在DINO代码学习笔记（一）中已经将输入transformer之前的参数处理给捋了一遍，接下就是将这些参数传给transformer。
DINO的transformer使用了Deformable-DETR中的可变性transformer（他们之前的工作也有用到）
这里还是使用之前的一些设置，为了连贯，这里提前声明：
1、输入尺寸[2,3,640,701]，
2、src为[[N,256,80,88],[N,256,40,44],[N,256,20,22],[N,256,10,11]]，其中N=2，
3、poss为[[N,256,80,88],[N,256,40,44],[N,256,20,22],[N,256,10,11]]
4、mask为[[N,80,88],[N,40,44],[N,20,22],[N,10,11]]
5、input_query_bbox [N,single_pad * 2 * dn_number,256](该batch中[N,200,256]);
6、input_query_label [N,200,4];
7、attn_mask [single_pad * 2 * dn_number + 900,single_pad * 2 * dn_number + 900](该batch中[1100,1100])
这里先把主函数的代码贴上来
class DeformableTransformer(nn.Module):
def __init__(self, d_model=256, nhead=8,
num_queries=300,
num_encoder_layers=6,
num_unicoder_layers=0,
num_decoder_layers=6,
dim_feedforward=2048, dropout=0.0,
activation="relu", normalize_before=False,
return_intermediate_dec=False, query_dim=4,
num_patterns=0,
modulate_hw_attn=False,
# for deformable encoder
deformable_encoder=False,
deformable_decoder=False,
num_feature_levels=1,
enc_n_points=4,
dec_n_points=4,
use_deformable_box_attn=False,
box_attn_type='roi_align',
# init query
learnable_tgt_init=False,
decoder_query_perturber=None,
add_channel_attention=False,
add_pos_value=False,
random_refpoints_xy=False,
# two stage
two_stage_type='no', # ['no', 'standard', 'early', 'combine', 'enceachlayer', 'enclayer1']
two_stage_pat_embed=0,
two_stage_add_query_num=0,
two_stage_learn_wh=False,
two_stage_keep_all_tokens=False,
# evo of #anchors
dec_layer_number=None,
rm_enc_query_scale=True,
rm_dec_query_scale=True,
rm_self_attn_layers=None,
key_aware_type=None,
# layer share
layer_share_type=None,
# for detach
rm_detach=None,
decoder_sa_type='ca',
module_seq=['sa', 'ca', 'ffn'],
# for dn
embed_init_tgt=False,
use_detached_boxes_dec_out=False,
):
super().__init__()
self.num_feature_levels = num_feature_levels
self.num_encoder_layers = num_encoder_layers
self.num_unicoder_layers = num_unicoder_layers
self.num_decoder_layers = num_decoder_layers
self.deformable_encoder = deformable_encoder
self.deformable_decoder = deformable_decoder
self.two_stage_keep_all_tokens = two_stage_keep_all_tokens
self.num_queries = num_queries
self.random_refpoints_xy = random_refpoints_xy
self.use_detached_boxes_dec_out = use_detached_boxes_dec_out
assert query_dim == 4
if num_feature_levels > 1:
assert deformable_encoder, "only support deformable_encoder for num_feature_levels > 1"
if use_deformable_box_attn:
assert deformable_encoder or deformable_encoder
assert layer_share_type in [None, 'encoder', 'decoder', 'both']
if layer_share_type in ['encoder', 'both']:
enc_layer_share = True
else:
enc_layer_share = False
if layer_share_type in ['decoder', 'both']:
dec_layer_share = True
else:
dec_layer_share = False
assert layer_share_type is None
self.decoder_sa_type = decoder_sa_type
assert decoder_sa_type in ['sa', 'ca_label', 'ca_content']
# choose encoder layer type
if deformable_encoder:
encoder_layer = DeformableTransformerEncoderLayer(d_model, dim_feedforward,
dropout, activation,
num_feature_levels, nhead, enc_n_points, add_channel_attention=add_channel_attention, use_deformable_box_attn=use_deformable_box_attn, box_attn_type=box_attn_type)
else:
raise NotImplementedError
encoder_norm = nn.LayerNorm(d_model) if normalize_before else None
self.encoder = TransformerEncoder(
encoder_layer, num_encoder_layers,
encoder_norm, d_model=d_model,
num_queries=num_queries,
deformable_encoder=deformable_encoder,
enc_layer_share=enc_layer_share,
two_stage_type=two_stage_type
)
# choose decoder layer type
if deformable_decoder:
decoder_layer = DeformableTransformerDecoderLayer(d_model, dim_feedforward,
dropout, activation,
num_feature_levels, nhead, dec_n_points, use_deformable_box_attn=use_deformable_box_attn, box_attn_type=box_attn_type,
key_aware_type=key_aware_type,
decoder_sa_type=decoder_sa_type,
module_seq=module_seq)
else:
raise NotImplementedError
decoder_norm = nn.LayerNorm(d_model)
self.decoder = TransformerDecoder(decoder_layer, num_decoder_layers, decoder_norm,
return_intermediate=return_intermediate_dec,
d_model=d_model, query_dim=query_dim,
modulate_hw_attn=modulate_hw_attn,
num_feature_levels=num_feature_levels,
deformable_decoder=deformable_decoder,
decoder_query_perturber=decoder_query_perturber,
dec_layer_number=dec_layer_number, rm_dec_query_scale=rm_dec_query_scale,
dec_layer_share=dec_layer_share,
use_detached_boxes_dec_out=use_detached_boxes_dec_out
)
self.d_model = d_model
self.nhead = nhead
