moge/model/moge_model.py

from typing import *
from numbers import Number
from functools import partial
from pathlib import Path
import importlib
import warnings
import json

import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.utils
import torch.utils.checkpoint
import torch.version
import utils3d
from huggingface_hub import hf_hub_download

from ..utils.geometry_torch import normalized_view_plane_uv, recover_focal_shift, gaussian_blur_2d
from .utils import wrap_dinov2_attention_with_sdpa, wrap_module_with_gradient_checkpointing, unwrap_module_with_gradient_checkpointing
from ..utils.tools import timeit


class ResidualConvBlock(nn.Module):  
    def __init__(self, in_channels: int, out_channels: int = None, hidden_channels: int = None, padding_mode: str = 'replicate', activation: Literal['relu', 'leaky_relu', 'silu', 'elu'] = 'relu', norm: Literal['group_norm', 'layer_norm'] = 'group_norm'):  
        super(ResidualConvBlock, self).__init__()  
        if out_channels is None:  
            out_channels = in_channels
        if hidden_channels is None:
            hidden_channels = in_channels

        if activation =='relu':
            activation_cls = lambda: nn.ReLU(inplace=True)
        elif activation == 'leaky_relu':
            activation_cls = lambda: nn.LeakyReLU(negative_slope=0.2, inplace=True)
        elif activation =='silu':
            activation_cls = lambda: nn.SiLU(inplace=True)
        elif activation == 'elu':
            activation_cls = lambda: nn.ELU(inplace=True)
        else:
            raise ValueError(f'Unsupported activation function: {activation}')

        self.layers = nn.Sequential(
            nn.GroupNorm(1, in_channels),
            activation_cls(),
            nn.Conv2d(in_channels, hidden_channels, kernel_size=3, padding=1, padding_mode=padding_mode),
            nn.GroupNorm(hidden_channels // 32 if norm == 'group_norm' else 1, hidden_channels),
            activation_cls(),
            nn.Conv2d(hidden_channels, out_channels, kernel_size=3, padding=1, padding_mode=padding_mode)
        )
        
        self.skip_connection = nn.Conv2d(in_channels, out_channels, kernel_size=1, padding=0) if in_channels != out_channels else nn.Identity()  
  
    def forward(self, x):  
        skip = self.skip_connection(x)  
        x = self.layers(x)
        x = x + skip
        return x  


class Head(nn.Module):
    def __init__(
        self, 
        num_features: int,
        dim_in: int, 
        dim_out: List[int], 
        dim_proj: int = 512,
        dim_upsample: List[int] = [256, 128, 128],
        dim_times_res_block_hidden: int = 1,
        num_res_blocks: int = 1,
        res_block_norm: Literal['group_norm', 'layer_norm'] = 'group_norm',
        last_res_blocks: int = 0,
        last_conv_channels: int = 32,
        last_conv_size: int = 1
    ):
        super().__init__()
        
        self.projects = nn.ModuleList([
            nn.Conv2d(in_channels=dim_in, out_channels=dim_proj, kernel_size=1, stride=1, padding=0,) for _ in range(num_features)
        ])

        self.upsample_blocks = nn.ModuleList([
            nn.Sequential(
                self._make_upsampler(in_ch + 2, out_ch),
                *(ResidualConvBlock(out_ch, out_ch, dim_times_res_block_hidden * out_ch, activation="relu", norm=res_block_norm) for _ in range(num_res_blocks))
            ) for in_ch, out_ch in zip([dim_proj] + dim_upsample[:-1], dim_upsample)
        ])

        self.output_block = nn.ModuleList([
            self._make_output_block(
                dim_upsample[-1] + 2, dim_out_, dim_times_res_block_hidden, last_res_blocks, last_conv_channels, last_conv_size, res_block_norm,
            ) for dim_out_ in dim_out
        ])
    
    def _make_upsampler(self, in_channels: int, out_channels: int):
        upsampler = nn.Sequential(
            nn.ConvTranspose2d(in_channels, out_channels, kernel_size=2, stride=2),
            nn.Conv2d(out_channels, out_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate')
        )
        upsampler[0].weight.data[:] = upsampler[0].weight.data[:, :, :1, :1]
        return upsampler

    def _make_output_block(self, dim_in: int, dim_out: int, dim_times_res_block_hidden: int, last_res_blocks: int, last_conv_channels: int, last_conv_size: int, res_block_norm: Literal['group_norm', 'layer_norm']):
        return nn.Sequential(
            nn.Conv2d(dim_in, last_conv_channels, kernel_size=3, stride=1, padding=1, padding_mode='replicate'),
            *(ResidualConvBlock(last_conv_channels, last_conv_channels, dim_times_res_block_hidden * last_conv_channels, activation='relu', norm=res_block_norm) for _ in range(last_res_blocks)),
            nn.ReLU(inplace=True),
            nn.Conv2d(last_conv_channels, dim_out, kernel_size=last_conv_size, stride=1, padding=last_conv_size // 2, padding_mode='replicate'),
        )
            
    def forward(self, hidden_states: torch.Tensor, image: torch.Tensor):
        img_h, img_w = image.shape[-2:]
        patch_h, patch_w = img_h // 14, img_w // 14

