image = rearrange(show_image, '(n h) (m w) c -> (n m) h w c', n=3, m=2)
+    show_image = rearrange(show_image, '(n m) h w c -> (n h) (m w) c', n=2, m=3)
+    show_image = Image.fromarray(show_image.numpy())
+
+    return z123_image, show_image
+
+
+@spaces.GPU
+def make3d(images):
+
+    global model
+    if IS_FLEXICUBES:
+        model.init_flexicubes_geometry(device, use_renderer=False)
+    model = model.eval()
+
+    images = np.asarray(images, dtype=np.float32) / 255.0
+    images = torch.from_numpy(images).permute(2, 0, 1).contiguous().float()     # (3, 960, 640)
+    images = rearrange(images, 'c (n h) (m w) -> (n m) c h w', n=3, m=2)        # (6, 3, 320, 320)
+
+    input_cameras = get_zero123plus_input_cameras(batch_size=1, radius=4.0).to(device)
+    render_cameras = get_render_cameras(batch_size=1, radius=2.5, is_flexicubes=IS_FLEXICUBES).to(device)
+
+    images = images.unsqueeze(0).to(device)
+    images = v2.functional.resize(images, (320, 320), interpolation=3, antialias=True).clamp(0, 1)
+
+    mesh_fpath = tempfile.NamedTemporaryFile(suffix=f".obj", delete=False).name
+    print(mesh_fpath)
+    mesh_basename = os.path.basename(mesh_fpath).split('.')[0]
+    mesh_dirname = os.path.dirname(mesh_fpath)
+    video_fpath = os.path.join(mesh_dirname, f"{mesh_basename}.mp4")
+    mesh_glb_fpath = os.path.join(mesh_dirname, f"{mesh_basename}.glb")
+
+    with torch.no_grad():
+        # get triplane
+        planes = model.forward_planes(images, input_cameras)
+
+        # # get video
+        # chunk_size = 20 if IS_FLEXICUBES else 1
+        # render_size = 384
+        
+        # frames = []
+        # for i in tqdm(range(0, render_cameras.shape[1], chunk_size)):
+        #     if IS_FLEXICUBES:
+        #         frame = model.forward_geometry(
+        #             planes,
+        #             render_cameras[:, i:i+chunk_size],
+        #             render_size=render_size,
+        #         )['img']
+        #     else:
+        #         frame = model.synthesizer(
+        #             planes,
+        #             cameras=render_cameras[:, i:i+chunk_size],
+        #             render_size=render_size,
+        #         )['images_rgb']
+        #     frames.append(frame)
+        # frames = torch.cat(frames, dim=1)
+
+        # images_to_video(
+        #     frames[0],
+        #     video_fpath,
+        #     fps=30,
+        # )
+
+        # print(f"Video saved to {video_fpath}")
+
+        # get mesh
+        mesh_out = model.extract_mesh(
+            planes,
+            use_texture_map=False,
+            **infer_config,
+        )
+
+        vertices, faces, vertex_colors = mesh_out
+        vertices = vertices[:, [1, 2, 0]]
+        
+        save_glb(vertices, faces, vertex_colors, mesh_glb_fpath)
+        save_obj(vertices, faces, vertex_colors, mesh_fpath)
+        
+        print(f"Mesh saved to {mesh_fpath}")
+
+    return mesh_fpath, mesh_glb_fpath
+
+
+_HEADER_ = '''
+<h2><b>Official 🤗 Gradio Demo</b></h2><h2><a href='https://github.com/TencentARC/InstantMesh' target='_blank'><b>InstantMesh: Efficient 3D Mesh Generation from a Single Image with Sparse-view Large Reconstruction Models</b></a></h2>
+
+**InstantMesh** is a feed-forward framework for efficient 3D mesh generation from a single image based on the LRM/Instant3D architecture.
+
+Code: <a href='https://github.com/TencentARC/InstantMesh' target='_blank'>GitHub</a>. Techenical report: <a href='https://arxiv.org/abs/2404.07191' target='_blank'>ArXiv</a>.
+
+❗️❗️❗️**Important Notes:**
+- Our demo can export a .obj mesh with vertex colors or a .glb mesh now. If you prefer to export a .obj mesh with a **texture map**, please refer to our <a href='https://github.com/TencentARC/InstantMesh?tab=readme-ov-file#running-with-command-line' target='_blank'>Github Repo</a>.
+- The 3D mesh generation results highly depend on the quality of generated multi-view images. Please try a different **seed value** if the result is unsatisfying (Default: 42).
+'''
+
+_CITE_ = r"""
+If InstantMesh is helpful, please help to ⭐ the <a href='https://github.com/TencentARC/InstantMesh' target='_blank'>Github Repo</a>. Thanks! [![GitHub Stars](https://img.shields.io/github/stars/TencentARC/InstantMesh?style=social)](https://github.com/TencentARC/InstantMesh)
+---
+📝 **Citation**
+
+If you find our work useful for your research or applications, please cite using this bibtex:
+```bibtex
+@article{xu2024instantmesh,
+  title={InstantMesh: Efficient 3D Mesh Generation from a Single Image with Sparse-view Large Reconstruction Models},
+  author={Xu, Jiale and Cheng, Weihao and Gao, Yiming and Wang, Xintao and Gao, Shenghua and Shan, Ying},
+  journal={arXiv preprint arXiv:2404.07191},
+  year={2024}
+}
+```
+
+📋 **License**
+
+Apache-2.0 LICENSE. Please refer to the [LICENSE file](https://huggingface.co/spaces/TencentARC/InstantMesh/blob/main/LICENSE) for details.
+
+📧 **Contact**
+
+If you have any questions, feel free to open a discussion or contact us at <b>[email protected]</b>.
+"""
+
+
+with gr.Blocks() as demo:
+    gr.Markdown(_HEADER_)
+    with gr.Row(variant="panel"):
+        with gr.Column():
+            with gr.Row():
+                input_image = gr.Image(
+                    label="Input Image",
+                    image_mode="RGBA",
+                    sources="upload",
+                    #width=256,
+                    #height=256,
+                    type="pil",
+                    elem_id="content_image",
+                )
+                processed_image = gr.Image(
+                    label="Processed Image", 
+                    image_mode="RGBA", 
+                    #width=256,
+                    #height=256,
+                    type="pil", 
+                    interactive=False
+                )
+            with gr.Row():
+                with gr.Group():
+                    do_remove_background = gr.Checkbox(
+                        label="Remove Background", value=True
+                    )
+                    sample_seed = gr.Number(value=42, label="Seed Value", precision=0)
+
+                    sample_steps = gr.Slider(
+                        label="Sample Steps",
+                        minimum=30,
+                        maximum=75,
+                        value=75,
+                        step=5
+                    )
+
+            with gr.Row():
+                submit = gr.Button("Generate", elem_id="generate", variant="primary")
+
+            with gr.Row(variant="panel"):
+                gr.Examples(
+                    examples=[
+                        os.path.join("examples", img_name) for img_name in sorted(os.listdir("examples"))
+                    ],
+                    inputs=[input_image],
+                    label="Examples",
+                    cache_examples=False,
+                    examples_per_page=16
+                )
+
+        with gr.Column():
+
+            with gr.Row():
+
+                with gr.Column():
+                    mv_show_images = gr.Image(
+                        label="Generated Multi-views",
+                        type="pil",
+                        width=379,
+                        interactive=False
+                    )
+
+                # with gr.Column():
+                #     output_video = gr.Video(
+                #         label="video", format="mp4",
+                #         width=379,
+                #         autoplay=True,
+                #         interactive=False
+                #     )
+
+            with gr.Row():
+                with gr.Tab("OBJ"):
+                    output_model_obj = gr.Model3D(
+                        label="Output Model (OBJ Format)",
+                        interactive=False,
+                    )
+                    gr.Markdown("Note: Downloaded .obj model will be flipped. Export .glb instead or manually flip it before usage.")
+                with gr.Tab("GLB"):
+                    output_model_glb = gr.Model3D(
+                        label="Output Model (GLB Format)",
+                        interactive=False,
+                    )
+                    gr.Markdown("Note: The model shown here has a darker appearance. Download to get correct results.")
+
+            with gr.Row():
+                gr.Markdown('''Try a different <b>seed value</b> if the result is unsatisfying (Default: 42).''')
+
+    gr.Markdown(_CITE_)
+
+    mv_images = gr.State()
+
+    submit.click(fn=check_input_image, inputs=[input_image]).success(
+        fn=preprocess,
+        inputs=[input_image, do_remove_background],
+        outputs=[processed_image],
+    ).success(
+        fn=generate_mvs,
+        inputs=[processed_image, sample_steps, sample_seed],
+        outputs=[mv_images, mv_show_images]
+        
+    ).success(
+        fn=make3d,
+        inputs=[mv_images],
+        outputs=[output_model_obj, output_model_glb]
+    )
+
+demo.launch()

configs/instant-mesh-base.yaml

@@ -0,0 +1,22 @@
+model_config:
+  target: src.models.lrm_mesh.InstantMesh
+  params:
+    encoder_feat_dim: 768
+    encoder_freeze: false
+    encoder_model_name: facebook/dino-vitb16
+    transformer_dim: 1024
+    transformer_layers: 12
+    transformer_heads: 16
+    triplane_low_res: 32
+    triplane_high_res: 64
+    triplane_dim: 40
+    rendering_samples_per_ray: 96
+    grid_res: 128
+    grid_scale: 2.1
+
+
+infer_config:
+  unet_path: ckpts/diffusion_pytorch_model.bin
+  model_path: ckpts/instant_mesh_base.ckpt
+  texture_resolution: 1024
+  render_resolution: 512

configs/instant-mesh-large.yaml

@@ -0,0 +1,22 @@
+model_config:
+  target: src.models.lrm_mesh.InstantMesh
+  params:
+    encoder_feat_dim: 768
+    encoder_freeze: false
+    encoder_model_name: facebook/dino-vitb16
+    transformer_dim: 1024
+    transformer_layers: 16
+    transformer_heads: 16
+    triplane_low_res: 32
+    triplane_high_res: 64
+    triplane_dim: 80
+    rendering_samples_per_ray: 128
+    grid_res: 128
+    grid_scale: 2.1
+
+
+infer_config:
+  unet_path: ckpts/diffusion_pytorch_model.bin
+  model_path: ckpts/instant_mesh_large.ckpt
+  texture_resolution: 1024
+  render_resolution: 512

