# Copyright 2024 Baidu Inc and The HuggingFace Inc. team. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import math import pathlib from dataclasses import dataclass from typing import Optional import torch import torch.nn.functional as F import torchvision.transforms.v2.functional as tvF from torch import nn from ... import initialization as init from ...activations import ACT2CLS, ACT2FN from ...backbone_utils import load_backbone from ...image_processing_utils import BatchFeature from ...image_processing_utils_fast import BaseImageProcessorFast, SizeDict, get_max_height_width from ...image_transforms import center_to_corners_format, corners_to_center_format from ...image_utils import ( IMAGENET_DEFAULT_MEAN, IMAGENET_DEFAULT_STD, AnnotationFormat, AnnotationType, ChannelDimension, PILImageResampling, get_image_size, validate_annotations, ) from ...modeling_outputs import BaseModelOutput from ...modeling_utils import PreTrainedModel from ...processing_utils import Unpack from ...pytorch_utils import compile_compatible_method_lru_cache from ...utils import ( ModelOutput, TensorType, TransformersKwargs, auto_docstring, logging, requires_backends, torch_int, ) from ...utils.generic import can_return_tuple, merge_with_config_defaults from ...utils.output_capturing import capture_outputs from ..conditional_detr.modeling_conditional_detr import inverse_sigmoid from ..deformable_detr.modeling_deformable_detr import DeformableDetrMultiscaleDeformableAttention from ..detr.image_processing_detr_fast import DetrImageProcessorFast from ..detr.modeling_detr import DetrFrozenBatchNorm2d, DetrMLPPredictionHead, DetrSelfAttention, replace_batch_norm from .configuration_rt_detr import RTDetrConfig from .image_processing_rt_detr import RTDetrImageProcessorKwargs logger = logging.get_logger(__name__) SUPPORTED_ANNOTATION_FORMATS = (AnnotationFormat.COCO_DETECTION,) def prepare_coco_detection_annotation( image, target, return_segmentation_masks: bool = False, input_data_format: ChannelDimension | str | None = None, ): """ Convert the target in COCO format into the format expected by RT-DETR. """ image_height, image_width = image.size()[-2:] image_id = target["image_id"] image_id = torch.as_tensor([image_id], dtype=torch.int64, device=image.device) # Get all COCO annotations for the given image. annotations = target["annotations"] classes = [] area = [] boxes = [] keypoints = [] for obj in annotations: if "iscrowd" not in obj or obj["iscrowd"] == 0: classes.append(obj["category_id"]) area.append(obj["area"]) boxes.append(obj["bbox"]) if "keypoints" in obj: keypoints.append(obj["keypoints"]) classes = torch.as_tensor(classes, dtype=torch.int64, device=image.device) area = torch.as_tensor(area, dtype=torch.float32, device=image.device) iscrowd = torch.zeros_like(classes, dtype=torch.int64, device=image.device) # guard against no boxes via resizing boxes = torch.as_tensor(boxes, dtype=torch.float32, device=image.device).reshape(-1, 4) boxes[:, 2:] += boxes[:, :2] boxes[:, 0::2] = boxes[:, 0::2].clip(min=0, max=image_width) boxes[:, 1::2] = boxes[:, 1::2].clip(min=0, max=image_height) keep = (boxes[:, 3] > boxes[:, 1]) & (boxes[:, 2] > boxes[:, 0]) new_target = { "image_id": image_id, "class_labels": classes[keep], "boxes": boxes[keep], "area": area[keep], "iscrowd": iscrowd[keep], "orig_size": torch.as_tensor([int(image_height), int(image_width)], dtype=torch.int64, device=image.device), } if keypoints: keypoints = torch.as_tensor(keypoints, dtype=torch.float32, device=image.device) # Apply the keep mask here to filter the relevant annotations keypoints = keypoints[keep] num_keypoints = keypoints.shape[0] keypoints = keypoints.reshape((-1, 3)) if num_keypoints else keypoints new_target["keypoints"] = keypoints return new_target class RTDetrImageProcessorFast(DetrImageProcessorFast): resample = PILImageResampling.BILINEAR image_mean = IMAGENET_DEFAULT_MEAN image_std = IMAGENET_DEFAULT_STD format = AnnotationFormat.COCO_DETECTION do_convert_annotations = True do_resize = True do_rescale = True do_normalize = False do_pad = False size = {"height": 640, "width": 640} default_to_square = False model_input_names = ["pixel_values", "pixel_mask"] valid_kwargs = RTDetrImageProcessorKwargs def __init__(self, **kwargs: Unpack[RTDetrImageProcessorKwargs]) -> None: # Backwards compatibility do_convert_annotations = kwargs.get("do_convert_annotations") do_normalize = kwargs.get("do_normalize") if do_convert_annotations is None and getattr(self, "do_convert_annotations", None) is None: self.do_convert_annotations = do_normalize if do_normalize is not None else self.do_normalize BaseImageProcessorFast.__init__(self, **kwargs) def prepare_annotation( self, image: torch.Tensor, target: dict, format: AnnotationFormat | None = None, return_segmentation_masks: bool | None = None, masks_path: str | pathlib.Path | None = None, input_data_format: str | ChannelDimension | None = None, ) -> dict: format = format if format is not None else self.format if format == AnnotationFormat.COCO_DETECTION: return_segmentation_masks = False if return_segmentation_masks is None else return_segmentation_masks target = prepare_coco_detection_annotation( image, target, return_segmentation_masks, input_data_format=input_data_format ) else: raise ValueError(f"Format {format} is not supported.") return target def _preprocess( self, images: list["torch.Tensor"], annotations: AnnotationType | list[AnnotationType] | None, masks_path: str | pathlib.Path | None, return_segmentation_masks: bool, do_resize: bool, size: SizeDict, interpolation: Optional["tvF.InterpolationMode"], do_rescale: bool, rescale_factor: float, do_normalize: bool, do_convert_annotations: bool, image_mean: float | list[float] | None, image_std: float | list[float] | None, do_pad: bool, pad_size: SizeDict | None, format: str | AnnotationFormat | None, return_tensors: str | TensorType | None, **kwargs, ) -> BatchFeature: """ Preprocess an image or a batch of images so that it can be used by the model. """ if annotations is not None and isinstance(annotations, dict): annotations = [annotations] if annotations is not None and len(images) != len(annotations): raise ValueError( f"The number of images ({len(images)}) and annotations ({len(annotations)}) do not match." ) format = AnnotationFormat(format) if annotations is not None: validate_annotations(format, SUPPORTED_ANNOTATION_FORMATS, annotations) data = {} processed_images = [] processed_annotations = [] pixel_masks = [] # Initialize pixel_masks here for image, annotation in zip(images, annotations if annotations is not None else [None] * len(images)): # prepare (COCO annotations as a list of Dict -> DETR target as a single Dict per image) if annotations is not None: annotation = self.prepare_annotation( image, annotation, format, return_segmentation_masks=return_segmentation_masks, masks_path=masks_path, input_data_format=ChannelDimension.FIRST, ) if do_resize: resized_image = self.resize(image, size=size, interpolation=interpolation) if annotations is not None: annotation = self.resize_annotation( annotation, orig_size=image.size()[-2:], target_size=resized_image.size()[-2:], ) image = resized_image # Fused rescale and normalize image = self.rescale_and_normalize(image, do_rescale, rescale_factor, do_normalize, image_mean, image_std) if do_convert_annotations and annotations is not None: annotation = self.normalize_annotation(annotation, get_image_size(image, ChannelDimension.FIRST)) processed_images.append(image) processed_annotations.append(annotation) images = processed_images annotations = processed_annotations if annotations is not None else None if do_pad: # depends on all resized image shapes so we need another loop if pad_size is not None: padded_size = (pad_size.height, pad_size.width) else: padded_size = get_max_height_width(images) padded_images = [] padded_annotations = [] for image, annotation in zip(images, annotations if annotations is not None else [None] * len(images)): # Pads images and returns their mask: {'pixel_values': ..., 'pixel_mask': ...