import warnings from pathlib import Path from types import SimpleNamespace from typing import Callable, List, Optional, Tuple import numpy as np import torch import torch.nn.functional as F from torch import nn try: from flash_attn.modules.mha import FlashCrossAttention except ModuleNotFoundError: FlashCrossAttention = None if FlashCrossAttention or hasattr(F, "scaled_dot_product_attention"): FLASH_AVAILABLE = True else: FLASH_AVAILABLE = False torch.backends.cudnn.deterministic = True @torch.cuda.amp.custom_fwd(cast_inputs=torch.float32) def normalize_keypoints( kpts: torch.Tensor, size: Optional[torch.Tensor] = None ) -> torch.Tensor: if size is None: size = 1 + kpts.max(-2).values - kpts.min(-2).values elif not isinstance(size, torch.Tensor): size = torch.tensor(size, device=kpts.device, dtype=kpts.dtype) size = size.to(kpts) shift = size / 2 scale = size.max(-1).values / 2 kpts = (kpts - shift[..., None, :]) / scale[..., None, None] return kpts def pad_to_length(x: torch.Tensor, length: int) -> Tuple[torch.Tensor]: if length <= x.shape[-2]: return x, torch.ones_like(x[..., :1], dtype=torch.bool) pad = torch.ones( *x.shape[:-2], length - x.shape[-2], x.shape[-1], device=x.device, dtype=x.dtype ) y = torch.cat([x, pad], dim=-2) mask = torch.zeros(*y.shape[:-1], 1, dtype=torch.bool, device=x.device) mask[..., : x.shape[-2], :] = True return y, mask def rotate_half(x: torch.Tensor) -> torch.Tensor: x = x.unflatten(-1, (-1, 2)) x1, x2 = x.unbind(dim=-1) return torch.stack((-x2, x1), dim=-1).flatten(start_dim=-2) def apply_cached_rotary_emb(freqs: torch.Tensor, t: torch.Tensor) -> torch.Tensor: return (t * freqs[0]) + (rotate_half(t) * freqs[1]) class LearnableFourierPositionalEncoding(nn.Module): def __init__(self, M: int, dim: int, F_dim: int = None, gamma: float = 1.0) -> None: super().__init__() F_dim = F_dim if F_dim is not None else dim self.gamma = gamma self.Wr = nn.Linear(M, F_dim // 2, bias=False) nn.init.normal_(self.Wr.weight.data, mean=0, std=self.gamma**-2) def forward(self, x: torch.Tensor) -> torch.Tensor: """encode position vector""" projected = self.Wr(x) cosines, sines = torch.cos(projected), torch.sin(projected) emb = torch.stack([cosines, sines], 0).unsqueeze(-3) return emb.repeat_interleave(2, dim=-1) class TokenConfidence(nn.Module): def __init__(self, dim: int) -> None: super().__init__() self.token = nn.Sequential(nn.Linear(dim, 1), nn.Sigmoid()) def forward(self, desc0: torch.Tensor, desc1: torch.Tensor): """get confidence tokens""" return ( self.token(desc0.detach()).squeeze(-1), self.token(desc1.detach()).squeeze(-1), ) class Attention(nn.Module): def __init__(self, allow_flash: bool) -> None: super().__init__() if allow_flash and not FLASH_AVAILABLE: warnings.warn( "FlashAttention is not available. For optimal speed, " "consider installing torch >= 2.0 or flash-attn.", stacklevel=2, ) self.enable_flash = allow_flash and FLASH_AVAILABLE self.has_sdp = hasattr(F, "scaled_dot_product_attention") if allow_flash and FlashCrossAttention: self.flash_ = FlashCrossAttention() if self.has_sdp: torch.backends.cuda.enable_flash_sdp(allow_flash) def forward(self, q, k, v, mask: Optional[torch.Tensor] = None) -> torch.Tensor: if q.shape[-2] == 0 or k.shape[-2] == 0: return q.new_zeros((*q.shape[:-1], v.shape[-1])) if self.enable_flash and q.device.type == "cuda": # use torch 2.0 scaled_dot_product_attention with flash if self.has_sdp: args = [x.half().contiguous() for x in [q, k, v]] v = F.scaled_dot_product_attention(*args, attn_mask=mask).to(q.dtype) return v if mask is None else v.nan_to_num() else: assert mask is None q, k, v = [x.transpose(-2, -3).contiguous() for x in [q, k, v]] m = self.flash_(q.half(), torch.stack([k, v], 2).half()) return m.transpose(-2, -3).to(q.dtype).clone() elif self.has_sdp: args = [x.contiguous() for x in [q, k, v]] v = F.scaled_dot_product_attention(*args, attn_mask=mask) return v if mask is None else v.nan_to_num() else: s = q.shape[-1] ** -0.5 sim = torch.einsum("...id,...jd->...ij", q, k) * s if mask is not None: sim.masked_fill(~mask, -float("inf")) attn = F.softmax(sim, -1) return torch.einsum("...ij,...jd->...id", attn, v) class SelfBlock(nn.Module): def __init__( self, embed_dim: int, num_heads: int, flash: bool = False, bias: bool = True ) -> None: super().__init__() self.embed_dim = embed_dim self.num_heads = num_heads assert self.embed_dim % num_heads == 0 self.head_dim = self.embed_dim // num_heads self.Wqkv = nn.Linear(embed_dim, 3 * embed_dim, bias=bias) self.inner_attn = Attention(flash) self.out_proj = nn.Linear(embed_dim, embed_dim, bias=bias) self.ffn = nn.Sequential( nn.Linear(2 * embed_dim, 2 * embed_dim), nn.LayerNorm(2 * embed_dim, elementwise_affine=True), nn.GELU(), nn.Linear(2 * embed_dim, embed_dim), ) def forward( self, x: torch.Tensor, encoding: torch.Tensor, mask: Optional[torch.Tensor] = None, ) -> torch.Tensor: qkv = self.Wqkv(x) qkv = qkv.unflatten(-1, (self.num_heads, -1, 3)).transpose(1, 2) q, k, v = qkv[..., 0], qkv[..., 1], qkv[..., 2] q = apply_cached_rotary_emb(encoding, q) k = apply_cached_rotary_emb(encoding, k) context = self.inner_attn(q, k, v, mask=mask) message = self.out_proj(context.transpose(1, 2).flatten(start_dim=-2)) return x + self.ffn(torch.cat([x, message], -1)) class CrossBlock(nn.Module): def __init__( self, embed_dim: int, num_heads: int, flash: bool = False, bias: bool = True ) -> None: super().__init__() self.heads = num_heads dim_head = embed_dim // num_heads self.scale = dim_head**-0.5 inner_dim = dim_head * num_heads self.to_qk = nn.Linear(embed_dim, inner_dim, bias=bias) self.to_v = nn.Linear(embed_dim, inner_dim, bias=bias) self.to_out = nn.Linear(inner_dim, embed_dim, bias=bias) self.ffn = nn.Sequential( nn.Linear(2 * embed_dim, 2 * embed_dim), nn.LayerNorm(2 * embed_dim, elementwise_affine=True), nn.GELU(), nn.Linear(2 * embed_dim, embed_dim), ) if flash and FLASH_AVAILABLE: self.flash = Attention(True) else: self.flash = None def map_(self, func: Callable, x0: torch.Tensor, x1: torch.Tensor): return func(x0), func(x1) def forward( self, x0: torch.Tensor, x1: torch.Tensor, mask: Optional[torch.Tensor] = None ) -> List[torch.Tensor]: qk0, qk1 = self.map_(self.to_qk, x0, x1) v0, v1 = self.map_(self.to_v, x0, x1) qk0, qk1, v0, v1 = map( lambda t: t.unflatten(-1, (self.heads, -1)).transpose(1, 2), (qk0, qk1, v0, v1), ) if self.flash is not None and qk0.device.type == "cuda": m0 = self.flash(qk0, qk1, v1, mask) m1 = self.flash( qk1, qk0, v0, mask.transpose(-1, -2) if mask is not None else None ) else: qk0, qk1 = qk0 * self.scale**0.5, qk1 * self.scale**0.5 sim = torch.einsum("bhid, bhjd -> bhij", qk0, qk1) if mask is not None: sim = sim.masked_fill(~mask, -float("inf")) attn01 = F.softmax(sim, dim=-1) attn10 = F.softmax(sim.transpose(-2, -1).contiguous(), dim=-1) m0 = torch.einsum("bhij, bhjd -> bhid", attn01, v1) m1 = torch.einsum("bhji, bhjd -> bhid", attn10.transpose(-2, -1), v0) if mask is not None: m0, m1 = m0.nan_to_num(), m1.nan_to_num() m0, m1 = self.map_(lambda t: t.transpose(1, 2).flatten(start_dim=-2), m0, m1) m0, m1 = self.map_(self.to_out, m0, m1) x0 = x0 + self.ffn(torch.cat([x0, m0], -1)) x1 = x1 + self.ffn(torch.cat([x1, m1], -1)) return x0, x1 class TransformerLayer(nn.Module): def __init__(self, *args, **kwargs): super().