configs/instant-nerf-base.yaml

@@ -0,0 +1,21 @@
+model_config:
+  target: src.models.lrm.InstantNeRF
+  params:
+    encoder_feat_dim: 768
+    encoder_freeze: false
+    encoder_model_name: facebook/dino-vitb16
+    transformer_dim: 1024
+    transformer_layers: 12
+    transformer_heads: 16
+    triplane_low_res: 32
+    triplane_high_res: 64
+    triplane_dim: 40
+    rendering_samples_per_ray: 96
+
+
+infer_config:
+  unet_path: ckpts/diffusion_pytorch_model.bin
+  model_path: ckpts/instant_nerf_base.ckpt
+  mesh_threshold: 10.0
+  mesh_resolution: 256
+  render_resolution: 384

configs/instant-nerf-large.yaml

@@ -0,0 +1,21 @@
+model_config:
+  target: src.models.lrm.InstantNeRF
+  params:
+    encoder_feat_dim: 768
+    encoder_freeze: false
+    encoder_model_name: facebook/dino-vitb16
+    transformer_dim: 1024
+    transformer_layers: 16
+    transformer_heads: 16
+    triplane_low_res: 32
+    triplane_high_res: 64
+    triplane_dim: 80
+    rendering_samples_per_ray: 128
+
+
+infer_config:
+  unet_path: ckpts/diffusion_pytorch_model.bin
+  model_path: ckpts/instant_nerf_large.ckpt
+  mesh_threshold: 10.0
+  mesh_resolution: 256
+  render_resolution: 384

requirements.txt

@@ -0,0 +1,23 @@
+torch==2.1.0
+torchvision==0.16.0
+torchaudio==2.1.0
+pytorch-lightning==2.1.2
+einops
+omegaconf
+deepspeed
+torchmetrics
+webdataset
+accelerate
+tensorboard
+PyMCubes
+trimesh
+rembg
+transformers==4.34.1
+diffusers==0.19.3
+bitsandbytes
+imageio[ffmpeg]
+xatlas
+plyfile
+xformers==0.0.22.post7
+git+https://github.com/NVlabs/nvdiffrast/
+huggingface-hub

src/data/objaverse.py

@@ -0,0 +1,329 @@
+import os, sys
+import math
+import json
+import importlib
+from pathlib import Path
+
+import cv2
+import random
+import numpy as np
+from PIL import Image
+import webdataset as wds
+import pytorch_lightning as pl
+
+import torch
+import torch.nn.functional as F
+from torch.utils.data import Dataset
+from torch.utils.data import DataLoader
+from torch.utils.data.distributed import DistributedSampler
+from torchvision import transforms
+
+from src.utils.train_util import instantiate_from_config
+from src.utils.camera_util import (
+    FOV_to_intrinsics, 
+    center_looking_at_camera_pose, 
+    get_surrounding_views,
+)
+
+
+class DataModuleFromConfig(pl.LightningDataModule):
+    def __init__(
+        self, 
+        batch_size=8, 
+        num_workers=4, 
+        train=None, 
+        validation=None, 
+        test=None, 
+        **kwargs,
+    ):
+        super().__init__()
+
+        self.batch_size = batch_size
+        self.num_workers = num_workers
+
+        self.dataset_configs = dict()
+        if train is not None:
+            self.dataset_configs['train'] = train
+        if validation is not None:
+            self.dataset_configs['validation'] = validation
+        if test is not None:
+            self.dataset_configs['test'] = test
+    
+    def setup(self, stage):
+
+        if stage in ['fit']:
+            self.datasets = dict((k, instantiate_from_config(self.dataset_configs[k])) for k in self.dataset_configs)
+        else:
+            raise NotImplementedError
+
+    def train_dataloader(self):
+
+        sampler = DistributedSampler(self.datasets['train'])
+        return wds.WebLoader(self.datasets['train'], batch_size=self.batch_size, num_workers=self.num_workers, shuffle=False, sampler=sampler)
+
+    def val_dataloader(self):
+
+        sampler = DistributedSampler(self.datasets['validation'])
+        return wds.WebLoader(self.datasets['validation'], batch_size=1, num_workers=self.num_workers, shuffle=False, sampler=sampler)
+
+    def test_dataloader(self):
+
+        return wds.WebLoader(self.datasets['test'], batch_size=self.batch_size, num_workers=self.num_workers, shuffle=False)
+
+
+class ObjaverseData(Dataset):
+    def __init__(self,
+        root_dir='objaverse/',
+        meta_fname='valid_paths.json',
+        input_image_dir='rendering_random_32views',
+        target_image_dir='rendering_random_32views',
+        input_view_num=6,
+        target_view_num=2,
+        total_view_n=32,
+        fov=50,
+        camera_rotation=True,
+        validation=False,
+    ):
+        self.root_dir = Path(root_dir)
+        self.input_image_dir = input_image_dir
+        self.target_image_dir = target_image_dir
+
+        self.input_view_num = input_view_num
+        self.target_view_num = target_view_num
+        self.total_view_n = total_view_n
+        self.fov = fov
+        self.camera_rotation = camera_rotation
+
+        with open(os.path.join(root_dir, meta_fname)) as f:
+            filtered_dict = json.load(f)
+        paths = filtered_dict['good_objs']
+        self.paths = paths
+        
+        self.depth_scale = 4.0
+            
+        total_objects = len(self.paths)
+        print('============= length of dataset %d =============' % len(self.paths))
+
+    def __len__(self):
+        return len(self.paths)
+
+    def load_im(self, path, color):
+        '''
+        replace background pixel with random color in rendering
+        '''
+        pil_img = Image.open(path)
+
+        image = np.asarray(pil_img, dtype=np.float32) / 255.
+        alpha = image[:, :, 3:]
+        image = image[:, :, :3] * alpha + color * (1 - alpha)
+
+        image = torch.from_numpy(image).permute(2, 0, 1).contiguous().float()
+        alpha = torch.from_numpy(alpha).permute(2, 0, 1).contiguous().float()
+        return image, alpha
+    
+    def __getitem__(self, index):
+        # load data
+        while True:
+            input_image_path = os.path.join(self.root_dir, self.input_image_dir, self.paths[index])
+            target_image_path = os.path.join(self.root_dir, self.target_image_dir, self.paths[index])
+
+            indices = np.random.choice(range(self.total_view_n), self.input_view_num + self.target_view_num, replace=False)
+            input_indices = indices[:self.input_view_num]
+            target_indices = indices[self.input_view_num:]
+
+            '''background color, default: white'''
+            bg_white = [1., 1., 1.]
+            bg_black = [0., 0., 0.]
+
+            image_list = []
+            alpha_list = []
+            depth_list = []
+            normal_list = []
+            pose_list = []
+
+            try:
+                input_cameras = np.load(os.path.join(input_image_path, 'cameras.npz'))['cam_poses']
+                for idx in input_indices:
+                    image, alpha = self.load_im(os.path.join(input_image_path, '%03d.png' % idx), bg_white)
+                    normal, _ = self.load_im(os.path.join(input_image_path, '%03d_normal.png' % idx), bg_black)
+                    depth = cv2.imread(os.path.join(input_image_path, '%03d_depth.png' % idx), cv2.IMREAD_UNCHANGED) / 255.0 * self.depth_scale
+                    depth = torch.from_numpy(depth).unsqueeze(0)
+                    pose = input_cameras[idx]
+                    pose = np.concatenate([pose, np.array([[0, 0, 0, 1]])], axis=0)
+
+                    image_list.append(image)
+                    alpha_list.append(alpha)
+                    depth_list.append(depth)
+                    normal_list.append(normal)
+                    pose_list.append(pose)
+
+                target_cameras = np.load(os.path.join(target_image_path, 'cameras.npz'))['cam_poses']
+                for idx in target_indices:
+                    image, alpha = self.load_im(os.path.join(target_image_path, '%03d.png' % idx), bg_white)
+                    normal, _ = self.load_im(os.path.join(target_image_path, '%03d_normal.png' % idx), bg_black)
+                    depth = cv2.imread(os.path.join(target_image_path, '%03d_depth.png' % idx), cv2.IMREAD_UNCHANGED) / 255.0 * self.depth_scale
+                    depth = torch.from_numpy(depth).unsqueeze(0)
+                    pose = target_cameras[idx]
+                    pose = np.concatenate([pose, np.array([[0, 0, 0, 1]])], axis=0)
+
+                    image_list.append(image)
+                    alpha_list.append(alpha)
+                    depth_list.append(depth)
+                    normal_list.append(normal)
+                    pose_list.append(pose)
+
+            except Exception as e:
+                print(e)
+                index = np.random.randint(0, len(self.paths))
+                continue
+
+            break
+        
+        images = torch.stack(image_list, dim=0).float()                 # (6+V, 3, H, W)
+        alphas = torch.stack(alpha_list, dim=0).float()                 # (6+V, 1, H, W)
+        depths = torch.stack(depth_list, dim=0).float()                 # (6+V, 1, H, W)
+        normals = torch.stack(normal_list, dim=0).float()               # (6+V, 3, H, W)
+        w2cs = torch.from_numpy(np.stack(pose_list, axis=0)).float()    # (6+V, 4, 4)
+        c2ws = torch.linalg.inv(w2cs).float()
+
+        normals = normals * 2.0 - 1.0
+        normals = F.normalize(normals, dim=1)
+        normals = (normals + 1.0) / 2.0
+        normals = torch.lerp(torch.zeros_like(normals), normals, alphas)
+
+        # random rotation along z axis
+        if self.camera_rotation:
+            degree = np.random.uniform(0, math.pi * 2)
+            rot = torch.tensor([
+                [np.cos(degree), -np.sin(degree), 0, 0],
+                [np.sin(degree), np.cos(degree), 0, 0],
+                [0, 0, 1, 0],
+                [0, 0, 0, 1],
+            ]).unsqueeze(0).float()
+            c2ws = torch.matmul(rot, c2ws)
+
+            # rotate normals
+            N, _, H, W = normals.shape
+            normals = normals * 2.0 - 1.0
+            normals = torch.matmul(rot[:, :3, :3], normals.view(N, 3, -1)).view(N, 3, H, W)
+            normals = F.normalize(normals, dim=1)
+            normals = (normals + 1.0) / 2.0
+            normals = torch.lerp(torch.zeros_like(normals), normals, alphas)
+
+        # random scaling
+        if np.random.rand() < 0.5:
+            scale = np.random.uniform(0.8, 1.0)
+            c2ws[:, :3, 3] *= scale
+            depths *= scale
+
+        # instrinsics of perspective cameras
+        K = FOV_to_intrinsics(self.fov)
+        Ks = K.unsqueeze(0).repeat(self.input_view_num + self.target_view_num, 1, 1).float()
+
+        data = {
+            'input_images': images[:self.input_view_num],     # (6, 3, H, W)
+            'input_alphas': alphas[:self.input_view_num],           # (6, 1, H, W) 
+            'input_depths': depths[:self.input_view_num],           # (6, 1, H, W)
+            'input_normals': normals[:self.input_view_num],         # (6, 3, H, W)
+            'input_c2ws': c2ws_input[:self.input_view_num],         # (6, 4, 4)
+            'input_Ks': Ks[:self.input_view_num],                   # (6, 3, 3)
+
+            # lrm generator input and supervision
+            'target_images': images[self.input_view_num:],          # (V, 3, H, W)
+            'target_alphas': alphas[self.input_view_num:],          # (V, 1, H, W)
+            'target_depths': depths[self.input_view_num:],          # (V, 1, H, W)
+            'target_normals': normals[self.input_view_num:],        # (V, 3, H, W)
+            'target_c2ws': c2ws[self.input_view_num:],              # (V, 4, 4)
+            'target_Ks': Ks[self.input_view_num:],                  # (V, 3, 3)
+
+            'depth_available': 1,
+        }
+        return data
+
+
+class ValidationData(Dataset):
+    def __init__(self,
+        root_dir='objaverse/',
+        input_view_num=6,
+        input_image_size=256,
+        fov=50,
+    ):
+        self.root_dir = Path(root_dir)
+        self.input_view_num = input_view_num
+        self.input_image_size = input_image_size
+        self.fov = fov
+
+        self.paths = sorted(os.listdir(self.root_dir))
+        print('============= length of dataset %d =============' % len(self.paths))
+
+        cam_distance = 2.5
+        azimuths = np.array([30, 90, 150, 210, 270, 330])
+        elevations = np.array([30, -20, 30, -20, 30, -20])
+        azimuths = np.deg2rad(azimuths)
+        elevations = np.deg2rad(elevations)
+
+        x = cam_distance * np.cos(elevations) * np.cos(azimuths)
+        y = cam_distance * np.cos(elevations) * np.sin(azimuths)
+        z = cam_distance * np.sin(elevations)
+
+        cam_locations = np.stack([x, y, z], axis=-1)
+        cam_locations = torch.from_numpy(cam_locations).float()
+        c2ws = center_looking_at_camera_pose(cam_locations)
+        self.c2ws = c2ws.float()
+        self.Ks = FOV_to_intrinsics(self.fov).unsqueeze(0).repeat(6, 1, 1).float()
+
+        render_c2ws = get_surrounding_views(M=8, radius=cam_distance)
+        render_Ks = FOV_to_intrinsics(self.fov).unsqueeze(0).repeat(render_c2ws.shape[0], 1, 1)
+        self.render_c2ws = render_c2ws.float()
+        self.render_Ks = render_Ks.float()
+
+    def __len__(self):
+        return len(self.paths)
+
+    def load_im(self, path, color):
+        '''
+        replace background pixel with random color in rendering
+        '''
+        pil_img = Image.open(path)
+        pil_img = pil_img.resize((self.input_image_size, self.input_image_size), resample=Image.BICUBIC)
+
+        image = np.asarray(pil_img, dtype=np.float32) / 255.
+        if image.shape[-1] == 4:
+            alpha = image[:, :, 3:]
+            image = image[:, :, :3] * alpha + color * (1 - alpha)
+        else:
+            alpha = np.ones_like(image[:, :, :1])
+
+        image = torch.from_numpy(image).permute(2, 0, 1).contiguous().float()
+        alpha = torch.from_numpy(alpha).permute(2, 0, 1).contiguous().float()
+        return image, alpha
+    
+    def __getitem__(self, index):
+        # load data
+        input_image_path = os.path.join(self.root_dir, self.paths[index])
+
+        '''background color, default: white'''
+        # color = np.random.uniform(0.48, 0.52)
+        bkg_color = [1.0, 1.0, 1.0]
+
+        image_list = []
+        alpha_list = []
+
+        for idx in range(self.input_view_num):
+            image, alpha = self.load_im(os.path.join(input_image_path, f'{idx:03d}.png'), bkg_color)
+            image_list.append(image)
+            alpha_list.append(alpha)
+        
+        images = torch.stack(image_list, dim=0).float()                     # (6+V, 3, H, W)
+        alphas = torch.stack(alpha_list, dim=0).float()                 # (6+V, 1, H, W)
+
+        data = {
+            'input_images': images,                 # (6, 3, H, W)
+            'input_alphas': alphas,             # (6, 1, H, W)
+            'input_c2ws': self.c2ws,            # (6, 4, 4)
+            'input_Ks': self.Ks,                # (6, 3, 3)
+
+            'render_c2ws': self.render_c2ws,
+            'render_Ks': self.render_Ks,
+        }
+        return data