self.dec_layers = num_decoder_layers
self.num_queries = num_queries # useful for single stage model only
self.num_patterns = num_patterns
if not isinstance(num_patterns, int):
Warning("num_patterns should be int but {}".format(type(num_patterns)))
self.num_patterns = 0
if num_feature_levels > 1:
if self.num_encoder_layers > 0:
self.level_embed = nn.Parameter(torch.Tensor(num_feature_levels, d_model))
else:
self.level_embed = None
self.learnable_tgt_init = learnable_tgt_init
assert learnable_tgt_init, "why not learnable_tgt_init"
self.embed_init_tgt = embed_init_tgt
if (two_stage_type != 'no' and embed_init_tgt) or (two_stage_type == 'no'):
self.tgt_embed = nn.Embedding(self.num_queries, d_model)
nn.init.normal_(self.tgt_embed.weight.data)
else:
self.tgt_embed = None
# for two stage
self.two_stage_type = two_stage_type
self.two_stage_pat_embed = two_stage_pat_embed
self.two_stage_add_query_num = two_stage_add_query_num
self.two_stage_learn_wh = two_stage_learn_wh
assert two_stage_type in ['no', 'standard'], "unknown param {} of two_stage_type".format(two_stage_type)
if two_stage_type =='standard':
# anchor selection at the output of encoder
self.enc_output = nn.Linear(d_model, d_model)
self.enc_output_norm = nn.LayerNorm(d_model)
if two_stage_pat_embed > 0:
self.pat_embed_for_2stage = nn.Parameter(torch.Tensor(two_stage_pat_embed, d_model))
nn.init.normal_(self.pat_embed_for_2stage)
if two_stage_add_query_num > 0:
self.tgt_embed = nn.Embedding(self.two_stage_add_query_num, d_model)
if two_stage_learn_wh:
self.two_stage_wh_embedding = nn.Embedding(1, 2)
else:
self.two_stage_wh_embedding = None
if two_stage_type == 'no':
self.init_ref_points(num_queries) # init self.refpoint_embed
self.enc_out_class_embed = None
self.enc_out_bbox_embed = None
# evolution of anchors
self.dec_layer_number = dec_layer_number
if dec_layer_number is not None:
if self.two_stage_type != 'no' or num_patterns == 0:
assert dec_layer_number[0] == num_queries, f"dec_layer_number[0]({dec_layer_number[0]}) != num_queries({num_queries})"
else:
assert dec_layer_number[0] == num_queries * num_patterns, f"dec_layer_number[0]({dec_layer_number[0]}) != num_queries({num_queries}) * num_patterns({num_patterns})"
self._reset_parameters()
self.rm_self_attn_layers = rm_self_attn_layers
if rm_self_attn_layers is not None:
print("Removing the self-attn in {} decoder layers".format(rm_self_attn_layers))
for lid, dec_layer in enumerate(self.decoder.layers):
if lid in rm_self_attn_layers:
dec_layer.rm_self_attn_modules()
self.rm_detach = rm_detach
if self.rm_detach:
assert isinstance(rm_detach, list)
assert any([i in ['enc_ref', 'enc_tgt', 'dec'] for i in rm_detach])
self.decoder.rm_detach = rm_detach
def _reset_parameters(self):
for p in self.parameters():
if p.dim() > 1:
nn.init.xavier_uniform_(p)
for m in self.modules():
if isinstance(m, MSDeformAttn):
m._reset_parameters()
if self.num_feature_levels > 1 and self.level_embed is not None:
nn.init.normal_(self.level_embed)
if self.two_stage_learn_wh:
nn.init.constant_(self.two_stage_wh_embedding.weight, math.log(0.05 / (1 - 0.05)))
def get_valid_ratio(self, mask):
_, H, W = mask.shape
valid_H = torch.sum(~mask[:, :, 0], 1) # 取feature map中非padding部分的H (即feature map的实际大小)
valid_W = torch.sum(~mask[:, 0, :], 1) # 取feature map中非padding部分的W
valid_ratio_h = valid_H.float() / H # 计算feature map中非padding部分的H在当前batch下feature map中的H所占的比例
valid_ratio_w = valid_W.float() / W # 计算feature map中非padding部分的W在当前batch下feature map中的W所占的比例
valid_ratio = torch.stack([valid_ratio_w, valid_ratio_h], -1)
return valid_ratio
def init_ref_points(self, use_num_queries):
self.refpoint_embed = nn.Embedding(use_num_queries, 4)
if self.random_refpoints_xy:
self.refpoint_embed.weight.data[:, :2].uniform_(0,1)
self.refpoint_embed.weight.data[:, :2] = inverse_sigmoid(self.refpoint_embed.weight.data[:, :2])
self.refpoint_embed.weight.data[:, :2].requires_grad = False
def forward(self, srcs, masks, refpoint_embed, pos_embeds, tgt, attn_mask=None):
"""
Input:
- srcs: List of multi features [bs, ci, hi, wi]
- masks: List of multi masks [bs, hi, wi]
- refpoint_embed: [bs, num_dn, 4]. None in infer # 即input_query_bbox
- pos_embeds: List of multi pos embeds [bs, ci, hi, wi]
- tgt: [bs, num_dn, d_model]. None in infer # 即input_query_label
"""
# prepare input for encoder
src_flatten = []
mask_flatten = []
lvl_pos_embed_flatten = []
spatial_shapes = []
for lvl, (src, mask, pos_embed) in enumerate(zip(srcs, masks, pos_embeds)):
