The Idea

During the Christmas holidays, I took the following photo and immediately thought that it would be cool to remove the people in the background as well as the wooden stick.

There are plenty of iOS apps that perform magic erasing but usually, it is a premium feature.

So, I challenged myself to implement it.

The first step is segmentation, we need to be able to isolate and identify the objects we want to remove. There are many segmentation models out there, the one I choose is Segment Anything by Meta AI Research.

The plan was clear: download the model, make it run on my M1 Pro, convert it to CoreML, and plug it into an iOS demo app. But the journey has been different.

Segment Anything

Segment Anything is essentially composed of an Image Encoder to extract image embeddings, a Prompt Encoder to encode image points (pixels), and a Mask Decoder that combines the image and points embeddings to create the mask and assign a probabilistic score.

Segment Anything Model Architecture

Segment Anything pre-trained models are huge when compared to the size of an iOS app, and most of the weights are related to the image encoder. We have ViT-H (2.56 GB), ViT-L (1.25 GB), and ViT-B (375 MB): the first two are unlikely to be used in an app, maybe the last one but still pretty large.

Looking online, I found MobileSAM as a viable alternative to be used in an app. It ensembles a smaller image encoder that has been trained using distillation from ViT-H, while retaining the same mask decoder and prompt encoder, weighing just 40 MB in total.

Model Architecture

If you look at how the SamPredictor is implemented in MobileSAM, we can isolate 5 stages:

1. Preprocessing

Downsampling of the source image to fit the Image Encoder input size of 1024x1024.

# source: https://github.com/ChaoningZhang/MobileSAM/blob/c12dd83cbe26dffdcc6a0f9e7be2f6fb024df0ed/mobile_sam/utils/transforms.py#L63

class ResizeLongestSize:
	.....
	def apply_image_torch(self, image: torch.Tensor) -> torch.Tensor:
	  target_size = self.get_preprocess_shape(
			image.shape[2], 
			image.shape[3], 
			1024
		)
	  return F.interpolate(
		  image, 
			target_size, 
			mode="bilinear", 
			align_corners=False, 
			antialias=True
	  )
	.....

# source: https://github.com/ChaoningZhang/MobileSAM/blob/c12dd83cbe26dffdcc6a0f9e7be2f6fb024df0ed/mobile_sam/predictor.py#L56
class SamPredictor:
	.....
	def __init__(
    self,
    sam_model: Sam,
  ) -> None:
    super().__init__()
    self.model = sam_model
    self.transform = ResizeLongestSide(1024)

  def set_image(
      self,
      image: np.ndarray,
  ) -> None:
		.....
    input_image = self.transform.apply_image(image)
		.....

Permute the dimensions of the source image from HxWxC to CxHxW, by splitting each RGB pixel into three separate planes.

# source: https://github.com/ChaoningZhang/MobileSAM/blob/c12dd83cbe26dffdcc6a0f9e7be2f6fb024df0ed/mobile_sam/predictor.py#L58
class SamPredictor:
	.....
  def set_image(
      self,
      image: np.ndarray,
  ) -> None:
		.....
    input_image = self.transform.apply_image(image)
    input_image_torch = torch.as_tensor(input_image, device=self.device)
    input_image_torch = input_image_torch.permute(2, 0, 1).contiguous()[None, :, :, :]
		.....

Normalize each pixel by subtracting a mean pixel value and dividing by a std pixel value

# source: https://github.com/ChaoningZhang/MobileSAM/blob/c12dd83cbe26dffdcc6a0f9e7be2f6fb024df0ed/mobile_sam/modeling/sam.py#L165

class SAM(nn.Module):
	.....
	def preprocess(self, x: torch.Tensor) -> torch.Tensor:
    """Normalize pixel values and pad to a square input."""
    # Normalize colors
    x = (x - self.pixel_mean) / self.pixel_std
	.....