src/model.py

@@ -0,0 +1,310 @@
+import os
+import numpy as np
+import torch
+import torch.nn.functional as F
+from torchvision.transforms import v2
+from torchvision.utils import make_grid, save_image
+from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
+import pytorch_lightning as pl
+from einops import rearrange, repeat
+
+from src.utils.train_util import instantiate_from_config
+
+
+class MVRecon(pl.LightningModule):
+    def __init__(
+        self,
+        lrm_generator_config,
+        lrm_path=None,
+        input_size=256,
+        render_size=192,
+    ):
+        super(MVRecon, self).__init__()
+
+        self.input_size = input_size
+        self.render_size = render_size
+
+        # init modules
+        self.lrm_generator = instantiate_from_config(lrm_generator_config)
+        if lrm_path is not None:
+            lrm_ckpt = torch.load(lrm_path)
+            self.lrm_generator.load_state_dict(lrm_ckpt['weights'], strict=False)
+
+        self.lpips = LearnedPerceptualImagePatchSimilarity(net_type='vgg')
+        
+        self.validation_step_outputs = []
+    
+    def on_fit_start(self):
+        if self.global_rank == 0:
+            os.makedirs(os.path.join(self.logdir, 'images'), exist_ok=True)
+            os.makedirs(os.path.join(self.logdir, 'images_val'), exist_ok=True)
+    
+    def prepare_batch_data(self, batch):
+        lrm_generator_input = {}
+        render_gt = {}   # for supervision
+
+        # input images
+        images = batch['input_images']
+        images = v2.functional.resize(
+            images, self.input_size, interpolation=3, antialias=True).clamp(0, 1)
+
+        lrm_generator_input['images'] = images.to(self.device)
+
+        # input cameras and render cameras
+        input_c2ws = batch['input_c2ws'].flatten(-2)
+        input_Ks = batch['input_Ks'].flatten(-2)
+        target_c2ws = batch['target_c2ws'].flatten(-2)
+        target_Ks = batch['target_Ks'].flatten(-2)
+        render_cameras_input = torch.cat([input_c2ws, input_Ks], dim=-1)
+        render_cameras_target = torch.cat([target_c2ws, target_Ks], dim=-1)
+        render_cameras = torch.cat([render_cameras_input, render_cameras_target], dim=1)
+
+        input_extrinsics = input_c2ws[:, :, :12]
+        input_intrinsics = torch.stack([
+            input_Ks[:, :, 0], input_Ks[:, :, 4], 
+            input_Ks[:, :, 2], input_Ks[:, :, 5],
+        ], dim=-1)
+        cameras = torch.cat([input_extrinsics, input_intrinsics], dim=-1)
+
+        # add noise to input cameras
+        cameras = cameras + torch.rand_like(cameras) * 0.04 - 0.02
+
+        lrm_generator_input['cameras'] = cameras.to(self.device)
+        lrm_generator_input['render_cameras'] = render_cameras.to(self.device)
+
+        # target images
+        target_images = torch.cat([batch['input_images'], batch['target_images']], dim=1)
+        target_depths = torch.cat([batch['input_depths'], batch['target_depths']], dim=1)
+        target_alphas = torch.cat([batch['input_alphas'], batch['target_alphas']], dim=1)
+
+        # random crop
+        render_size = np.random.randint(self.render_size, 513)
+        target_images = v2.functional.resize(
+            target_images, render_size, interpolation=3, antialias=True).clamp(0, 1)
+        target_depths = v2.functional.resize(
+            target_depths, render_size, interpolation=0, antialias=True)
+        target_alphas = v2.functional.resize(
+            target_alphas, render_size, interpolation=0, antialias=True)
+
+        crop_params = v2.RandomCrop.get_params(
+            target_images, output_size=(self.render_size, self.render_size))
+        target_images = v2.functional.crop(target_images, *crop_params)
+        target_depths = v2.functional.crop(target_depths, *crop_params)[:, :, 0:1]
+        target_alphas = v2.functional.crop(target_alphas, *crop_params)[:, :, 0:1]
+
+        lrm_generator_input['render_size'] = render_size
+        lrm_generator_input['crop_params'] = crop_params
+
+        render_gt['target_images'] = target_images.to(self.device)
+        render_gt['target_depths'] = target_depths.to(self.device)
+        render_gt['target_alphas'] = target_alphas.to(self.device)
+
+        return lrm_generator_input, render_gt
+    
+    def prepare_validation_batch_data(self, batch):
+        lrm_generator_input = {}
+
+        # input images
+        images = batch['input_images']
+        images = v2.functional.resize(
+            images, self.input_size, interpolation=3, antialias=True).clamp(0, 1)
+
+        lrm_generator_input['images'] = images.to(self.device)
+
+        input_c2ws = batch['input_c2ws'].flatten(-2)
+        input_Ks = batch['input_Ks'].flatten(-2)
+
+        input_extrinsics = input_c2ws[:, :, :12]
+        input_intrinsics = torch.stack([
+            input_Ks[:, :, 0], input_Ks[:, :, 4], 
+            input_Ks[:, :, 2], input_Ks[:, :, 5],
+        ], dim=-1)
+        cameras = torch.cat([input_extrinsics, input_intrinsics], dim=-1)
+
+        lrm_generator_input['cameras'] = cameras.to(self.device)
+
+        render_c2ws = batch['render_c2ws'].flatten(-2)
+        render_Ks = batch['render_Ks'].flatten(-2)
+        render_cameras = torch.cat([render_c2ws, render_Ks], dim=-1)
+
+        lrm_generator_input['render_cameras'] = render_cameras.to(self.device)
+        lrm_generator_input['render_size'] = 384
+        lrm_generator_input['crop_params'] = None
+
+        return lrm_generator_input
+    
+    def forward_lrm_generator(
+        self, 
+        images, 
+        cameras, 
+        render_cameras, 
+        render_size=192, 
+        crop_params=None, 
+        chunk_size=1,
+    ):
+        planes = torch.utils.checkpoint.checkpoint(
+            self.lrm_generator.forward_planes, 
+            images, 
+            cameras, 
+            use_reentrant=False,
+        )
+        frames = []
+        for i in range(0, render_cameras.shape[1], chunk_size):
+            frames.append(
+                torch.utils.checkpoint.checkpoint(
+                    self.lrm_generator.synthesizer,
+                    planes,
+                    cameras=render_cameras[:, i:i+chunk_size],
+                    render_size=render_size, 
+                    crop_params=crop_params,
+                    use_reentrant=False
+                )
+            )
+        frames = {
+            k: torch.cat([r[k] for r in frames], dim=1)
+            for k in frames[0].keys()
+        }
+        return frames
+    
+    def forward(self, lrm_generator_input):
+        images = lrm_generator_input['images']
+        cameras = lrm_generator_input['cameras']
+        render_cameras = lrm_generator_input['render_cameras']
+        render_size = lrm_generator_input['render_size']
+        crop_params = lrm_generator_input['crop_params']
+
+        out = self.forward_lrm_generator(
+            images, 
+            cameras, 
+            render_cameras, 
+            render_size=render_size, 
+            crop_params=crop_params, 
+            chunk_size=1,
+        )
+        render_images = torch.clamp(out['images_rgb'], 0.0, 1.0)
+        render_depths = out['images_depth']
+        render_alphas = torch.clamp(out['images_weight'], 0.0, 1.0)
+
+        out = {
+            'render_images': render_images,
+            'render_depths': render_depths,
+            'render_alphas': render_alphas,
+        }
+        return out
+
+    def training_step(self, batch, batch_idx):
+        lrm_generator_input, render_gt = self.prepare_batch_data(batch)
+
+        render_out = self.forward(lrm_generator_input)
+
+        loss, loss_dict = self.compute_loss(render_out, render_gt)
+
+        self.log_dict(loss_dict, prog_bar=True, logger=True, on_step=True, on_epoch=True)
+
+        if self.global_step % 1000 == 0 and self.global_rank == 0:
+            B, N, C, H, W = render_gt['target_images'].shape
+            N_in = lrm_generator_input['images'].shape[1]
+
+            input_images = v2.functional.resize(
+                lrm_generator_input['images'], (H, W), interpolation=3, antialias=True).clamp(0, 1)
+            input_images = torch.cat(
+                [input_images, torch.ones(B, N-N_in, C, H, W).to(input_images)], dim=1)
+
+            input_images = rearrange(
+                input_images, 'b n c h w -> b c h (n w)')
+            target_images = rearrange(
+                render_gt['target_images'], 'b n c h w -> b c h (n w)')
+            render_images = rearrange(
+                render_out['render_images'], 'b n c h w -> b c h (n w)')
+            target_alphas = rearrange(
+                repeat(render_gt['target_alphas'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            render_alphas = rearrange(
+                repeat(render_out['render_alphas'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            target_depths = rearrange(
+                repeat(render_gt['target_depths'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            render_depths = rearrange(
+                repeat(render_out['render_depths'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            MAX_DEPTH = torch.max(target_depths)
+            target_depths = target_depths / MAX_DEPTH * target_alphas
+            render_depths = render_depths / MAX_DEPTH
+
+            grid = torch.cat([
+                input_images, 
+                target_images, render_images, 
+                target_alphas, render_alphas, 
+                target_depths, render_depths,
+            ], dim=-2)
+            grid = make_grid(grid, nrow=target_images.shape[0], normalize=True, value_range=(0, 1))
+
+            save_image(grid, os.path.join(self.logdir, 'images', f'train_{self.global_step:07d}.png'))
+
+        return loss
+    
+    def compute_loss(self, render_out, render_gt):
+        # NOTE: the rgb value range of OpenLRM is [0, 1]
+        render_images = render_out['render_images']
+        target_images = render_gt['target_images'].to(render_images)
+        render_images = rearrange(render_images, 'b n ... -> (b n) ...') * 2.0 - 1.0
+        target_images = rearrange(target_images, 'b n ... -> (b n) ...') * 2.0 - 1.0
+
+        loss_mse = F.mse_loss(render_images, target_images)
+        loss_lpips = 2.0 * self.lpips(render_images, target_images)
+
+        render_alphas = render_out['render_alphas']
+        target_alphas = render_gt['target_alphas']
+        loss_mask = F.mse_loss(render_alphas, target_alphas)
+
+        loss = loss_mse + loss_lpips + loss_mask
+
+        prefix = 'train'
+        loss_dict = {}
+        loss_dict.update({f'{prefix}/loss_mse': loss_mse})
+        loss_dict.update({f'{prefix}/loss_lpips': loss_lpips})
+        loss_dict.update({f'{prefix}/loss_mask': loss_mask})
+        loss_dict.update({f'{prefix}/loss': loss})
+
+        return loss, loss_dict
+
+    @torch.no_grad()
+    def validation_step(self, batch, batch_idx):
+        lrm_generator_input = self.prepare_validation_batch_data(batch)
+
+        render_out = self.forward(lrm_generator_input)
+        render_images = render_out['render_images']
+        render_images = rearrange(render_images, 'b n c h w -> b c h (n w)')
+
+        self.validation_step_outputs.append(render_images)
+    
+    def on_validation_epoch_end(self):
+        images = torch.cat(self.validation_step_outputs, dim=-1)
+
+        all_images = self.all_gather(images)
+        all_images = rearrange(all_images, 'r b c h w -> (r b) c h w')
+
+        if self.global_rank == 0:
+            image_path = os.path.join(self.logdir, 'images_val', f'val_{self.global_step:07d}.png')
+
+            grid = make_grid(all_images, nrow=1, normalize=True, value_range=(0, 1))
+            save_image(grid, image_path)
+            print(f"Saved image to {image_path}")
+
+        self.validation_step_outputs.clear()
+
+    def configure_optimizers(self):
+        lr = self.learning_rate
+
+        params = []
+
+        lrm_params_fast, lrm_params_slow = [], []
+        for n, p in self.lrm_generator.named_parameters():
+            if 'adaLN_modulation' in n or 'camera_embedder' in n:
+                lrm_params_fast.append(p)
+            else:
+                lrm_params_slow.append(p)
+        params.append({"params": lrm_params_fast, "lr": lr, "weight_decay": 0.01 })
+        params.append({"params": lrm_params_slow, "lr": lr / 10.0, "weight_decay": 0.01 })
+
+        optimizer = torch.optim.AdamW(params, lr=lr, betas=(0.90, 0.95))
+        scheduler = torch.optim.lr_scheduler.CosineAnnealingWarmRestarts(optimizer, 3000, eta_min=lr/4)
+
+        return {'optimizer': optimizer, 'lr_scheduler': scheduler}

