# -------------------------------------------------------- # SEEM -- Segment Everything Everywhere All at Once # Licensed under The Apache License 2.0 [see LICENSE for details] # Written by Xueyan Zou (xueyan@cs.wisc.edu) # -------------------------------------------------------- import random from typing import Tuple import numpy as np import torch from torch import nn from torch.nn import functional as F from kornia.contrib import distance_transform from detectron2.structures import Boxes, ImageList, Instances, BitMasks from detectron2.utils.memory import retry_if_cuda_oom from detectron2.data import MetadataCatalog from .build import register_model from ..utils import configurable, get_class_names, get_iou from ..vision.backbone import build_backbone, Backbone from ..body import build_xdecoder_head from ..modules import sem_seg_postprocess, SetCriterion, HungarianMatcher, bbox_postprocess from ..language import build_language_encoder from ..language.loss import vl_similarity from utilities.prompt_engineering import prompt_engineering from utilities.constants import COCO_PANOPTIC_CLASSES class GeneralizedSEEM(nn.Module): @configurable def __init__( self, *, backbone: Backbone, sem_seg_head: nn.Module, criterion: nn.Module, losses: dict, num_queries: int, object_mask_threshold: float, overlap_threshold: float, metadata, task_switch: dict, phrase_prob: float, size_divisibility: int, sem_seg_postprocess_before_inference: bool, pixel_mean: Tuple[float], pixel_std: Tuple[float], # inference semantic_on: bool, panoptic_on: bool, instance_on: bool, test_topk_per_image: int, train_dataset_name: str, interactive_mode: str, interactive_iter: str, dilation_kernel: torch.Tensor, ): super().__init__() self.backbone = backbone self.sem_seg_head = sem_seg_head self.criterion = criterion self.losses = losses self.num_queries = num_queries self.overlap_threshold = overlap_threshold self.object_mask_threshold = object_mask_threshold self.metadata = metadata if size_divisibility < 0: # use backbone size_divisibility if not set size_divisibility = self.backbone.size_divisibility self.size_divisibility = size_divisibility self.sem_seg_postprocess_before_inference = sem_seg_postprocess_before_inference self.register_buffer("pixel_mean", torch.Tensor(pixel_mean).view(-1, 1, 1), False) self.register_buffer("pixel_std", torch.Tensor(pixel_std).view(-1, 1, 1), False) # additional args self.semantic_on = semantic_on self.instance_on = instance_on self.panoptic_on = panoptic_on # caption argument self.task_switch = task_switch self.phrase_prob = phrase_prob self.test_topk_per_image = test_topk_per_image self.train_class_names = None self.interactive_mode = interactive_mode self.interactive_iter = interactive_iter if not self.semantic_on: assert self.sem_seg_postprocess_before_inference self.register_buffer("dilation_kernel", dilation_kernel) @classmethod def from_config(cls, cfg): enc_cfg = cfg['MODEL']['ENCODER'] dec_cfg = cfg['MODEL']['DECODER'] openimage_switch = {'grounding': dec_cfg['OPENIMAGE']['GROUNDING'].get('ENABLED', False), 'mask': dec_cfg['OPENIMAGE'].get('ENABLED', False)} task_switch = {'bbox': dec_cfg.get('DETECTION', False), 'mask': dec_cfg.get('MASK', True), 'spatial': dec_cfg['SPATIAL'].get('ENABLED', False), 'grounding': dec_cfg['GROUNDING'].get('ENABLED', False), 'openimage': openimage_switch, 'visual': dec_cfg['VISUAL'].get('ENABLED', False), 'audio': dec_cfg['AUDIO'].get('ENABLED', False)} # build model extra = {'task_switch': task_switch} backbone = build_backbone(cfg) lang_encoder = build_language_encoder(cfg) sem_seg_head = build_xdecoder_head(cfg, backbone.output_shape(), lang_encoder, extra=extra) # Training Settings. loss_weights = {} matcher = None losses = {} weight_dict = {} grd_weight = {} top_x_layers = {} criterion = None train_dataset_name = None phrase_prob = None # Loss parameters: deep_supervision = None no_object_weight = None interactive_mode = 'best' interactive_iter = 20 dilation = 3 dilation_kernel = torch.ones((1, 1, dilation, dilation), device=torch.cuda.current_device()) return { "backbone": backbone, "sem_seg_head": sem_seg_head, "criterion": criterion, "losses": losses, "num_queries": dec_cfg['NUM_OBJECT_QUERIES'], "object_mask_threshold": dec_cfg['TEST']['OBJECT_MASK_THRESHOLD'], "overlap_threshold": dec_cfg['TEST']['OVERLAP_THRESHOLD'], "metadata": None, "size_divisibility": dec_cfg['SIZE_DIVISIBILITY'], "sem_seg_postprocess_before_inference": ( dec_cfg['TEST']['SEM_SEG_POSTPROCESSING_BEFORE_INFERENCE'] or dec_cfg['TEST']['PANOPTIC_ON'] or dec_cfg['TEST']['INSTANCE_ON'] ), "pixel_mean": cfg['INPUT']['PIXEL_MEAN'], "pixel_std": cfg['INPUT']['PIXEL_STD'], "task_switch": task_switch, "phrase_prob": phrase_prob, # inference "semantic_on": dec_cfg['TEST']['SEMANTIC_ON'], "instance_on": dec_cfg['TEST']['INSTANCE_ON'], "panoptic_on": dec_cfg['TEST']['PANOPTIC_ON'], "test_topk_per_image": cfg['MODEL']['DECODER']['TEST']['DETECTIONS_PER_IMAGE'], "train_dataset_name": train_dataset_name, "interactive_mode": interactive_mode, "interactive_iter": interactive_iter, "dilation_kernel": dilation_kernel, } @property def device(self): return self.pixel_mean.device def forward(self, batched_inputs, mode='default'): if self.training: losses = {} if self.task_switch['mask']: losses_seg = self.forward_seg(batched_inputs) losses.update(losses_seg) if self.task_switch['openimage'] and self.task_switch['openimage']['mask']: losses_openimage = self.forward_openimage(batched_inputs['openimage']) losses_openimage = {key.replace('mask', 'openimage'):value for key, value in losses_openimage.items()} losses_openimage = {key.replace('grounding', 'grounding_openimage'):value for key, value in losses_openimage.items()} losses.update(losses_openimage) for k in list(losses.keys()): if k in self.criterion.weight_dict: losses[k] *= self.criterion.weight_dict[k] else: # remove this loss if not specified in `weight_dict` losses.pop(k) return losses else: if mode == 'interactive': return self.evaluate_interactive(batched_inputs) elif mode == 'grounding_spatial': return self.evaluate_grounding_sptial(batched_inputs, mode) elif mode in ['grounding_phrasecut', 'grounding_refcoco']: return self.evaluate_grounding(batched_inputs, mode) else: return self.evaluate(batched_inputs) def forward_seg(self, batched_inputs): 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) self.sem_seg_head.predictor.lang_encoder.get_text_embeddings(self.train_class_names, is_eval=False) extra = {} # mask classification target if "instances" in batched_inputs[0]: # input bounding box is checked to be correct. targets = self.prepare_targets(batched_inputs, images) if self.task_switch['grounding']: grounding_tokens = [x['grounding_query_embs'] for x in targets] # need to pad for more than one grounding token grounding_tokens = nn.utils.rnn.pad_sequence(grounding_tokens, padding_value=-1) non_zero_query_mask = (grounding_tokens.sum(dim=-1) == -grounding_tokens.shape[-1]) grounding_tokens[non_zero_query_mask] = 0 extra['grounding_tokens'] = grounding_tokens extra['grounding_nonzero_mask'] = non_zero_query_mask.t() if self.task_switch['spatial']: pos_masks = [x['spatial_query']['rand_shape'].to(self.device) for x in batched_inputs] neg_masks = [(x['spatial_query']['rand_shape'].to(self.device) & False) for x in batched_inputs] fp_masks = torch.stack([(x['spatial_query']['rand_shape'].to(self.device) & False) for x in batched_inputs]) extra.update({'spatial_query_pos_mask': pos_masks, 'spatial_query_neg_mask': neg_masks, 'false_positive_mask': fp_masks}) features = self.backbone(images.tensor) mask_features, _, multi_scale_features = self.sem_seg_head.pixel_decoder.forward_features(features) # forward spatial only without gradient if self.task_switch['spatial']: with torch.no_grad(): # generate random integeter between [0,3] rand_iter_num = random.randint(0, 2) for i in range(rand_iter_num): outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, extra=extra, task='spatial') extra.update(outputs) extra.update(self.prepare_next_spaital_mask(extra, batched_inputs)) outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, extra=extra, task='seg') extra = {'lang_logit': self.sem_seg_head.predictor.lang_encoder.logit_scale, 'class_embeddings': getattr(self.sem_seg_head.predictor.lang_encoder, '{}_text_embeddings'.format('default')), 'false_positive_mask': extra['false_positive_mask']} # bipartite matching-based loss self.criterion.losses = self.losses['seg'] # seg criterion losses losses = self.criterion(outputs, targets, extra) del outputs return losses def evaluate_demo(self, batched_inputs): 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 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] extra = {} if 'stroke' in batched_inputs[0]: pos_masks = (batched_inputs[0]['stroke'].to(self.device)).unbind(0) pos_masks = ImageList.from_tensors(pos_masks, self.size_divisibility).tensor.unbind(0) neg_masks = (batched_inputs[0]['stroke'].