OVSegmentor/segmentation/evaluation/group_vit_seg.py

# -------------------------------------------------------------------------
# Copyright (c) 2021-2022, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual
# property and proprietary rights in and to this software, related
# documentation and any modifications thereto.  Any use, reproduction,
# disclosure or distribution of this software and related documentation
# without an express license agreement from NVIDIA CORPORATION is strictly
# prohibited.
#
# Written by Jiarui Xu
# -------------------------------------------------------------------------
# Modified by Jilan Xu
# -------------------------------------------------------------------------


import os.path as osp

import matplotlib.pyplot as plt
import mmcv
import numpy as np
import torch
import torch.nn.functional as F
from einops import rearrange
from mmseg.models import EncoderDecoder
from PIL import Image
from utils import get_logger
import cv2

GROUP_PALETTE = np.loadtxt(osp.join(osp.dirname(osp.abspath(__file__)), 'group_palette.txt'), dtype=np.uint8)[:, ::-1]

from ipdb import set_trace

def resize_attn_map(attentions, h, w, align_corners=False):
    """

    Args:
        attentions: shape [B, num_head, H*W, groups]
        h:
        w:

    Returns:

        attentions: shape [B, num_head, h, w, groups]


    """
    scale = (h * w // attentions.shape[2])**0.5
    if h > w:
        w_featmap = w // int(np.round(scale))
        h_featmap = attentions.shape[2] // w_featmap
    else:
        h_featmap = h // int(np.round(scale))
        w_featmap = attentions.shape[2] // h_featmap
    assert attentions.shape[
        2] == h_featmap * w_featmap, f'{attentions.shape[2]} = {h_featmap} x {w_featmap}, h={h}, w={w}'

    bs = attentions.shape[0]
    nh = attentions.shape[1]  # number of head
    groups = attentions.shape[3]  # number of group token
    # [bs, nh, h*w, groups] -> [bs*nh, groups, h, w]
    attentions = rearrange(
        attentions, 'bs nh (h w) c -> (bs nh) c h w', bs=bs, nh=nh, h=h_featmap, w=w_featmap, c=groups)
    attentions = F.interpolate(attentions, size=(h, w), mode='bilinear', align_corners=align_corners)
    #  [bs*nh, groups, h, w] -> [bs, nh, h*w, groups]
    attentions = rearrange(attentions, '(bs nh) c h w -> bs nh h w c', bs=bs, nh=nh, h=h, w=w, c=groups)

    return attentions


def top_groups(attn_map, k):
    """
    Args:
        attn_map: (B, H, W, G)
        k: int

    Return:
        (B, H, W, k)
    """

    attn_map = attn_map.clone()

    for i in range(attn_map.size(0)):
        # [H*W, G]
        flatten_map = rearrange(attn_map[i], 'h w g -> (h w) g')
        kept_mat = torch.zeros(flatten_map.shape[0], device=flatten_map.device, dtype=torch.bool)
        area_per_group = flatten_map.sum(dim=0)
        top_group_idx = area_per_group.topk(k=k).indices.cpu().numpy().tolist()
        for group_idx in top_group_idx:
            kept_mat[flatten_map.argmax(dim=-1) == group_idx] = True
        # [H, W, 2]
        coords = torch.stack(
            torch.meshgrid(
                torch.arange(attn_map[i].shape[0], device=attn_map[i].device, dtype=attn_map[i].dtype),
                torch.arange(attn_map[i].shape[1], device=attn_map[i].device, dtype=attn_map[i].dtype)),
            dim=-1)
        coords = rearrange(coords, 'h w c -> (h w) c')

        # calculate distance between each pair of points
        # [non_kept, kept]
        dist_mat = torch.sum((coords[~kept_mat].unsqueeze(1) - coords[kept_mat].unsqueeze(0))**2, dim=-1)

        flatten_map[~kept_mat] = flatten_map[kept_mat.nonzero(as_tuple=True)[0][dist_mat.argmin(dim=-1)]]

        attn_map[i] = flatten_map.reshape_as(attn_map[i])

    return attn_map


def seg2coord(seg_map):
    """
    Args:
        seg_map (np.ndarray): (H, W)