src/model_mesh.py

@@ -0,0 +1,325 @@
+import os
+import numpy as np
+import torch
+import torch.nn.functional as F
+from torchvision.transforms import v2
+from torchvision.utils import make_grid, save_image
+from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
+import pytorch_lightning as pl
+from einops import rearrange, repeat
+
+from src.utils.train_util import instantiate_from_config
+
+
+# Regulrarization loss for FlexiCubes
+def sdf_reg_loss_batch(sdf, all_edges):
+    sdf_f1x6x2 = sdf[:, all_edges.reshape(-1)].reshape(sdf.shape[0], -1, 2)
+    mask = torch.sign(sdf_f1x6x2[..., 0]) != torch.sign(sdf_f1x6x2[..., 1])
+    sdf_f1x6x2 = sdf_f1x6x2[mask]
+    sdf_diff = F.binary_cross_entropy_with_logits(
+        sdf_f1x6x2[..., 0], (sdf_f1x6x2[..., 1] > 0).float()) + \
+               F.binary_cross_entropy_with_logits(
+                   sdf_f1x6x2[..., 1], (sdf_f1x6x2[..., 0] > 0).float())
+    return sdf_diff
+
+
+class MVRecon(pl.LightningModule):
+    def __init__(
+        self,
+        lrm_generator_config,
+        input_size=256,
+        render_size=512,
+        init_ckpt=None,
+    ):
+        super(MVRecon, self).__init__()
+
+        self.input_size = input_size
+        self.render_size = render_size
+
+        # init modules
+        self.lrm_generator = instantiate_from_config(lrm_generator_config)
+
+        self.lpips = LearnedPerceptualImagePatchSimilarity(net_type='vgg')
+
+        # Load weights from pretrained MVRecon model, and use the mlp 
+        # weights to initialize the weights of sdf and rgb mlps.
+        if init_ckpt is not None:
+            sd = torch.load(init_ckpt, map_location='cpu')['state_dict']
+            sd = {k: v for k, v in sd.items() if k.startswith('lrm_generator')}
+            sd_fc = {}
+            for k, v in sd.items():
+                if k.startswith('lrm_generator.synthesizer.decoder.net.'):
+                    if k.startswith('lrm_generator.synthesizer.decoder.net.6.'):    # last layer
+                        # Here we assume the density filed's isosurface threshold is t, 
+                        # we reverse the sign of density filed to initialize SDF field.  
+                        # -(w*x + b - t) = (-w)*x + (t - b)
+                        if 'weight' in k:
+                            sd_fc[k.replace('net.', 'net_sdf.')] = -v[0:1]
+                        else:
+                            sd_fc[k.replace('net.', 'net_sdf.')] = 3.0 - v[0:1]
+                        sd_fc[k.replace('net.', 'net_rgb.')] = v[1:4]
+                    else:
+                        sd_fc[k.replace('net.', 'net_sdf.')] = v
+                        sd_fc[k.replace('net.', 'net_rgb.')] = v
+                else:
+                    sd_fc[k] = v
+            sd_fc = {k.replace('lrm_generator.', ''): v for k, v in sd_fc.items()}
+            # missing `net_deformation` and `net_weight` parameters
+            self.lrm_generator.load_state_dict(sd_fc, strict=False)
+            print(f'Loaded weights from {init_ckpt}')
+        
+        self.validation_step_outputs = []
+    
+    def on_fit_start(self):
+        device = torch.device(f'cuda:{self.global_rank}')
+        self.lrm_generator.init_flexicubes_geometry(device)
+        if self.global_rank == 0:
+            os.makedirs(os.path.join(self.logdir, 'images'), exist_ok=True)
+            os.makedirs(os.path.join(self.logdir, 'images_val'), exist_ok=True)
+    
+    def prepare_batch_data(self, batch):
+        lrm_generator_input = {}
+        render_gt = {}
+
+        # input images
+        images = batch['input_images']
+        images = v2.functional.resize(
+            images, self.input_size, interpolation=3, antialias=True).clamp(0, 1)
+
+        lrm_generator_input['images'] = images.to(self.device)
+
+        # input cameras and render cameras
+        input_c2ws = batch['input_c2ws']
+        input_Ks = batch['input_Ks']
+        target_c2ws = batch['target_c2ws']
+
+        render_c2ws = torch.cat([input_c2ws, target_c2ws], dim=1)
+        render_w2cs = torch.linalg.inv(render_c2ws)
+
+        input_extrinsics = input_c2ws.flatten(-2)
+        input_extrinsics = input_extrinsics[:, :, :12]
+        input_intrinsics = input_Ks.flatten(-2)
+        input_intrinsics = torch.stack([
+            input_intrinsics[:, :, 0], input_intrinsics[:, :, 4], 
+            input_intrinsics[:, :, 2], input_intrinsics[:, :, 5],
+        ], dim=-1)
+        cameras = torch.cat([input_extrinsics, input_intrinsics], dim=-1)
+
+        # add noise to input_cameras
+        cameras = cameras + torch.rand_like(cameras) * 0.04 - 0.02
+
+        lrm_generator_input['cameras'] = cameras.to(self.device)
+        lrm_generator_input['render_cameras'] = render_w2cs.to(self.device)
+
+        # target images
+        target_images = torch.cat([batch['input_images'], batch['target_images']], dim=1)
+        target_depths = torch.cat([batch['input_depths'], batch['target_depths']], dim=1)
+        target_alphas = torch.cat([batch['input_alphas'], batch['target_alphas']], dim=1)
+        target_normals = torch.cat([batch['input_normals'], batch['target_normals']], dim=1)
+
+        render_size = self.render_size
+        target_images = v2.functional.resize(
+            target_images, render_size, interpolation=3, antialias=True).clamp(0, 1)
+        target_depths = v2.functional.resize(
+            target_depths, render_size, interpolation=0, antialias=True)
+        target_alphas = v2.functional.resize(
+            target_alphas, render_size, interpolation=0, antialias=True)
+        target_normals = v2.functional.resize(
+            target_normals, render_size, interpolation=3, antialias=True)
+
+        lrm_generator_input['render_size'] = render_size
+
+        render_gt['target_images'] = target_images.to(self.device)
+        render_gt['target_depths'] = target_depths.to(self.device)
+        render_gt['target_alphas'] = target_alphas.to(self.device)
+        render_gt['target_normals'] = target_normals.to(self.device)
+
+        return lrm_generator_input, render_gt
+    
+    def prepare_validation_batch_data(self, batch):
+        lrm_generator_input = {}
+
+        # input images
+        images = batch['input_images']
+        images = v2.functional.resize(
+            images, self.input_size, interpolation=3, antialias=True).clamp(0, 1)
+
+        lrm_generator_input['images'] = images.to(self.device)
+
+        # input cameras
+        input_c2ws = batch['input_c2ws'].flatten(-2)
+        input_Ks = batch['input_Ks'].flatten(-2)
+
+        input_extrinsics = input_c2ws[:, :, :12]
+        input_intrinsics = torch.stack([
+            input_Ks[:, :, 0], input_Ks[:, :, 4], 
+            input_Ks[:, :, 2], input_Ks[:, :, 5],
+        ], dim=-1)
+        cameras = torch.cat([input_extrinsics, input_intrinsics], dim=-1)
+
+        lrm_generator_input['cameras'] = cameras.to(self.device)
+
+        # render cameras
+        render_c2ws = batch['render_c2ws']
+        render_w2cs = torch.linalg.inv(render_c2ws)
+
+        lrm_generator_input['render_cameras'] = render_w2cs.to(self.device)
+        lrm_generator_input['render_size'] = 384
+
+        return lrm_generator_input
+    
+    def forward_lrm_generator(self, images, cameras, render_cameras, render_size=512):
+        planes = torch.utils.checkpoint.checkpoint(
+            self.lrm_generator.forward_planes, 
+            images, 
+            cameras, 
+            use_reentrant=False,
+        )
+        out = self.lrm_generator.forward_geometry(
+            planes, 
+            render_cameras, 
+            render_size,
+        )
+        return out
+    
+    def forward(self, lrm_generator_input):
+        images = lrm_generator_input['images']
+        cameras = lrm_generator_input['cameras']
+        render_cameras = lrm_generator_input['render_cameras']
+        render_size = lrm_generator_input['render_size']
+
+        out = self.forward_lrm_generator(
+            images, cameras, render_cameras, render_size=render_size)
+
+        return out
+
+    def training_step(self, batch, batch_idx):
+        lrm_generator_input, render_gt = self.prepare_batch_data(batch)
+
+        render_out = self.forward(lrm_generator_input)
+
+        loss, loss_dict = self.compute_loss(render_out, render_gt)
+
+        self.log_dict(loss_dict, prog_bar=True, logger=True, on_step=True, on_epoch=True)
+
+        if self.global_step % 1000 == 0 and self.global_rank == 0:
+            B, N, C, H, W = render_gt['target_images'].shape
+            N_in = lrm_generator_input['images'].shape[1]
+
+            target_images = rearrange(
+                render_gt['target_images'], 'b n c h w -> b c h (n w)')
+            render_images = rearrange(
+                render_out['img'], 'b n c h w -> b c h (n w)')
+            target_alphas = rearrange(
+                repeat(render_gt['target_alphas'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            render_alphas = rearrange(
+                repeat(render_out['mask'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            target_depths = rearrange(
+                repeat(render_gt['target_depths'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            render_depths = rearrange(
+                repeat(render_out['depth'], 'b n 1 h w -> b n 3 h w'), 'b n c h w -> b c h (n w)')
+            target_normals = rearrange(
+                render_gt['target_normals'], 'b n c h w -> b c h (n w)')
+            render_normals = rearrange(
+                render_out['normal'], 'b n c h w -> b c h (n w)')
+            MAX_DEPTH = torch.max(target_depths)
+            target_depths = target_depths / MAX_DEPTH * target_alphas
+            render_depths = render_depths / MAX_DEPTH
+
+            grid = torch.cat([
+                target_images, render_images, 
+                target_alphas, render_alphas, 
+                target_depths, render_depths, 
+                target_normals, render_normals,
+            ], dim=-2)
+            grid = make_grid(grid, nrow=target_images.shape[0], normalize=True, value_range=(0, 1))
+
+            image_path = os.path.join(self.logdir, 'images', f'train_{self.global_step:07d}.png')
+            save_image(grid, image_path)
+            print(f"Saved image to {image_path}")
+
+        return loss
+    
+    def compute_loss(self, render_out, render_gt):
+        # NOTE: the rgb value range of OpenLRM is [0, 1]
+        render_images = render_out['img']
+        target_images = render_gt['target_images'].to(render_images)
+        render_images = rearrange(render_images, 'b n ... -> (b n) ...') * 2.0 - 1.0
+        target_images = rearrange(target_images, 'b n ... -> (b n) ...') * 2.0 - 1.0
+        loss_mse = F.mse_loss(render_images, target_images)
+        loss_lpips = 2.0 * self.lpips(render_images, target_images)
+
+        render_alphas = render_out['mask']
+        target_alphas = render_gt['target_alphas']
+        loss_mask = F.mse_loss(render_alphas, target_alphas)
+
+        render_depths = render_out['depth']
+        target_depths = render_gt['target_depths']
+        loss_depth = 0.5 * F.l1_loss(render_depths[target_alphas>0], target_depths[target_alphas>0])
+
+        render_normals = render_out['normal'] * 2.0 - 1.0
+        target_normals = render_gt['target_normals'] * 2.0 - 1.0
+        similarity = (render_normals * target_normals).sum(dim=-3).abs()
+        normal_mask = target_alphas.squeeze(-3)
+        loss_normal = 1 - similarity[normal_mask>0].mean()
+        loss_normal = 0.2 * loss_normal
+
+        # flexicubes regularization loss
+        sdf = render_out['sdf']
+        sdf_reg_loss = render_out['sdf_reg_loss']
+        sdf_reg_loss_entropy = sdf_reg_loss_batch(sdf, self.lrm_generator.geometry.all_edges).mean() * 0.01
+        _, flexicubes_surface_reg, flexicubes_weights_reg = sdf_reg_loss
+        flexicubes_surface_reg = flexicubes_surface_reg.mean() * 0.5
+        flexicubes_weights_reg = flexicubes_weights_reg.mean() * 0.1
+
+        loss_reg = sdf_reg_loss_entropy + flexicubes_surface_reg + flexicubes_weights_reg
+
+        loss = loss_mse + loss_lpips + loss_mask + loss_normal + loss_reg
+
+        prefix = 'train'
+        loss_dict = {}
+        loss_dict.update({f'{prefix}/loss_mse': loss_mse})
+        loss_dict.update({f'{prefix}/loss_lpips': loss_lpips})
+        loss_dict.update({f'{prefix}/loss_mask': loss_mask})
+        loss_dict.update({f'{prefix}/loss_normal': loss_normal})
+        loss_dict.update({f'{prefix}/loss_depth': loss_depth})
+        loss_dict.update({f'{prefix}/loss_reg_sdf': sdf_reg_loss_entropy})
+        loss_dict.update({f'{prefix}/loss_reg_surface': flexicubes_surface_reg})
+        loss_dict.update({f'{prefix}/loss_reg_weights': flexicubes_weights_reg})
+        loss_dict.update({f'{prefix}/loss': loss})
+
+        return loss, loss_dict
+
+    @torch.no_grad()
+    def validation_step(self, batch, batch_idx):
+        lrm_generator_input = self.prepare_validation_batch_data(batch)
+
+        render_out = self.forward(lrm_generator_input)
+        render_images = render_out['img']
+        render_images = rearrange(render_images, 'b n c h w -> b c h (n w)')
+
+        self.validation_step_outputs.append(render_images)
+    
+    def on_validation_epoch_end(self):
+        images = torch.cat(self.validation_step_outputs, dim=-1)
+
+        all_images = self.all_gather(images)
+        all_images = rearrange(all_images, 'r b c h w -> (r b) c h w')
+
+        if self.global_rank == 0:
+            image_path = os.path.join(self.logdir, 'images_val', f'val_{self.global_step:07d}.png')
+
+            grid = make_grid(all_images, nrow=1, normalize=True, value_range=(0, 1))
+            save_image(grid, image_path)
+            print(f"Saved image to {image_path}")
+
+        self.validation_step_outputs.clear()
+    
+    def configure_optimizers(self):
+        lr = self.learning_rate
+
+        optimizer = torch.optim.AdamW(
+            self.lrm_generator.parameters(), lr=lr, betas=(0.90, 0.95), weight_decay=0.01)
+        scheduler = torch.optim.lr_scheduler.CosineAnnealingWarmRestarts(optimizer, 100000, eta_min=0)
+
+        return {'optimizer': optimizer, 'lr_scheduler': scheduler}