} if padded_size == image.size()[-2:]: padded_images.append(image) pixel_masks.append(torch.ones(padded_size, dtype=torch.int64, device=image.device)) padded_annotations.append(annotation) continue image, pixel_mask, annotation = self.pad( image, padded_size, annotation=annotation, update_bboxes=do_convert_annotations ) padded_images.append(image) padded_annotations.append(annotation) pixel_masks.append(pixel_mask) images = padded_images annotations = padded_annotations if annotations is not None else None data.update({"pixel_mask": torch.stack(pixel_masks, dim=0)}) data.update({"pixel_values": torch.stack(images, dim=0)}) encoded_inputs = BatchFeature(data, tensor_type=return_tensors) if annotations is not None: encoded_inputs["labels"] = [ BatchFeature(annotation, tensor_type=return_tensors) for annotation in annotations ] return encoded_inputs def post_process_object_detection( self, outputs, threshold: float = 0.5, target_sizes: TensorType | list[tuple] = None, use_focal_loss: bool = True, ): """ Converts the raw output of [`DetrForObjectDetection`] into final bounding boxes in (top_left_x, top_left_y, bottom_right_x, bottom_right_y) format. Only supports PyTorch. Args: outputs ([`DetrObjectDetectionOutput`]): Raw outputs of the model. threshold (`float`, *optional*, defaults to 0.5): Score threshold to keep object detection predictions. target_sizes (`torch.Tensor` or `list[tuple[int, int]]`, *optional*): Tensor of shape `(batch_size, 2)` or list of tuples (`tuple[int, int]`) containing the target size `(height, width)` of each image in the batch. If unset, predictions will not be resized. use_focal_loss (`bool` defaults to `True`): Variable informing if the focal loss was used to predict the outputs. If `True`, a sigmoid is applied to compute the scores of each detection, otherwise, a softmax function is used. Returns: `list[Dict]`: A list of dictionaries, each dictionary containing the scores, labels and boxes for an image in the batch as predicted by the model. """ requires_backends(self, ["torch"]) out_logits, out_bbox = outputs.logits, outputs.pred_boxes # convert from relative cxcywh to absolute xyxy boxes = center_to_corners_format(out_bbox) if target_sizes is not None: if len(out_logits) != len(target_sizes): raise ValueError( "Make sure that you pass in as many target sizes as the batch dimension of the logits" ) if isinstance(target_sizes, list): img_h, img_w = torch.as_tensor(target_sizes).unbind(1) else: img_h, img_w = target_sizes.unbind(1) scale_fct = torch.stack([img_w, img_h, img_w, img_h], dim=1).to(boxes.device) boxes = boxes * scale_fct[:, None, :] num_top_queries = out_logits.shape[1] num_classes = out_logits.shape[2] if use_focal_loss: scores = torch.nn.functional.sigmoid(out_logits) scores, index = torch.topk(scores.flatten(1), num_top_queries, axis=-1) labels = index % num_classes index = index // num_classes boxes = boxes.gather(dim=1, index=index.unsqueeze(-1).repeat(1, 1, boxes.shape[-1])) else: scores = torch.nn.functional.softmax(out_logits)[:, :, :-1] scores, labels = scores.max(dim=-1) if scores.shape[1] > num_top_queries: scores, index = torch.topk(scores, num_top_queries, dim=-1) labels = torch.gather(labels, dim=1, index=index) boxes = torch.gather(boxes, dim=1, index=index.unsqueeze(-1).tile(1, 1, boxes.shape[-1])) results = [] for score, label, box in zip(scores, labels, boxes): results.append( { "scores": score[score > threshold], "labels": label[score > threshold], "boxes": box[score > threshold], } ) return results def post_process_instance_segmentation(self): raise NotImplementedError("Segmentation post-processing is not implemented for RT-DETR yet.") def post_process_semantic_segmentation(self): raise NotImplementedError("Semantic segmentation post-processing is not implemented for RT-DETR yet.") def post_process_panoptic_segmentation(self): raise NotImplementedError("Panoptic segmentation post-processing is not implemented for RT-DETR yet.") @dataclass @auto_docstring( custom_intro=""" Base class for outputs of the RTDetrDecoder. This class adds two attributes to BaseModelOutputWithCrossAttentions, namely: - a stacked tensor of intermediate decoder hidden states (i.e. the output of each decoder layer) - a stacked tensor of intermediate reference points. """ ) class RTDetrDecoderOutput(ModelOutput): r""" intermediate_hidden_states (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, hidden_size)`): Stacked intermediate hidden states (output of each layer of the decoder). intermediate_logits (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, sequence_length, config.num_labels)`): Stacked intermediate logits (logits of each layer of the decoder). intermediate_reference_points (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, sequence_length, hidden_size)`): Stacked intermediate reference points (reference points of each layer of the decoder). intermediate_predicted_corners (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, 4)`): Stacked intermediate predicted corners (predicted corners of each layer of the decoder). initial_reference_points (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, 4)`): Stacked initial reference points (initial reference points of each layer of the decoder). cross_attentions (`tuple(torch.FloatTensor)`, *optional*, returned when `output_attentions=True` and `config.add_cross_attention=True` is passed or when `config.output_attentions=True`): Tuple of `torch.FloatTensor` (one for each layer) of shape `(batch_size, num_heads, sequence_length, sequence_length)`. Attentions weights of the decoder's cross-attention layer, after the attention softmax, used to compute the weighted average in the cross-attention heads. """ last_hidden_state: torch.FloatTensor | None = None intermediate_hidden_states: torch.FloatTensor | None = None intermediate_logits: torch.FloatTensor | None = None intermediate_reference_points: torch.FloatTensor | None = None intermediate_predicted_corners: torch.FloatTensor | None = None initial_reference_points: torch.FloatTensor | None = None hidden_states: tuple[torch.FloatTensor] | None = None attentions: tuple[torch.FloatTensor] | None = None cross_attentions: tuple[torch.FloatTensor] | None = None @dataclass @auto_docstring( custom_intro=""" Base class for outputs of the RT-DETR encoder-decoder model. """ ) class RTDetrModelOutput(ModelOutput): r""" last_hidden_state (`torch.FloatTensor` of shape `(batch_size, num_queries, hidden_size)`): Sequence of hidden-states at the output of the last layer of the decoder of the model. intermediate_hidden_states (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, hidden_size)`): Stacked intermediate hidden states (output of each layer of the decoder). intermediate_logits (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, sequence_length, config.num_labels)`): Stacked intermediate logits (logits of each layer of the decoder). intermediate_reference_points (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, 4)`): Stacked intermediate reference points (reference points of each layer of the decoder). intermediate_predicted_corners (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, 4)`): Stacked intermediate predicted corners (predicted corners of each layer of the decoder). initial_reference_points (`torch.FloatTensor` of shape `(batch_size, num_queries, 4)`): Initial reference points used for the first decoder layer. init_reference_points (`torch.FloatTensor` of shape `(batch_size, num_queries, 4)`): Initial reference points sent through the Transformer decoder. enc_topk_logits (`torch.FloatTensor` of shape `(batch_size, sequence_length, config.num_labels)`): Predicted bounding boxes scores where the top `config.two_stage_num_proposals` scoring bounding boxes are picked as region proposals in the encoder stage. Output of bounding box binary classification (i.e. foreground and background). enc_topk_bboxes (`torch.FloatTensor` of shape `(batch_size, sequence_length, 4)`): Logits of predicted bounding boxes coordinates in the encoder stage. enc_outputs_class (`torch.FloatTensor` of shape `(batch_size, sequence_length, config.num_labels)`, *optional*, returned when `config.with_box_refine=True` and `config.two_stage=True`): Predicted bounding boxes scores where the top `config.two_stage_num_proposals` scoring bounding boxes are picked as region proposals in the first stage. Output of bounding box binary classification (i.e. foreground and background). enc_outputs_coord_logits (`torch.FloatTensor` of shape `(batch_size, sequence_length, 4)`, *optional*, returned when `config.with_box_refine=True` and `config.two_stage=True`): Logits of predicted bounding boxes coordinates in the first stage. denoising_meta_values (`dict`): Extra dictionary for the denoising related values. """ last_hidden_state: torch.FloatTensor | None = None intermediate_hidden_states: torch.FloatTensor | None = None intermediate_logits: torch.FloatTensor | None = None intermediate_reference_points: torch.FloatTensor | None = None intermediate_predicted_corners: torch.FloatTensor | None = None initial_reference_points: torch.FloatTensor | None = None decoder_hidden_states: tuple[torch.FloatTensor] | None = None decoder_attentions: tuple[torch.FloatTensor] | None = None cross_attentions: tuple[torch.FloatTensor] | None = None encoder_last_hidden_state: torch.FloatTensor | None = None encoder_hidden_states: tuple[torch.FloatTensor] | None = None encoder_attentions: tuple[torch.FloatTensor] | None = None init_reference_points: torch.FloatTensor | None = None enc_topk_logits: torch.FloatTensor | None = None enc_topk_bboxes: torch.FloatTensor | None = None enc_outputs_class: torch.FloatTensor | None = None enc_outputs_coord_logits: torch.FloatTensor | None = None denoising_meta_values: dict | None = None @dataclass @auto_docstring( custom_intro=""" Output type of [`RTDetrForObjectDetection`]. """ ) class RTDetrObjectDetectionOutput(ModelOutput): r""" loss (`torch.FloatTensor` of shape `(1,)`, *optional*, returned when `labels` are provided)): Total loss as a linear combination of a negative log-likehood (cross-entropy) for class prediction and a bounding box loss. The latter is defined as a linear combination of the L1 loss and the generalized scale-invariant IoU loss. loss_dict (`Dict`, *optional*): A dictionary containing the individual losses. Useful for logging. logits (`torch.FloatTensor` of shape `(batch_size, num_queries, num_classes + 1)`): Classification logits (including no-object) for all queries. pred_boxes (`torch.FloatTensor` of shape `(batch_size, num_queries, 4)`): Normalized boxes coordinates for all queries, represented as (center_x, center_y, width, height). These values are normalized in [0, 1], relative to the size of each individual image in the batch (disregarding possible padding). You can use [`~RTDetrImageProcessor.post_process_object_detection`] to retrieve the unnormalized (absolute) bounding boxes. auxiliary_outputs (`list[Dict]`, *optional*): Optional, only returned when auxiliary losses are activated (i.e. `config.auxiliary_loss` is set to `True`) and labels are provided. It is a list of dictionaries containing the two above keys (`logits` and `pred_boxes`) for each decoder layer. last_hidden_state (`torch.FloatTensor` of shape `(batch_size, num_queries, hidden_size)`): Sequence of hidden-states at the output of the last layer of the decoder of the model. intermediate_hidden_states (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, hidden_size)`): Stacked intermediate hidden states (output of each layer of the decoder). intermediate_logits (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, config.num_labels)`): Stacked intermediate logits (logits of each layer of the decoder). intermediate_reference_points (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, 4)`): Stacked intermediate reference points (reference points of each layer of the decoder). intermediate_predicted_corners (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, 4)`): Stacked intermediate predicted corners (predicted corners of each layer of the decoder). initial_reference_points (`torch.FloatTensor` of shape `(batch_size, config.decoder_layers, num_queries, 4)`): Stacked initial reference points (initial reference points of each layer of the decoder). init_reference_points (`torch.FloatTensor` of shape `(batch_size, num_queries, 4)`): Initial reference points sent through the Transformer decoder. enc_topk_logits (`torch.FloatTensor` of shape `(batch_size, sequence_length, config.num_labels)`, *optional*, returned when `config.with_box_refine=True` and `config.two_stage=True`): Logits of predicted bounding boxes coordinates in the encoder. enc_topk_bboxes (`torch.FloatTensor` of shape `(batch_size, sequence_length, 4)`, *optional*, returned when `config.with_box_refine=True` and `config.two_stage=True`): Logits of predicted bounding boxes coordinates in the encoder. enc_outputs_class (`torch.FloatTensor` of shape `(batch_size, sequence_length, config.num_labels)`, *optional*, returned when `config.with_box_refine=True` and `config.two_stage=True`): Predicted bounding boxes scores where the top `config.two_stage_num_proposals` scoring bounding boxes are picked as region proposals in the first stage. Output of bounding box binary classification (i.e. foreground and background). enc_outputs_coord_logits (`torch.FloatTensor` of shape `(batch_size, sequence_length, 4)`, *optional*, returned when `config.with_box_refine=True` and `config.two_stage=True`): Logits of predicted bounding boxes coordinates in the first stage. denoising_meta_values (`dict`): Extra dictionary for the denoising related values """ loss: torch.FloatTensor | None = None loss_dict: dict | None = None logits: torch.FloatTensor | None = None pred_boxes: torch.FloatTensor | None = None auxiliary_outputs: list[dict] | None = None last_hidden_state: torch.FloatTensor | None = None intermediate_hidden_states: torch.FloatTensor | None = None intermediate_logits: torch.FloatTensor | None = None intermediate_reference_points: torch.FloatTensor | None = None intermediate_predicted_corners: torch.FloatTensor | None = None initial_reference_points: torch.FloatTensor | None = None decoder_hidden_states: tuple[torch.FloatTensor] | None = None decoder_attentions: tuple[torch.FloatTensor] | None = None cross_attentions: tuple[torch.FloatTensor] | None = None encoder_last_hidden_state: torch.FloatTensor | None = None encoder_hidden_states: tuple[torch.FloatTensor] | None = None encoder_attentions: tuple[torch.FloatTensor] | None = None init_reference_points: tuple[torch.FloatTensor] | None = None enc_topk_logits: torch.FloatTensor | None = None enc_topk_bboxes: torch.FloatTensor | None = None enc_outputs_class: torch.FloatTensor | None = None enc_outputs_coord_logits: torch.FloatTensor | None = None denoising_meta_values: dict | None = None class RTDetrMLP(nn.Module): def __init__(self, config: RTDetrConfig, hidden_size: int, intermediate_size: int, activation_function: str): super().__init__() self.fc1 = nn.Linear(hidden_size, intermediate_size) self.fc2 = nn.Linear(intermediate_size, hidden_size) self.activation_fn = ACT2FN[activation_function] self.activation_dropout = config.activation_dropout self.dropout = config.dropout def forward(self, hidden_states: torch.Tensor) -> torch.Tensor: hidden_states = self.activation_fn(self.fc1(hidden_states)) hidden_states = nn.functional.dropout(hidden_states, p=self.activation_dropout, training=self.training) hidden_states = self.fc2(hidden_states) hidden_states = nn.functional.dropout(hidden_states, p=self.dropout, training=self.training) return hidden_states class RTDetrFrozenBatchNorm2d(DetrFrozenBatchNorm2d): pass class RTDetrSelfAttention(DetrSelfAttention): pass def get_contrastive_denoising_training_group( targets, num_classes, num_queries, class_embed, num_denoising_queries=100, label_noise_ratio=0.5, box_noise_scale=1.0, ): """ Creates a contrastive denoising training group using ground-truth samples. It adds noise to labels and boxes. Args: targets (`list[dict]`): The target objects, each containing 'class_labels' and 'boxes' for objects in an image. num_classes (`int`): Total number of classes in the dataset. num_queries (`int`): Number of query slots in the transformer. class_embed (`callable`): A function or a model layer to embed class labels. num_denoising_queries (`int`, *optional*, defaults to 100): Number of denoising queries. label_noise_ratio (`float`, *optional*, defaults to 0.5): Ratio of noise applied to labels. box_noise_scale (`float`, *optional*, defaults to 1.0): Scale of noise applied to bounding boxes. Returns: `tuple` comprising various elements: - **input_query_class** (`torch.FloatTensor`) -- Class queries with applied label noise. - **input_query_bbox** (`torch.FloatTensor`) -- Bounding box queries with applied box noise. - **attn_mask** (`torch.FloatTensor`) -- Attention mask for separating denoising and reconstruction queries. - **denoising_meta_values** (`dict`) -- Metadata including denoising positive indices, number of groups, and split sizes. """ if num_denoising_queries <= 0: return None, None, None, None num_ground_truths = [len(t["class_labels"]) for t in targets] device = targets[0]["class_labels"].device max_gt_num = max(num_ground_truths) if max_gt_num == 0: return None, None, None, None num_groups_denoising_queries = num_denoising_queries // max_gt_num num_groups_denoising_queries = 1 if num_groups_denoising_queries == 0 else num_groups_denoising_queries # pad gt to max_num of a batch batch_size = len(num_ground_truths) input_query_class = torch.full([batch_size, max_gt_num], num_classes, dtype=torch.int32, device=device) input_query_bbox = torch.zeros([batch_size, max_gt_num, 4], device=device) pad_gt_mask = torch.zeros([batch_size, max_gt_num], dtype=torch.bool, device=device) for i in range(batch_size): num_gt = num_ground_truths[i] if num_gt > 0: input_query_class[i, :num_gt] = targets[i]["class_labels"] input_query_bbox[i, :num_gt] = targets[i]["boxes"] pad_gt_mask[i, :num_gt] = 1 # each group has positive and negative queries. input_query_class = input_query_class.tile([1, 2 * num_groups_denoising_queries]) input_query_bbox = input_query_bbox.tile([1, 2 * num_groups_denoising_queries, 1]) pad_gt_mask = pad_gt_mask.tile([1, 2 * num_groups_denoising_queries]) # positive and negative mask negative_gt_mask = torch.zeros([batch_size, max_gt_num * 2, 1], device=device) negative_gt_mask[:, max_gt_num:] = 1 negative_gt_mask = negative_gt_mask.tile([1, num_groups_denoising_queries, 1]) positive_gt_mask = 1 - negative_gt_mask # contrastive denoising training positive index positive_gt_mask = positive_gt_mask.squeeze(-1) * pad_gt_mask denoise_positive_idx = torch.nonzero(positive_gt_mask)[:, 1] denoise_positive_idx = torch.split( denoise_positive_idx, [n * num_groups_denoising_queries for n in num_ground_truths] ) # total denoising queries num_denoising_queries = torch_int(max_gt_num * 2 * num_groups_denoising_queries) if label_noise_ratio > 0: mask = torch.rand_like(input_query_class, dtype=torch.float) < (label_noise_ratio * 0.5) # randomly put a new one here new_label = torch.randint_like(mask, 0, num_classes, dtype=input_query_class.dtype) input_query_class = torch.where(mask & pad_gt_mask, new_label, input_query_class) if box_noise_scale > 0: known_bbox = center_to_corners_format(input_query_bbox) diff = torch.tile(input_query_bbox[..., 2:] * 0.5, [1, 1, 2]) * box_noise_scale rand_sign = torch.randint_like(input_query_bbox, 0, 2) * 2.0 - 1.0 rand_part = torch.rand_like(input_query_bbox) rand_part = (rand_part + 1.0) * negative_gt_mask + rand_part * (1 - negative_gt_mask) rand_part *= rand_sign known_bbox += rand_part * diff known_bbox.clip_(min=0.0, max=1.0) input_query_bbox = corners_to_center_format(known_bbox) input_query_bbox = inverse_sigmoid(input_query_bbox) input_query_class = class_embed(input_query_class) target_size = num_denoising_queries + num_queries attn_mask = torch.full([target_size, target_size], 0, dtype=torch.float, device=device) # match query cannot see the reconstruction attn_mask[num_denoising_queries:, :num_denoising_queries] = -torch.inf # reconstructions cannot see each other for i in range(num_groups_denoising_queries): idx_block_start = max_gt_num * 2 * i idx_block_end = max_gt_num * 2 * (i + 1) attn_mask[idx_block_start:idx_block_end, :idx_block_start] = -torch.inf attn_mask[idx_block_start:idx_block_end, idx_block_end:num_denoising_queries] = -torch.inf denoising_meta_values = { "dn_positive_idx": denoise_positive_idx, "dn_num_group": num_groups_denoising_queries, "dn_num_split": [num_denoising_queries, num_queries], } return input_query_class, input_query_bbox, attn_mask, denoising_meta_values class RTDetrConvEncoder(nn.Module): """ Convolutional backbone using the modeling_rt_detr_resnet.py. nn.BatchNorm2d layers are replaced by RTDetrFrozenBatchNorm2d as defined above. https://github.com/lyuwenyu/RT-DETR/blob/main/rtdetr_pytorch/src/nn/backbone/presnet.py#L142 """ def __init__(self, config): super().__init__() backbone = load_backbone(config) if config.freeze_backbone_batch_norms: # replace batch norm by frozen batch norm with torch.no_grad(): replace_batch_norm(backbone) self.model = backbone self.intermediate_channel_sizes = self.model.channels def forward(self, pixel_values: torch.Tensor, pixel_mask: torch.Tensor): # send pixel_values through the model to get list of feature maps features = self.model(pixel_values).feature_maps out = [] for feature_map in features: # downsample pixel_mask to match shape of corresponding feature_map mask = nn.functional.interpolate(pixel_mask[None].float(), size=feature_map.shape[-2:]).to(torch.bool)[0] out.append((feature_map, mask)) return out class RTDetrConvNormLayer(nn.Module): def __init__(self, config, in_channels, out_channels, kernel_size, stride, padding=None, activation=None): super().__init__() self.conv = nn.Conv2d( in_channels, out_channels, kernel_size, stride, padding=(kernel_size - 1) // 2 if padding is None else padding, bias=False, ) self.norm = nn.BatchNorm2d(out_channels, config.batch_norm_eps) self.activation = nn.Identity() if activation is None else ACT2CLS[activation]() def forward(self, hidden_state): hidden_state = self.conv(hidden_state) hidden_state = self.norm(hidden_state) hidden_state = self.activation(hidden_state) return hidden_state class RTDetrEncoderLayer(nn.Module): def __init__(self, config: RTDetrConfig): super().__init__() self.normalize_before = config.normalize_before self.hidden_size = config.encoder_hidden_dim # self-attention self.self_attn = RTDetrSelfAttention( config=config, hidden_size=self.hidden_size, num_attention_heads=config.num_attention_heads, dropout=config.dropout, ) self.self_attn_layer_norm = nn.LayerNorm(self.hidden_size, eps=config.layer_norm_eps) self.dropout = config.dropout self.mlp = RTDetrMLP(config, self.hidden_size, config.encoder_ffn_dim, config.encoder_activation_function) self.final_layer_norm = nn.LayerNorm(self.hidden_size, eps=config.layer_norm_eps) def forward( self, hidden_states: torch.Tensor, attention_mask: torch.Tensor, spatial_position_embeddings: torch.Tensor | None = None, **kwargs: Unpack[TransformersKwargs], ) -> torch.Tensor: """ Args: hidden_states (`torch.FloatTensor`): input to the layer of shape `(batch, seq_len, hidden_size)` attention_mask (`torch.FloatTensor`): attention mask of size `(batch, 1, target_len, source_len)` where padding elements are indicated by very large negative values. spatial_position_embeddings (`torch.FloatTensor`, *optional*): Spatial position embeddings (2D positional encodings of image locations), to be added to both the queries and keys in self-attention (but not to values). """ residual = hidden_states if self.normalize_before: hidden_states = self.self_attn_layer_norm(hidden_states) hidden_states, _ = self.self_attn( hidden_states=hidden_states, attention_mask=attention_mask, position_embeddings=spatial_position_embeddings, **kwargs, ) hidden_states = nn.functional.dropout(hidden_states, p=self.dropout, training=self.training) hidden_states = residual + hidden_states if not self.normalize_before: hidden_states = self.self_attn_layer_norm(hidden_states) if self.normalize_before: hidden_states = self.final_layer_norm(hidden_states) residual = hidden_states hidden_states = self.mlp(hidden_states) hidden_states = residual + hidden_states if not self.normalize_before: hidden_states = self.final_layer_norm(hidden_states) if self.training: if not torch.isfinite(hidden_states).all(): clamp_value = torch.finfo(hidden_states.dtype).max - 1000 hidden_states = torch.clamp(hidden_states, min=-clamp_value, max=clamp_value) return hidden_states class RTDetrRepVggBlock(nn.Module): """ RepVGG architecture block introduced by the work "RepVGG: Making VGG-style ConvNets Great Again". """ def __init__(self, config: RTDetrConfig): super().__init__() activation = config.activation_function hidden_channels = int(config.encoder_hidden_dim * config.hidden_expansion) self.conv1 = RTDetrConvNormLayer(config, hidden_channels, hidden_channels, 3, 1, padding=1) self.conv2 = RTDetrConvNormLayer(config, hidden_channels, hidden_channels, 1, 1, padding=0) self.activation = nn.Identity() if activation is None else ACT2CLS[activation]() def forward(self, x): y = self.conv1(x) + self.conv2(x) return self.activation(y) class RTDetrCSPRepLayer(nn.Module): """ Cross Stage Partial (CSP) network layer with RepVGG blocks. """ def __init__(self, config: RTDetrConfig): super().__init__() in_channels = config.encoder_hidden_dim * 2 out_channels = config.encoder_hidden_dim num_blocks = 3 activation = config.activation_function hidden_channels = int(out_channels * config.hidden_expansion) self.conv1 = RTDetrConvNormLayer(config, in_channels, hidden_channels, 1, 1, activation=activation) self.conv2 = RTDetrConvNormLayer(config, in_channels, hidden_channels, 1, 1, activation=activation) self.bottlenecks = nn.Sequential(*[RTDetrRepVggBlock(config) for _ in range(num_blocks)]) if hidden_channels != out_channels: self.conv3 = RTDetrConvNormLayer(config, hidden_channels, out_channels, 1, 1, activation=activation) else: self.conv3 = nn.Identity() def forward(self, hidden_state): hidden_state_1 = self.conv1(hidden_state) hidden_state_1 = self.bottlenecks(hidden_state_1) hidden_state_2 = self.conv2(hidden_state) return self.conv3(hidden_state_1 + hidden_state_2) class RTDetrMultiscaleDeformableAttention(DeformableDetrMultiscaleDeformableAttention): pass class RTDetrDecoderLayer(nn.Module): def __init__(self, config: RTDetrConfig): super().