        # Process the hidden states
        x = torch.stack([
            proj(feat.permute(0, 2, 1).unflatten(2, (patch_h, patch_w)).contiguous())
                for proj, (feat, clstoken) in zip(self.projects, hidden_states)
        ], dim=1).sum(dim=1)
        
        # Upsample stage
        # (patch_h, patch_w) -> (patch_h * 2, patch_w * 2) -> (patch_h * 4, patch_w * 4) -> (patch_h * 8, patch_w * 8)
        for i, block in enumerate(self.upsample_blocks):
            # UV coordinates is for awareness of image aspect ratio
            uv = normalized_view_plane_uv(width=x.shape[-1], height=x.shape[-2], aspect_ratio=img_w / img_h, dtype=x.dtype, device=x.device)
            uv = uv.permute(2, 0, 1).unsqueeze(0).expand(x.shape[0], -1, -1, -1)
            x = torch.cat([x, uv], dim=1)
            for layer in block:
                x = torch.utils.checkpoint.checkpoint(layer, x, use_reentrant=False)
        
        # (patch_h * 8, patch_w * 8) -> (img_h, img_w)
        x = F.interpolate(x, (img_h, img_w), mode="bilinear", align_corners=False)
        uv = normalized_view_plane_uv(width=x.shape[-1], height=x.shape[-2], aspect_ratio=img_w / img_h, dtype=x.dtype, device=x.device)
        uv = uv.permute(2, 0, 1).unsqueeze(0).expand(x.shape[0], -1, -1, -1)
        x = torch.cat([x, uv], dim=1)

        if isinstance(self.output_block, nn.ModuleList):
            output = [torch.utils.checkpoint.checkpoint(block, x, use_reentrant=False) for block in self.output_block]
        else:
            output = torch.utils.checkpoint.checkpoint(self.output_block, x, use_reentrant=False)
        
        return output


class MoGeModel(nn.Module):
    image_mean: torch.Tensor
    image_std: torch.Tensor

    def __init__(self, 
        encoder: str = 'dinov2_vitb14', 
        intermediate_layers: Union[int, List[int]] = 4,
        dim_proj: int = 512,
        dim_upsample: List[int] = [256, 128, 128],
        dim_times_res_block_hidden: int = 1,
        num_res_blocks: int = 1,
        output_mask: bool = False,
        split_head: bool = False,
        remap_output: Literal[False, True, 'linear', 'sinh', 'exp', 'sinh_exp'] = 'linear',
        res_block_norm: Literal['group_norm', 'layer_norm'] = 'group_norm',
        trained_diagonal_size_range: Tuple[Number, Number] = (600, 900),
        trained_area_range: Tuple[Number, Number] = (500 * 500, 700 * 700),
        last_res_blocks: int = 0,
        last_conv_channels: int = 32,
        last_conv_size: int = 1,
        **deprecated_kwargs
    ):
        super(MoGeModel, self).__init__()
        if deprecated_kwargs:
            warnings.warn(f"The following deprecated/invalid arguments are ignored: {deprecated_kwargs}")

        self.encoder = encoder
        self.remap_output = remap_output
        self.intermediate_layers = intermediate_layers
        self.trained_diagonal_size_range = trained_diagonal_size_range
        self.trained_area_range = trained_area_range
        self.output_mask = output_mask
        self.split_head = split_head
        
        # NOTE: We have copied the DINOv2 code in torchhub to this repository.
        # Minimal modifications have been made: removing irrelevant code, unnecessary warnings and fixing importing issues.
        hub_loader = getattr(importlib.import_module(".dinov2.hub.backbones", __package__), encoder)
        self.backbone = hub_loader(pretrained=False)
        dim_feature = self.backbone.blocks[0].attn.qkv.in_features
        
        self.head = Head(
            num_features=intermediate_layers if isinstance(intermediate_layers, int) else len(intermediate_layers), 
            dim_in=dim_feature, 
            dim_out=3 if not output_mask else 4 if output_mask and not split_head else [3, 1], 
            dim_proj=dim_proj,
            dim_upsample=dim_upsample,
            dim_times_res_block_hidden=dim_times_res_block_hidden,
            num_res_blocks=num_res_blocks,
            res_block_norm=res_block_norm,
            last_res_blocks=last_res_blocks,
            last_conv_channels=last_conv_channels,
            last_conv_size=last_conv_size 
        )

        image_mean = torch.tensor([0.485, 0.456, 0.406]).view(1, 3, 1, 1)
        image_std = torch.tensor([0.229, 0.224, 0.225]).view(1, 3, 1, 1)

        self.register_buffer("image_mean", image_mean)
        self.register_buffer("image_std", image_std)
        
        if torch.__version__ >= '2.0':
            self.enable_pytorch_native_sdpa()