src/models/decoder/transformer.py

@@ -0,0 +1,123 @@
+# Copyright (c) 2023, Zexin He
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import torch
+import torch.nn as nn
+
+
+class BasicTransformerBlock(nn.Module):
+    """
+    Transformer block that takes in a cross-attention condition and another modulation vector applied to sub-blocks.
+    """
+    # use attention from torch.nn.MultiHeadAttention
+    # Block contains a cross-attention layer, a self-attention layer, and a MLP
+    def __init__(
+        self, 
+        inner_dim: int, 
+        cond_dim: int, 
+        num_heads: int, 
+        eps: float,
+        attn_drop: float = 0., 
+        attn_bias: bool = False,
+        mlp_ratio: float = 4., 
+        mlp_drop: float = 0.,
+    ):
+        super().__init__()
+
+        self.norm1 = nn.LayerNorm(inner_dim)
+        self.cross_attn = nn.MultiheadAttention(
+            embed_dim=inner_dim, num_heads=num_heads, kdim=cond_dim, vdim=cond_dim,
+            dropout=attn_drop, bias=attn_bias, batch_first=True)
+        self.norm2 = nn.LayerNorm(inner_dim)
+        self.self_attn = nn.MultiheadAttention(
+            embed_dim=inner_dim, num_heads=num_heads,
+            dropout=attn_drop, bias=attn_bias, batch_first=True)
+        self.norm3 = nn.LayerNorm(inner_dim)
+        self.mlp = nn.Sequential(
+            nn.Linear(inner_dim, int(inner_dim * mlp_ratio)),
+            nn.GELU(),
+            nn.Dropout(mlp_drop),
+            nn.Linear(int(inner_dim * mlp_ratio), inner_dim),
+            nn.Dropout(mlp_drop),
+        )
+
+    def forward(self, x, cond):
+        # x: [N, L, D]
+        # cond: [N, L_cond, D_cond]
+        x = x + self.cross_attn(self.norm1(x), cond, cond)[0]
+        before_sa = self.norm2(x)
+        x = x + self.self_attn(before_sa, before_sa, before_sa)[0]
+        x = x + self.mlp(self.norm3(x))
+        return x
+
+
+class TriplaneTransformer(nn.Module):
+    """
+    Transformer with condition that generates a triplane representation.
+    
+    Reference:
+    Timm: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L486
+    """
+    def __init__(
+        self, 
+        inner_dim: int, 
+        image_feat_dim: int,
+        triplane_low_res: int, 
+        triplane_high_res: int, 
+        triplane_dim: int,
+        num_layers: int, 
+        num_heads: int,
+        eps: float = 1e-6,
+    ):
+        super().__init__()
+
+        # attributes
+        self.triplane_low_res = triplane_low_res
+        self.triplane_high_res = triplane_high_res
+        self.triplane_dim = triplane_dim
+
+        # modules
+        # initialize pos_embed with 1/sqrt(dim) * N(0, 1)
+        self.pos_embed = nn.Parameter(torch.randn(1, 3*triplane_low_res**2, inner_dim) * (1. / inner_dim) ** 0.5)
+        self.layers = nn.ModuleList([
+            BasicTransformerBlock(
+                inner_dim=inner_dim, cond_dim=image_feat_dim, num_heads=num_heads, eps=eps)
+            for _ in range(num_layers)
+        ])
+        self.norm = nn.LayerNorm(inner_dim, eps=eps)
+        self.deconv = nn.ConvTranspose2d(inner_dim, triplane_dim, kernel_size=2, stride=2, padding=0)
+
+    def forward(self, image_feats):
+        # image_feats: [N, L_cond, D_cond]
+
+        N = image_feats.shape[0]
+        H = W = self.triplane_low_res
+        L = 3 * H * W
+
+        x = self.pos_embed.repeat(N, 1, 1)  # [N, L, D]
+        for layer in self.layers:
+            x = layer(x, image_feats)
+        x = self.norm(x)
+
+        # separate each plane and apply deconv
+        x = x.view(N, 3, H, W, -1)
+        x = torch.einsum('nihwd->indhw', x)  # [3, N, D, H, W]
+        x = x.contiguous().view(3*N, -1, H, W)  # [3*N, D, H, W]
+        x = self.deconv(x)  # [3*N, D', H', W']
+        x = x.view(3, N, *x.shape[-3:])  # [3, N, D', H', W']
+        x = torch.einsum('indhw->nidhw', x)  # [N, 3, D', H', W']
+        x = x.contiguous()
+
+        return x