__init__() self.hidden_size = config.d_model # self-attention self.self_attn = RTDetrSelfAttention( config=config, hidden_size=self.hidden_size, num_attention_heads=config.decoder_attention_heads, dropout=config.attention_dropout, ) self.dropout = config.dropout self.self_attn_layer_norm = nn.LayerNorm(self.hidden_size, eps=config.layer_norm_eps) # cross-attention self.encoder_attn = RTDetrMultiscaleDeformableAttention( config, num_heads=config.decoder_attention_heads, n_points=config.decoder_n_points, ) self.encoder_attn_layer_norm = nn.LayerNorm(self.hidden_size, eps=config.layer_norm_eps) # feedforward neural networks self.mlp = RTDetrMLP(config, self.hidden_size, config.decoder_ffn_dim, config.decoder_activation_function) self.final_layer_norm = nn.LayerNorm(self.hidden_size, eps=config.layer_norm_eps) def forward( self, hidden_states: torch.Tensor, object_queries_position_embeddings: torch.Tensor | None = None, reference_points=None, spatial_shapes=None, spatial_shapes_list=None, level_start_index=None, encoder_hidden_states: torch.Tensor | None = None, encoder_attention_mask: torch.Tensor | None = None, **kwargs: Unpack[TransformersKwargs], ) -> torch.Tensor: """ Args: hidden_states (`torch.FloatTensor`): Input to the layer of shape `(batch, seq_len, hidden_size)`. object_queries_position_embeddings (`torch.FloatTensor`, *optional*): Position embeddings for the object query slots. These are added to both queries and keys in the self-attention layer (not values). reference_points (`torch.FloatTensor`, *optional*): Reference points. spatial_shapes (`torch.LongTensor`, *optional*): Spatial shapes. level_start_index (`torch.LongTensor`, *optional*): Level start index. encoder_hidden_states (`torch.FloatTensor`): cross attention input to the layer of shape `(batch, seq_len, hidden_size)` encoder_attention_mask (`torch.FloatTensor`): encoder attention mask of size `(batch, 1, target_len, source_len)` where padding elements are indicated by very large negative values. """ residual = hidden_states # Self Attention hidden_states, _ = self.self_attn( hidden_states=hidden_states, attention_mask=encoder_attention_mask, position_embeddings=object_queries_position_embeddings, **kwargs, ) hidden_states = nn.functional.dropout(hidden_states, p=self.dropout, training=self.training) hidden_states = residual + hidden_states hidden_states = self.self_attn_layer_norm(hidden_states) residual = hidden_states # Cross-Attention hidden_states, _ = self.encoder_attn( hidden_states=hidden_states, encoder_hidden_states=encoder_hidden_states, position_embeddings=object_queries_position_embeddings, reference_points=reference_points, spatial_shapes=spatial_shapes, spatial_shapes_list=spatial_shapes_list, level_start_index=level_start_index, **kwargs, ) hidden_states = nn.functional.dropout(hidden_states, p=self.dropout, training=self.training) hidden_states = residual + hidden_states hidden_states = self.encoder_attn_layer_norm(hidden_states) # Fully Connected residual = hidden_states hidden_states = self.mlp(hidden_states) hidden_states = residual + hidden_states hidden_states = self.final_layer_norm(hidden_states) return hidden_states class RTDetrSinePositionEmbedding(nn.Module): """ 2D sinusoidal position embedding used in RT-DETR hybrid encoder. """ def __init__(self, embed_dim: int = 256, temperature: int = 10000): super().__init__() self.embed_dim = embed_dim self.temperature = temperature @compile_compatible_method_lru_cache(maxsize=32) def forward( self, width: int, height: int, device: torch.device | str, dtype: torch.dtype, ) -> torch.Tensor: """ Generate 2D sinusoidal position embeddings. Returns: Position embeddings of shape (1, height*width, embed_dim) """ grid_w = torch.arange(torch_int(width), device=device).to(dtype) grid_h = torch.arange(torch_int(height), device=device).to(dtype) grid_w, grid_h = torch.meshgrid(grid_w, grid_h, indexing="xy") if self.embed_dim % 4 != 0: raise ValueError("Embed dimension must be divisible by 4 for 2D sin-cos position embedding") pos_dim = self.embed_dim // 4 omega = torch.arange(pos_dim, device=device).to(dtype) / pos_dim omega = 1.0 / (self.temperature**omega) out_w = grid_w.flatten()[..., None] @ omega[None] out_h = grid_h.flatten()[..., None] @ omega[None] return torch.concat([out_h.sin(), out_h.cos(), out_w.sin(), out_w.cos()], dim=1)[None, :, :] class RTDetrAIFILayer(nn.Module): """ AIFI (Attention-based Intra-scale Feature Interaction) layer used in RT-DETR hybrid encoder. """ def __init__(self, config: RTDetrConfig): super().__init__() self.config = config self.encoder_hidden_dim = config.encoder_hidden_dim self.eval_size = config.eval_size self.position_embedding = RTDetrSinePositionEmbedding( embed_dim=self.encoder_hidden_dim, temperature=config.positional_encoding_temperature, ) self.layers = nn.ModuleList([RTDetrEncoderLayer(config) for _ in range(config.encoder_layers)]) def forward( self, hidden_states: torch.Tensor, **kwargs: Unpack[TransformersKwargs], ) -> torch.Tensor: """ Args: hidden_states (`torch.FloatTensor` of shape `(batch_size, channels, height, width)`): Feature map to process. """ batch_size = hidden_states.shape[0] height, width = hidden_states.shape[2:] hidden_states = hidden_states.flatten(2).permute(0, 2, 1) if self.training or self.eval_size is None: pos_embed = self.position_embedding( width=width, height=height, device=hidden_states.device, dtype=hidden_states.dtype, ) else: pos_embed = None for layer in self.layers: hidden_states = layer( hidden_states, attention_mask=None, spatial_position_embeddings=pos_embed, **kwargs, ) hidden_states = ( hidden_states.permute(0, 2, 1).reshape(batch_size, self.encoder_hidden_dim, height, width).contiguous() ) return hidden_states class RTDetrMLPPredictionHead(DetrMLPPredictionHead): pass @auto_docstring class RTDetrPreTrainedModel(PreTrainedModel): config: RTDetrConfig base_model_prefix = "rt_detr" main_input_name = "pixel_values" input_modalities = ("image",) _no_split_modules = [r"RTDetrHybridEncoder", r"RTDetrDecoderLayer"] _supports_sdpa = True _supports_flash_attn = True _supports_attention_backend = True _supports_flex_attn = True @torch.no_grad() def _init_weights(self, module): """Initialize the weights""" if isinstance(module, RTDetrForObjectDetection): if module.model.decoder.class_embed is not None: for layer in module.model.decoder.class_embed: prior_prob = self.config.initializer_bias_prior_prob or 1 / (self.config.num_labels + 1) bias = float(-math.log((1 - prior_prob) / prior_prob)) init.xavier_uniform_(layer.weight) init.constant_(layer.bias, bias) if module.model.decoder.bbox_embed is not None: for layer in module.model.decoder.bbox_embed: init.constant_(layer.layers[-1].weight, 0) init.constant_(layer.layers[-1].bias, 0) elif isinstance(module, RTDetrMultiscaleDeformableAttention): init.constant_(module.sampling_offsets.weight, 0.0) default_dtype = torch.get_default_dtype() thetas = torch.arange(module.n_heads, dtype=torch.int64).to(default_dtype) * ( 2.0 * math.pi / module.n_heads ) grid_init = torch.stack([thetas.cos(), thetas.sin()], -1) grid_init = ( (grid_init / grid_init.abs().max(-1, keepdim=True)[0]) .view(module.n_heads, 1, 1, 2) .repeat(1, module.n_levels, module.n_points, 1) ) for i in range(module.n_points): grid_init[:, :, i, :] *= i + 1 init.copy_(module.sampling_offsets.bias, grid_init.view(-1)) init.constant_(module.attention_weights.weight, 0.0) init.constant_(module.attention_weights.bias, 0.0) init.xavier_uniform_(module.value_proj.weight) init.constant_(module.value_proj.bias, 0.0) init.xavier_uniform_(module.output_proj.weight) init.constant_(module.output_proj.bias, 0.0) elif isinstance(module, RTDetrModel): prior_prob = self.config.initializer_bias_prior_prob or 1 / (self.config.num_labels + 1) bias = float(-math.log((1 - prior_prob) / prior_prob)) init.xavier_uniform_(module.enc_score_head.weight) init.constant_(module.enc_score_head.bias, bias) elif isinstance(module, (nn.Linear, nn.Conv2d, nn.BatchNorm2d)): init.normal_(module.weight, mean=0.0, std=self.config.initializer_range) if module.bias is not None: init.zeros_(module.bias) if getattr(module, "running_mean", None) is not None: init.zeros_(module.running_mean) init.ones_(module.running_var) init.zeros_(module.num_batches_tracked) elif isinstance(module, nn.LayerNorm): init.ones_(module.weight) init.zeros_(module.bias) if hasattr(module, "weight_embedding") and self.config.learn_initial_query: init.xavier_uniform_(module.weight_embedding.weight) if hasattr(module, "denoising_class_embed") and self.config.num_denoising > 0: init.xavier_uniform_(module.denoising_class_embed.weight) class RTDetrHybridEncoder(RTDetrPreTrainedModel): """ Hybrid encoder consisting of AIFI (Attention-based Intra-scale Feature Interaction) layers, a top-down Feature Pyramid Network (FPN) and a bottom-up Path Aggregation Network (PAN). More details on the paper: https://huggingface.co/papers/2304.08069 Args: config: RTDetrConfig """ _can_record_outputs = { "hidden_states": RTDetrAIFILayer, "attentions": RTDetrSelfAttention, } def __init__(self, config: RTDetrConfig): super().