    Return:
        dict(group_id -> (x, y))
    """
    h, w = seg_map.shape
    # [h ,w, 2]
    coords = np.stack(np.meshgrid(np.arange(h), np.arange(w), indexing='ij'), axis=-1)
    labels = np.unique(seg_map)
    coord_map = {}
    for label in labels:
        coord_map[label] = coords[seg_map == label].mean(axis=0)
    return coord_map


class GroupViTSegInference(EncoderDecoder):

    # def __init__(self, model, text_embedding, with_bg, test_cfg=dict(mode='whole', bg_thresh=.95, use_clip=False)):
    def __init__(self, model, text_embedding, with_bg, test_cfg=dict(mode='whole', bg_thresh=.95)):
        super(EncoderDecoder, self).__init__()
        if not isinstance(test_cfg, mmcv.Config):
            test_cfg = mmcv.Config(test_cfg)
        self.test_cfg = test_cfg
        self.model = model
        # [N, C]
        self.register_buffer('text_embedding', text_embedding)
        self.with_bg = with_bg
        self.bg_thresh = test_cfg['bg_thresh']
        if self.with_bg:
            self.num_classes = len(text_embedding) + 1
        else:
            self.num_classes = len(text_embedding)
        self.align_corners = False
        logger = get_logger()
        logger.info(
            f'Building GroupViTSegInference with {self.num_classes} classes, test_cfg={test_cfg}, with_bg={with_bg}')

    def forward_train(self, img, img_metas, gt_semantic_seg):
        raise NotImplementedError

    def get_attn_maps(self, img, return_onehot=False, rescale=False):
        """
        Args:
            img: [B, C, H, W]

        Returns:
            attn_maps: list[Tensor], attention map of shape [B, H, W, groups]
        """
        results = self.model.img_encoder(img, return_attn=True, as_dict=True)
        
        attn_maps = []
        with torch.no_grad():
            prev_attn_masks = None
            for idx, attn_dict in enumerate(results['attn_dicts']):
                if attn_dict is None:
                    # changed doesn't have to be like this
                    # assert idx == len(results['attn_dicts']) - 1, 'only last layer can be None'
                    continue
                
                # [B, G, HxW]
                # B: batch size (1), G: number of group token
                attn_masks = attn_dict['soft']
                # [B, nH, G, HxW] -> [B, nH, HxW, G]
                attn_masks = rearrange(attn_masks, 'b h g n -> b h n g')
                if prev_attn_masks is None:
                    prev_attn_masks = attn_masks
                else:
                    prev_attn_masks = prev_attn_masks @ attn_masks

                # [B, nH, HxW, G] -> [B, nH, H, W, G]
                attn_maps.append(resize_attn_map(prev_attn_masks, *img.shape[-2:]))

        for i in range(len(attn_maps)):
            attn_map = attn_maps[i]
            # [B, nh, H, W, G]
            assert attn_map.shape[1] == 1
            # [B, H, W, G]
            attn_map = attn_map.squeeze(1)

            if rescale:
                attn_map = rearrange(attn_map, 'b h w g -> b g h w')
                attn_map = F.interpolate(
                    attn_map, size=img.shape[2:], mode='bilinear', align_corners=self.align_corners)
                attn_map = rearrange(attn_map, 'b g h w -> b h w g')

            if return_onehot:
                # [B, H, W, G]
                attn_map = F.one_hot(attn_map.argmax(dim=-1), num_classes=attn_map.shape[-1]).to(dtype=attn_map.dtype)

            attn_maps[i] = attn_map
        
        return attn_maps

    def encode_decode(self, img, img_metas):
        """Encode images with backbone and decode into a semantic segmentation
        map of the same size as input."""

        assert img.shape[0] == 1, 'batch size must be 1'