src/models/encoder/dino.py

@@ -0,0 +1,550 @@
+# coding=utf-8
+# Copyright 2021 Google AI, Ross Wightman, The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+""" PyTorch ViT model."""
+
+
+import collections.abc
+import math
+from typing import Dict, List, Optional, Set, Tuple, Union
+
+import torch
+from torch import nn
+
+from transformers.activations import ACT2FN
+from transformers.modeling_outputs import (
+    BaseModelOutput,
+    BaseModelOutputWithPooling,
+)
+from transformers import PreTrainedModel, ViTConfig
+from transformers.pytorch_utils import find_pruneable_heads_and_indices, prune_linear_layer
+
+
+class ViTEmbeddings(nn.Module):
+    """
+    Construct the CLS token, position and patch embeddings. Optionally, also the mask token.
+    """
+
+    def __init__(self, config: ViTConfig, use_mask_token: bool = False) -> None:
+        super().__init__()
+
+        self.cls_token = nn.Parameter(torch.randn(1, 1, config.hidden_size))
+        self.mask_token = nn.Parameter(torch.zeros(1, 1, config.hidden_size)) if use_mask_token else None
+        self.patch_embeddings = ViTPatchEmbeddings(config)
+        num_patches = self.patch_embeddings.num_patches
+        self.position_embeddings = nn.Parameter(torch.randn(1, num_patches + 1, config.hidden_size))
+        self.dropout = nn.Dropout(config.hidden_dropout_prob)
+        self.config = config
+
+    def interpolate_pos_encoding(self, embeddings: torch.Tensor, height: int, width: int) -> torch.Tensor:
+        """
+        This method allows to interpolate the pre-trained position encodings, to be able to use the model on higher
+        resolution images.
+
+        Source:
+        https://github.com/facebookresearch/dino/blob/de9ee3df6cf39fac952ab558447af1fa1365362a/vision_transformer.py#L174
+        """
+
+        num_patches = embeddings.shape[1] - 1
+        num_positions = self.position_embeddings.shape[1] - 1
+        if num_patches == num_positions and height == width:
+            return self.position_embeddings
+        class_pos_embed = self.position_embeddings[:, 0]
+        patch_pos_embed = self.position_embeddings[:, 1:]
+        dim = embeddings.shape[-1]
+        h0 = height // self.config.patch_size
+        w0 = width // self.config.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
+        h0, w0 = h0 + 0.1, w0 + 0.1
+        patch_pos_embed = patch_pos_embed.reshape(1, int(math.sqrt(num_positions)), int(math.sqrt(num_positions)), dim)
+        patch_pos_embed = patch_pos_embed.permute(0, 3, 1, 2)
+        patch_pos_embed = nn.functional.interpolate(
+            patch_pos_embed,
+            scale_factor=(h0 / math.sqrt(num_positions), w0 / math.sqrt(num_positions)),
+            mode="bicubic",
+            align_corners=False,
+        )
+        assert int(h0) == patch_pos_embed.shape[-2] and int(w0) == 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)
+
+    def forward(
+        self,
+        pixel_values: torch.Tensor,
+        bool_masked_pos: Optional[torch.BoolTensor] = None,
+        interpolate_pos_encoding: bool = False,
+    ) -> torch.Tensor:
+        batch_size, num_channels, height, width = pixel_values.shape
+        embeddings = self.patch_embeddings(pixel_values, interpolate_pos_encoding=interpolate_pos_encoding)
+
+        if bool_masked_pos is not None:
+            seq_length = embeddings.shape[1]
+            mask_tokens = self.mask_token.expand(batch_size, seq_length, -1)
+            # replace the masked visual tokens by mask_tokens
+            mask = bool_masked_pos.unsqueeze(-1).type_as(mask_tokens)
+            embeddings = embeddings * (1.0 - mask) + mask_tokens * mask
+
+        # add the [CLS] token to the embedded patch tokens
+        cls_tokens = self.cls_token.expand(batch_size, -1, -1)
+        embeddings = torch.cat((cls_tokens, embeddings), dim=1)
+
+        # add positional encoding to each token
+        if interpolate_pos_encoding:
+            embeddings = embeddings + self.interpolate_pos_encoding(embeddings, height, width)
+        else:
+            embeddings = embeddings + self.position_embeddings
+
+        embeddings = self.dropout(embeddings)
+
+        return embeddings
+
+
+class ViTPatchEmbeddings(nn.Module):
+    """
+    This class turns `pixel_values` of shape `(batch_size, num_channels, height, width)` into the initial
+    `hidden_states` (patch embeddings) of shape `(batch_size, seq_length, hidden_size)` to be consumed by a
+    Transformer.
+    """
+
+    def __init__(self, config):
+        super().__init__()
+        image_size, patch_size = config.image_size, config.patch_size
+        num_channels, hidden_size = config.num_channels, config.hidden_size
+
+        image_size = image_size if isinstance(image_size, collections.abc.Iterable) else (image_size, image_size)
+        patch_size = patch_size if isinstance(patch_size, collections.abc.Iterable) else (patch_size, patch_size)
+        num_patches = (image_size[1] // patch_size[1]) * (image_size[0] // patch_size[0])
+        self.image_size = image_size
+        self.patch_size = patch_size
+        self.num_channels = num_channels
+        self.num_patches = num_patches
+
+        self.projection = nn.Conv2d(num_channels, hidden_size, kernel_size=patch_size, stride=patch_size)
+
+    def forward(self, pixel_values: torch.Tensor, interpolate_pos_encoding: bool = False) -> torch.Tensor:
+        batch_size, num_channels, height, width = pixel_values.shape
+        if num_channels != self.num_channels:
+            raise ValueError(
+                "Make sure that the channel dimension of the pixel values match with the one set in the configuration."
+                f" Expected {self.num_channels} but got {num_channels}."
+            )
+        if not interpolate_pos_encoding:
+            if height != self.image_size[0] or width != self.image_size[1]:
+                raise ValueError(
+                    f"Input image size ({height}*{width}) doesn't match model"
+                    f" ({self.image_size[0]}*{self.image_size[1]})."
+                )
+        embeddings = self.projection(pixel_values).flatten(2).transpose(1, 2)
+        return embeddings
+
+
+class ViTSelfAttention(nn.Module):
+    def __init__(self, config: ViTConfig) -> None:
+        super().__init__()
+        if config.hidden_size % config.num_attention_heads != 0 and not hasattr(config, "embedding_size"):
+            raise ValueError(
+                f"The hidden size {config.hidden_size,} is not a multiple of the number of attention "
+                f"heads {config.num_attention_heads}."
+            )
+
+        self.num_attention_heads = config.num_attention_heads
+        self.attention_head_size = int(config.hidden_size / config.num_attention_heads)
+        self.all_head_size = self.num_attention_heads * self.attention_head_size
+
+        self.query = nn.Linear(config.hidden_size, self.all_head_size, bias=config.qkv_bias)
+        self.key = nn.Linear(config.hidden_size, self.all_head_size, bias=config.qkv_bias)
+        self.value = nn.Linear(config.hidden_size, self.all_head_size, bias=config.qkv_bias)
+
+        self.dropout = nn.Dropout(config.attention_probs_dropout_prob)
+
+    def transpose_for_scores(self, x: torch.Tensor) -> torch.Tensor:
+        new_x_shape = x.size()[:-1] + (self.num_attention_heads, self.attention_head_size)
+        x = x.view(new_x_shape)
+        return x.permute(0, 2, 1, 3)
+
+    def forward(
+        self, hidden_states, head_mask: Optional[torch.Tensor] = None, output_attentions: bool = False
+    ) -> Union[Tuple[torch.Tensor, torch.Tensor], Tuple[torch.Tensor]]:
+        mixed_query_layer = self.query(hidden_states)
+
+        key_layer = self.transpose_for_scores(self.key(hidden_states))
+        value_layer = self.transpose_for_scores(self.value(hidden_states))
+        query_layer = self.transpose_for_scores(mixed_query_layer)
+
+        # Take the dot product between "query" and "key" to get the raw attention scores.
+        attention_scores = torch.matmul(query_layer, key_layer.transpose(-1, -2))
+
+        attention_scores = attention_scores / math.sqrt(self.attention_head_size)
+
+        # Normalize the attention scores to probabilities.
+        attention_probs = nn.functional.softmax(attention_scores, dim=-1)
+
+        # This is actually dropping out entire tokens to attend to, which might
+        # seem a bit unusual, but is taken from the original Transformer paper.
+        attention_probs = self.dropout(attention_probs)
+
+        # Mask heads if we want to
+        if head_mask is not None:
+            attention_probs = attention_probs * head_mask
+
+        context_layer = torch.matmul(attention_probs, value_layer)
+
+        context_layer = context_layer.permute(0, 2, 1, 3).contiguous()
+        new_context_layer_shape = context_layer.size()[:-2] + (self.all_head_size,)
+        context_layer = context_layer.view(new_context_layer_shape)
+
+        outputs = (context_layer, attention_probs) if output_attentions else (context_layer,)
+
+        return outputs
+
+
+class ViTSelfOutput(nn.Module):
+    """
+    The residual connection is defined in ViTLayer instead of here (as is the case with other models), due to the
+    layernorm applied before each block.
+    """
+
+    def __init__(self, config: ViTConfig) -> None:
+        super().__init__()
+        self.dense = nn.Linear(config.hidden_size, config.hidden_size)
+        self.dropout = nn.Dropout(config.hidden_dropout_prob)
+
+    def forward(self, hidden_states: torch.Tensor, input_tensor: torch.Tensor) -> torch.Tensor:
+        hidden_states = self.dense(hidden_states)
+        hidden_states = self.dropout(hidden_states)
+
+        return hidden_states
+
+
+class ViTAttention(nn.Module):
+    def __init__(self, config: ViTConfig) -> None:
+        super().__init__()
+        self.attention = ViTSelfAttention(config)
+        self.output = ViTSelfOutput(config)
+        self.pruned_heads = set()
+
+    def prune_heads(self, heads: Set[int]) -> None:
+        if len(heads) == 0:
+            return
+        heads, index = find_pruneable_heads_and_indices(
+            heads, self.attention.num_attention_heads, self.attention.attention_head_size, self.pruned_heads
+        )
+
+        # Prune linear layers
+        self.attention.query = prune_linear_layer(self.attention.query, index)
+        self.attention.key = prune_linear_layer(self.attention.key, index)
+        self.attention.value = prune_linear_layer(self.attention.value, index)
+        self.output.dense = prune_linear_layer(self.output.dense, index, dim=1)
+
+        # Update hyper params and store pruned heads
+        self.attention.num_attention_heads = self.attention.num_attention_heads - len(heads)
+        self.attention.all_head_size = self.attention.attention_head_size * self.attention.num_attention_heads
+        self.pruned_heads = self.pruned_heads.union(heads)
+
+    def forward(
+        self,
+        hidden_states: torch.Tensor,
+        head_mask: Optional[torch.Tensor] = None,
+        output_attentions: bool = False,
+    ) -> Union[Tuple[torch.Tensor, torch.Tensor], Tuple[torch.Tensor]]:
+        self_outputs = self.attention(hidden_states, head_mask, output_attentions)
+
+        attention_output = self.output(self_outputs[0], hidden_states)
+
+        outputs = (attention_output,) + self_outputs[1:]  # add attentions if we output them
+        return outputs
+
+
+class ViTIntermediate(nn.Module):
+    def __init__(self, config: ViTConfig) -> None:
+        super().__init__()
+        self.dense = nn.Linear(config.hidden_size, config.intermediate_size)
