thirdparty/learning3d/utils/transformer.py

import os
import sys
import glob
import h5py
import copy
import math
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F

# Part of the code is referred from: http://nlp.seas.harvard.edu/2018/04/03/attention.html#positional-encoding

def clones(module, N):
    return nn.ModuleList([copy.deepcopy(module) for _ in range(N)])

def attention(query, key, value, mask=None, dropout=None):
    d_k = query.size(-1)
    scores = torch.matmul(query, key.transpose(-2, -1).contiguous()) / math.sqrt(d_k)
    if mask is not None:
        scores = scores.masked_fill(mask == 0, -1e9)
    p_attn = F.softmax(scores, dim=-1)
    return torch.matmul(p_attn, value), p_attn

def nearest_neighbor(src, dst):
    inner = -2 * torch.matmul(src.transpose(1, 0).contiguous(), dst)  # src, dst (num_dims, num_points)
    distances = -torch.sum(src ** 2, dim=0, keepdim=True).transpose(1, 0).contiguous() - inner - torch.sum(dst ** 2,
                                                                                                           dim=0,
                                                                                                           keepdim=True)
    distances, indices = distances.topk(k=1, dim=-1)
    return distances, indices


class EncoderDecoder(nn.Module):
    """
    A standard Encoder-Decoder architecture. Base for this and many
    other models.
    """

    def __init__(self, encoder, decoder, src_embed, tgt_embed, generator):
        super(EncoderDecoder, self).__init__()
        self.encoder = encoder
        self.decoder = decoder
        self.src_embed = src_embed
        self.tgt_embed = tgt_embed
        self.generator = generator

    def forward(self, src, tgt, src_mask, tgt_mask):
        "Take in and process masked src and target sequences."
        return self.decode(self.encode(src, src_mask), src_mask,
                           tgt, tgt_mask)

    def encode(self, src, src_mask):
        return self.encoder(self.src_embed(src), src_mask)

    def decode(self, memory, src_mask, tgt, tgt_mask):
        return self.generator(self.decoder(self.tgt_embed(tgt), memory, src_mask, tgt_mask))


class Generator(nn.Module):
    def __init__(self, emb_dims):
        super(Generator, self).__init__()
        self.nn = nn.Sequential(nn.Linear(emb_dims, emb_dims // 2),
                                nn.BatchNorm1d(emb_dims // 2),
                                nn.ReLU(),
                                nn.Linear(emb_dims // 2, emb_dims // 4),
                                nn.BatchNorm1d(emb_dims // 4),
                                nn.ReLU(),
                                nn.Linear(emb_dims // 4, emb_dims // 8),
                                nn.BatchNorm1d(emb_dims // 8),
                                nn.ReLU())
        self.proj_rot = nn.Linear(emb_dims // 8, 4)
        self.proj_trans = nn.Linear(emb_dims // 8, 3)

    def forward(self, x):
        x = self.nn(x.max(dim=1)[0])
        rotation = self.proj_rot(x)
        translation = self.proj_trans(x)
        rotation = rotation / torch.norm(rotation, p=2, dim=1, keepdim=True)
        return rotation, translation


class Encoder(nn.Module):
    def __init__(self, layer, N):
        super(Encoder, self).__init__()
        self.layers = clones(layer, N)
        self.norm = LayerNorm(layer.size)

    def forward(self, x, mask):
        for layer in self.layers:
            x = layer(x, mask)
        return self.norm(x)


class Decoder(nn.Module):
    "Generic N layer decoder with masking."

    def __init__(self, layer, N):
        super(Decoder, self).__init__()
        self.layers = clones(layer, N)
        self.norm = LayerNorm(layer.size)

    def forward(self, x, memory, src_mask, tgt_mask):
        for layer in self.layers:
            x = layer(x, memory, src_mask, tgt_mask)
        return self.norm(x)


class LayerNorm(nn.Module):
    def __init__(self, features, eps=1e-6):
        super(LayerNorm, self).__init__()
        self.a_2 = nn.Parameter(torch.ones(features))
        self.b_2 = nn.Parameter(torch.zeros(features))
        self.eps = eps

    def forward(self, x):
        mean = x.mean(-1, keepdim=True)
        std = x.std(-1, keepdim=True)
        return self.a_2 * (x - mean) / (std + self.eps) + self.b_2


class SublayerConnection(nn.Module):
    def __init__(self, size, dropout=None):
        super(SublayerConnection, self).__init__()
        self.norm = LayerNorm(size)

    def forward(self, x, sublayer):
        return x + sublayer(self.norm(x))