Pad the image to fill 1024x1024

# source: https://github.com/ChaoningZhang/MobileSAM/blob/c12dd83cbe26dffdcc6a0f9e7be2f6fb024df0ed/mobile_sam/modeling/sam.py#L165

class SAM(nn.Module):
	.....
	def preprocess(self, x: torch.Tensor) -> torch.Tensor:
    .....
		# Pad
    h, w = x.shape[-2:]
    padh = self.image_encoder.img_size - h
    padw = self.image_encoder.img_size - w
    x = F.pad(x, (0, padw, 0, padh))
	.....

2. Image Encoder - Vision Transformer ViT

Input: 3 x 1024 x 1024 (CxHxW) RGB image Output: 1 x 256 x 64 x 64 image embeddings

3. Prompt Encoder

Input: N x 2, where N is the number of points and two refers to X and Y dimensions. Output: N x 256 and 1 x 256 x 64 x 64

The former is the sparse positional embeddings of points, while the latter is a learned dense embedding representing no mask, as reported in the paper.

4. Mask Decoder

Input:

Image Embeddings: 1 x 256 x 64 x 64
Sparse point embeddings: N x 256
Dense embeddings: 1 x 256 x 64 x 64
Image Point Embeddings: 1 x 256 x 64 x 64, positional encoding with the shape of the Image Embeddings.

Output: 1 x 4 x 256 x 256 low-resolution masks and 1 x 4 IOU scores.

5. Postprocessing

Porting to CoreML

Converting a PyTorch model to CoreML might not be straightforward, especially if you’re using coremltools for the first time. First, you need to keep in mind that only Torch models can be converted, so all the Python codes before or after the model inference have to be removed and rewritten in Swift. Thus, the preprocessing and postprocessing operations have been written in Swift (Metal) and will be detailed in the next section.

I decided to extract three CoreML packages: the image encoder, the prompt encoder, and the mask decoder, using the following script:

import torch
import numpy as np
import mobile_sam as msam
import coremltools as ct

def convert_image_encoder(model: msam.Sam, device: torch.device):
    input_tensor = torch.randn(1, 3, 1024, 1024).to(device)
    traced_image_encoder = torch.jit.trace(model.image_encoder, input_tensor)
    traced_image_encoder(input_tensor)
    
    coreml_model = ct.convert(
        traced_image_encoder,
        inputs=[ct.TensorType(name="image", shape=input_tensor.shape)],
        outputs=[ct.TensorType(name="imageEmbeddings")],
    )
    coreml_model.save("./coreml/ImageEncoder.mlpackage")

def convert_prompt_encoder(model: msam.Sam, device: torch.device):
    n = 2
    points = torch.randn(1, n, 2).to(device=device)
    labels = torch.ones(1, n).to(device=device)

    model.prompt_encoder.forward = model.prompt_encoder.coreml_forward

    traced_model = torch.jit.trace(model.prompt_encoder, (points, labels))
    traced_model(points, labels)

    r = ct.RangeDim(1, 100)

    coreml_model = ct.convert(
        traced_model,
        inputs=[
            ct.TensorType(name="points", shape=(1, r, 2)),
            ct.TensorType(name="labels", shape=(1, r))
        ],
        outputs=[
            ct.TensorType(name="sparsePromptEmbeddings"),
            ct.TensorType(name="densePromptEmbeddings")
        ]
    )
    coreml_model.save(f"./coreml/PromptEncoder.mlpackage")

def convert_mask_decoder(model: msam.Sam, device: torch.device):
    n = 3
    t1 = torch.randn(1, 256, 64, 64).to(device=device)
    t2 = torch.randn(1, 256, 64, 64).to(device=device)
    t3 = torch.randn(1, n, 256).to(device=device)
    t4 = torch.randn(1, 256, 64, 64).to(device=device)

    traced_mask_decoder = torch.jit.trace(model.mask_decoder, (t1, t2, t3, t4))
    traced_mask_decoder(t1, t2, t3, t4)

    coreml_model = ct.convert(
        traced_mask_decoder,
        inputs=[
            ct.TensorType(name="imageEmbeddings", shape=t1.shape),
            ct.TensorType(name="imagePositionalEncoding", shape=t2.shape),
            ct.TensorType(name="sparsePromptEmbeddings", shape=(1, ct.RangeDim(1, 100), 256)),
            ct.TensorType(name="densePromptEmbeddings", shape=t4.shape),
        ],
        outputs=[
            ct.TensorType(name="masks"),
            ct.TensorType(name="iouPredictions"),
        ],
    )
    coreml_model.save("./coreml/MaskDecoder.mlpackage")

def main():
    if not torch.backends.mps.is_available():
        raise SystemExit("PyTorch MPS backend is not available.")
    