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}) if 'visual' in batched_inputs[0]: extra.update(batched_inputs[0]['visual']) if 'text' in batched_inputs[0]: gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings(batched_inputs[0]['text'], 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() extra['grounding_class'] = gtext['class_emb'] if 'audio' in batched_inputs[0]: gtext = self.sem_seg_head.predictor.lang_encoder.get_text_token_embeddings(batched_inputs[0]['audio'], 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['audio_tokens'] = query_emb[:,None] extra['audio_nonzero_mask'] = non_zero_query_mask.t() extra['audio_class'] = gtext['class_emb'] outputs = self.sem_seg_head.predictor(multi_scale_features, mask_features, target_queries=queries_grounding, extra=extra, task='demo') return outputs, images.tensor.shape, extra 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(self, batched_inputs): 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) outputs = self.sem_seg_head(features, target_queries=queries_grounding) mask_cls_results = outputs["pred_logits"] mask_pred_results = outputs["pred_masks"] box_pred_results = outputs["pred_boxes"] if self.task_switch['bbox'] else [None for i in range(len(mask_pred_results))] # upsample masks mask_pred_results = F.interpolate( mask_pred_results, size=(images.tensor.shape[-2], images.tensor.shape[-1]), mode="bilinear", align_corners=False, ) input_size = mask_pred_results.shape[-2:] del outputs processed_results = [] for mask_cls_result, mask_pred_result, box_pred_result, input_per_image, image_size in zip( mask_cls_results, mask_pred_results, box_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({}) if self.sem_seg_postprocess_before_inference: mask_pred_result = retry_if_cuda_oom(sem_seg_postprocess)( mask_pred_result, image_size, height, width ) mask_cls_result = mask_cls_result.to(mask_pred_result) # semantic segmentation inference if self.semantic_on: r = retry_if_cuda_oom(self.semantic_inference)(mask_cls_result, mask_pred_result) if not self.sem_seg_postprocess_before_inference: r = retry_if_cuda_oom(sem_seg_postprocess)(r, image_size, height, width) processed_results[-1]["sem_seg"] = r # panoptic segmentation inference if self.panoptic_on: panoptic_r = retry_if_cuda_oom(self.panoptic_inference)(mask_cls_result, mask_pred_result) processed_results[-1]["panoptic_seg"] = panoptic_r # instance segmentation inference if self.instance_on: if self.task_switch['bbox']: box_pred_result = bbox_postprocess(box_pred_result, input_size, image_size, height, width) instance_r = retry_if_cuda_oom(self.instance_inference)(mask_cls_result, mask_pred_result, box_pred_result) processed_results[-1]["instances"] = instance_r return processed_results def evaluate_interactive(self, batched_inputs): 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(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)))) fp_sum = fp.sum(dim=list(range(1,len(fp.shape)))) is_postive = fn_sum > fp_sum # is_postive = torch.ones(len(fn_sum), device=torch.cuda.current_device()).bool() select_mask = torch.stack([fn[i] if is_postive[i] else fp[i] for i in range(len(fn))]) # conv implementation n,_,h,w=select_mask.shape 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) max_xy_idx = torch.stack([torch.arange(n), mask_dt.max(dim=-1)[1].cpu()]).tolist() next_mask = torch.zeros(gt_masks.shape, device=torch.cuda.current_device()).bool() next_mask = next_mask.view(n,-1) next_mask[max_xy_idx] = True next_mask = next_mask.reshape((n,1,h,w)).float() 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)