third_party/dust3r/croco/models/croco_downstream.py

# Copyright (C) 2022-present Naver Corporation. All rights reserved.
# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).

# --------------------------------------------------------
# CroCo model for downstream tasks
# --------------------------------------------------------

import torch

from .croco import CroCoNet


def croco_args_from_ckpt(ckpt):
    if "croco_kwargs" in ckpt:  # CroCo v2 released models
        return ckpt["croco_kwargs"]
    elif "args" in ckpt and hasattr(
        ckpt["args"], "model"
    ):  # pretrained using the official code release
        s = ckpt[
            "args"
        ].model  # eg "CroCoNet(enc_embed_dim=1024, enc_num_heads=16, enc_depth=24)"
        assert s.startswith("CroCoNet(")
        return eval(
            "dict" + s[len("CroCoNet") :]
        )  # transform it into the string of a dictionary and evaluate it
    else:  # CroCo v1 released models
        return dict()


class CroCoDownstreamMonocularEncoder(CroCoNet):
    def __init__(self, head, **kwargs):
        """Build network for monocular downstream task, only using the encoder.
        It takes an extra argument head, that is called with the features
          and a dictionary img_info containing 'width' and 'height' keys
        The head is setup with the croconet arguments in this init function
        NOTE: It works by *calling super().__init__() but with redefined setters

        """
        super(CroCoDownstreamMonocularEncoder, self).__init__(**kwargs)
        head.setup(self)
        self.head = head

    def _set_mask_generator(self, *args, **kwargs):
        """No mask generator"""
        return

    def _set_mask_token(self, *args, **kwargs):
        """No mask token"""
        self.mask_token = None
        return

    def _set_decoder(self, *args, **kwargs):
        """No decoder"""
        return

    def _set_prediction_head(self, *args, **kwargs):
        """No 'prediction head' for downstream tasks."""
        return

    def forward(self, img):
        """
        img if of size batch_size x 3 x h x w
        """
        B, C, H, W = img.size()
        img_info = {"height": H, "width": W}
        need_all_layers = (
            hasattr(self.head, "return_all_blocks") and self.head.return_all_blocks
        )
        out, _, _ = self._encode_image(
            img, do_mask=False, return_all_blocks=need_all_layers
        )
        return self.head(out, img_info)


class CroCoDownstreamBinocular(CroCoNet):
    def __init__(self, head, **kwargs):
        """Build network for binocular downstream task
        It takes an extra argument head, that is called with the features
          and a dictionary img_info containing 'width' and 'height' keys
        The head is setup with the croconet arguments in this init function
        """
        super(CroCoDownstreamBinocular, self).__init__(**kwargs)
        head.setup(self)
        self.head = head

    def _set_mask_generator(self, *args, **kwargs):
        """No mask generator"""
        return

    def _set_mask_token(self, *args, **kwargs):
        """No mask token"""
        self.mask_token = None
        return

    def _set_prediction_head(self, *args, **kwargs):
        """No prediction head for downstream tasks, define your own head"""
        return

    def encode_image_pairs(self, img1, img2, return_all_blocks=False):
        """run encoder for a pair of images
        it is actually ~5% faster to concatenate the images along the batch dimension
         than to encode them separately
        """
        ## the two commented lines below is the naive version with separate encoding
        # out, pos, _ = self._encode_image(img1, do_mask=False, return_all_blocks=return_all_blocks)
        # out2, pos2, _ = self._encode_image(img2, do_mask=False, return_all_blocks=False)
        ## and now the faster version
        out, pos, _ = self._encode_image(
            torch.cat((img1, img2), dim=0),
            do_mask=False,
            return_all_blocks=return_all_blocks,
        )
        if return_all_blocks:
            out, out2 = list(map(list, zip(*[o.chunk(2, dim=0) for o in out])))
            out2 = out2[-1]
        else:
            out, out2 = out.chunk(2, dim=0)
        pos, pos2 = pos.chunk(2, dim=0)
        return out, out2, pos, pos2

    def forward(self, img1, img2):
        B, C, H, W = img1.size()
        img_info = {"height": H, "width": W}
        return_all_blocks = (
            hasattr(self.head, "return_all_blocks") and self.head.return_all_blocks
        )
        out, out2, pos, pos2 = self.encode_image_pairs(
            img1, img2, return_all_blocks=return_all_blocks
        )
        if return_all_blocks:
            decout = self._decoder(
                out[-1], pos, None, out2, pos2, return_all_blocks=return_all_blocks
            )
            decout = out + decout
        else:
            decout = self._decoder(
                out, pos, None, out2, pos2, return_all_blocks=return_all_blocks
            )
        return self.head(decout, img_info)