slam_llm/models/SpatialAST/vision_transformer.py

import torch
from torch import nn

from timm.models.layers import to_2tuple, DropPath, trunc_normal_


class HybridEmbed(nn.Module):
    """ CNN Feature Map Embedding

    Extract feature map from CNN, flatten, project to embedding dim.

    """
    def __init__(self, backbone, img_size=224, feature_size=None, in_chans=3, embed_dim=768):
        super().__init__()
        assert isinstance(backbone, nn.Module)
        img_size = to_2tuple(img_size)
        self.img_size = img_size
        self.backbone = backbone
        if feature_size is None:
            with torch.no_grad():
                # FIXME this is hacky, but most reliable way of determining the exact dim of the output feature
                # map for all networks, the feature metadata has reliable channel and stride info, but using
                # stride to calc feature dim requires info about padding of each stage that isn't captured.
                training = backbone.training
                if training:
                    backbone.eval()
                o = self.backbone(torch.zeros(1, in_chans, img_size[0], img_size[1]))[-1]
                feature_size = o.shape[-2:]
                feature_dim = o.shape[1]
                backbone.train(training)
        else:
            feature_size = to_2tuple(feature_size)
            feature_dim = self.backbone.feature_info.channels()[-1]
        self.num_patches = feature_size[0] * feature_size[1]
        self.proj = nn.Linear(feature_dim, embed_dim)

    def forward(self, x):
        x = self.backbone(x)[-1]
        x = x.flatten(2).transpose(1, 2)
        x = self.proj(x)
        return x
    
class Mlp(nn.Module):
    def __init__(self, in_features, hidden_features=None, out_features=None, act_layer=nn.GELU, drop=0.):
        super().__init__()
        out_features = out_features or in_features
        hidden_features = hidden_features or in_features
        self.fc1 = nn.Linear(in_features, hidden_features)
        self.act = act_layer()
        self.fc2 = nn.Linear(hidden_features, out_features)
        self.drop = nn.Dropout(drop)

    def forward(self, x):
        x = self.fc1(x)
        x = self.act(x)
        x = self.drop(x)
        x = self.fc2(x)
        x = self.drop(x)
        return x

class Attention(nn.Module):
    def __init__(self, dim, num_heads=8, qkv_bias=False, qk_scale=None, attn_drop=0., proj_drop=0.):
        super().__init__()
        self.num_heads = num_heads
        head_dim = dim // num_heads
        # NOTE scale factor was wrong in my original version, can set manually to be compat with prev weights
        self.scale = qk_scale or head_dim ** -0.5

        self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias)
        self.attn_drop = nn.Dropout(attn_drop)
        self.proj = nn.Linear(dim, dim)
        self.proj_drop = nn.Dropout(proj_drop)


    def forward(self, x):
        B, N, C = x.shape
        qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4)
        q, k, v = qkv[0], qkv[1], qkv[2]   # make torchscript happy (cannot use tensor as tuple)

        attn = (q @ k.transpose(-2, -1)) * self.scale
        attn = attn.softmax(dim=-1)
        attn = self.attn_drop(attn)

        x = (attn @ v).transpose(1, 2).reshape(B, N, C)
        x = self.proj(x)
        x = self.proj_drop(x)
        return x
      
class Block(nn.Module):

    def __init__(self, dim, num_heads, mlp_ratio=4., qkv_bias=False, qk_scale=None, drop=0., attn_drop=0.,

                 drop_path=0., act_layer=nn.GELU, norm_layer=nn.LayerNorm):
        super().__init__()
        self.norm1 = norm_layer(dim)
        self.attn = Attention(
            dim, num_heads=num_heads, qkv_bias=qkv_bias, qk_scale=qk_scale, attn_drop=attn_drop, proj_drop=drop)
        # NOTE: drop path for stochastic depth, we shall see if this is better than dropout here
        self.drop_path = DropPath(drop_path) if drop_path > 0. else nn.Identity()
        self.norm2 = norm_layer(dim)
        mlp_hidden_dim = int(dim * mlp_ratio)
        self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop)

    def forward(self, x):
        x = x + self.drop_path(self.attn(self.norm1(x)))
        x = x + self.drop_path(self.mlp(self.norm2(x)))
        return x
    
class PatchEmbed(nn.Module):
    """ Image to Patch Embedding

    """
    def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768):
        super().__init__()
        img_size = to_2tuple(img_size)
        patch_size = to_2tuple(patch_size)
        num_patches = (img_size[1] // patch_size[1]) * (img_size[0] // patch_size[0])
        self.img_size = img_size
        self.patch_size = patch_size
        self.num_patches = num_patches

        self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size)