bs, c, h, w = src.shape
spatial_shape = (h, w)
spatial_shapes.append(spatial_shape)
src = src.flatten(2).transpose(1, 2) # bs, hw, c # 将H和W打平 [N,256,H,W] -> [N,H*W,256]
mask = mask.flatten(1) # bs, hw # [N,H,W] -> [N,H*W]
pos_embed = pos_embed.flatten(2).transpose(1, 2) # bs, hw, c # 同样将H和W打平 [N,256,H,W] -> [N,H*W,256]
if self.num_feature_levels > 1 and self.level_embed is not None: # self.level_embed是一个[4,256]的tensor
lvl_pos_embed = pos_embed + self.level_embed[lvl].view(1, 1, -1) # 加上层数的embed
else:
lvl_pos_embed = pos_embed
lvl_pos_embed_flatten.append(lvl_pos_embed)
src_flatten.append(src)
mask_flatten.append(mask)
src_flatten = torch.cat(src_flatten, 1) # bs, \sum{hxw}, c # 将打平后的tensor cat在一起,该batch中[N,9350,256]
mask_flatten = torch.cat(mask_flatten, 1) # bs, \sum{hxw} 该batch中[N,9350]
lvl_pos_embed_flatten = torch.cat(lvl_pos_embed_flatten, 1) # bs, \sum{hxw}, c 该batch中[N,9350,256]
spatial_shapes = torch.as_tensor(spatial_shapes, dtype=torch.long, device=src_flatten.device) # 存放着每一层feature map的[H,W],维度为[4,2]
level_start_index = torch.cat((spatial_shapes.new_zeros((1, )), spatial_shapes.prod(1).cumsum(0)[:-1])) # cat在一起后feature map的起始索引,如:第一层是0,第二层是H1*W1+0,第三层是H2*W2+H1*W1+0,最后一层H3*W3+H2*W2+H1*W1+0 共4维 如level_start_index = tensor([ 0, 7040, 8800, 9240], device='cuda:0')
valid_ratios = torch.stack([self.get_valid_ratio(m) for m in masks], 1) # 输出一个[N,4,2]的tensor，表示每一层的feature map中对应的非padding部分有效长宽与该层feature map长宽的比值
# two stage
enc_topk_proposals = enc_refpoint_embed = None
#########################################################
# Begin Encoder
#########################################################
memory, enc_intermediate_output, enc_intermediate_refpoints = self.encoder(
src_flatten,
pos=lvl_pos_embed_flatten,
level_start_index=level_start_index,
spatial_shapes=spatial_shapes,
valid_ratios=valid_ratios,
key_padding_mask=mask_flatten,
ref_token_index=enc_topk_proposals, # bs, nq
ref_token_coord=enc_refpoint_embed, # bs, nq, 4
) # memory [N,9350,256];enc_intermediate_output=Nonw;enc_intermediate_refpoints=None
#########################################################
# End Encoder
# - memory: bs, \sum{hw}, c
# - mask_flatten: bs, \sum{hw}
# - lvl_pos_embed_flatten: bs, \sum{hw}, c
# - enc_intermediate_output: None or (nenc+1, bs, nq, c) or (nenc, bs, nq, c)
# - enc_intermediate_refpoints: None or (nenc+1, bs, nq, c) or (nenc, bs, nq, c)
#########################################################
if self.two_stage_type =='standard':
if self.two_stage_learn_wh:
input_hw = self.two_stage_wh_embedding.weight[0]
else:
input_hw = None
output_memory, output_proposals = gen_encoder_output_proposals(memory, mask_flatten, spatial_shapes, input_hw)
output_memory = self.enc_output_norm(self.enc_output(output_memory)) # Linear(256,256) + Layer Norm
if self.two_stage_pat_embed > 0:
bs, nhw, _ = output_memory.shape
# output_memory: bs, n, 256; self.pat_embed_for_2stage: k, 256
output_memory = output_memory.repeat(1, self.two_stage_pat_embed, 1)
_pats = self.pat_embed_for_2stage.repeat_interleave(nhw, 0)
output_memory = output_memory + _pats
output_proposals = output_proposals.repeat(1, self.two_stage_pat_embed, 1)
if self.two_stage_add_query_num > 0:
assert refpoint_embed is not None
output_memory = torch.cat((output_memory, tgt), dim=1)
output_proposals = torch.cat((output_proposals, refpoint_embed), dim=1)
enc_outputs_class_unselected = self.enc_out_class_embed(output_memory) # Linear(256,91) [N,9350,91]
enc_outputs_coord_unselected = self.enc_out_bbox_embed(output_memory) + output_proposals # (bs, \sum{hw}, 4) unsigmoid [N,9350,4]
topk = self.num_queries # 900
topk_proposals = torch.topk(enc_outputs_class_unselected.max(-1)[0], topk, dim=1)[1] # bs, nq top900索引[N,900]
# gather boxes
refpoint_embed_undetach = torch.gather(enc_outputs_coord_unselected, 1, topk_proposals.unsqueeze(-1).repeat(1, 1, 4)) # unsigmoid 横向根据topk_proposals取值 [N,900,4]
refpoint_embed_ = refpoint_embed_undetach.detach() # refpoint_embed_ [N,900,4]
init_box_proposal = torch.gather(output_proposals, 1, topk_proposals.unsqueeze(-1).repeat(1, 1, 4)).sigmoid() # sigmoid init_box_proposal [N,900,4]
# gather tgt
tgt_undetach = torch.gather(output_memory, 1, topk_proposals.unsqueeze(-1).repeat(1, 1, self.d_model))
if self.embed_init_tgt:
tgt_ = self.tgt_embed.weight[:, None, :].repeat(1, bs, 1).transpose(0, 1) # nq, bs, d_model [N,900,256]
else:
tgt_ = tgt_undetach.detach()
if refpoint_embed is not None:
refpoint_embed=torch.cat([refpoint_embed,refpoint_embed_],dim=1) # [N,1100,4]
tgt=torch.cat([tgt,tgt_],dim=1) # [N,1100,256]
else:
refpoint_embed,tgt=refpoint_embed_,tgt_
elif self.two_stage_type == 'no':
tgt_ = self.tgt_embed.weight[:, None, :].repeat(1, bs, 1).transpose(0, 1) # nq, bs, d_model
refpoint_embed_ = self.refpoint_embed.weight[:, None, :].repeat(1, bs, 1).transpose(0, 1) # nq, bs, 4
if refpoint_embed is not None:
refpoint_embed=torch.cat([refpoint_embed,refpoint_embed_],dim=1)
tgt=torch.cat([tgt,tgt_],dim=1)
else:
refpoint_embed,tgt=refpoint_embed_,tgt_
if self.num_patterns > 0:
tgt_embed = tgt.repeat(1, self.num_patterns, 1)
refpoint_embed = refpoint_embed.repeat(1, self.num_patterns, 1)
tgt_pat = self.patterns.weight[None, :, :].repeat_interleave(self.num_queries, 1) # 1, n_q*n_pat, d_model
tgt = tgt_embed + tgt_pat
init_box_proposal = refpoint_embed_.sigmoid()
else:
raise NotImplementedError("unknown two_stage_type {}".format(self.two_stage_type))
#########################################################
# End preparing tgt
# - tgt: bs, NQ, d_model
# - refpoint_embed(unsigmoid): bs, NQ, d_model
#########################################################
#########################################################
# Begin Decoder
#########################################################
hs, references = self.decoder(
tgt=tgt.transpose(0, 1), # [1100,N,256]
memory=memory.transpose(0, 1), # [9350,N,256]
memory_key_padding_mask=mask_flatten, # [N,9350]
pos=lvl_pos_embed_flatten.transpose(0, 1), # [9350,N,256]
refpoints_unsigmoid=refpoint_embed.transpose(0, 1), # [1100,N,4]
level_start_index=level_start_index, # [4]
spatial_shapes=spatial_shapes, # [4,2]
valid_ratios=valid_ratios,tgt_mask=attn_mask) # valid_ratios [2,4,2],attn_mask [1100,1100]
#########################################################
# End Decoder
# hs: n_dec, bs, nq, d_model [N,1100,256] * 6
# references: n_dec+1, bs, nq, query_dim [N,1100,4] * 7
#########################################################
#########################################################
# Begin postprocess
#########################################################
if self.two_stage_type == 'standard':
if self.two_stage_keep_all_tokens:
hs_enc = output_memory.unsqueeze(0)
ref_enc = enc_outputs_coord_unselected.unsqueeze(0)
init_box_proposal = output_proposals
else:
hs_enc = tgt_undetach.unsqueeze(0) # [1,N,900,256]
ref_enc = refpoint_embed_undetach.sigmoid().unsqueeze(0) # [1,N,900,4]
else:
hs_enc = ref_enc = None
#########################################################
# End postprocess
# hs_enc: (n_enc+1, bs, nq, d_model) or (1, bs, nq, d_model) or (n_enc, bs, nq, d_model) or None
# ref_enc: (n_enc+1, bs, nq, query_dim) or (1, bs, nq, query_dim) or (n_enc, bs, nq, d_model) or None
#########################################################
return hs, references, hs_enc, ref_enc, init_box_proposal
# hs: (n_dec, bs, nq, d_model)
# references: sigmoid coordinates. (n_dec+1, bs, bq, 4)
# hs_enc: (n_enc+1, bs, nq, d_model) or (1, bs, nq, d_model) or None
# ref_enc: sigmoid coordinates. \
# (n_enc+1, bs, nq, query_dim) or (1, bs, nq, query_dim) or None从主函数可以看到，在输入encoder之前还需要对参数做一些预处理
# prepare input for encoder
src_flatten = []
mask_flatten = []
lvl_pos_embed_flatten = []
spatial_shapes = []
for lvl, (src, mask, pos_embed) in enumerate(zip(srcs, masks, pos_embeds)):
bs, c, h, w = src.shape
spatial_shape = (h, w)
spatial_shapes.append(spatial_shape)
src = src.flatten(2).transpose(1, 2) # bs, hw, c # 将H和W打平 [N,256,H,W] -> [N,H*W,256]
mask = mask.flatten(1) # bs, hw # [N,H,W] -> [N,H*W]
pos_embed = pos_embed.flatten(2).transpose(1, 2) # bs, hw, c # 同样将H和W打平 [N,256,H,W] -> [N,H*W,256]
if self.num_feature_levels > 1 and self.level_embed is not None: # self.level_embed是一个[4,256]的tensor
lvl_pos_embed = pos_embed + self.level_embed[lvl].view(1, 1, -1) # 加上层数的embed
else:
lvl_pos_embed = pos_embed
lvl_pos_embed_flatten.append(lvl_pos_embed)
src_flatten.append(src)
mask_flatten.append(mask)
src_flatten = torch.cat(src_flatten, 1) # bs, \sum{hxw}, c # 将打平后的tensor cat在一起,该batch中[N,9350,256]
mask_flatten = torch.cat(mask_flatten, 1) # bs, \sum{hxw} 该batch中[N,9350]
lvl_pos_embed_flatten = torch.cat(lvl_pos_embed_flatten, 1) # bs, \sum{hxw}, c 该batch中[N,9350,256]
# 存放着每一层feature map的[H,W],维度为[4,2]
spatial_shapes = torch.as_tensor(spatial_shapes, dtype=torch.long, device=src_flatten.device)
