generalized_attention.py

import torch
import torch.nn as nn
import torch.nn.functional as F

import math
import numpy as np
from mmcv.cnn import kaiming_init


class GeneralizedAttention(nn.Module):
    """GeneralizedAttention module.

    See 'An Empirical Study of Spatial Attention Mechanisms in Deep Networks'
    (https://arxiv.org/abs/1711.07971) for details.

    Args:
        in_dim (int): Channels of the input feature map.
        spatial_range (int): The spatial range.
            -1 indicates no spatial range constraint.
        num_heads (int): The head number of empirical_attention module.
        position_embedding_dim (int): The position embedding dimension.
        position_magnitude (int): A multiplier acting on coord difference.
        kv_stride (int): The feature stride acting on key/value feature map.
        q_stride (int): The feature stride acting on query feature map.
        attention_type (str): A binary indicator string for indicating which
            items in generalized empirical_attention module are used.
            '1000' indicates 'query and key content' (appr - appr) item,
            '0100' indicates 'query content and relative position'
              (appr - position) item,
            '0010' indicates 'key content only' (bias - appr) item,
            '0001' indicates 'relative position only' (bias - position) item.
    """

    def __init__(self,
                 in_dim,
                 spatial_range=-1,
                 num_heads=9,
                 position_embedding_dim=-1,
                 position_magnitude=1,
                 kv_stride=2,
                 q_stride=1,
                 attention_type='1111'):

        super(GeneralizedAttention, self).__init__()

        # hard range means local range for non-local operation
        self.position_embedding_dim = (
            position_embedding_dim if position_embedding_dim > 0 else in_dim)

        self.position_magnitude = position_magnitude
        self.num_heads = num_heads
        self.channel_in = in_dim
        self.spatial_range = spatial_range
        self.kv_stride = kv_stride
        self.q_stride = q_stride
        self.attention_type = [bool(int(_)) for _ in attention_type]
        self.qk_embed_dim = in_dim // num_heads
        out_c = self.qk_embed_dim * num_heads

        if self.attention_type[0] or self.attention_type[1]:
            self.query_conv = nn.Conv2d(
                in_channels=in_dim,
                out_channels=out_c,
                kernel_size=1,
                bias=False)
            self.query_conv.kaiming_init = True

        if self.attention_type[0] or self.attention_type[2]:
            self.key_conv = nn.Conv2d(
                in_channels=in_dim,
                out_channels=out_c,
                kernel_size=1,
                bias=False)
            self.key_conv.kaiming_init = True

        self.v_dim = in_dim // num_heads
        self.value_conv = nn.Conv2d(
            in_channels=in_dim,
            out_channels=self.v_dim * num_heads,
            kernel_size=1,
            bias=False)
        self.value_conv.kaiming_init = True

        if self.attention_type[1] or self.attention_type[3]:
            self.appr_geom_fc_x = nn.Linear(
                self.position_embedding_dim // 2, out_c, bias=False)
            self.appr_geom_fc_x.kaiming_init = True

            self.appr_geom_fc_y = nn.Linear(
                self.position_embedding_dim // 2, out_c, bias=False)
            self.appr_geom_fc_y.kaiming_init = True

        if self.attention_type[2]:
            stdv = 1.0 / math.sqrt(self.qk_embed_dim * 2)
            appr_bias_value = -2 * stdv * torch.rand(out_c) + stdv
            self.appr_bias = nn.Parameter(appr_bias_value)

        if self.attention_type[3]:
            stdv = 1.0 / math.sqrt(self.qk_embed_dim * 2)
            geom_bias_value = -2 * stdv * torch.rand(out_c) + stdv
            self.geom_bias = nn.Parameter(geom_bias_value)

        self.proj_conv = nn.Conv2d(
            in_channels=self.v_dim * num_heads,
            out_channels=in_dim,
            kernel_size=1,
            bias=True)
        self.proj_conv.kaiming_init = True
        self.gamma = nn.Parameter(torch.zeros(1))

        if self.spatial_range >= 0:
            # only works when non local is after 3*3 conv
            if in_dim == 256:
                max_len = 84
            elif in_dim == 512:
                max_len = 42

            max_len_kv = int((max_len - 1.0) / self.kv_stride + 1)
            local_constraint_map = np.ones(
                (max_len, max_len, max_len_kv, max_len_kv), dtype=np.int)
            for iy in range(max_len):
                for ix in range(max_len):
                    local_constraint_map[iy, ix,
                                         max((iy - self.spatial_range) //
                                             self.kv_stride, 0):min(
                                                 (iy + self.spatial_range +
                                                  1) // self.kv_stride +
                                                 1, max_len),
                                         max((ix - self.spatial_range) //
                                             self.kv_stride, 0):min(
                                                 (ix + self.spatial_range +
                                                  1) // self.kv_stride +
                                                 1, max_len)] = 0

