projects/llava_sam2/sam2_folder/sam2_base.py

import torch
import torch.nn.functional as F
from .sam2_implementation.modeling.sam2_base import SAM2Base as _SAM2Base

class SAM2Base(_SAM2Base):

    def track_step(
        self,
        frame_idx,
        is_init_cond_frame,
        current_vision_feats,
        current_vision_pos_embeds,
        feat_sizes,
        point_inputs,
        mask_inputs,
        output_dict,
        num_frames,
        track_in_reverse=False,  # tracking in reverse time order (for demo usage)
        # Whether to run the memory encoder on the predicted masks. Sometimes we might want
        # to skip the memory encoder with `run_mem_encoder=False`. For example,
        # in demo we might call `track_step` multiple times for each user click,
        # and only encode the memory when the user finalizes their clicks. And in ablation
        # settings like SAM training on static images, we don't need the memory encoder.
        run_mem_encoder=True,
        # The previously predicted SAM mask logits (which can be fed together with new clicks in demo).
        prev_sam_mask_logits=None,
        ## Extension: LLM prompt
        language_embd=None,
    ):
        current_out = {"point_inputs": point_inputs, "mask_inputs": mask_inputs}
        # High-resolution feature maps for the SAM head, reshape (HW)BC => BCHW
        if len(current_vision_feats) > 1:
            high_res_features = [
                x.permute(1, 2, 0).view(x.size(1), x.size(2), *s)
                for x, s in zip(current_vision_feats[:-1], feat_sizes[:-1])
            ]
        else:
            high_res_features = None
        if mask_inputs is not None and self.use_mask_input_as_output_without_sam:
            # When use_mask_input_as_output_without_sam=True, we directly output the mask input
            # (see it as a GT mask) without using a SAM prompt encoder + mask decoder.
            pix_feat = current_vision_feats[-1].permute(1, 2, 0)
            pix_feat = pix_feat.view(-1, self.hidden_dim, *feat_sizes[-1])
            sam_outputs = self._use_mask_as_output(
                pix_feat, high_res_features, mask_inputs
            )
        else:
            # fused the visual feature with previous memory features in the memory bank
            pix_feat_with_mem = self._prepare_memory_conditioned_features(
                frame_idx=frame_idx,
                is_init_cond_frame=is_init_cond_frame,
                current_vision_feats=current_vision_feats[-1:],
                current_vision_pos_embeds=current_vision_pos_embeds[-1:],
                feat_sizes=feat_sizes[-1:],
                output_dict=output_dict,
                num_frames=num_frames,
                track_in_reverse=track_in_reverse,
            )
            # apply SAM-style segmentation head
            # here we might feed previously predicted low-res SAM mask logits into the SAM mask decoder,
            # e.g. in demo where such logits come from earlier interaction instead of correction sampling
            # (in this case, any `mask_inputs` shouldn't reach here as they are sent to _use_mask_as_output instead)
            if prev_sam_mask_logits is not None:
                assert point_inputs is not None and mask_inputs is None
                mask_inputs = prev_sam_mask_logits
            multimask_output = self._use_multimask(is_init_cond_frame, point_inputs)
            sam_outputs = self._forward_sam_heads(
                backbone_features=pix_feat_with_mem,
                point_inputs=point_inputs,
                mask_inputs=mask_inputs,
                high_res_features=high_res_features,
                multimask_output=multimask_output,
                # Inject language Embed if possible
                language_embd=language_embd,
            )
        (
            _,
            _,
            _,
            low_res_masks,
            high_res_masks,
            obj_ptr,
            _,
        ) = sam_outputs

        current_out["pred_masks"] = low_res_masks
        current_out["pred_masks_high_res"] = high_res_masks
        current_out["obj_ptr"] = obj_ptr