# cat在一起后feature map的起始索引,如:第一层是0,第二层是H1*W1+0,第三层是H2*W2+H1*W1+0,最后一层H3*W3+H2*W2+H1*W1+0 共4维 如level_start_index = tensor([ 0, 7040, 8800, 9240], device='cuda:0')
level_start_index = torch.cat((spatial_shapes.new_zeros((1, )), spatial_shapes.prod(1).cumsum(0)[:-1]))
# 输出一个[N,4,2]的tensor，表示每一层的feature map中对应的非padding部分有效长宽与该层feature map长宽的比值
valid_ratios = torch.stack([self.get_valid_ratio(m) for m in masks], 1)
1、把四层feature map整合成query，假设C2的尺寸为[H,W]，那么它的维度为len_q = H*W + H//2*W//2 + H//4*W//4 + H//8*W//8，最终的维度为[N,len_q,256]，其中N为batch size，过程中还会加入层数embed，这里为[N,9350,256]，对应的位置编码的维度也是一样的
2、mask的维度对齐query，为[N,len_q]([N,9350])
3、spatial_shapes记录了四层feature map的尺寸[4,2]([[80, 88],[40, 44],[20, 22],[10, 11]])
4、level_start_index记录cat在一起后feature map的起始索引,如:第一层是0,第二层是H1*W1+0,第三层是H2*W2+H1*W1+0,最后一层H3*W3+H2*W2+H1*W1+0 共4维
5、valid_ratios输出一个[N,4,2]的tensor，表示每一层的feature map中对应的非padding部分（实际有效feature map）的有效长宽与该层feature map长宽的比值
一、encoder
#########################################################
# Begin Encoder
#########################################################
memory, enc_intermediate_output, enc_intermediate_refpoints = self.encoder(
src_flatten,
pos=lvl_pos_embed_flatten,
level_start_index=level_start_index,
spatial_shapes=spatial_shapes,
valid_ratios=valid_ratios,
key_padding_mask=mask_flatten,
ref_token_index=enc_topk_proposals, # bs, nq
ref_token_coord=enc_refpoint_embed, # bs, nq, 4
) # memory [N,9350,256];enc_intermediate_output=Nonw;enc_intermediate_refpoints=None
#########################################################
# End Encoder
# - memory: bs, \sum{hw}, c
# - mask_flatten: bs, \sum{hw}
# - lvl_pos_embed_flatten: bs, \sum{hw}, c
# - enc_intermediate_output: None or (nenc+1, bs, nq, c) or (nenc, bs, nq, c)
# - enc_intermediate_refpoints: None or (nenc+1, bs, nq, c) or (nenc, bs, nq, c)
#########################################################
class TransformerEncoder(nn.Module):
def __init__(self,
encoder_layer, num_layers, norm=None, d_model=256,
num_queries=300,
deformable_encoder=False,
enc_layer_share=False, enc_layer_dropout_prob=None,
two_stage_type='no', # ['no', 'standard', 'early', 'combine', 'enceachlayer', 'enclayer1']
):
super().__init__()
# prepare layers
if num_layers > 0:
self.layers = _get_clones(encoder_layer, num_layers, layer_share=enc_layer_share)
else:
self.layers = []
del encoder_layer
self.query_scale = None
self.num_queries = num_queries
self.deformable_encoder = deformable_encoder
self.num_layers = num_layers
self.norm = norm
self.d_model = d_model
self.enc_layer_dropout_prob = enc_layer_dropout_prob
if enc_layer_dropout_prob is not None:
assert isinstance(enc_layer_dropout_prob, list)
assert len(enc_layer_dropout_prob) == num_layers
for i in enc_layer_dropout_prob:
assert 0.0 <= i <= 1.0
self.two_stage_type = two_stage_type
if two_stage_type in ['enceachlayer', 'enclayer1']:
_proj_layer = nn.Linear(d_model, d_model)
_norm_layer = nn.LayerNorm(d_model)
if two_stage_type == 'enclayer1':
self.enc_norm = nn.ModuleList([_norm_layer])
self.enc_proj = nn.ModuleList([_proj_layer])
else:
self.enc_norm = nn.ModuleList([copy.deepcopy(_norm_layer) for i in range(num_layers - 1) ])
self.enc_proj = nn.ModuleList([copy.deepcopy(_proj_layer) for i in range(num_layers - 1) ])
@staticmethod
def get_reference_points(spatial_shapes, valid_ratios, device):
reference_points_list = []
for lvl, (H_, W_) in enumerate(spatial_shapes): # 遍历feature map,第0层是尺寸最大的feature map H_=80,W_=88
# 根据feature map的尺寸生成网格，生成每个像素点的中心点归一化后的x,y坐标
ref_y, ref_x = torch.meshgrid(torch.linspace(0.5, H_ - 0.5, H_, dtype=torch.float32, device=device),
torch.linspace(0.5, W_ - 0.5, W_, dtype=torch.float32, device=device))
ref_y = ref_y.reshape(-1)[None] / (valid_ratios[:, None, lvl, 1] * H_)
ref_x = ref_x.reshape(-1)[None] / (valid_ratios[:, None, lvl, 0] * W_)
ref = torch.stack((ref_x, ref_y), -1) # [N,7040,2]
reference_points_list.append(ref)
reference_points = torch.cat(reference_points_list, 1) # 再将所有的归一化后的中心点坐标cat在一起 [N,9350,2]
reference_points = reference_points[:, :, None] * valid_ratios[:, None] # 归一化的x,y坐标乘实际feature map有效区域的比值,得到每个中心点在实际feature map上归一化的坐标 [N,9350,4,2]
return reference_points
def forward(self,
src: Tensor,
pos: Tensor,
spatial_shapes: Tensor,
level_start_index: Tensor,
valid_ratios: Tensor,
key_padding_mask: Tensor,
ref_token_index: Optional[Tensor]=None,
ref_token_coord: Optional[Tensor]=None
):
"""
Input:
- src: [bs, sum(hi*wi), 256]
- pos: pos embed for src. [bs, sum(hi*wi), 256]
- spatial_shapes: h,w of each level [num_level, 2]
- level_start_index: [num_level] start point of level in sum(hi*wi).