__init__(config) self.config = config self.in_channels = config.encoder_in_channels self.feat_strides = config.feat_strides self.encoder_hidden_dim = config.encoder_hidden_dim self.encode_proj_layers = config.encode_proj_layers self.positional_encoding_temperature = config.positional_encoding_temperature self.eval_size = config.eval_size self.out_channels = [self.encoder_hidden_dim for _ in self.in_channels] self.out_strides = self.feat_strides self.num_fpn_stages = len(self.in_channels) - 1 self.num_pan_stages = len(self.in_channels) - 1 # AIFI (Attention-based Intra-scale Feature Interaction) layers self.aifi = nn.ModuleList([RTDetrAIFILayer(config) for _ in range(len(self.encode_proj_layers))]) # top-down FPN self.lateral_convs = nn.ModuleList() self.fpn_blocks = nn.ModuleList() for _ in range(self.num_fpn_stages): lateral_conv = RTDetrConvNormLayer( config, in_channels=self.encoder_hidden_dim, out_channels=self.encoder_hidden_dim, kernel_size=1, stride=1, activation=config.activation_function, ) fpn_block = RTDetrCSPRepLayer(config) self.lateral_convs.append(lateral_conv) self.fpn_blocks.append(fpn_block) # bottom-up PAN self.downsample_convs = nn.ModuleList() self.pan_blocks = nn.ModuleList() for _ in range(self.num_pan_stages): downsample_conv = RTDetrConvNormLayer( config, in_channels=self.encoder_hidden_dim, out_channels=self.encoder_hidden_dim, kernel_size=3, stride=2, activation=config.activation_function, ) pan_block = RTDetrCSPRepLayer(config) self.downsample_convs.append(downsample_conv) self.pan_blocks.append(pan_block) self.post_init() @merge_with_config_defaults @capture_outputs(tie_last_hidden_states=False) def forward( self, inputs_embeds=None, **kwargs: Unpack[TransformersKwargs], ) -> BaseModelOutput: r""" Args: inputs_embeds (`torch.FloatTensor` of shape `(batch_size, sequence_length, hidden_size)`): Flattened feature map (output of the backbone + projection layer) that is passed to the encoder. """ feature_maps = inputs_embeds # AIFI: Apply transformer encoder to specified feature levels if self.config.encoder_layers > 0: for i, enc_ind in enumerate(self.encode_proj_layers): feature_maps[enc_ind] = self.aifi[i](feature_maps[enc_ind], **kwargs) # top-down FPN fpn_feature_maps = [feature_maps[-1]] for idx, (lateral_conv, fpn_block) in enumerate(zip(self.lateral_convs, self.fpn_blocks)): backbone_feature_map = feature_maps[self.num_fpn_stages - idx - 1] top_fpn_feature_map = fpn_feature_maps[-1] # apply lateral block top_fpn_feature_map = lateral_conv(top_fpn_feature_map) fpn_feature_maps[-1] = top_fpn_feature_map # apply fpn block top_fpn_feature_map = F.interpolate(top_fpn_feature_map, scale_factor=2.0, mode="nearest") fused_feature_map = torch.concat([top_fpn_feature_map, backbone_feature_map], dim=1) new_fpn_feature_map = fpn_block(fused_feature_map) fpn_feature_maps.append(new_fpn_feature_map) fpn_feature_maps.reverse() # bottom-up PAN pan_feature_maps = [fpn_feature_maps[0]] for idx, (downsample_conv, pan_block) in enumerate(zip(self.downsample_convs, self.pan_blocks)): top_pan_feature_map = pan_feature_maps[-1] fpn_feature_map = fpn_feature_maps[idx + 1] downsampled_feature_map = downsample_conv(top_pan_feature_map) fused_feature_map = torch.concat([downsampled_feature_map, fpn_feature_map], dim=1) new_pan_feature_map = pan_block(fused_feature_map) pan_feature_maps.append(new_pan_feature_map) return BaseModelOutput(last_hidden_state=pan_feature_maps) class RTDetrDecoder(RTDetrPreTrainedModel): _can_record_outputs = { "hidden_states": RTDetrDecoderLayer, "attentions": RTDetrSelfAttention, "cross_attentions": RTDetrMultiscaleDeformableAttention, } def __init__(self, config: RTDetrConfig): super().__init__(config) self.dropout = config.dropout self.layers = nn.ModuleList([RTDetrDecoderLayer(config) for _ in range(config.decoder_layers)]) self.query_pos_head = RTDetrMLPPredictionHead(4, 2 * config.d_model, config.d_model, num_layers=2) # hack implementation for iterative bounding box refinement and two-stage Deformable DETR self.bbox_embed = None self.class_embed = None # Initialize weights and apply final processing self.post_init() @merge_with_config_defaults @capture_outputs def forward( self, inputs_embeds=None, encoder_hidden_states=None, encoder_attention_mask=None, reference_points=None, spatial_shapes=None, spatial_shapes_list=None, level_start_index=None, **kwargs: Unpack[TransformersKwargs], ): r""" Args: inputs_embeds (`torch.FloatTensor` of shape `(batch_size, num_queries, hidden_size)`): The query embeddings that are passed into the decoder. encoder_hidden_states (`torch.FloatTensor` of shape `(batch_size, sequence_length, hidden_size)`, *optional*): Sequence of hidden-states at the output of the last layer of the encoder. Used in the cross-attention of the decoder. encoder_attention_mask (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*): Mask to avoid performing cross-attention on padding pixel_values of the encoder. Mask values selected in `[0, 1]`: - 1 for pixels that are real (i.e. **not masked**), - 0 for pixels that are padding (i.e. **masked**). reference_points (`torch.FloatTensor` of shape `(batch_size, num_queries, 4)` is `as_two_stage` else `(batch_size, num_queries, 2)` or , *optional*): Reference point in range `[0, 1]`, top-left (0,0), bottom-right (1, 1), including padding area. spatial_shapes (`torch.FloatTensor` of shape `(num_feature_levels, 2)`): Spatial shapes of the feature maps. level_start_index (`torch.LongTensor` of shape `(num_feature_levels)`, *optional*): Indexes for the start of each feature level. In range `[0, sequence_length]`. """ if inputs_embeds is not None: hidden_states = inputs_embeds # decoder layers intermediate = () intermediate_reference_points = () intermediate_logits = () reference_points = F.sigmoid(reference_points) # https://github.com/lyuwenyu/RT-DETR/blob/94f5e16708329d2f2716426868ec89aa774af016/rtdetr_pytorch/src/zoo/rtdetr/rtdetr_decoder.py#L252 for idx, decoder_layer in enumerate(self.layers): reference_points_input = reference_points.unsqueeze(2) object_queries_position_embeddings = self.query_pos_head(reference_points) hidden_states = decoder_layer( hidden_states, object_queries_position_embeddings=object_queries_position_embeddings, encoder_hidden_states=encoder_hidden_states, reference_points=reference_points_input, spatial_shapes=spatial_shapes, spatial_shapes_list=spatial_shapes_list, level_start_index=level_start_index, encoder_attention_mask=encoder_attention_mask, **kwargs, ) # hack implementation for iterative bounding box refinement if self.bbox_embed is not None: predicted_corners = self.bbox_embed[idx](hidden_states) new_reference_points = F.sigmoid(predicted_corners + inverse_sigmoid(reference_points)) reference_points = new_reference_points.detach() intermediate += (hidden_states,) intermediate_reference_points += ( (new_reference_points,) if self.bbox_embed is not None else (reference_points,) ) if self.class_embed is not None: logits = self.class_embed[idx](hidden_states) intermediate_logits += (logits,) # Keep batch_size as first dimension intermediate = torch.stack(intermediate, dim=1) intermediate_reference_points = torch.stack(intermediate_reference_points, dim=1) if self.class_embed is not None: intermediate_logits = torch.stack(intermediate_logits, dim=1) return RTDetrDecoderOutput( last_hidden_state=hidden_states, intermediate_hidden_states=intermediate, intermediate_logits=intermediate_logits, intermediate_reference_points=intermediate_reference_points, ) @auto_docstring( custom_intro=""" RT-DETR Model (consisting of a backbone and encoder-decoder) outputting raw hidden states without any head on top. """ ) class RTDetrModel(RTDetrPreTrainedModel): def __init__(self, config: RTDetrConfig): super().