Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
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+# Copyright (c) OpenMMLab. All rights reserved.
+from mmcv.cnn import build_conv_layer, build_norm_layer
+
+from ..builder import BACKBONES
+from .resnet import Bottleneck as _Bottleneck
+from .resnet import ResLayer, ResNet
+
+
+class Bottleneck(_Bottleneck):
+    """Bottleneck block for ResNeXt.
+
+    Args:
+        in_channels (int): Input channels of this block.
+        out_channels (int): Output channels of this block.
+        groups (int): Groups of conv2.
+        width_per_group (int): Width per group of conv2. 64x4d indicates
+            ``groups=64, width_per_group=4`` and 32x8d indicates
+            ``groups=32, width_per_group=8``.
+        stride (int): stride of the block. Default: 1
+        dilation (int): dilation of convolution. Default: 1
+        downsample (nn.Module): downsample operation on identity branch.
+            Default: None
+        style (str): `pytorch` or `caffe`. If set to "pytorch", the stride-two
+            layer is the 3x3 conv layer, otherwise the stride-two layer is
+            the first 1x1 conv layer.
+        conv_cfg (dict): dictionary to construct and config conv layer.
+            Default: None
+        norm_cfg (dict): dictionary to construct and config norm layer.
+            Default: dict(type='BN')
+        with_cp (bool): Use checkpoint or not. Using checkpoint will save some
+            memory while slowing down the training speed.
+    """
+
+    def __init__(self,
+                 in_channels,
+                 out_channels,
+                 base_channels=64,
+                 groups=32,
+                 width_per_group=4,
+                 **kwargs):
+        super().__init__(in_channels, out_channels, **kwargs)
+        self.groups = groups
+        self.width_per_group = width_per_group
+
+        # For ResNet bottleneck, middle channels are determined by expansion
+        # and out_channels, but for ResNeXt bottleneck, it is determined by
+        # groups and width_per_group and the stage it is located in.
+        if groups != 1:
+            assert self.mid_channels % base_channels == 0
+            self.mid_channels = (
+                groups * width_per_group * self.mid_channels // base_channels)
+
+        self.norm1_name, norm1 = build_norm_layer(
+            self.norm_cfg, self.mid_channels, postfix=1)
+        self.norm2_name, norm2 = build_norm_layer(
+            self.norm_cfg, self.mid_channels, postfix=2)
+        self.norm3_name, norm3 = build_norm_layer(
+            self.norm_cfg, self.out_channels, postfix=3)
+
+        self.conv1 = build_conv_layer(
+            self.conv_cfg,
+            self.in_channels,
+            self.mid_channels,
+            kernel_size=1,
+            stride=self.conv1_stride,
+            bias=False)
+        self.add_module(self.norm1_name, norm1)
+        self.conv2 = build_conv_layer(
+            self.conv_cfg,
+            self.mid_channels,
+            self.mid_channels,
+            kernel_size=3,
+            stride=self.conv2_stride,
+            padding=self.dilation,
+            dilation=self.dilation,
+            groups=groups,
+            bias=False)
+
+        self.add_module(self.norm2_name, norm2)
+        self.conv3 = build_conv_layer(
+            self.conv_cfg,
+            self.mid_channels,
+            self.out_channels,
+            kernel_size=1,
+            bias=False)
+        self.add_module(self.norm3_name, norm3)
+
+
+@BACKBONES.register_module()
+class ResNeXt(ResNet):
+    """ResNeXt backbone.
+
+    Please refer to the `paper <https://arxiv.org/abs/1611.05431>`__ for
+    details.
+
+    Args:
+        depth (int): Network depth, from {50, 101, 152}.
+        groups (int): Groups of conv2 in Bottleneck. Default: 32.
+        width_per_group (int): Width per group of conv2 in Bottleneck.
+            Default: 4.
+        in_channels (int): Number of input image channels. Default: 3.
+        stem_channels (int): Output channels of the stem layer. Default: 64.
+        num_stages (int): Stages of the network. Default: 4.
+        strides (Sequence[int]): Strides of the first block of each stage.
+            Default: ``(1, 2, 2, 2)``.
+        dilations (Sequence[int]): Dilation of each stage.
+            Default: ``(1, 1, 1, 1)``.
+        out_indices (Sequence[int]): Output from which stages. If only one
+            stage is specified, a single tensor (feature map) is returned,
+            otherwise multiple stages are specified, a tuple of tensors will
+            be returned. Default: ``(3, )``.
+        style (str): `pytorch` or `caffe`. If set to "pytorch", the stride-two
+            layer is the 3x3 conv layer, otherwise the stride-two layer is
+            the first 1x1 conv layer.
+        deep_stem (bool): Replace 7x7 conv in input stem with 3 3x3 conv.
+            Default: False.
+        avg_down (bool): Use AvgPool instead of stride conv when
+            downsampling in the bottleneck. Default: False.
+        frozen_stages (int): Stages to be frozen (stop grad and set eval mode).
+            -1 means not freezing any parameters. Default: -1.
+        conv_cfg (dict | None): The config dict for conv layers. Default: None.
+        norm_cfg (dict): The config dict for norm layers.
+        norm_eval (bool): Whether to set norm layers to eval mode, namely,
+            freeze running stats (mean and var). Note: Effect on Batch Norm
+            and its variants only. Default: False.
+        with_cp (bool): Use checkpoint or not. Using checkpoint will save some
+            memory while slowing down the training speed. Default: False.
+        zero_init_residual (bool): Whether to use zero init for last norm layer
+            in resblocks to let them behave as identity. Default: True.
+
+     Example:
+        >>> from mmpose.models import ResNeXt
+        >>> import torch
+        >>> self = ResNeXt(depth=50, out_indices=(0, 1, 2, 3))
+        >>> self.eval()
+        >>> inputs = torch.rand(1, 3, 32, 32)
+        >>> level_outputs = self.forward(inputs)
+        >>> for level_out in level_outputs:
+        ...     print(tuple(level_out.shape))
+        (1, 256, 8, 8)
+        (1, 512, 4, 4)
+        (1, 1024, 2, 2)
+        (1, 2048, 1, 1)
+    """
+
+    arch_settings = {
+        50: (Bottleneck, (3, 4, 6, 3)),
+        101: (Bottleneck, (3, 4, 23, 3)),
+        152: (Bottleneck, (3, 8, 36, 3))
+    }
+
+    def __init__(self, depth, groups=32, width_per_group=4, **kwargs):
+        self.groups = groups
+        self.width_per_group = width_per_group
+        super().__init__(depth, **kwargs)
+
+    def make_res_layer(self, **kwargs):
+        return ResLayer(
+            groups=self.groups,
+            width_per_group=self.width_per_group,
+            base_channels=self.base_channels,
+            **kwargs)