+        if isinstance(config.hidden_act, str):
+            self.intermediate_act_fn = ACT2FN[config.hidden_act]
+        else:
+            self.intermediate_act_fn = config.hidden_act
+
+    def forward(self, hidden_states: torch.Tensor) -> torch.Tensor:
+        hidden_states = self.dense(hidden_states)
+        hidden_states = self.intermediate_act_fn(hidden_states)
+
+        return hidden_states
+
+
+class ViTOutput(nn.Module):
+    def __init__(self, config: ViTConfig) -> None:
+        super().__init__()
+        self.dense = nn.Linear(config.intermediate_size, config.hidden_size)
+        self.dropout = nn.Dropout(config.hidden_dropout_prob)
+
+    def forward(self, hidden_states: torch.Tensor, input_tensor: torch.Tensor) -> torch.Tensor:
+        hidden_states = self.dense(hidden_states)
+        hidden_states = self.dropout(hidden_states)
+
+        hidden_states = hidden_states + input_tensor
+
+        return hidden_states
+
+
+def modulate(x, shift, scale):
+    return x * (1 + scale.unsqueeze(1)) + shift.unsqueeze(1)
+
+
+class ViTLayer(nn.Module):
+    """This corresponds to the Block class in the timm implementation."""
+
+    def __init__(self, config: ViTConfig) -> None:
+        super().__init__()
+        self.chunk_size_feed_forward = config.chunk_size_feed_forward
+        self.seq_len_dim = 1
+        self.attention = ViTAttention(config)
+        self.intermediate = ViTIntermediate(config)
+        self.output = ViTOutput(config)
+        self.layernorm_before = nn.LayerNorm(config.hidden_size, eps=config.layer_norm_eps)
+        self.layernorm_after = nn.LayerNorm(config.hidden_size, eps=config.layer_norm_eps)
+
+        self.adaLN_modulation = nn.Sequential(
+            nn.SiLU(),
+            nn.Linear(config.hidden_size, 4 * config.hidden_size, bias=True)
+        )
+        nn.init.constant_(self.adaLN_modulation[-1].weight, 0)
+        nn.init.constant_(self.adaLN_modulation[-1].bias, 0)
+
+    def forward(
+        self,
+        hidden_states: torch.Tensor,
+        adaln_input: torch.Tensor = None,
+        head_mask: Optional[torch.Tensor] = None,
+        output_attentions: bool = False,
+    ) -> Union[Tuple[torch.Tensor, torch.Tensor], Tuple[torch.Tensor]]:
+        shift_msa, scale_msa, shift_mlp, scale_mlp = self.adaLN_modulation(adaln_input).chunk(4, dim=1)
+
+        self_attention_outputs = self.attention(
+            modulate(self.layernorm_before(hidden_states), shift_msa, scale_msa),  # in ViT, layernorm is applied before self-attention
+            head_mask,
+            output_attentions=output_attentions,
+        )
+        attention_output = self_attention_outputs[0]
+        outputs = self_attention_outputs[1:]  # add self attentions if we output attention weights
+
+        # first residual connection
+        hidden_states = attention_output + hidden_states
+
+        # in ViT, layernorm is also applied after self-attention
+        layer_output = modulate(self.layernorm_after(hidden_states), shift_mlp, scale_mlp)
+        layer_output = self.intermediate(layer_output)
+
+        # second residual connection is done here
+        layer_output = self.output(layer_output, hidden_states)
+
+        outputs = (layer_output,) + outputs
+
+        return outputs
+
+
+class ViTEncoder(nn.Module):
+    def __init__(self, config: ViTConfig) -> None:
+        super().__init__()
+        self.config = config
+        self.layer = nn.ModuleList([ViTLayer(config) for _ in range(config.num_hidden_layers)])
+        self.gradient_checkpointing = False
+
+    def forward(
+        self,
+        hidden_states: torch.Tensor,
+        adaln_input: torch.Tensor = None,
+        head_mask: Optional[torch.Tensor] = None,
+        output_attentions: bool = False,
+        output_hidden_states: bool = False,
+        return_dict: bool = True,
+    ) -> Union[tuple, BaseModelOutput]:
+        all_hidden_states = () if output_hidden_states else None
+        all_self_attentions = () if output_attentions else None
+
+        for i, layer_module in enumerate(self.layer):
+            if output_hidden_states:
+                all_hidden_states = all_hidden_states + (hidden_states,)
+
+            layer_head_mask = head_mask[i] if head_mask is not None else None
+
+            if self.gradient_checkpointing and self.training:
+                layer_outputs = self._gradient_checkpointing_func(
+                    layer_module.__call__,
+                    hidden_states,
+                    adaln_input,
+                    layer_head_mask,
+                    output_attentions,
+                )
+            else:
+                layer_outputs = layer_module(hidden_states, adaln_input, layer_head_mask, output_attentions)
+
+            hidden_states = layer_outputs[0]
+
+            if output_attentions:
+                all_self_attentions = all_self_attentions + (layer_outputs[1],)
+
+        if output_hidden_states:
+            all_hidden_states = all_hidden_states + (hidden_states,)
+
+        if not return_dict:
+            return tuple(v for v in [hidden_states, all_hidden_states, all_self_attentions] if v is not None)
+        return BaseModelOutput(
+            last_hidden_state=hidden_states,
+            hidden_states=all_hidden_states,
+            attentions=all_self_attentions,
+        )
+
+
+class ViTPreTrainedModel(PreTrainedModel):
+    """
+    An abstract class to handle weights initialization and a simple interface for downloading and loading pretrained
+    models.
+    """
+
+    config_class = ViTConfig
+    base_model_prefix = "vit"
+    main_input_name = "pixel_values"
+    supports_gradient_checkpointing = True
+    _no_split_modules = ["ViTEmbeddings", "ViTLayer"]
+
+    def _init_weights(self, module: Union[nn.Linear, nn.Conv2d, nn.LayerNorm]) -> None:
+        """Initialize the weights"""
+        if isinstance(module, (nn.Linear, nn.Conv2d)):
+            # Upcast the input in `fp32` and cast it back to desired `dtype` to avoid
+            # `trunc_normal_cpu` not implemented in `half` issues
+            module.weight.data = nn.init.trunc_normal_(
+                module.weight.data.to(torch.float32), mean=0.0, std=self.config.initializer_range
+            ).to(module.weight.dtype)
+            if module.bias is not None:
+                module.bias.data.zero_()
+        elif isinstance(module, nn.LayerNorm):
+            module.bias.data.zero_()
+            module.weight.data.fill_(1.0)
+        elif isinstance(module, ViTEmbeddings):
+            module.position_embeddings.data = nn.init.trunc_normal_(
+                module.position_embeddings.data.to(torch.float32),
+                mean=0.0,
+                std=self.config.initializer_range,
+            ).to(module.position_embeddings.dtype)
+
+            module.cls_token.data = nn.init.trunc_normal_(
+                module.cls_token.data.to(torch.float32),
+                mean=0.0,
+                std=self.config.initializer_range,
+            ).to(module.cls_token.dtype)
+
+
+class ViTModel(ViTPreTrainedModel):
+    def __init__(self, config: ViTConfig, add_pooling_layer: bool = True, use_mask_token: bool = False):
+        super().__init__(config)
+        self.config = config
+
+        self.embeddings = ViTEmbeddings(config, use_mask_token=use_mask_token)
+        self.encoder = ViTEncoder(config)
+
+        self.layernorm = nn.LayerNorm(config.hidden_size, eps=config.layer_norm_eps)
+        self.pooler = ViTPooler(config) if add_pooling_layer else None
+
+        # Initialize weights and apply final processing
+        self.post_init()
+
+    def get_input_embeddings(self) -> ViTPatchEmbeddings:
+        return self.embeddings.patch_embeddings
+
+    def _prune_heads(self, heads_to_prune: Dict[int, List[int]]) -> None:
+        """
+        Prunes heads of the model. heads_to_prune: dict of {layer_num: list of heads to prune in this layer} See base
+        class PreTrainedModel
+        """
+        for layer, heads in heads_to_prune.items():
+            self.encoder.layer[layer].attention.prune_heads(heads)
+
+    def forward(
+        self,
+        pixel_values: Optional[torch.Tensor] = None,
+        adaln_input: Optional[torch.Tensor] = None,
+        bool_masked_pos: Optional[torch.BoolTensor] = None,
+        head_mask: Optional[torch.Tensor] = None,
+        output_attentions: Optional[bool] = None,
+        output_hidden_states: Optional[bool] = None,
+        interpolate_pos_encoding: Optional[bool] = None,
+        return_dict: Optional[bool] = None,
+    ) -> Union[Tuple, BaseModelOutputWithPooling]:
+        r"""
+        bool_masked_pos (`torch.BoolTensor` of shape `(batch_size, num_patches)`, *optional*):
+            Boolean masked positions. Indicates which patches are masked (1) and which aren't (0).
+        """
+        output_attentions = output_attentions if output_attentions is not None else self.config.output_attentions
+        output_hidden_states = (
+            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
+        )
+        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
+
+        if pixel_values is None:
+            raise ValueError("You have to specify pixel_values")
+
+        # Prepare head mask if needed
+        # 1.0 in head_mask indicate we keep the head
+        # attention_probs has shape bsz x n_heads x N x N
+        # input head_mask has shape [num_heads] or [num_hidden_layers x num_heads]
+        # and head_mask is converted to shape [num_hidden_layers x batch x num_heads x seq_length x seq_length]
+        head_mask = self.get_head_mask(head_mask, self.config.num_hidden_layers)
+
+        # TODO: maybe have a cleaner way to cast the input (from `ImageProcessor` side?)
+        expected_dtype = self.embeddings.patch_embeddings.projection.weight.dtype
+        if pixel_values.dtype != expected_dtype:
+            pixel_values = pixel_values.to(expected_dtype)
+
+        embedding_output = self.embeddings(
+            pixel_values, bool_masked_pos=bool_masked_pos, interpolate_pos_encoding=interpolate_pos_encoding
+        )
+
+        encoder_outputs = self.encoder(
+            embedding_output,
+            adaln_input=adaln_input,
+            head_mask=head_mask,
+            output_attentions=output_attentions,
+            output_hidden_states=output_hidden_states,
+            return_dict=return_dict,
+        )
+        sequence_output = encoder_outputs[0]
+        sequence_output = self.layernorm(sequence_output)
+        pooled_output = self.pooler(sequence_output) if self.pooler is not None else None
+
+        if not return_dict:
+            head_outputs = (sequence_output, pooled_output) if pooled_output is not None else (sequence_output,)
+            return head_outputs + encoder_outputs[1:]
+
+        return BaseModelOutputWithPooling(
+            last_hidden_state=sequence_output,
+            pooler_output=pooled_output,
+            hidden_states=encoder_outputs.hidden_states,
+            attentions=encoder_outputs.attentions,
+        )
+
+
+class ViTPooler(nn.Module):
+    def __init__(self, config: ViTConfig):
+        super().__init__()
+        self.dense = nn.Linear(config.hidden_size, config.hidden_size)
+        self.activation = nn.Tanh()
+
+    def forward(self, hidden_states):
+        # We "pool" the model by simply taking the hidden state corresponding
+        # to the first token.
+        first_token_tensor = hidden_states[:, 0]
+        pooled_output = self.dense(first_token_tensor)
+        pooled_output = self.activation(pooled_output)
+        return pooled_output