            self.local_constraint_map = nn.Parameter(
                torch.from_numpy(local_constraint_map).byte(),
                requires_grad=False)

        if self.q_stride > 1:
            self.q_downsample = nn.AvgPool2d(
                kernel_size=1, stride=self.q_stride)
        else:
            self.q_downsample = None

        if self.kv_stride > 1:
            self.kv_downsample = nn.AvgPool2d(
                kernel_size=1, stride=self.kv_stride)
        else:
            self.kv_downsample = None

        self.init_weights()

    def get_position_embedding(self,
                               h,
                               w,
                               h_kv,
                               w_kv,
                               q_stride,
                               kv_stride,
                               device,
                               feat_dim,
                               wave_length=1000):
        h_idxs = torch.linspace(0, h - 1, h).cuda(device)
        h_idxs = h_idxs.view((h, 1)) * q_stride

        w_idxs = torch.linspace(0, w - 1, w).cuda(device)
        w_idxs = w_idxs.view((w, 1)) * q_stride

        h_kv_idxs = torch.linspace(0, h_kv - 1, h_kv).cuda(device)
        h_kv_idxs = h_kv_idxs.view((h_kv, 1)) * kv_stride

        w_kv_idxs = torch.linspace(0, w_kv - 1, w_kv).cuda(device)
        w_kv_idxs = w_kv_idxs.view((w_kv, 1)) * kv_stride

        # (h, h_kv, 1)
        h_diff = h_idxs.unsqueeze(1) - h_kv_idxs.unsqueeze(0)
        h_diff *= self.position_magnitude

        # (w, w_kv, 1)
        w_diff = w_idxs.unsqueeze(1) - w_kv_idxs.unsqueeze(0)
        w_diff *= self.position_magnitude

        feat_range = torch.arange(0, feat_dim / 4).cuda(device)

        dim_mat = torch.Tensor([wave_length]).cuda(device)
        dim_mat = dim_mat**((4. / feat_dim) * feat_range)
        dim_mat = dim_mat.view((1, 1, -1))

        embedding_x = torch.cat(
            ((w_diff / dim_mat).sin(), (w_diff / dim_mat).cos()), dim=2)

        embedding_y = torch.cat(
            ((h_diff / dim_mat).sin(), (h_diff / dim_mat).cos()), dim=2)

        return embedding_x, embedding_y

    def forward(self, x_input):
        num_heads = self.num_heads

        # use empirical_attention
        if self.q_downsample is not None:
            x_q = self.q_downsample(x_input)
        else:
            x_q = x_input
        n, _, h, w = x_q.shape

        if self.kv_downsample is not None:
            x_kv = self.kv_downsample(x_input)
        else:
            x_kv = x_input
        _, _, h_kv, w_kv = x_kv.shape

        if self.attention_type[0] or self.attention_type[1]:
            proj_query = self.query_conv(x_q).view(
                (n, num_heads, self.qk_embed_dim, h * w))
            proj_query = proj_query.permute(0, 1, 3, 2)

        if self.attention_type[0] or self.attention_type[2]:
            proj_key = self.key_conv(x_kv).view(
                (n, num_heads, self.qk_embed_dim, h_kv * w_kv))

        if self.attention_type[1] or self.attention_type[3]:
            position_embed_x, position_embed_y = self.get_position_embedding(
                h, w, h_kv, w_kv, self.q_stride, self.kv_stride,
                x_input.device, self.position_embedding_dim)
            # (n, num_heads, w, w_kv, dim)
            position_feat_x = self.appr_geom_fc_x(position_embed_x).\
                view(1, w, w_kv, num_heads, self.qk_embed_dim).\
                permute(0, 3, 1, 2, 4).\
                repeat(n, 1, 1, 1, 1)

            # (n, num_heads, h, h_kv, dim)
            position_feat_y = self.appr_geom_fc_y(position_embed_y).\
                view(1, h, h_kv, num_heads, self.qk_embed_dim).\
                permute(0, 3, 1, 2, 4).\
                repeat(n, 1, 1, 1, 1)

            position_feat_x /= math.sqrt(2)
            position_feat_y /= math.sqrt(2)

        # accelerate for saliency only
        if (np.sum(self.attention_type) == 1) and self.attention_type[2]:
            appr_bias = self.appr_bias.\
                view(1, num_heads, 1, self.qk_embed_dim).\
                repeat(n, 1, 1, 1)

            energy = torch.matmul(appr_bias, proj_key).\
                view(n, num_heads, 1, h_kv * w_kv)

            h = 1
            w = 1
        else:
            # (n, num_heads, h*w, h_kv*w_kv), query before key, 540mb for
            if not self.attention_type[0]:
                energy = torch.zeros(
                    n,
                    num_heads,
                    h,
                    w,
                    h_kv,
                    w_kv,
                    dtype=x_input.dtype,
                    device=x_input.device)