        # Finally run the memory encoder on the predicted mask to encode
        # it into a new memory feature (that can be used in future frames)
        if run_mem_encoder and self.num_maskmem > 0:
            high_res_masks_for_mem_enc = high_res_masks
            maskmem_features, maskmem_pos_enc = self._encode_new_memory(
                current_vision_feats=current_vision_feats,
                feat_sizes=feat_sizes,
                pred_masks_high_res=high_res_masks_for_mem_enc,
                is_mask_from_pts=(point_inputs is not None),
            )
            current_out["maskmem_features"] = maskmem_features
            current_out["maskmem_pos_enc"] = maskmem_pos_enc
        else:
            current_out["maskmem_features"] = None
            current_out["maskmem_pos_enc"] = None

        return current_out


    def _forward_sam_heads(
        self,
        backbone_features,
        point_inputs=None,
        mask_inputs=None,
        high_res_features=None,
        multimask_output=False,
        ## Extension: LLM prompt
        language_embd=None,
    ):
        """
        Forward SAM prompt encoders and mask heads.

        Inputs:
        - backbone_features: image features of [B, C, H, W] shape
        - point_inputs: a dictionary with "point_coords" and "point_labels", where
          1) "point_coords" has [B, P, 2] shape and float32 dtype and contains the
             absolute pixel-unit coordinate in (x, y) format of the P input points
          2) "point_labels" has shape [B, P] and int32 dtype, where 1 means
             positive clicks, 0 means negative clicks, and -1 means padding
        - mask_inputs: a mask of [B, 1, H*16, W*16] shape, float or bool, with the
          same spatial size as the image.
        - high_res_features: either 1) None or 2) or a list of length 2 containing
          two feature maps of [B, C, 4*H, 4*W] and [B, C, 2*H, 2*W] shapes respectively,
          which will be used as high-resolution feature maps for SAM decoder.
        - multimask_output: if it's True, we output 3 candidate masks and their 3
          corresponding IoU estimates, and if it's False, we output only 1 mask and
          its corresponding IoU estimate.

        Outputs:
        - low_res_multimasks: [B, M, H*4, W*4] shape (where M = 3 if
          `multimask_output=True` and M = 1 if `multimask_output=False`), the SAM
          output mask logits (before sigmoid) for the low-resolution masks, with 4x
          the resolution (1/4 stride) of the input backbone_features.
        - high_res_multimasks: [B, M, H*16, W*16] shape (where M = 3
          if `multimask_output=True` and M = 1 if `multimask_output=False`),
          upsampled from the low-resolution masks, with shape size as the image
          (stride is 1 pixel).
        - ious, [B, M] shape, where (where M = 3 if `multimask_output=True` and M = 1
          if `multimask_output=False`), the estimated IoU of each output mask.
        - low_res_masks: [B, 1, H*4, W*4] shape, the best mask in `low_res_multimasks`.
          If `multimask_output=True`, it's the mask with the highest IoU estimate.
          If `multimask_output=False`, it's the same as `low_res_multimasks`.
        - high_res_masks: [B, 1, H*16, W*16] shape, the best mask in `high_res_multimasks`.
          If `multimask_output=True`, it's the mask with the highest IoU estimate.
          If `multimask_output=False`, it's the same as `high_res_multimasks`.
        - obj_ptr: [B, C] shape, the object pointer vector for the output mask, extracted
          based on the output token from the SAM mask decoder.
        """
        B = backbone_features.size(0)
        device = backbone_features.device
        assert backbone_features.size(1) == self.sam_prompt_embed_dim
        assert backbone_features.size(2) == self.sam_image_embedding_size
        assert backbone_features.size(3) == self.sam_image_embedding_size

        # a) Handle point prompts
        if point_inputs is not None:
            sam_point_coords = point_inputs["point_coords"]
            sam_point_labels = point_inputs["point_labels"]
            assert sam_point_coords.size(0) == B and sam_point_labels.size(0) == B
        else:
            # If no points are provide, pad with an empty point (with label -1)
            sam_point_coords = torch.zeros(B, 1, 2, device=device)
            sam_point_labels = -torch.ones(B, 1, dtype=torch.int32, device=device)