    @classmethod
    def from_pretrained(cls, pretrained_model_name_or_path: Union[str, Path, IO[bytes]], model_kwargs: Optional[Dict[str, Any]] = None, **hf_kwargs) -> 'MoGeModel':
        """
        Load a model from a checkpoint file.

        ### Parameters:
        - `pretrained_model_name_or_path`: path to the checkpoint file or repo id.
        - `model_kwargs`: additional keyword arguments to override the parameters in the checkpoint.
        - `hf_kwargs`: additional keyword arguments to pass to the `hf_hub_download` function. Ignored if `pretrained_model_name_or_path` is a local path.

        ### Returns:
        - A new instance of `MoGe` with the parameters loaded from the checkpoint.
        """
        if Path(pretrained_model_name_or_path).exists():
            checkpoint = torch.load(pretrained_model_name_or_path, map_location='cpu', weights_only=True)
        else:
            cached_checkpoint_path = hf_hub_download(
                repo_id=pretrained_model_name_or_path,
                repo_type="model",
                filename="model.pt",
                **hf_kwargs
            )
            checkpoint = torch.load(cached_checkpoint_path, map_location='cpu', weights_only=True)
        model_config = checkpoint['model_config']
        if model_kwargs is not None:
            model_config.update(model_kwargs)
        model = cls(**model_config)
        model.load_state_dict(checkpoint['model'])
        return model

    @staticmethod
    def cache_pretrained_backbone(encoder: str, pretrained: bool):
        _ = torch.hub.load('facebookresearch/dinov2', encoder, pretrained=pretrained)

    def load_pretrained_backbone(self):
        "Load the backbone with pretrained dinov2 weights from torch hub"
        state_dict = torch.hub.load('facebookresearch/dinov2', self.encoder, pretrained=True).state_dict()
        self.backbone.load_state_dict(state_dict)
    
    def enable_backbone_gradient_checkpointing(self):
        for i in range(len(self.backbone.blocks)):
            self.backbone.blocks[i] = wrap_module_with_gradient_checkpointing(self.backbone.blocks[i])

    def enable_pytorch_native_sdpa(self):
        for i in range(len(self.backbone.blocks)):
            self.backbone.blocks[i].attn = wrap_dinov2_attention_with_sdpa(self.backbone.blocks[i].attn)

    def forward(self, image: torch.Tensor, mixed_precision: bool = False) -> Dict[str, torch.Tensor]:
        raw_img_h, raw_img_w = image.shape[-2:]
        patch_h, patch_w = raw_img_h // 14, raw_img_w // 14

        image = (image - self.image_mean) / self.image_std

        # Apply image transformation for DINOv2
        image_14 = F.interpolate(image, (patch_h * 14, patch_w * 14), mode="bilinear", align_corners=False, antialias=True)

        # Get intermediate layers from the backbone
        with torch.autocast(device_type='cuda', dtype=torch.float16, enabled=mixed_precision):
            features = self.backbone.get_intermediate_layers(image_14, self.intermediate_layers, return_class_token=True)

        # Predict points (and mask)
        output = self.head(features, image)
        if self.output_mask:
            if self.split_head:
                points, mask = output
            else:
                points, mask = output.split([3, 1], dim=1)
            points, mask = points.permute(0, 2, 3, 1), mask.squeeze(1)
        else:
            points = output.permute(0, 2, 3, 1)

        if self.remap_output == 'linear' or self.remap_output == False:
            pass
        elif self.remap_output =='sinh' or self.remap_output == True:
            points = torch.sinh(points)
        elif self.remap_output == 'exp':
            xy, z = points.split([2, 1], dim=-1)
            z = torch.exp(z)
            points = torch.cat([xy * z, z], dim=-1)
        elif self.remap_output =='sinh_exp':
            xy, z = points.split([2, 1], dim=-1)
            points = torch.cat([torch.sinh(xy), torch.exp(z)], dim=-1)
        else:
            raise ValueError(f"Invalid remap output type: {self.remap_output}")
        
        return_dict = {'points': points}
        if self.output_mask:
            return_dict['mask'] = mask
        return return_dict

