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79 lines
3.2 KiB
79 lines
3.2 KiB
# Ultralytics YOLO 🚀, AGPL-3.0 license
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"""
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Module utils
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"""
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import copy
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import math
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import numpy as np
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import torch
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import torch.nn as nn
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import torch.nn.functional as F
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from torch.nn.init import uniform_
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__all__ = 'multi_scale_deformable_attn_pytorch', 'inverse_sigmoid'
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def _get_clones(module, n):
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return nn.ModuleList([copy.deepcopy(module) for _ in range(n)])
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def bias_init_with_prob(prior_prob=0.01):
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"""initialize conv/fc bias value according to a given probability value."""
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return float(-np.log((1 - prior_prob) / prior_prob)) # return bias_init
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def linear_init_(module):
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bound = 1 / math.sqrt(module.weight.shape[0])
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uniform_(module.weight, -bound, bound)
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if hasattr(module, 'bias') and module.bias is not None:
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uniform_(module.bias, -bound, bound)
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def inverse_sigmoid(x, eps=1e-5):
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x = x.clamp(min=0, max=1)
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x1 = x.clamp(min=eps)
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x2 = (1 - x).clamp(min=eps)
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return torch.log(x1 / x2)
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def multi_scale_deformable_attn_pytorch(value: torch.Tensor, value_spatial_shapes: torch.Tensor,
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sampling_locations: torch.Tensor,
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attention_weights: torch.Tensor) -> torch.Tensor:
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"""
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Multi-scale deformable attention.
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https://github.com/IDEA-Research/detrex/blob/main/detrex/layers/multi_scale_deform_attn.py
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"""
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bs, _, num_heads, embed_dims = value.shape
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_, num_queries, num_heads, num_levels, num_points, _ = sampling_locations.shape
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value_list = value.split([H_ * W_ for H_, W_ in value_spatial_shapes], dim=1)
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sampling_grids = 2 * sampling_locations - 1
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sampling_value_list = []
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for level, (H_, W_) in enumerate(value_spatial_shapes):
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# bs, H_*W_, num_heads, embed_dims ->
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# bs, H_*W_, num_heads*embed_dims ->
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# bs, num_heads*embed_dims, H_*W_ ->
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# bs*num_heads, embed_dims, H_, W_
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value_l_ = (value_list[level].flatten(2).transpose(1, 2).reshape(bs * num_heads, embed_dims, H_, W_))
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# bs, num_queries, num_heads, num_points, 2 ->
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# bs, num_heads, num_queries, num_points, 2 ->
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# bs*num_heads, num_queries, num_points, 2
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sampling_grid_l_ = sampling_grids[:, :, :, level].transpose(1, 2).flatten(0, 1)
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# bs*num_heads, embed_dims, num_queries, num_points
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sampling_value_l_ = F.grid_sample(value_l_,
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sampling_grid_l_,
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mode='bilinear',
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padding_mode='zeros',
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align_corners=False)
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sampling_value_list.append(sampling_value_l_)
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# (bs, num_queries, num_heads, num_levels, num_points) ->
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# (bs, num_heads, num_queries, num_levels, num_points) ->
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# (bs, num_heads, 1, num_queries, num_levels*num_points)
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attention_weights = attention_weights.transpose(1, 2).reshape(bs * num_heads, 1, num_queries,
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num_levels * num_points)
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output = ((torch.stack(sampling_value_list, dim=-2).flatten(-2) * attention_weights).sum(-1).view(
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bs, num_heads * embed_dims, num_queries))
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return output.transpose(1, 2).contiguous()
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