__init__() self.self_attn = SelfBlock(*args, **kwargs) self.cross_attn = CrossBlock(*args, **kwargs) def forward( self, desc0, desc1, encoding0, encoding1, mask0: Optional[torch.Tensor] = None, mask1: Optional[torch.Tensor] = None, ): if mask0 is not None and mask1 is not None: return self.masked_forward(desc0, desc1, encoding0, encoding1, mask0, mask1) else: desc0 = self.self_attn(desc0, encoding0) desc1 = self.self_attn(desc1, encoding1) return self.cross_attn(desc0, desc1) # This part is compiled and allows padding inputs def masked_forward(self, desc0, desc1, encoding0, encoding1, mask0, mask1): mask = mask0 & mask1.transpose(-1, -2) mask0 = mask0 & mask0.transpose(-1, -2) mask1 = mask1 & mask1.transpose(-1, -2) desc0 = self.self_attn(desc0, encoding0, mask0) desc1 = self.self_attn(desc1, encoding1, mask1) return self.cross_attn(desc0, desc1, mask) def sigmoid_log_double_softmax( sim: torch.Tensor, z0: torch.Tensor, z1: torch.Tensor ) -> torch.Tensor: """create the log assignment matrix from logits and similarity""" b, m, n = sim.shape certainties = F.logsigmoid(z0) + F.logsigmoid(z1).transpose(1, 2) scores0 = F.log_softmax(sim, 2) scores1 = F.log_softmax(sim.transpose(-1, -2).contiguous(), 2).transpose(-1, -2) scores = sim.new_full((b, m + 1, n + 1), 0) scores[:, :m, :n] = scores0 + scores1 + certainties scores[:, :-1, -1] = F.logsigmoid(-z0.squeeze(-1)) scores[:, -1, :-1] = F.logsigmoid(-z1.squeeze(-1)) return scores class MatchAssignment(nn.Module): def __init__(self, dim: int) -> None: super().__init__() self.dim = dim self.matchability = nn.Linear(dim, 1, bias=True) self.final_proj = nn.Linear(dim, dim, bias=True) def forward(self, desc0: torch.Tensor, desc1: torch.Tensor): """build assignment matrix from descriptors""" mdesc0, mdesc1 = self.final_proj(desc0), self.final_proj(desc1) _, _, d = mdesc0.shape mdesc0, mdesc1 = mdesc0 / d**0.25, mdesc1 / d**0.25 sim = torch.einsum("bmd,bnd->bmn", mdesc0, mdesc1) z0 = self.matchability(desc0) z1 = self.matchability(desc1) scores = sigmoid_log_double_softmax(sim, z0, z1) return scores, sim def get_matchability(self, desc: torch.Tensor): return torch.sigmoid(self.matchability(desc)).squeeze(-1) def filter_matches(scores: torch.Tensor, th: float): """obtain matches from a log assignment matrix [Bx M+1 x N+1]""" max0, max1 = scores[:, :-1, :-1].max(2), scores[:, :-1, :-1].max(1) m0, m1 = max0.indices, max1.indices indices0 = torch.arange(m0.shape[1], device=m0.device)[None] indices1 = torch.arange(m1.shape[1], device=m1.device)[None] mutual0 = indices0 == m1.gather(1, m0) mutual1 = indices1 == m0.gather(1, m1) max0_exp = max0.values.exp() zero = max0_exp.new_tensor(0) mscores0 = torch.where(mutual0, max0_exp, zero) mscores1 = torch.where(mutual1, mscores0.gather(1, m1), zero) valid0 = mutual0 & (mscores0 > th) valid1 = mutual1 & valid0.gather(1, m1) m0 = torch.where(valid0, m0, -1) m1 = torch.where(valid1, m1, -1) return m0, m1, mscores0, mscores1 class LightGlue(nn.Module): default_conf = { "name": "lightglue", # just for interfacing "input_dim": 256, # input descriptor dimension (autoselected from weights) "descriptor_dim": 