    device = torch.device("mps")

    model_type = "vit_t"
    model_checkpoint = "./weights/mobile_sam.pt"

    mobile_sam = msam.sam_model_registry[model_type](checkpoint=model_checkpoint)
    mobile_sam.to(device)
    mobile_sam.eval()

    convert_image_encoder(mobile_sam, device)
    convert_prompt_encoder(mobile_sam, device)
    convert_mask_decoder(mobile_sam, device)

To convert the model, I had to implement some minor changes to this model because some operations and operators were not available/broken during the conversion, you can refer to this commit.

Packages

ImageEncoder: 14,1 MB
PromptEncoder: 4,2 MB
MaskDecoder: 8,2 MB
ImagePointEmbeddings: 1 x 256 x 64 x 64 F32 tensor to be loaded and fed into the Mask Decoder.

Model In Action

Preprocessing

Given an RGB image texture, the preprocessing is performed using a Metal compute kernel.

The output is made of three planes, one per color channel, to be later fed into the image encoder.

Metal

#include <metal_stdlib>
#include "ImageProcessor-Bridging-Header.h"

using namespace metal;

constexpr sampler linear_sampler = sampler(filter::linear);

struct PreprocessingInput {
  simd_float3 mean;
  simd_float3 std;
  simd_uint2 size;
  simd_uint2 padding;
};

kernel void preprocessing_kernel(texture2d<float, access::sample> texture [[ texture(0) ]],
                                 constant PreprocessingInput& input [[ buffer(0) ]],
                                 device float* rBuffer [[ buffer(1) ]],
                                 device float* gBuffer [[ buffer(2) ]],
                                 device float* bBuffer [[ buffer(3) ]],
                                 uint2 xy [[ thread_position_in_grid ]]
                                 ) {
  if (xy.x >= input.size.x || xy.y >= input.size.y) {
    return;
  }
  
  const float2 uv = float2(xy) / float2(input.size);
  float4 color = texture.sample(linear_sampler, uv);
  color.rgb = (color.rgb - input.mean) / input.std;
  
  const int index = xy.y * (input.size.x + input.padding.x) + xy.x + input.padding.y;
  
  rBuffer[index] = color.r;
  gBuffer[index] = color.g;
  bBuffer[index] = color.b;
}

Swift

func preprocess(
    image: MTLTexture,
    commandQueue: MTLCommandQueue
  ) -> MLMultiArray {
    self.originalWidth = image.width
    self.originalHeight = image.height
    
    let scale = Double(self.inputSize) / Double(max(self.originalWidth, self.originalHeight))
    self.resizedWidth = Int(Double(self.originalWidth) * scale + 0.5)
    self.resizedHeight = Int(Double(self.originalHeight) * scale + 0.5)
    let paddingX = self.inputSize - self.resizedWidth
    let paddingY = self.inputSize - self.resizedHeight
    
    let channels = 3
    let bytesPerChannel = MemoryLayout<Float>.stride * self.inputSize * self.inputSize
    let bytesCount = channels * bytesPerChannel
    
    if self.inputBuffer == nil || self.inputBuffer.length != bytesCount {
      self.inputBuffer = self.device.makeBuffer(
        length: bytesCount,
        options: .storageModeShared
      )!
    }
    
    var preprocessingInput = PreprocessingInput(
      mean: self.mean,
      std: self.std,
      size: SIMD2<UInt32>(UInt32(self.resizedWidth), UInt32(self.resizedHeight)),
      padding: SIMD2<UInt32>(UInt32(paddingX), UInt32(paddingY))
    )
    
    let commandBuffer = commandQueue.makeCommandBuffer()!
    