        # b) Handle mask prompts
        if mask_inputs is not None:
            # If mask_inputs is provided, downsize it into low-res mask input if needed
            # and feed it as a dense mask prompt into the SAM mask encoder
            assert len(mask_inputs.shape) == 4 and mask_inputs.shape[:2] == (B, 1)
            if mask_inputs.shape[-2:] != self.sam_prompt_encoder.mask_input_size:
                sam_mask_prompt = F.interpolate(
                    mask_inputs.float(),
                    size=self.sam_prompt_encoder.mask_input_size,
                    align_corners=False,
                    mode="bilinear",
                    antialias=True,  # use antialias for downsampling
                )
            else:
                sam_mask_prompt = mask_inputs
        else:
            # Otherwise, simply feed None (and SAM's prompt encoder will add
            # a learned `no_mask_embed` to indicate no mask input in this case).
            sam_mask_prompt = None

        sparse_embeddings, dense_embeddings = self.sam_prompt_encoder(
            points=(sam_point_coords, sam_point_labels),
            boxes=None,
            masks=sam_mask_prompt,
        )

        ## Extension: LLM prompt
        if language_embd is not None:
            # B N C
            assert sparse_embeddings.size(0) == language_embd.size(0)
            assert sparse_embeddings.size(2) == language_embd.size(2)
            sparse_embeddings = torch.cat([sparse_embeddings, language_embd], dim=1)

        (
            low_res_multimasks,
            ious,
            sam_output_tokens,
            object_score_logits,
        ) = self.sam_mask_decoder(
            image_embeddings=backbone_features,
            image_pe=self.sam_prompt_encoder.get_dense_pe(),
            sparse_prompt_embeddings=sparse_embeddings,
            dense_prompt_embeddings=dense_embeddings,
            multimask_output=multimask_output,
            repeat_image=False,  # the image is already batched
            high_res_features=high_res_features,
        )
        if self.pred_obj_scores:
            is_obj_appearing = object_score_logits > 0

            # Mask used for spatial memories is always a *hard* choice between obj and no obj,
            # consistent with the actual mask prediction
            # print('Do torch.where !!!')
            # low_res_multimasks = torch.where(
            #     is_obj_appearing[:, None, None],
            #     low_res_multimasks,
            #     NO_OBJ_SCORE,
            # )

        # convert masks from possibly bfloat16 (or float16) to float32
        # (older PyTorch versions before 2.1 don't support `interpolate` on bf16)
        low_res_multimasks = low_res_multimasks.float()
        high_res_multimasks = F.interpolate(
            low_res_multimasks,
            size=(self.image_size, self.image_size),
            mode="bilinear",
            align_corners=False,
        )

        sam_output_token = sam_output_tokens[:, 0]
        if multimask_output:
            # take the best mask prediction (with the highest IoU estimation)
            best_iou_inds = torch.argmax(ious, dim=-1)
            batch_inds = torch.arange(B, device=device)
            low_res_masks = low_res_multimasks[batch_inds, best_iou_inds].unsqueeze(1)
            high_res_masks = high_res_multimasks[batch_inds, best_iou_inds].unsqueeze(1)
            if sam_output_tokens.size(1) > 1:
                sam_output_token = sam_output_tokens[batch_inds, best_iou_inds]
        else:
            low_res_masks, high_res_masks = low_res_multimasks, high_res_multimasks

        # Extract object pointer from the SAM output token (with occlusion handling)
        obj_ptr = self.obj_ptr_proj(sam_output_token)
        if self.pred_obj_scores:
            # Allow *soft* no obj ptr, unlike for masks
            if self.soft_no_obj_ptr:
                # Only hard possible with gt
                assert not self.teacher_force_obj_scores_for_mem
                lambda_is_obj_appearing = object_score_logits.sigmoid()
            else:
                lambda_is_obj_appearing = is_obj_appearing.float()

            if self.fixed_no_obj_ptr:
                obj_ptr = lambda_is_obj_appearing * obj_ptr
            obj_ptr = obj_ptr + (1 - lambda_is_obj_appearing) * self.no_obj_ptr

        return (
            low_res_multimasks,
            high_res_multimasks,
            ious,
            low_res_masks,
            high_res_masks,
            obj_ptr,
            object_score_logits,
        )