256, "add_scale_ori": False, "n_layers": 9, "num_heads": 4, "flash": True, # enable FlashAttention if available. "mp": False, # enable mixed precision "depth_confidence": 0.95, # early stopping, disable with -1 "width_confidence": 0.99, # point pruning, disable with -1 "filter_threshold": 0.1, # match threshold "weights": None, } # Point pruning involves an overhead (gather). # Therefore, we only activate it if there are enough keypoints. pruning_keypoint_thresholds = { "cpu": -1, "mps": -1, "cuda": 1024, "flash": 1536, } required_data_keys = ["image0", "image1"] version = "v0.1_arxiv" url = "https://github.com/cvg/LightGlue/releases/download/{}/{}_lightglue.pth" features = { "superpoint": { "weights": "superpoint_lightglue", "input_dim": 256, }, "disk": { "weights": "disk_lightglue", "input_dim": 128, }, "aliked": { "weights": "aliked_lightglue", "input_dim": 128, }, "sift": { "weights": "sift_lightglue", "input_dim": 128, "add_scale_ori": True, }, "doghardnet": { "weights": "doghardnet_lightglue", "input_dim": 128, "add_scale_ori": True, }, } def __init__(self, features="superpoint", **conf) -> None: super().__init__() self.conf = conf = SimpleNamespace(**{**self.default_conf, **conf}) if features is not None: if features not in self.features: raise ValueError( f"Unsupported features: {features} not in " f"{{{','.join(self.features)}}}" ) for k, v in self.features[features].items(): setattr(conf, k, v) if conf.input_dim != conf.descriptor_dim: self.input_proj = nn.Linear(conf.input_dim, conf.descriptor_dim, bias=True) else: self.input_proj = nn.Identity() head_dim = conf.descriptor_dim // conf.num_heads self.posenc = LearnableFourierPositionalEncoding( 2 + 2 * self.conf.add_scale_ori, head_dim, head_dim ) h, n, d = conf.num_heads, conf.n_layers, conf.descriptor_dim self.transformers = nn.ModuleList( [TransformerLayer(d, h, conf.flash) for _ in range(n)] ) self.log_assignment = nn.ModuleList([MatchAssignment(d) for _ in range(n)]) self.token_confidence = nn.ModuleList( [TokenConfidence(d) for _ in range(n - 1)] ) self.register_buffer( "confidence_thresholds", torch.Tensor( [self.confidence_threshold(i) for i in range(self.conf.n_layers)] ), ) state_dict = None if features is not None: fname = f"{conf.weights}_{self.version.replace('.', '-')}.pth" state_dict = torch.hub.load_state_dict_from_url( self.url.format(self.version, features), model_dir='./LightGlue/ckpts',file_name="superpoint_lightglue.pth" ) self.load_state_dict(state_dict, strict=False) elif conf.weights is not None: path = Path(__file__).parent path = path / "weights/{}.pth".format(self.conf.weights) state_dict = torch.load(str(path), map_location="cpu") if state_dict: # rename old state dict entries for i in range(self.conf.n_layers): pattern = f"self_attn.{i}", f"transformers.{i}.self_attn" state_dict = {k.replace(*pattern): v for k, v in state_dict.items()} pattern = f"cross_attn.{i}", f"transformers.{i}.cross_attn" state_dict = {k.replace(*pattern): v for k, v in state_dict.items()} self.load_state_dict(state_dict, strict=False) # static lengths LightGlue is compiled for (only used with torch.compile) self.static_lengths = None def compile( self, mode="reduce-overhead", static_lengths=[256, 512, 768, 1024, 1280, 1536] ): if self.conf.width_confidence != -1: warnings.warn( "Point pruning is partially disabled for compiled forward.", stacklevel=2, ) torch._inductor.cudagraph_mark_step_begin() for i in range(self.conf.n_layers): self.transformers[i].masked_forward = torch.compile( self.transformers[i].masked_forward, mode=mode, fullgraph=True ) self.static_lengths = static_lengths def forward(self, data: dict) -> dict: """ Match keypoints and descriptors between two images Input (dict): image0: dict keypoints: [B x M x 2] descriptors: [B x M x D] image: [B x C x H x W] or image_size: [B x 2] image1: dict keypoints: [B x N x 2] descriptors: [B x N x D] image: [B x C x H x W] or image_size: [B x 2] Output (dict): matches0: [B x M] matching_scores0: [B x M] matches1: [B x N] matching_scores1: [B x N] matches: List[[Si x 2]] scores: List[[Si]] stop: int prune0: [B x M] prune1: [B x N] """ with torch.autocast(enabled=self.conf.mp, device_type="cuda"): return self._forward(data) def _forward(self, data: dict) -> dict: for key in self.required_data_keys: assert key in data, f"Missing key {key} in data" data0, data1 = data["image0"], data["image1"] kpts0, kpts1 = data0["keypoints"], data1["keypoints"] b, m, _ = kpts0.shape b, n, _ = kpts1.shape device = kpts0.device size0, size1 = data0.get("image_size"), data1.get("image_size") kpts0 = normalize_keypoints(kpts0, size0).clone() kpts1 = normalize_keypoints(kpts1, size1).clone() if self.conf.add_scale_ori: kpts0 = torch.cat( [kpts0] + [data0[k].unsqueeze(-1) for k in ("scales", "oris")], -1 ) kpts1 = torch.cat( [kpts1] + [data1[k].unsqueeze(-1) for k in ("scales", "oris")], -1 ) desc0 = data0["descriptors"].detach().contiguous() desc1 = data1["descriptors"].detach().contiguous() assert desc0.shape[-1] == self.conf.input_dim assert desc1.shape[-1] == self.conf.input_dim if torch.is_autocast_enabled(): desc0 = desc0.half() desc1 = desc1.half() mask0, mask1 = None, None c = max(m, n) do_compile = self.static_lengths and c <= max(self.static_lengths) if do_compile: kn = min([k for k in self.static_lengths if k >= c]) desc0, mask0 = pad_to_length(desc0, kn) desc1, mask1 = pad_to_length(desc1, kn) kpts0, _ = pad_to_length(kpts0, kn) kpts1, _ = pad_to_length(kpts1, kn) desc0 = self.input_proj(desc0) desc1 = self.input_proj(desc1) # cache positional embeddings encoding0 = self.posenc(kpts0) encoding1 = self.posenc(kpts1) # GNN + final_proj + assignment do_early_stop = self.conf.depth_confidence > 0 do_point_pruning = self.conf.width_confidence > 0 and not do_compile pruning_th = self.pruning_min_kpts(device) if do_point_pruning: ind0 = torch.arange(0, m, device=device)[None] ind1 = torch.arange(0, n, device=device)[None] # We store the index of the layer at which pruning is detected. prune0 = torch.ones_like(ind0) prune1 = torch.ones_like(ind1) token0, token1 = None, None for i in range(self.conf.n_layers): if desc0.shape[1] == 0 or desc1.shape[1] == 0: # no keypoints break desc0, desc1 = self.transformers[i]( desc0, desc1, encoding0, encoding1, mask0=mask0, mask1=mask1 ) if i == self.conf.n_layers - 1: continue # no early stopping or adaptive width at last layer if do_early_stop: token0, token1 = self.token_confidence[i](desc0, desc1) if self.check_if_stop(token0[..., :m], token1[..., :n], i, m + n): break if do_point_pruning and desc0.shape[-2] > pruning_th: scores0 = self.log_assignment[i].get_matchability(desc0) prunemask0 = self.get_pruning_mask(token0, scores0, i) keep0 = torch.where(prunemask0)[1] ind0 = ind0.index_select(1, keep0) desc0 = desc0.index_select(1, keep0) encoding0 = encoding0.index_select(-2, keep0) prune0[:, ind0] += 1 if do_point_pruning and desc1.shape[-2] > pruning_th: scores1 = self.log_assignment[i].get_matchability(desc1) prunemask1 = self.get_pruning_mask(token1, scores1, i) keep1 = torch.where(prunemask1)[1] ind1 = ind1.index_select(1, keep1) desc1 = desc1.index_select(1, keep1) encoding1 = encoding1.index_select(-2, keep1) prune1[:, ind1] += 1 if desc0.shape[1] == 0 or desc1.shape[1] == 0: # no keypoints m0 = desc0.new_full((b, m), -1, dtype=torch.long) m1 = desc1.new_full((b, n), -1, dtype=torch.long) mscores0 = desc0.new_zeros((b, m)) mscores1 = desc1.new_zeros((b, n)) matches = desc0.new_empty((b, 0, 2), dtype=torch.long) mscores = desc0.new_empty((b, 0)) if not do_point_pruning: prune0 = torch.ones_like(mscores0) * self.conf.n_layers prune1 = torch.ones_like(mscores1) * self.conf.n_layers return { "matches0": m0, "matches1": m1, "matching_scores0": mscores0, "matching_scores1": mscores1, "stop": i + 1, "matches": matches, "scores": mscores, "prune0": prune0, "prune1": prune1, } desc0, desc1 = desc0[..., :m, :], desc1[..., :n, :] # remove padding scores, _ = self.log_assignment[i](desc0, desc1) m0, m1, mscores0, mscores1 = filter_matches(scores, self.conf.filter_threshold) matches, mscores = [], [] for k in range(b): valid = m0[k] > -1 m_indices_0 = torch.where(valid)[0] m_indices_1 = m0[k][valid] if do_point_pruning: m_indices_0 = ind0[k, m_indices_0] m_indices_1 = ind1[k, m_indices_1] matches.append(torch.stack([m_indices_0, m_indices_1], -1)) mscores.append(mscores0[k][valid]) # TODO: Remove when hloc switches to the compact format. if do_point_pruning: m0_ = torch.full((b, m), -1, device=m0.device, dtype=m0.dtype) m1_ = torch.full((b, n), -1, device=m1.device, dtype=m1.dtype) m0_[:, ind0] = torch.where(m0 == -1, -1, ind1.gather(1, m0.clamp(min=0))) m1_[:, ind1] = torch.where(m1 == -1, -1, ind0.gather(1, m1.clamp(min=0))) mscores0_ = torch.zeros((b, m), device=mscores0.device) mscores1_ = torch.zeros((b, n), device=mscores1.device) mscores0_[:, ind0] = mscores0 mscores1_[:, ind1] = mscores1 m0, m1, mscores0, mscores1 = m0_, m1_, mscores0_, mscores1_ else: prune0 = torch.ones_like(mscores0) * self.conf.n_layers prune1 = torch.ones_like(mscores1) * self.conf.n_layers return { "matches0": m0, "matches1": m1, "matching_scores0": mscores0, "matching_scores1": mscores1, "stop": i + 1, "matches": matches, "scores": mscores, "prune0": prune0, "prune1": prune1, } def confidence_threshold(self, layer_index: int) -> float: """scaled confidence threshold""" threshold = 0.8 + 0.1 * np.exp(-4.0 * layer_index / self.conf.n_layers) return np.clip(threshold, 0, 1) def get_pruning_mask( self, confidences: torch.Tensor, scores: torch.Tensor, layer_index: int ) -> torch.Tensor: """mask points which should be removed""" keep = scores > (1 - self.conf.width_confidence) if confidences is not None: # Low-confidence points are never pruned. keep |= confidences <= self.confidence_thresholds[layer_index] return keep def check_if_stop( self, confidences0: torch.Tensor, confidences1: torch.Tensor, layer_index: int, num_points: int, ) -> torch.Tensor: """evaluate stopping condition""" confidences = torch.cat([confidences0, confidences1], -1) threshold = self.confidence_thresholds[layer_index] ratio_confident = 1.0 - (confidences < threshold).float().sum() / num_points return ratio_confident > self.conf.depth_confidence def pruning_min_kpts(self, device: torch.device): if self.conf.flash and FLASH_AVAILABLE and device.type == "cuda": return self.pruning_keypoint_thresholds["flash"] else: return self.pruning_keypoint_thresholds[device.type]