- valid_ratios: [bs, num_level, 2]
- key_padding_mask: [bs, sum(hi*wi)]
- ref_token_index: bs, nq
- ref_token_coord: bs, nq, 4
Intermedia:
- reference_points: [bs, sum(hi*wi), num_level, 2]
Outpus:
- output: [bs, sum(hi*wi), 256]
"""
if self.two_stage_type in ['no', 'standard', 'enceachlayer', 'enclayer1']:
assert ref_token_index is None
output = src
# preparation and reshape
if self.num_layers > 0:
if self.deformable_encoder:
reference_points = self.get_reference_points(spatial_shapes, valid_ratios, device=src.device) # [N,9350,4,2]
intermediate_output = []
intermediate_ref = []
if ref_token_index is not None:
out_i = torch.gather(output, 1, ref_token_index.unsqueeze(-1).repeat(1, 1, self.d_model))
intermediate_output.append(out_i)
intermediate_ref.append(ref_token_coord)
# main process
for layer_id, layer in enumerate(self.layers):
# main process
dropflag = False
if self.enc_layer_dropout_prob is not None:
prob = random.random()
if prob < self.enc_layer_dropout_prob[layer_id]:
dropflag = True
if not dropflag:
if self.deformable_encoder:
output = layer(src=output, pos=pos, reference_points=reference_points, spatial_shapes=spatial_shapes, level_start_index=level_start_index, key_padding_mask=key_padding_mask)
else:
output = layer(src=output.transpose(0, 1), pos=pos.transpose(0, 1), key_padding_mask=key_padding_mask).transpose(0, 1)
if ((layer_id == 0 and self.two_stage_type in ['enceachlayer', 'enclayer1']) \
or (self.two_stage_type == 'enceachlayer')) \
and (layer_id != self.num_layers - 1):
output_memory, output_proposals = gen_encoder_output_proposals(output, key_padding_mask, spatial_shapes)
output_memory = self.enc_norm[layer_id](self.enc_proj[layer_id](output_memory))
# gather boxes
topk = self.num_queries
enc_outputs_class = self.class_embed[layer_id](output_memory)
ref_token_index = torch.topk(enc_outputs_class.max(-1)[0], topk, dim=1)[1] # bs, nq
ref_token_coord = torch.gather(output_proposals, 1, ref_token_index.unsqueeze(-1).repeat(1, 1, 4))
output = output_memory
# aux loss
if (layer_id != self.num_layers - 1) and ref_token_index is not None:
out_i = torch.gather(output, 1, ref_token_index.unsqueeze(-1).repeat(1, 1, self.d_model))
intermediate_output.append(out_i)
intermediate_ref.append(ref_token_coord)
if self.norm is not None:
output = self.norm(output)
if ref_token_index is not None:
intermediate_output = torch.stack(intermediate_output) # n_enc/n_enc-1, bs, \sum{hw}, d_model
intermediate_ref = torch.stack(intermediate_ref)
else:
intermediate_output = intermediate_ref = None
return output, intermediate_output, intermediate_ref其中reference_points的shape为[N,len_q,4,2]([N,9350,4,2])，得到的是在每一层特征图中的相对位置。
class DeformableTransformerEncoderLayer(nn.Module):
def __init__(self,
d_model=256, d_ffn=1024,
dropout=0.1, activation="relu",
n_levels=4, n_heads=8, n_points=4,
add_channel_attention=False,
use_deformable_box_attn=False,
box_attn_type='roi_align',
):
super().__init__()
# self attention
if use_deformable_box_attn:
self.self_attn = MSDeformableBoxAttention(d_model, n_levels, n_heads, n_boxes=n_points, used_func=box_attn_type)
else:
self.self_attn = MSDeformAttn(d_model, n_levels, n_heads, n_points)
self.dropout1 = nn.Dropout(dropout)
self.norm1 = nn.LayerNorm(d_model)
# ffn
self.linear1 = nn.Linear(d_model, d_ffn)
self.activation = _get_activation_fn(activation, d_model=d_ffn)
self.dropout2 = nn.Dropout(dropout)
self.linear2 = nn.Linear(d_ffn, d_model)
self.dropout3 = nn.Dropout(dropout)
self.norm2 = nn.LayerNorm(d_model)
# channel attention
self.add_channel_attention = add_channel_attention
if add_channel_attention:
self.activ_channel = _get_activation_fn('dyrelu', d_model=d_model)
self.norm_channel = nn.LayerNorm(d_model)
@staticmethod
def with_pos_embed(tensor, pos):
return tensor if pos is None else tensor + pos
def forward_ffn(self, src):
src2 = self.linear2(self.dropout2(self.activation(self.linear1(src))))
src = src + self.dropout3(src2)
src = self.norm2(src)