src/models/encoder/dino_wrapper.py

@@ -0,0 +1,80 @@
+# Copyright (c) 2023, Zexin He
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import torch.nn as nn
+from transformers import ViTImageProcessor
+from einops import rearrange, repeat
+from .dino import ViTModel
+
+
+class DinoWrapper(nn.Module):
+    """
+    Dino v1 wrapper using huggingface transformer implementation.
+    """
+    def __init__(self, model_name: str, freeze: bool = True):
+        super().__init__()
+        self.model, self.processor = self._build_dino(model_name)
+        self.camera_embedder = nn.Sequential(
+            nn.Linear(16, self.model.config.hidden_size, bias=True),
+            nn.SiLU(),
+            nn.Linear(self.model.config.hidden_size, self.model.config.hidden_size, bias=True)
+        )
+        if freeze:
+            self._freeze()
+
+    def forward(self, image, camera):
+        # image: [B, N, C, H, W]
+        # camera: [B, N, D]
+        # RGB image with [0,1] scale and properly sized
+        if image.ndim == 5:
+            image = rearrange(image, 'b n c h w -> (b n) c h w')
+        dtype = image.dtype
+        inputs = self.processor(
+            images=image.float(), 
+            return_tensors="pt", 
+            do_rescale=False, 
+            do_resize=False,
+        ).to(self.model.device).to(dtype)
+        # embed camera
+        N = camera.shape[1]
+        camera_embeddings = self.camera_embedder(camera)
+        camera_embeddings = rearrange(camera_embeddings, 'b n d -> (b n) d')
+        embeddings = camera_embeddings
+        # This resampling of positional embedding uses bicubic interpolation
+        outputs = self.model(**inputs, adaln_input=embeddings, interpolate_pos_encoding=True)
+        last_hidden_states = outputs.last_hidden_state
+        return last_hidden_states
+
+    def _freeze(self):
+        print(f"======== Freezing DinoWrapper ========")
+        self.model.eval()
+        for name, param in self.model.named_parameters():
+            param.requires_grad = False
+
+    @staticmethod
+    def _build_dino(model_name: str, proxy_error_retries: int = 3, proxy_error_cooldown: int = 5):
+        import requests
+        try:
+            model = ViTModel.from_pretrained(model_name, add_pooling_layer=False)
+            processor = ViTImageProcessor.from_pretrained(model_name)
+            return model, processor
+        except requests.exceptions.ProxyError as err:
+            if proxy_error_retries > 0:
+                print(f"Huggingface ProxyError: Retrying in {proxy_error_cooldown} seconds...")
+                import time
+                time.sleep(proxy_error_cooldown)
+                return DinoWrapper._build_dino(model_name, proxy_error_retries - 1, proxy_error_cooldown)
+            else:
+                raise err

src/models/geometry/__init__.py

@@ -0,0 +1,7 @@
+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES.  All rights reserved.
+#
+# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.