        # [B, C, H, W], get the last one only
        attn_map = self.get_attn_maps(img, rescale=True)[-1]
        # [H, W, G], select batch idx 0
        attn_map = attn_map[0]
        img_outs = self.model.encode_image(img, return_feat=True, as_dict=True)
        # [B, L, C] -> [L, C]
        grouped_img_tokens = img_outs['image_feat'].squeeze(0)
        img_avg_feat = img_outs['image_x']        
        # [G, C]
        grouped_img_tokens = F.normalize(grouped_img_tokens, dim=-1)
        img_avg_feat = F.normalize(img_avg_feat, dim=-1)

        # [H, W, G]
        onehot_attn_map = F.one_hot(attn_map.argmax(dim=-1), num_classes=attn_map.shape[-1]).to(dtype=attn_map.dtype)
        num_fg_classes = self.text_embedding.shape[0]
        class_offset = 1 if self.with_bg else 0
        text_tokens = self.text_embedding
        num_classes = num_fg_classes + class_offset

        logit_scale = torch.clamp(self.model.logit_scale.exp(), max=100)
        # [G, N]
        group_affinity_mat = (grouped_img_tokens @ text_tokens.T) * logit_scale
        pre_group_affinity_mat = F.softmax(group_affinity_mat, dim=-1)
        avg_affinity_mat = (img_avg_feat @ text_tokens.T) * logit_scale
        avg_affinity_mat = F.softmax(avg_affinity_mat, dim=-1)
        
        affinity_mask = torch.zeros_like(avg_affinity_mat)
        avg_affinity_topk = avg_affinity_mat.topk(dim=-1, k=min(5, num_fg_classes))
        affinity_mask.scatter_add_(
            dim=-1, index=avg_affinity_topk.indices, src=torch.ones_like(avg_affinity_topk.values))
        group_affinity_mat.masked_fill_(~affinity_mask.bool(), float('-inf'))
        
        group_affinity_mat = F.softmax(group_affinity_mat, dim=-1)

        # TODO: check if necessary
        group_affinity_mat *= pre_group_affinity_mat
        pred_logits = torch.zeros(num_classes, *attn_map.shape[:2], device=img.device, dtype=img.dtype)

        pred_logits[class_offset:] = rearrange(onehot_attn_map @ group_affinity_mat, 'h w c -> c h w')
        
        if self.with_bg:
            bg_thresh = min(self.bg_thresh, group_affinity_mat.max().item())
            pred_logits[0, (onehot_attn_map @ group_affinity_mat).max(dim=-1).values < bg_thresh] = 1

        return pred_logits.unsqueeze(0)

    def blend_result(self, img, result, palette=None, out_file=None, opacity=0.5, with_bg=False):
        img = mmcv.imread(img)
        img = img.copy()
        seg = result[0]
        if palette is None:
            palette = self.PALETTE
        palette = np.array(palette)
        assert palette.shape[1] == 3, palette.shape
        assert len(palette.shape) == 2
        assert 0 < opacity <= 1.0
        color_seg = np.zeros((seg.shape[0], seg.shape[1], 3), dtype=np.uint8)
        for label, color in enumerate(palette):
            color_seg[seg == label, :] = color
        # convert to BGR
        color_seg = color_seg[..., ::-1]

        if with_bg:
            fg_mask = seg != 0
            img[fg_mask] = img[fg_mask] * (1 - opacity) + color_seg[fg_mask] * opacity
        else:
            img = img * (1 - opacity) + color_seg * opacity
        img = img.astype(np.uint8)

        if out_file is not None:
            mmcv.imwrite(img, out_file)

        return img

    def show_result(self, img_show, img_tensor, result, out_file, vis_mode='pred'):
        print('current vis mode: ', vis_mode)
        assert vis_mode in [
            'input', 'pred', 'input_pred', 'all_groups', 'first_group', 'final_group', 'input_pred_label'
        ], vis_mode