return src
def forward(self, src, pos, reference_points, spatial_shapes, level_start_index, key_padding_mask=None):
# self attention
src2 = self.self_attn(self.with_pos_embed(src, pos), reference_points, src, spatial_shapes, level_start_index, key_padding_mask)
src = src + self.dropout1(src2)
src = self.norm1(src)
# ffn
src = self.forward_ffn(src)
# channel attn
if self.add_channel_attention:
src = self.norm_channel(src + self.activ_channel(src))
return srcencoder的图解：
MSDeformAttn：
class MSDeformAttn(nn.Module):
def __init__(self, d_model=256, n_levels=4, n_heads=8, n_points=4):
"""
Multi-Scale Deformable Attention Module
:param d_model hidden dimension
:param n_levels number of feature levels
:param n_heads number of attention heads
:param n_points number of sampling points per attention head per feature level
"""
super().__init__()
if d_model % n_heads != 0:
raise ValueError('d_model must be divisible by n_heads, but got {} and {}'.format(d_model, n_heads))
_d_per_head = d_model // n_heads
# you'd better set _d_per_head to a power of 2 which is more efficient in our CUDA implementation
if not _is_power_of_2(_d_per_head):
warnings.warn("You'd better set d_model in MSDeformAttn to make the dimension of each attention head a power of 2 "
"which is more efficient in our CUDA implementation.")
self.im2col_step = 64
self.d_model = d_model
self.n_levels = n_levels
self.n_heads = n_heads
self.n_points = n_points
self.sampling_offsets = nn.Linear(d_model, n_heads * n_levels * n_points * 2)
self.attention_weights = nn.Linear(d_model, n_heads * n_levels * n_points)
self.value_proj = nn.Linear(d_model, d_model)
self.output_proj = nn.Linear(d_model, d_model)
self._reset_parameters()
def _reset_parameters(self):
constant_(self.sampling_offsets.weight.data, 0.)
thetas = torch.arange(self.n_heads, dtype=torch.float32) * (2.0 * math.pi / self.n_heads)
grid_init = torch.stack([thetas.cos(), thetas.sin()], -1)
grid_init = (grid_init / grid_init.abs().max(-1, keepdim=True)[0]).view(self.n_heads, 1, 1, 2).repeat(1, self.n_levels, self.n_points, 1)
for i in range(self.n_points):
grid_init[:, :, i, :] *= i + 1
with torch.no_grad():
self.sampling_offsets.bias = nn.Parameter(grid_init.view(-1))
constant_(self.attention_weights.weight.data, 0.)
constant_(self.attention_weights.bias.data, 0.)
xavier_uniform_(self.value_proj.weight.data)
constant_(self.value_proj.bias.data, 0.)
xavier_uniform_(self.output_proj.weight.data)
constant_(self.output_proj.bias.data, 0.)
def forward(self, query, reference_points, input_flatten, input_spatial_shapes, input_level_start_index, input_padding_mask=None):
"""
:param query (N, Length_{query}, C)
:param reference_points (N, Length_{query}, n_levels, 2), range in [0, 1], top-left (0,0), bottom-right (1, 1), including padding area
or (N, Length_{query}, n_levels, 4), add additional (w, h) to form reference boxes
:param input_flatten (N, \sum_{l=0}^{L-1} H_l \cdot W_l, C)
:param input_spatial_shapes (n_levels, 2), [(H_0, W_0), (H_1, W_1), ..., (H_{L-1}, W_{L-1})]
:param input_level_start_index (n_levels, ), [0, H_0*W_0, H_0*W_0+H_1*W_1, H_0*W_0+H_1*W_1+H_2*W_2, ..., H_0*W_0+H_1*W_1+...+H_{L-1}*W_{L-1}]
:param input_padding_mask (N, \sum_{l=0}^{L-1} H_l \cdot W_l), True for padding elements, False for non-padding elements
:return output (N, Length_{query}, C)
"""
N, Len_q, _ = query.shape # Len_q9350/1100
N, Len_in, _ = input_flatten.shape # Len_in9350
assert (input_spatial_shapes[:, 0] * input_spatial_shapes[:, 1]).sum() == Len_in
value = self.value_proj(input_flatten) # 输入经过一个Linear层，维度由[N,Len_in,256] -> [N,Len_in,256]，得到value
if input_padding_mask is not None:
value = value.masked_fill(input_padding_mask[..., None], float(0)) # 在value中，mask中对应元素为True的位置都用0填充
value = value.view(N, Len_in, self.n_heads, self.d_model // self.n_heads) # value的shape由[N,Len_in,256] -> [N,Len_in,8,32]