__init__(config) # Create backbone self.backbone = RTDetrConvEncoder(config) intermediate_channel_sizes = self.backbone.intermediate_channel_sizes # Create encoder input projection layers # https://github.com/lyuwenyu/RT-DETR/blob/94f5e16708329d2f2716426868ec89aa774af016/rtdetr_pytorch/src/zoo/rtdetr/hybrid_encoder.py#L212 num_backbone_outs = len(intermediate_channel_sizes) encoder_input_proj_list = [] for i in range(num_backbone_outs): in_channels = intermediate_channel_sizes[i] encoder_input_proj_list.append( nn.Sequential( nn.Conv2d(in_channels, config.encoder_hidden_dim, kernel_size=1, bias=False), nn.BatchNorm2d(config.encoder_hidden_dim), ) ) self.encoder_input_proj = nn.ModuleList(encoder_input_proj_list) # Create encoder self.encoder = RTDetrHybridEncoder(config) # denoising part if config.num_denoising > 0: self.denoising_class_embed = nn.Embedding( config.num_labels + 1, config.d_model, padding_idx=config.num_labels ) # decoder embedding if config.learn_initial_query: self.weight_embedding = nn.Embedding(config.num_queries, config.d_model) # encoder head self.enc_output = nn.Sequential( nn.Linear(config.d_model, config.d_model), nn.LayerNorm(config.d_model, eps=config.layer_norm_eps), ) self.enc_score_head = nn.Linear(config.d_model, config.num_labels) self.enc_bbox_head = RTDetrMLPPredictionHead(config.d_model, config.d_model, 4, num_layers=3) # init encoder output anchors and valid_mask if config.anchor_image_size: self.anchors, self.valid_mask = self.generate_anchors(dtype=self.dtype) # Create decoder input projection layers # https://github.com/lyuwenyu/RT-DETR/blob/94f5e16708329d2f2716426868ec89aa774af016/rtdetr_pytorch/src/zoo/rtdetr/rtdetr_decoder.py#L412 num_backbone_outs = len(config.decoder_in_channels) decoder_input_proj_list = [] for i in range(num_backbone_outs): in_channels = config.decoder_in_channels[i] decoder_input_proj_list.append( nn.Sequential( nn.Conv2d(in_channels, config.d_model, kernel_size=1, bias=False), nn.BatchNorm2d(config.d_model, config.batch_norm_eps), ) ) for _ in range(config.num_feature_levels - num_backbone_outs): decoder_input_proj_list.append( nn.Sequential( nn.Conv2d(in_channels, config.d_model, kernel_size=3, stride=2, padding=1, bias=False), nn.BatchNorm2d(config.d_model, config.batch_norm_eps), ) ) in_channels = config.d_model self.decoder_input_proj = nn.ModuleList(decoder_input_proj_list) # decoder self.decoder = RTDetrDecoder(config) self.post_init() def freeze_backbone(self): for param in self.backbone.parameters(): param.requires_grad_(False) def unfreeze_backbone(self): for param in self.backbone.parameters(): param.requires_grad_(True) @compile_compatible_method_lru_cache(maxsize=32) def generate_anchors(self, spatial_shapes=None, grid_size=0.05, device="cpu", dtype=torch.float32): if spatial_shapes is None: spatial_shapes = [ [int(self.config.anchor_image_size[0] / s), int(self.config.anchor_image_size[1] / s)] for s in self.config.feat_strides ] anchors = [] for level, (height, width) in enumerate(spatial_shapes): grid_y, grid_x = torch.meshgrid( torch.arange(end=height, device=device).to(dtype), torch.arange(end=width, device=device).to(dtype), indexing="ij", ) grid_xy = torch.stack([grid_x, grid_y], -1) grid_xy = grid_xy.unsqueeze(0) + 0.5 grid_xy[..., 0] /= width grid_xy[..., 1] /= height wh = torch.ones_like(grid_xy) * grid_size * (2.0**level) anchors.append(torch.concat([grid_xy, wh], -1).reshape(-1, height * width, 4)) # define the valid range for anchor coordinates eps = 1e-2 anchors = torch.concat(anchors, 1) valid_mask = ((anchors > eps) * (anchors < 1 - eps)).all(-1, keepdim=True) anchors = torch.log(anchors / (1 - anchors)) anchors = torch.where(valid_mask, anchors, torch.tensor(torch.finfo(dtype).max, dtype=dtype, device=device)) return anchors, valid_mask @auto_docstring @can_return_tuple def forward( self, pixel_values: torch.FloatTensor, pixel_mask: torch.LongTensor | None = None, encoder_outputs: torch.FloatTensor | None = None, inputs_embeds: torch.FloatTensor | None = None, labels: list[dict] | None = None, **kwargs: Unpack[TransformersKwargs], ) -> tuple[torch.FloatTensor] | RTDetrModelOutput: r""" inputs_embeds (`torch.FloatTensor` of shape `(batch_size, sequence_length, hidden_size)`, *optional*): Optionally, instead of passing the flattened feature map (output of the backbone + projection layer), you can choose to directly pass a flattened representation of an image. labels (`list[Dict]` of len `(batch_size,)`, *optional*): Labels for computing the bipartite matching loss. List of dicts, each dictionary containing at least the following 2 keys: 'class_labels' and 'boxes' (the class labels and bounding boxes of an image in the batch respectively). The class labels themselves should be a `torch.LongTensor` of len `(number of bounding boxes in the image,)` and the boxes a `torch.FloatTensor` of shape `(number of bounding boxes in the image, 4)`. Examples: ```python >>> from transformers import AutoImageProcessor, RTDetrModel >>> from PIL import Image >>> import requests >>> url = "http://images.cocodataset.org/val2017/000000039769.jpg" >>> image = Image.open(requests.get(url, stream=True).raw) >>> image_processor = AutoImageProcessor.from_pretrained("PekingU/rtdetr_r50vd") >>> model = RTDetrModel.from_pretrained("PekingU/rtdetr_r50vd") >>> inputs = image_processor(images=image, return_tensors="pt") >>> outputs = model(**inputs) >>> last_hidden_states = outputs.last_hidden_state >>> list(last_hidden_states.shape) [1, 300, 256] ```""" if pixel_values is None and inputs_embeds is None: raise ValueError("You have to specify either pixel_values or inputs_embeds") if inputs_embeds is None: batch_size, num_channels, height, width = pixel_values.shape device = pixel_values.device if pixel_mask is None: pixel_mask = torch.ones(((batch_size, height, width)), device=device) features = self.backbone(pixel_values, pixel_mask) proj_feats = [self.encoder_input_proj[level](source) for level, (source, mask) in enumerate(features)] else: batch_size = inputs_embeds.shape[0] device = inputs_embeds.device proj_feats = inputs_embeds if encoder_outputs is None: encoder_outputs = self.encoder( proj_feats, **kwargs, ) # If the user passed a tuple for encoder_outputs, we wrap it in a BaseModelOutput elif not isinstance(encoder_outputs, BaseModelOutput): encoder_outputs = BaseModelOutput( last_hidden_state=encoder_outputs[0], hidden_states=encoder_outputs[1] if len(encoder_outputs) > 1 else None, attentions=encoder_outputs[2] if len(encoder_outputs) > 2 else None, ) # Equivalent to def _get_encoder_input # https://github.com/lyuwenyu/RT-DETR/blob/94f5e16708329d2f2716426868ec89aa774af016/rtdetr_pytorch/src/zoo/rtdetr/rtdetr_decoder.py#L412 sources = [] for level, source in enumerate(encoder_outputs.last_hidden_state): sources.append(self.decoder_input_proj[level](source)) # Lowest resolution feature maps are obtained via 3x3 stride 2 convolutions on the final stage if self.config.num_feature_levels > len(sources): _len_sources = len(sources) sources.append(self.decoder_input_proj[_len_sources](encoder_outputs.last_hidden_state)[-1]) for i in range(_len_sources + 1, self.config.num_feature_levels): sources.append(self.decoder_input_proj[i](encoder_outputs.last_hidden_state[-1])) # Prepare encoder inputs (by flattening) source_flatten = [] spatial_shapes_list = [] spatial_shapes = torch.empty((len(sources), 2), device=device, dtype=torch.long) for level, source in enumerate(sources): height, width = source.shape[-2:] spatial_shapes[level, 0] = height spatial_shapes[level, 1] = width spatial_shapes_list.append((height, width)) source = source.flatten(2).transpose(1, 2) source_flatten.append(source) source_flatten = torch.cat(source_flatten, 1) level_start_index = torch.cat((spatial_shapes.new_zeros((1,)), spatial_shapes.prod(1).cumsum(0)[:-1])) # prepare denoising training if self.training and self.config.num_denoising > 0 and labels is not None: ( denoising_class, denoising_bbox_unact, attention_mask, denoising_meta_values, ) = get_contrastive_denoising_training_group( targets=labels, num_classes=self.config.num_labels, num_queries=self.config.num_queries, class_embed=self.denoising_class_embed, num_denoising_queries=self.config.num_denoising, label_noise_ratio=self.config.label_noise_ratio, box_noise_scale=self.config.box_noise_scale, ) else: denoising_class, denoising_bbox_unact, attention_mask, denoising_meta_values = None, None, None, None batch_size = len(source_flatten) device = source_flatten.device dtype = source_flatten.dtype # prepare input for decoder if self.training or self.config.anchor_image_size is None: # Pass spatial_shapes as tuple to make it hashable and make sure # lru_cache is working for generate_anchors() spatial_shapes_tuple = tuple(spatial_shapes_list) anchors, valid_mask = self.generate_anchors(spatial_shapes_tuple, device=device, dtype=dtype) else: anchors, valid_mask = self.anchors, self.valid_mask anchors, valid_mask = anchors.to(device, dtype), valid_mask.to(device, dtype) # use the valid_mask to selectively retain values