        if vis_mode == 'input':
            mmcv.imwrite(img_show, out_file)
        elif vis_mode == 'pred':
            output = Image.fromarray(result[0].astype(np.uint8)).convert('P')
            output.putpalette(np.array(self.PALETTE).astype(np.uint8))
            mmcv.mkdir_or_exist(osp.dirname(out_file))
            output.save(out_file.replace('.jpg', '.png'))
        elif vis_mode == 'input_pred':
            self.blend_result(img=img_show, result=result, out_file=out_file, opacity=0.5, with_bg=self.with_bg)
        elif vis_mode == 'input_pred_label':
            labels = np.unique(result[0])
            coord_map = seg2coord(result[0])
            # reference: https://github.com/open-mmlab/mmdetection/blob/ff9bc39913cb3ff5dde79d3933add7dc2561bab7/mmdet/models/detectors/base.py#L271 # noqa
            blended_img = self.blend_result(
                img=img_show, result=result, out_file=None, opacity=0.5, with_bg=self.with_bg)
            blended_img = mmcv.bgr2rgb(blended_img)
            width, height = img_show.shape[1], img_show.shape[0]
            EPS = 1e-2
            fig = plt.figure(frameon=False)
            canvas = fig.canvas
            dpi = fig.get_dpi()
            fig.set_size_inches((width + EPS) / dpi, (height + EPS) / dpi)

            # remove white edges by set subplot margin
            plt.subplots_adjust(left=0, right=1, bottom=0, top=1)
            ax = plt.gca()
            ax.axis('off')
            for i, label in enumerate(labels):
                if self.with_bg and label == 0:
                    continue
                center = coord_map[label].astype(np.int32)
                label_text = self.CLASSES[label]
                ax.text(
                    center[1],
                    center[0],
                    f'{label_text}',
                    bbox={
                        'facecolor': 'black',
                        'alpha': 0.5,
                        'pad': 0.7,
                        'edgecolor': 'none'
                    },
                    color='orangered',
                    fontsize=16,
                    verticalalignment='top',
                    horizontalalignment='left')
            plt.imshow(blended_img)
            stream, _ = canvas.print_to_buffer()
            buffer = np.frombuffer(stream, dtype='uint8')
            img_rgba = buffer.reshape(height, width, 4)
            rgb, alpha = np.split(img_rgba, [3], axis=2)
            img = rgb.astype('uint8')
            img = mmcv.rgb2bgr(img)
            mmcv.imwrite(img, out_file)
            plt.close()

        elif vis_mode == 'all_groups' or vis_mode == 'final_group' or vis_mode == 'first_group':
            attn_map_list = self.get_attn_maps(img_tensor)
            assert len(attn_map_list) in [1, 2]
            # only show 16 groups for the first stage
            # if len(attn_map_list) == 2:
            #     attn_map_list[0] = top_groups(attn_map_list[0], k=16)

            num_groups = [attn_map_list[layer_idx].shape[-1] for layer_idx in range(len(attn_map_list))]
            for layer_idx, attn_map in enumerate(attn_map_list):
                if vis_mode == 'first_group' and layer_idx != 0:
                    continue
                if vis_mode == 'final_group' and layer_idx != len(attn_map_list) - 1:
                    continue
                attn_map = rearrange(attn_map, 'b h w g -> b g h w')
                attn_map = F.interpolate(
                    attn_map, size=img_show.shape[:2], mode='bilinear', align_corners=self.align_corners)
                group_result = attn_map.argmax(dim=1).cpu().numpy()
                if vis_mode == 'all_groups':
                    layer_out_file = out_file.replace(
                        osp.splitext(out_file)[-1], f'_layer{layer_idx}{osp.splitext(out_file)[-1]}')
                else:
                    layer_out_file = out_file
                self.blend_result(
                    img=img_show,
                    result=group_result,
                    palette=GROUP_PALETTE[sum(num_groups[:layer_idx]):sum(num_groups[:layer_idx + 1])],
                    out_file=layer_out_file,
                    opacity=0.5)
        else:
            raise ValueError(f'Unknown vis_type: {vis_mode}')