class EncoderLayer(nn.Module):
    def __init__(self, size, self_attn, feed_forward, dropout):
        super(EncoderLayer, self).__init__()
        self.self_attn = self_attn
        self.feed_forward = feed_forward
        self.sublayer = clones(SublayerConnection(size, dropout), 2)
        self.size = size

    def forward(self, x, mask):
        x = self.sublayer[0](x, lambda x: self.self_attn(x, x, x, mask))
        return self.sublayer[1](x, self.feed_forward)


class DecoderLayer(nn.Module):
    "Decoder is made of self-attn, src-attn, and feed forward (defined below)"

    def __init__(self, size, self_attn, src_attn, feed_forward, dropout):
        super(DecoderLayer, self).__init__()
        self.size = size
        self.self_attn = self_attn
        self.src_attn = src_attn
        self.feed_forward = feed_forward
        self.sublayer = clones(SublayerConnection(size, dropout), 3)

    def forward(self, x, memory, src_mask, tgt_mask):
        "Follow Figure 1 (right) for connections."
        m = memory
        x = self.sublayer[0](x, lambda x: self.self_attn(x, x, x, tgt_mask))
        x = self.sublayer[1](x, lambda x: self.src_attn(x, m, m, src_mask))
        return self.sublayer[2](x, self.feed_forward)


class MultiHeadedAttention(nn.Module):
    def __init__(self, h, d_model, dropout=0.1):
        "Take in model size and number of heads."
        super(MultiHeadedAttention, self).__init__()
        assert d_model % h == 0
        # We assume d_v always equals d_k
        self.d_k = d_model // h
        self.h = h
        self.linears = clones(nn.Linear(d_model, d_model), 4)
        self.attn = None
        self.dropout = None

    def forward(self, query, key, value, mask=None):
        "Implements Figure 2"
        if mask is not None:
            # Same mask applied to all h heads.
            mask = mask.unsqueeze(1)
        nbatches = query.size(0)

        # 1) Do all the linear projections in batch from d_model => h x d_k
        query, key, value = \
            [l(x).view(nbatches, -1, self.h, self.d_k).transpose(1, 2).contiguous()
             for l, x in zip(self.linears, (query, key, value))]

        # 2) Apply attention on all the projected vectors in batch.
        x, self.attn = attention(query, key, value, mask=mask,
                                 dropout=self.dropout)

        # 3) "Concat" using a view and apply a final linear.
        x = x.transpose(1, 2).contiguous() \
            .view(nbatches, -1, self.h * self.d_k)
        return self.linears[-1](x)


class PositionwiseFeedForward(nn.Module):
    "Implements FFN equation."

    def __init__(self, d_model, d_ff, dropout=0.1):
        super(PositionwiseFeedForward, self).__init__()
        self.w_1 = nn.Linear(d_model, d_ff)
        self.norm = nn.Sequential()  # nn.BatchNorm1d(d_ff)
        self.w_2 = nn.Linear(d_ff, d_model)
        self.dropout = None

    def forward(self, x):
        return self.w_2(self.norm(F.relu(self.w_1(x)).transpose(2, 1).contiguous()).transpose(2, 1).contiguous())


class Identity(nn.Module):
    def __init__(self):
        super(Identity, self).__init__()

    def forward(self, *input):
        return input


class Transformer(nn.Module):
    def __init__(self, emb_dims, n_blocks, dropout, ff_dims, n_heads):
        super(Transformer, self).__init__()
        self.emb_dims = emb_dims
        self.N = n_blocks
        self.dropout = dropout
        self.ff_dims = ff_dims
        self.n_heads = n_heads
        c = copy.deepcopy
        attn = MultiHeadedAttention(self.n_heads, self.emb_dims)
        ff = PositionwiseFeedForward(self.emb_dims, self.ff_dims, self.dropout)
        self.model = EncoderDecoder(Encoder(EncoderLayer(self.emb_dims, c(attn), c(ff), self.dropout), self.N),
                                    Decoder(DecoderLayer(self.emb_dims, c(attn), c(attn), c(ff), self.dropout), self.N),
                                    nn.Sequential(),
                                    nn.Sequential(),
                                    nn.Sequential())

    def forward(self, *input):
        src = input[0]
        tgt = input[1]
        src = src.transpose(2, 1).contiguous()
        tgt = tgt.transpose(2, 1).contiguous()
        tgt_embedding = self.model(src, tgt, None, None).transpose(2, 1).contiguous()
        src_embedding = self.model(tgt, src, None, None).transpose(2, 1).contiguous()
        return src_embedding, tgt_embedding