    let computeCommandEncoder = commandBuffer.makeComputeCommandEncoder()!
    computeCommandEncoder.setComputePipelineState(self.preprocessComputePipelineState)
    computeCommandEncoder.setTexture(image, index: 0)
    computeCommandEncoder.setBytes(
      &preprocessingInput,
      length: MemoryLayout<PreprocessingInput>.stride,
      index: 0
    )
    computeCommandEncoder.setBuffer(
      self.inputBuffer,
      offset: 0,
      attributeStride: MemoryLayout<Float>.stride,
      index: 1
    )
    computeCommandEncoder.setBuffer(
      self.inputBuffer,
      offset: bytesPerChannel,
      attributeStride: MemoryLayout<Float>.stride,
      index: 2
    )
    computeCommandEncoder.setBuffer(
      self.inputBuffer,
      offset: 2 * bytesPerChannel,
      attributeStride: MemoryLayout<Float>.stride,
      index: 3
    )
    
    let threadgroupSize = MTLSize(
      width: self.preprocessComputePipelineState.threadExecutionWidth,
      height: self.preprocessComputePipelineState.maxTotalThreadsPerThreadgroup / self.preprocessComputePipelineState.threadExecutionWidth,
      depth: 1
    )
    
    if self.device.supportsFamily(.common3) {
      computeCommandEncoder.dispatchThreads(
        MTLSize(
          width: self.resizedWidth,
          height: self.resizedHeight,
          depth: 1
        ),
        threadsPerThreadgroup: threadgroupSize
      )
    } else {
      let gridSize = MTLSize(
        width: (self.resizedWidth + threadgroupSize.width - 1) / threadgroupSize.width,
        height: (self.resizedHeight + threadgroupSize.height - 1) / threadgroupSize.height,
        depth: 1
      )
      computeCommandEncoder.dispatchThreadgroups(
        gridSize,
        threadsPerThreadgroup: threadgroupSize
      )
    }
    
    computeCommandEncoder.endEncoding()
    
    commandBuffer.commit()
    commandBuffer.waitUntilCompleted()
    
    return try! MLMultiArray(
      dataPointer: self.inputBuffer.contents(),
      shape: [
        1,
        channels as NSNumber,
        self.inputSize as NSNumber,
        self.inputSize as NSNumber
      ],
      dataType: .float32,
      strides: [
        (channels * inputSize * inputSize) as NSNumber,
        (inputSize * inputSize) as NSNumber,
        inputSize as NSNumber,
        1
      ]
    )
  }

Postprocessing

Given an 256 x 256 float mask, we’re upsampling using a linear filter up to the original H x W and clamped the value between 0 and 1.

In the end, I apply a Gaussian Blur to the scaled mask

Metal

constexpr sampler linear_sampler = sampler(filter::linear);

struct PostprocessingInput {
  simd_float2 scaleSizeFactor;
};

kernel void postprocessing_kernel(texture2d<float, access::sample> mask [[ texture(0) ]],
                                  texture2d<float, access::read_write> output [[ texture (1) ]],
                                  constant PostprocessingInput& input [[ buffer(0) ]],
                                  uint2 xy [[ thread_position_in_grid] ]) {
  
  if (xy.x >= output.get_width() || xy.y >= output.get_height()) {
    return;
  }
  
  const float2 uv = float2(xy) / float2(output.get_width(), output.get_height());
  const float2 mask_uv = uv * input.scaleSizeFactor;
  
  const float4 mask_value = 1.0f - clamp(mask.sample(linear_sampler, mask_uv), float4(0.0), float4(1.0));
  
  output.write(mask_value, xy);
}

Swift

func postprocess(masks: MLMultiArray, commandQueue: MTLCommandQueue) -> [MTLTexture] {
    let scale = Float(self.outputSize) / Float(max(self.originalWidth, self.originalHeight))
    let scaledWidth = (Float(self.originalWidth) * scale).rounded()
    let scaledHeight = (Float(self.originalHeight) * scale).rounded()
    let scaleSizeFactor = SIMD2<Float>(
      scaledWidth / Float(self.outputSize),
      scaledHeight / Float(self.outputSize)
    )
    
    var outputMasks = [MTLTexture]()
    
    let commandBuffer = commandQueue.makeCommandBuffer()!
    