in the feature map where the mask is `True` memory = valid_mask.to(source_flatten.dtype) * source_flatten output_memory = self.enc_output(memory) enc_outputs_class = self.enc_score_head(output_memory) enc_outputs_coord_logits = self.enc_bbox_head(output_memory) + anchors _, topk_ind = torch.topk(enc_outputs_class.max(-1).values, self.config.num_queries, dim=1) reference_points_unact = enc_outputs_coord_logits.gather( dim=1, index=topk_ind.unsqueeze(-1).repeat(1, 1, enc_outputs_coord_logits.shape[-1]) ) enc_topk_bboxes = F.sigmoid(reference_points_unact) if denoising_bbox_unact is not None: reference_points_unact = torch.concat([denoising_bbox_unact, reference_points_unact], 1) enc_topk_logits = enc_outputs_class.gather( dim=1, index=topk_ind.unsqueeze(-1).repeat(1, 1, enc_outputs_class.shape[-1]) ) # extract region features if self.config.learn_initial_query: target = self.weight_embedding.tile([batch_size, 1, 1]) else: target = output_memory.gather(dim=1, index=topk_ind.unsqueeze(-1).repeat(1, 1, output_memory.shape[-1])) target = target.detach() if denoising_class is not None: target = torch.concat([denoising_class, target], 1) init_reference_points = reference_points_unact.detach() # decoder decoder_outputs = self.decoder( inputs_embeds=target, encoder_hidden_states=source_flatten, encoder_attention_mask=attention_mask, reference_points=init_reference_points, spatial_shapes=spatial_shapes, spatial_shapes_list=spatial_shapes_list, level_start_index=level_start_index, **kwargs, ) return RTDetrModelOutput( last_hidden_state=decoder_outputs.last_hidden_state, intermediate_hidden_states=decoder_outputs.intermediate_hidden_states, intermediate_logits=decoder_outputs.intermediate_logits, intermediate_reference_points=decoder_outputs.intermediate_reference_points, intermediate_predicted_corners=decoder_outputs.intermediate_predicted_corners, initial_reference_points=decoder_outputs.initial_reference_points, decoder_hidden_states=decoder_outputs.hidden_states, decoder_attentions=decoder_outputs.attentions, cross_attentions=decoder_outputs.cross_attentions, encoder_last_hidden_state=encoder_outputs.last_hidden_state, encoder_hidden_states=encoder_outputs.hidden_states, encoder_attentions=encoder_outputs.attentions, init_reference_points=init_reference_points, enc_topk_logits=enc_topk_logits, enc_topk_bboxes=enc_topk_bboxes, enc_outputs_class=enc_outputs_class, enc_outputs_coord_logits=enc_outputs_coord_logits, denoising_meta_values=denoising_meta_values, ) @auto_docstring( custom_intro=""" RT-DETR Model (consisting of a backbone and encoder-decoder) outputting bounding boxes and logits to be further decoded into scores and classes. """ ) class RTDetrForObjectDetection(RTDetrPreTrainedModel): # When using clones, all layers > 0 will be clones, but layer 0 *is* required # We can't initialize the model on meta device as some weights are modified during the initialization _no_split_modules = None def __init__(self, config: RTDetrConfig): super().__init__(config) self.model = RTDetrModel(config) num_pred = config.decoder_layers self.model.decoder.class_embed = nn.ModuleList( [torch.nn.Linear(config.d_model, config.num_labels) for _ in range(num_pred)] ) self.model.decoder.bbox_embed = nn.ModuleList( [RTDetrMLPPredictionHead(config.d_model, config.d_model, 4, num_layers=3) for _ in range(num_pred)] ) # if two-stage, the last class_embed and bbox_embed is for region proposal generation self.post_init() def _set_aux_loss(self, outputs_class, outputs_coord): return [{"logits": a, "pred_boxes": b} for a, b in zip(outputs_class, outputs_coord)] @auto_docstring @can_return_tuple def forward( self, pixel_values: torch.FloatTensor, pixel_mask: torch.LongTensor | None = None, encoder_outputs: torch.FloatTensor | None = None, inputs_embeds: torch.FloatTensor | None = None, labels: list[dict] | None = None, **kwargs: Unpack[TransformersKwargs], ) -> tuple[torch.FloatTensor] | RTDetrObjectDetectionOutput: r""" inputs_embeds (`torch.FloatTensor` of shape `(batch_size, sequence_length, hidden_size)`, *optional*): Optionally, instead of passing the flattened feature map (output of the backbone + projection layer), you can choose to directly pass a flattened representation of an image. labels (`list[Dict]` of len `(batch_size,)`, *optional*): Labels for computing the bipartite matching loss. List of dicts, each dictionary containing at least the following 2 keys: 'class_labels' and 'boxes' (the class labels and bounding boxes of an image in the batch respectively). The class labels themselves should be a `torch.LongTensor` of len `(number of bounding boxes in the image,)` and the boxes a `torch.FloatTensor` of shape `(number of bounding boxes in the image, 4)`. Examples: ```python >>> from transformers import RTDetrImageProcessor, RTDetrForObjectDetection >>> from PIL import Image >>> import requests >>> import torch >>> url = "http://images.cocodataset.org/val2017/000000039769.jpg" >>> image = Image.open(requests.get(url, stream=True).raw) >>> image_processor = RTDetrImageProcessor.from_pretrained("PekingU/rtdetr_r50vd") >>> model = RTDetrForObjectDetection.from_pretrained("PekingU/rtdetr_r50vd") >>> # prepare image for the model >>> inputs = image_processor(images=image, return_tensors="pt") >>> # forward pass >>> outputs = model(**inputs) >>> logits = outputs.logits >>> list(logits.shape) [1, 300, 80] >>> boxes = outputs.pred_boxes >>> list(boxes.shape) [1, 300, 4] >>> # convert outputs (bounding boxes and class logits) to Pascal VOC format (xmin, ymin, xmax, ymax) >>> target_sizes = torch.tensor([image.size[::-1]]) >>> results = image_processor.post_process_object_detection(outputs, threshold=0.9, target_sizes=target_sizes)[ ... 0 ... ] >>> for score, label, box in zip(results["scores"], results["labels"], results["boxes"]): ... box = [round(i, 2) for i in box.tolist()] ... print( ... f"Detected {model.config.id2label[label.item()]} with confidence " ... f"{round(score.item(), 3)} at location {box}" ... ) Detected sofa with confidence 0.97 at location [0.14, 0.38, 640.13, 476.21] Detected cat with confidence 0.96 at location [343.38, 24.28, 640.14, 371.5] Detected cat with confidence 0.958 at location [13.23, 54.18, 318.98, 472.22] Detected remote with confidence 0.951 at location [40.11, 73.44, 175.96, 118.48] Detected remote with confidence 0.924 at location [333.73, 76.58, 369.97, 186.99] ```""" outputs = self.model( pixel_values, pixel_mask=pixel_mask, encoder_outputs=encoder_outputs, inputs_embeds=inputs_embeds, labels=labels, **kwargs, ) denoising_meta_values = outputs.denoising_meta_values if self.training else None outputs_class = outputs.intermediate_logits outputs_coord = outputs.intermediate_reference_points predicted_corners = outputs.intermediate_predicted_corners initial_reference_points = outputs.initial_reference_points logits = outputs_class[:, -1] pred_boxes = outputs_coord[:, -1] loss, loss_dict, auxiliary_outputs, enc_topk_logits, enc_topk_bboxes = None, None, None, None, None if labels is not None: enc_topk_logits = outputs.enc_topk_logits enc_topk_bboxes = outputs.enc_topk_bboxes loss, loss_dict, auxiliary_outputs = self.loss_function( logits, labels, self.device, pred_boxes, self.config, outputs_class, outputs_coord, enc_topk_logits=enc_topk_logits, enc_topk_bboxes=enc_topk_bboxes, denoising_meta_values=denoising_meta_values, predicted_corners=predicted_corners, initial_reference_points=initial_reference_points, **kwargs, ) return RTDetrObjectDetectionOutput( loss=loss, loss_dict=loss_dict, logits=logits, pred_boxes=pred_boxes, auxiliary_outputs=auxiliary_outputs, last_hidden_state=outputs.last_hidden_state, intermediate_hidden_states=outputs.intermediate_hidden_states, intermediate_logits=outputs.intermediate_logits, intermediate_reference_points=outputs.intermediate_reference_points, intermediate_predicted_corners=outputs.intermediate_predicted_corners, initial_reference_points=outputs.initial_reference_points, decoder_hidden_states=outputs.decoder_hidden_states, decoder_attentions=outputs.decoder_attentions, cross_attentions=outputs.cross_attentions, encoder_last_hidden_state=outputs.encoder_last_hidden_state, encoder_hidden_states=outputs.encoder_hidden_states, encoder_attentions=outputs.encoder_attentions, init_reference_points=outputs.init_reference_points, enc_topk_logits=outputs.enc_topk_logits, enc_topk_bboxes=outputs.enc_topk_bboxes, enc_outputs_class=outputs.enc_outputs_class, enc_outputs_coord_logits=outputs.enc_outputs_coord_logits, denoising_meta_values=outputs.denoising_meta_values, ) __all__ = [ "RTDetrImageProcessorFast", "RTDetrForObjectDetection", "RTDetrModel", "RTDetrPreTrainedModel", ]