sampling_offsets = self.sampling_offsets(query).view(N, Len_q, self.n_heads, self.n_levels, self.n_points, 2) # 每个query产生对应不同head不同level的偏置，sampling_offsets的shape由[N,Len_q,256] -> [N,Len_q,8,4,4,2]
attention_weights = self.attention_weights(query).view(N, Len_q, self.n_heads, self.n_levels * self.n_points) # 每个偏置向量的权重，经过Linear(256,128),attention_weights的shape由[N,Len_q,256] -> [N,Len_q,8,16]
attention_weights = F.softmax(attention_weights, -1).view(N, Len_q, self.n_heads, self.n_levels, self.n_points) # 对属于同一个query的来自与不同level的offset后向量权重在每个head分别归一化，softmax后attention_weights的shape由[N,Len_q,8,16] -> [N,Len_q,8,4,4]
# N, Len_q, n_heads, n_levels, n_points, 2
if reference_points.shape[-1] == 2:
offset_normalizer = torch.stack([input_spatial_shapes[..., 1], input_spatial_shapes[..., 0]], -1) # offset_normalizer 将input_spatial_shapes中[H,W]的形式转化为[W,H],input_spatial_shapes的shape还是[4,2]
sampling_locations = reference_points[:, :, None, :, None, :] \
+ sampling_offsets / offset_normalizer[None, None, None, :, None, :] # 采样点的坐标[N,Len_q,8,4,4,2]
elif reference_points.shape[-1] == 4:
sampling_locations = reference_points[:, :, None, :, None, :2] \
+ sampling_offsets / self.n_points * reference_points[:, :, None, :, None, 2:] * 0.5
else:
raise ValueError(
'Last dim of reference_points must be 2 or 4, but get {} instead.'.format(reference_points.shape[-1]))
# for amp
if value.dtype == torch.float16:
# for mixed precision
output = MSDeformAttnFunction.apply(
value.to(torch.float32), input_spatial_shapes, input_level_start_index, sampling_locations.to(torch.float32), attention_weights, self.im2col_step)
output = output.to(torch.float16)
output = self.output_proj(output)
return output
output = MSDeformAttnFunction.apply(
value, input_spatial_shapes, input_level_start_index, sampling_locations, attention_weights, self.im2col_step)
output = self.output_proj(output) # 输出经过一个Linear层，维度由[N,Len_q,256] -> [N,Len_q,256]
return output源码中n_head设置为8，d_model为256，n_levels为4，n_points为4。
MSDeformAttn函数就是将加了pos_embeds的srcs作为query传入，每一个query在特征图上对应一个reference_point，基于每个reference_point再选取n = 4个keys，根据Linear生成的attention_weights进行特征融合（注意力权重不是Q * k算来的，而是对query直接Linear得到的）。sampling_offsets，attention_weights的具体信息在上面的代码段中有标注，这里就不多说了。
deformable transformer的图解（来自Deformable-DETR）：
对应的公式：
MSDeformAttnFunction调用的是cuda编程，不过代码里头有一个pytorch的实现：
def ms_deform_attn_core_pytorch(value, value_spatial_shapes, sampling_locations, attention_weights):
# for debug and test only,
# need to use cuda version instead
N_, S_, M_, D_ = value.shape # value shpae [N,len_q,8,32]
_, Lq_, M_, L_, P_, _ = sampling_locations.shape # shape [N,len_q,8,4,4,2]
value_list = value.split([H_ * W_ for H_, W_ in value_spatial_shapes], dim=1) # 区分每个feature map level
sampling_grids = 2 * sampling_locations - 1
sampling_value_list = []
for lid_, (H_, W_) in enumerate(value_spatial_shapes):
# N_, H_*W_, M_, D_ -> N_, H_*W_, M_*D_ -> N_, M_*D_, H_*W_ -> N_*M_, D_, H_, W_
value_l_ = value_list[lid_].flatten(2).transpose(1, 2).reshape(N_*M_, D_, H_, W_) # [N,H_*W_,8,32] -> [N*8,32,H_,W_]
# N_, Lq_, M_, P_, 2 -> N_, M_, Lq_, P_, 2 -> N_*M_, Lq_, P_, 2
sampling_grid_l_ = sampling_grids[:, :, :, lid_].transpose(1, 2).flatten(0, 1)
# N_*M_, D_, Lq_, P_
# F.grid_sample这个函数的作用就是给定输入input和网格grid，根据grid中的像素位置从input中取出对应位置的值（可能需要插值）得到输出output。
sampling_value_l_ = F.grid_sample(value_l_, sampling_grid_l_,
mode='bilinear', padding_mode='zeros', align_corners=False)
sampling_value_list.append(sampling_value_l_)
# (N_, Lq_, M_, L_, P_) -> (N_, M_, Lq_, L_, P_) -> (N_, M_, 1, Lq_, L_*P_)
attention_weights = attention_weights.transpose(1, 2).reshape(N_*M_, 1, Lq_, L_*P_) # shape [N,len_q,8,4,4] -> [N*8,1,len_q,16]
output = (torch.stack(sampling_value_list, dim=-2).flatten(-2) * attention_weights).sum(-1).view(N_, M_*D_, Lq_) # 对应上论文中的公式
return output.transpose(1, 2).contiguous()encoder输出：
1、memory[N,9350,256];
2、enc_intermediate_output=None;
3、enc_intermediate_refpoints=None；
到这里先将encoder的部分捋一遍，后续更新decoder和loss部分
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