    let threadgroupSize = MTLSize(
      width: self.preprocessComputePipelineState.threadExecutionWidth,
      height: self.preprocessComputePipelineState.maxTotalThreadsPerThreadgroup / self.preprocessComputePipelineState.threadExecutionWidth,
      depth: 1
    )
    let gridSizeOrThreads: MTLSize
    
    if self.device.supportsFamily(.common3) {
      gridSizeOrThreads = MTLSize(
        width: self.originalWidth,
        height: self.originalHeight,
        depth: 1
      )
    } else {
      gridSizeOrThreads = MTLSize(
        width: (self.originalWidth + threadgroupSize.width - 1) / threadgroupSize.width,
        height: (self.originalHeight + threadgroupSize.height - 1) / threadgroupSize.height,
        depth: 1
      )
    }
    
    let outputMaskTextureDescriptor = MTLTextureDescriptor.texture2DDescriptor(
      pixelFormat: .r32Float,
      width: self.originalWidth,
      height: self.originalHeight,
      mipmapped: false
    )
    outputMaskTextureDescriptor.usage = [.shaderRead, .shaderWrite]
    outputMaskTextureDescriptor.storageMode = .shared
    
    let maskTextureDescriptor = MTLTextureDescriptor.texture2DDescriptor(
      pixelFormat: .r32Float,
      width: masks.shape[3].intValue,
      height: masks.shape[2].intValue,
      mipmapped: false
    )
    maskTextureDescriptor.storageMode = .shared
    
    var postprocessingInput = PostprocessingInput(scaleSizeFactor: scaleSizeFactor)
    
    let computeCommandEncoder = commandBuffer.makeComputeCommandEncoder()!
    computeCommandEncoder.setComputePipelineState(self.postprocessComputePipelineState)
    computeCommandEncoder.setBytes(
      &postprocessingInput,
      length: MemoryLayout<PostprocessingInput>.stride,
      index: 0
    )
    
    masks.withUnsafeMutableBytes {
      pointer,
      strides in
      
      let maskPointer = pointer.bindMemory(to: Float.self).baseAddress!
      let maskStride = strides[1]
      
      for maskIndex in 0 ..< masks.shape[1].intValue {
        let maskBuffer = self.device.makeBuffer(
          bytesNoCopy: maskPointer + maskIndex * maskStride,
          length: maskStride * MemoryLayout<Float>.stride
        )!
        let maskTexture = maskBuffer.makeTexture(
          descriptor: maskTextureDescriptor,
          offset: 0,
          bytesPerRow: strides[2] * MemoryLayout<Float>.stride
        )!
        let outputMaskTexture = self.device.makeTexture(descriptor: outputMaskTextureDescriptor)!
        
        computeCommandEncoder.setTexture(maskTexture, index: 0)
        computeCommandEncoder.setTexture(outputMaskTexture, index: 1)
        
        if self.device.supportsFamily(.common3) {
          computeCommandEncoder.dispatchThreads(
            gridSizeOrThreads,
            threadsPerThreadgroup: threadgroupSize
          )
        } else {
          computeCommandEncoder.dispatchThreadgroups(
            gridSizeOrThreads,
            threadsPerThreadgroup: threadgroupSize
          )
        }
        
        outputMasks.append(outputMaskTexture)
      }
    }
    
    computeCommandEncoder.endEncoding()
    
    let gaussianFilter = MPSImageGaussianBlur(device: self.device, sigma: 5)
    
    for maskIndex in 0 ..< outputMasks.count {
      gaussianFilter.encode(commandBuffer: commandBuffer, inPlaceTexture: &outputMasks[maskIndex])
    }
    
    commandBuffer.commit()
    commandBuffer.waitUntilCompleted()
        
    return outputMasks
  }

Everything Combined

You can find and use the code at the following GitHub repo:

import Foundation
import Metal
import CoreML

public struct Point: Equatable {
  public var x: Float
  public var y: Float
  public var label: Int
  
  public init(
    x: Float,
    y: Float,
    label: Int
  ) {
    self.x = x
    self.y = y
    self.label = label
  }
}

public class SegmentAnything {
  public let device: MTLDevice
  
  private let commandQueue: MTLCommandQueue
  private let imageProcessor: ImageProcessor
  
  private var width: Int!
  private var height: Int!
  