            # attention_type[0]: appr - appr
            # attention_type[1]: appr - position
            # attention_type[2]: bias - appr
            # attention_type[3]: bias - position
            if self.attention_type[0] or self.attention_type[2]:
                if self.attention_type[0] and self.attention_type[2]:
                    appr_bias = self.appr_bias.\
                        view(1, num_heads, 1, self.qk_embed_dim)
                    energy = torch.matmul(proj_query + appr_bias, proj_key).\
                        view(n, num_heads, h, w, h_kv, w_kv)

                elif self.attention_type[0]:
                    energy = torch.matmul(proj_query, proj_key).\
                        view(n, num_heads, h, w, h_kv, w_kv)

                elif self.attention_type[2]:
                    appr_bias = self.appr_bias.\
                        view(1, num_heads, 1, self.qk_embed_dim).\
                        repeat(n, 1, 1, 1)

                    energy += torch.matmul(appr_bias, proj_key).\
                        view(n, num_heads, 1, 1, h_kv, w_kv)

            if self.attention_type[1] or self.attention_type[3]:
                if self.attention_type[1] and self.attention_type[3]:
                    geom_bias = self.geom_bias.\
                        view(1, num_heads, 1, self.qk_embed_dim)

                    proj_query_reshape = (proj_query + geom_bias).\
                        view(n, num_heads, h, w, self.qk_embed_dim)

                    energy_x = torch.matmul(
                        proj_query_reshape.permute(0, 1, 3, 2, 4),
                        position_feat_x.permute(0, 1, 2, 4, 3))
                    energy_x = energy_x.\
                        permute(0, 1, 3, 2, 4).unsqueeze(4)

                    energy_y = torch.matmul(
                        proj_query_reshape,
                        position_feat_y.permute(0, 1, 2, 4, 3))
                    energy_y = energy_y.unsqueeze(5)

                    energy += energy_x + energy_y

                elif self.attention_type[1]:
                    proj_query_reshape = proj_query.\
                        view(n, num_heads, h, w, self.qk_embed_dim)
                    proj_query_reshape = proj_query_reshape.\
                        permute(0, 1, 3, 2, 4)
                    position_feat_x_reshape = position_feat_x.\
                        permute(0, 1, 2, 4, 3)
                    position_feat_y_reshape = position_feat_y.\
                        permute(0, 1, 2, 4, 3)

                    energy_x = torch.matmul(proj_query_reshape,
                                            position_feat_x_reshape)
                    energy_x = energy_x.permute(0, 1, 3, 2, 4).unsqueeze(4)

                    energy_y = torch.matmul(proj_query_reshape,
                                            position_feat_y_reshape)
                    energy_y = energy_y.unsqueeze(5)

                    energy += energy_x + energy_y

                elif self.attention_type[3]:
                    geom_bias = self.geom_bias.\
                        view(1, num_heads, self.qk_embed_dim, 1).\
                        repeat(n, 1, 1, 1)

                    position_feat_x_reshape = position_feat_x.\
                        view(n, num_heads, w*w_kv, self.qk_embed_dim)

                    position_feat_y_reshape = position_feat_y.\
                        view(n, num_heads, h * h_kv, self.qk_embed_dim)

                    energy_x = torch.matmul(position_feat_x_reshape, geom_bias)
                    energy_x = energy_x.view(n, num_heads, 1, w, 1, w_kv)

                    energy_y = torch.matmul(position_feat_y_reshape, geom_bias)
                    energy_y = energy_y.view(n, num_heads, h, 1, h_kv, 1)

                    energy += energy_x + energy_y

            energy = energy.view(n, num_heads, h * w, h_kv * w_kv)

        if self.spatial_range >= 0:
            cur_local_constraint_map = \
                self.local_constraint_map[:h, :w, :h_kv, :w_kv].\
                contiguous().\
                view(1, 1, h*w, h_kv*w_kv)

            energy = energy.masked_fill_(cur_local_constraint_map,
                                         float('-inf'))

        attention = F.softmax(energy, 3)

        proj_value = self.value_conv(x_kv)
        proj_value_reshape = proj_value.\
            view((n, num_heads, self.v_dim, h_kv * w_kv)).\
            permute(0, 1, 3, 2)

        out = torch.matmul(attention, proj_value_reshape).\
            permute(0, 1, 3, 2).\
            contiguous().\
            view(n, self.v_dim * self.num_heads, h, w)

        out = self.proj_conv(out)
        out = self.gamma * out + x_input
        return out

    def init_weights(self):
        for m in self.modules():
            if hasattr(m, 'kaiming_init') and m.kaiming_init:
                kaiming_init(
                    m,
                    mode='fan_in',
                    nonlinearity='leaky_relu',
                    bias=0,
                    distribution='uniform',
                    a=1)