    @torch.inference_mode()
    def infer(
        self, 
        image: torch.Tensor, 
        force_projection: bool = True,
        resolution_level: int = 9,
        apply_mask: bool = True,
        fov_x: Union[Number, torch.Tensor] = None
    ) -> Dict[str, torch.Tensor]:
        """
        User-friendly inference function

        ### Parameters
        - `image`: input image tensor of shape (B, 3, H, W) or (3, H, W)
        - `resolution_level`: the resolution level to use for the output point map in 0-9. Default: 9 (highest)
        - `force_projection`: if True, the output point map will be computed using the actual depth map. Default: True
        - `apply_mask`: if True, the output point map will be masked using the predicted mask. Default: True
        - `fov_x`: the horizontal camera FoV in degrees. If None, it will be inferred from the predicted point map. Default: None
            
        ### Returns

        A dictionary containing the following keys:
        - `points`: output tensor of shape (B, H, W, 3) or (H, W, 3).
        - `depth`: tensor of shape (B, H, W) or (H, W) containing the depth map.
        - `intrinsics`: tensor of shape (B, 3, 3) or (3, 3) containing the camera intrinsics.
        """
        if image.dim() == 3:
            omit_batch_dim = True
            image = image.unsqueeze(0)
        else:
            omit_batch_dim = False

        original_height, original_width = image.shape[-2:]
        area = original_height * original_width
        aspect_ratio = original_width / original_height

        min_area, max_area = self.trained_area_range
        expected_area = min_area + (max_area - min_area) * (resolution_level / 9)
        
        if expected_area != area:
            expected_width, expected_height = int(original_width * (expected_area / area) ** 0.5), int(original_height * (expected_area / area) ** 0.5)
            image = F.interpolate(image, (expected_height, expected_width), mode="bicubic", align_corners=False, antialias=True)
        
        output = self.forward(image)
        points, mask = output['points'], output.get('mask', None)

        # Get camera-space point map. (Focal here is the focal length relative to half the image diagonal)
        if fov_x is None:
            focal, shift = recover_focal_shift(points, None if mask is None else mask > 0.5)
        else:
            focal = aspect_ratio / (1 + aspect_ratio ** 2) ** 0.5 / torch.tan(torch.deg2rad(torch.as_tensor(fov_x, device=points.device, dtype=points.dtype) / 2))
            if focal.ndim == 0:
                focal = focal[None].expand(points.shape[0])
            _, shift = recover_focal_shift(points, None if mask is None else mask > 0.5, focal=focal)
        fx = focal / 2 * (1 + aspect_ratio ** 2) ** 0.5 / aspect_ratio
        fy = focal / 2 * (1 + aspect_ratio ** 2) ** 0.5 
        intrinsics = utils3d.torch.intrinsics_from_focal_center(fx, fy, 0.5, 0.5)
        depth = points[..., 2] + shift[..., None, None]
        
        # If projection constraint is forced, recompute the point map using the actual depth map
        if force_projection:
            points = utils3d.torch.unproject_cv(utils3d.torch.image_uv(width=expected_width, height=expected_height, dtype=points.dtype, device=points.device), depth, extrinsics=None, intrinsics=intrinsics[..., None, :, :])
        else:
            points = points + torch.stack([torch.zeros_like(shift), torch.zeros_like(shift), shift], dim=-1)[..., None, None, :]

        # Resize the output to the original resolution
        if expected_area != area:
            points = F.interpolate(points.permute(0, 3, 1, 2), (original_height, original_width), mode='bilinear', align_corners=False, antialias=False).permute(0, 2, 3, 1)
            depth = F.interpolate(depth.unsqueeze(1), (original_height, original_width), mode='bilinear', align_corners=False, antialias=False).squeeze(1)
            mask = None if mask is None else F.interpolate(mask.unsqueeze(1), (original_height, original_width), mode='bilinear', align_corners=False, antialias=False).squeeze(1)
        
        # Apply mask if needed
        if self.output_mask and apply_mask:
            mask_binary = (depth > 0) & (mask > 0.5)
            points = torch.where(mask_binary[..., None], points, torch.inf)
            depth = torch.where(mask_binary, depth, torch.inf)

        if omit_batch_dim:
            points = points.squeeze(0)
            intrinsics = intrinsics.squeeze(0)
            depth = depth.squeeze(0)
            if self.output_mask:
                mask = mask.squeeze(0)

        return_dict = {
            'points': points,
            'intrinsics': intrinsics,
            'depth': depth,
        }
        if self.output_mask:
            return_dict['mask'] = mask > 0.5

        return return_dict