  private var imageEmbeddings: MLMultiArray!
  private var imageEncoder: ImageEncoder!
  
  private var promptEncoder: PromptEncoder!
  private var imagePointEmbeddings: MLMultiArray!
  private var denseEmbeddings: MLMultiArray!
  
  private var maskDecoder: MaskDecoder!
    
  public init(device: MTLDevice) {
    self.device = device
    self.commandQueue = device.makeCommandQueue()!
    self.imageProcessor = ImageProcessor(
      device: device,
      mean: SIMD3<Float>(123.675 / 255.0, 116.28 / 255.0, 103.53 / 255.0),
      std: SIMD3<Float>(58.395 / 255.0, 57.12 / 255.0, 57.375 / 255.0)
    )
  }
  
  public func load() {
    self.imageProcessor.load()
    
    let modelConfiguration = MLModelConfiguration()
    modelConfiguration.computeUnits = .cpuAndGPU
    self.imageEncoder = try! ImageEncoder(configuration: modelConfiguration)
    
    self.imagePointEmbeddings = self.imageProcessor.loadTensor(
      tensorName: "image_embeddings",
      shape: [1, 256, 64, 64]
    )
    
    self.promptEncoder = try! PromptEncoder()
    
    modelConfiguration.computeUnits = .all
    self.maskDecoder = try! MaskDecoder(configuration: modelConfiguration)
  }
  
  public func preprocess(image: MTLTexture) {
    self.width = image.width
    self.height = image.height
    
    let resizedImage = self.imageProcessor.preprocess(
      image: image,
      commandQueue: self.commandQueue
    )
    
    let imageEncoderInput = ImageEncoderInput(input: resizedImage)
    let imageEncoderOutput = try! self.imageEncoder.prediction(input: imageEncoderInput)
    
    self.imageEmbeddings = imageEncoderOutput.output
  }
  
  public func predictMasks(points: [Point]) -> [(MTLTexture, Float)] {
    let pEncoderOutput = try! self.promptEncoder.prediction(
      input: self.imageProcessor.mapPoints(points: points)
    )
    
    let maskDecoderInput = MaskDecoderInput(
      imageEmbeddings: self.imageEmbeddings,
      imagePointEmbeddings: self.imagePointEmbeddings,
      sparsePromptEmbeddings: pEncoderOutput.sparseEmbeddings,
      densePromptEmbeddings: pEncoderOutput.denseEmbeddings
    )
    let maskDecoderOutput = try! self.maskDecoder.prediction(input: maskDecoderInput)
    
    let masks = self.imageProcessor.postprocess(
      masks: maskDecoderOutput.masks,
      commandQueue: self.commandQueue
    )
    
    return zip(
      masks,
      maskDecoderOutput.iou_predictionsShapedArray.scalars
    ).reduce(into: [], { $0.append(($1.0, $1.1))})
  }
}

segment_anything.mov

Name		Name	Last commit message	Last commit date
Latest commit History 16 Commits
SAM		SAM
SegmentAnythingMobile-iOS		SegmentAnythingMobile-iOS
SegmentAnythingMobile.xcodeproj		SegmentAnythingMobile.xcodeproj
SegmentAnythingMobileCLI		SegmentAnythingMobileCLI
README.md		README.md

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The Idea

Segment Anything

Model Architecture

1. Preprocessing

2. Image Encoder - Vision Transformer ViT

3. Prompt Encoder

4. Mask Decoder

5. Postprocessing

Porting to CoreML

Packages

Model In Action

Preprocessing

Postprocessing

Everything Combined

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AlessandroToschi/SegmentAnythingMobile

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The Idea

Segment Anything

Model Architecture

1. Preprocessing

2. Image Encoder - Vision Transformer ViT

3. Prompt Encoder

4. Mask Decoder

5. Postprocessing

Porting to CoreML

Packages

Model In Action

Preprocessing

Postprocessing

Everything Combined

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