    def forward(self, x):
        B, C, H, W = x.shape
        # FIXME look at relaxing size constraints
        assert H == self.img_size[0] and W == self.img_size[1], \
            f"Input image size ({H}*{W}) doesn't match model ({self.img_size[0]}*{self.img_size[1]})."
        x = self.proj(x).flatten(2).transpose(1, 2)
        return x


class PatchEmbed_new(nn.Module):
    """ Flexible Image to Patch Embedding

    """
    def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768, stride=10):
        super().__init__()
        img_size = to_2tuple(img_size)
        patch_size = to_2tuple(patch_size)
        stride = to_2tuple(stride)
        
        self.img_size = img_size
        self.patch_size = patch_size
        self.in_chans = in_chans

        self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=stride) # with overlapped patches
        _, _, h, w = self.get_output_shape(img_size) # n, emb_dim, h, w
        self.patch_hw = (h, w)
        self.num_patches = h*w

    def get_output_shape(self, img_size):
        return self.proj(torch.randn(1, self.in_chans, img_size[0], img_size[1])).shape 

    def forward(self, x):
        B, C, H, W = x.shape

        x = self.proj(x) # 32, 1, 1024, 128 -> 32, 768, 101, 12
        x = x.flatten(2) # 32, 768, 101, 12 -> 32, 768, 1212
        x = x.transpose(1, 2) # 32, 768, 1212 -> 32, 1212, 768
        return x


class VisionTransformer(nn.Module):
    """ Vision Transformer with support for patch or hybrid CNN input stage

    """
    def __init__(self, img_size=224, patch_size=16, in_chans=3, num_classes=1000, embed_dim=768, depth=12,

                 num_heads=12, mlp_ratio=4., qkv_bias=False, qk_scale=None, drop_rate=0., attn_drop_rate=0.,

                 drop_path_rate=0., hybrid_backbone=None, norm_layer=nn.LayerNorm):
        super().__init__()
        self.num_classes = num_classes
        self.num_features = self.embed_dim = embed_dim  # num_features for consistency with other models

        if hybrid_backbone is not None:
            self.patch_embed = HybridEmbed(
                hybrid_backbone, img_size=img_size, in_chans=in_chans, embed_dim=embed_dim)
        else:
            self.patch_embed = PatchEmbed(
                img_size=img_size, patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim)
        num_patches = self.patch_embed.num_patches

        self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim))
        self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + 1, embed_dim))
        self.pos_drop = nn.Dropout(p=drop_rate)

        dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)]  # stochastic depth decay rule
        self.blocks = nn.ModuleList([
            Block(
                dim=embed_dim, num_heads=num_heads, mlp_ratio=mlp_ratio, qkv_bias=qkv_bias, qk_scale=qk_scale,
                drop=drop_rate, attn_drop=attn_drop_rate, drop_path=dpr[i], norm_layer=norm_layer)
            for i in range(depth)])
        
        self.norm = norm_layer(embed_dim)

        # NOTE as per official impl, we could have a pre-logits representation dense layer + tanh here
        #self.repr = nn.Linear(embed_dim, representation_size)
        #self.repr_act = nn.Tanh()

        # Classifier head
        self.head = nn.Linear(embed_dim, num_classes) if num_classes > 0 else nn.Identity()

        trunc_normal_(self.pos_embed, std=.02)
        trunc_normal_(self.cls_token, std=.02)
        self.apply(self._init_weights)

    def _init_weights(self, m):
        if isinstance(m, nn.Linear):
            trunc_normal_(m.weight, std=.02)
            if isinstance(m, nn.Linear) and m.bias is not None:
                nn.init.constant_(m.bias, 0)
        elif isinstance(m, nn.LayerNorm):
            nn.init.constant_(m.bias, 0)
            nn.init.constant_(m.weight, 1.0)

    @torch.jit.ignore
    def no_weight_decay(self):
        return {'pos_embed', 'cls_token'}

    def get_classifier(self):
        return self.head

    def reset_classifier(self, num_classes, global_pool=''):
        self.num_classes = num_classes
        self.head = nn.Linear(self.embed_dim, num_classes) if num_classes > 0 else nn.Identity()

    def forward_features(self, x):
        B = x.shape[0]
        x = self.patch_embed(x)

        cls_tokens = self.cls_token.expand(B, -1, -1)  # stole cls_tokens impl from Phil Wang, thanks
        x = torch.cat((cls_tokens, x), dim=1)
        x = x + self.pos_embed
        x = self.pos_drop(x)

        for blk in self.blocks:
            x = blk(x)

        x = self.norm(x)
        return x[:, 0]

    def forward(self, x):
        x = self.forward_features(x)
        x = self.head(x)
        return x