feat(compressors): add SAM+DINO+Hash pipeline for object feature extraction

mini-nav/compressors/__init__.py

@@ -1,6 +1,8 @@
 from .common import BinarySign, bits_to_hash, hamming_distance, hamming_similarity, hash_to_bits
 from .dino_compressor import DinoCompressor
 from .hash_compressor import HashCompressor, HashLoss, VideoPositiveMask
+from .pipeline import SAMHashPipeline, create_pipeline_from_config
+from .segament_compressor import SegmentCompressor
 from .train import train
 
 __all__ = [
@@ -9,6 +11,9 @@ __all__ = [
     "HashCompressor",
     "HashLoss",
     "VideoPositiveMask",
+    "SegmentCompressor",
+    "SAMHashPipeline",
+    "create_pipeline_from_config",
     "BinarySign",
     "hamming_distance",
     "hamming_similarity",

mini-nav/compressors/dino_compressor.py

@@ -1,8 +1,10 @@
-from typing import Optional, cast
+from typing import Optional
 
+import torch
+import torch.nn as nn
 import torch.nn.functional as F
-from torch import nn
+from PIL import Image
-from transformers import AutoModel, Dinov2Model
+from transformers import AutoImageProcessor, AutoModel
 
 
 class DinoCompressor(nn.Module):
@@ -10,15 +12,34 @@ class DinoCompressor(nn.Module):
 
     When compressor is None: returns normalized DINO embeddings.
     When compressor is provided: returns binary hash bits for CAM storage.
+
+    Supports both PIL Image input and pre-extracted tokens.
     """
 
-    def __init__(self, compressor: Optional[nn.Module] = None):
+    def __init__(
+        self,
+        model_name: str = "facebook/dinov2-large",
+        compressor: Optional[nn.Module] = None,
+        device: Optional[str] = None,
+    ):
+        """Initialize DINOv2 extractor.
+
+        Args:
+            model_name: HuggingFace model name
+            compressor: Optional hash compressor for producing binary codes
+            device: Device to load model on
+        """
         super().__init__()
 
-        self.dino = cast(
+        # Auto detect device
-            Dinov2Model,
+        if device is None:
-            AutoModel.from_pretrained("facebook/dinov2-large"),
+            device = "cuda" if torch.cuda.is_available() else "cpu"
-        )
+        self.device = torch.device(device)
+
+        self.model_name = model_name
+        self.processor = AutoImageProcessor.from_pretrained(model_name)
+        self.dino = AutoModel.from_pretrained(model_name).to(self.device)
+        self.dino.eval()
 
         self.compressor = compressor
 
@@ -34,3 +55,51 @@ class DinoCompressor(nn.Module):
         # HashCompressor returns (logits, hash_codes, bits)
         _, _, bits = self.compressor(teacher_tokens)
         return bits  # [B, 512] binary bits for CAM
+
+    def extract_features(self, images: list[Image.Image]) -> torch.Tensor:
+        """Extract DINO features from a list of cropped object images.
+
+        Args:
+            images: List of PIL Images (cropped objects)
+
+        Returns:
+            DINO features [N, feature_dim], normalized
+        """
+        if len(images) == 0:
+            return torch.empty(0, self.dino.config.hidden_size, device=self.device)
+
+        # Process batch of images
+        inputs = self.processor(images, return_tensors="pt").to(self.device)
+
+        with torch.no_grad():
+            outputs = self.dino(**inputs)
+
+        # Pool tokens to get global representation
+        features = outputs.last_hidden_state.mean(dim=1)  # [N, 1024]
+        features = F.normalize(features, dim=-1)
+
+        return features
+
+    def encode(self, images: list[Image.Image]) -> torch.Tensor:
+        """Extract features from images and optionally compress to hash codes.
+
+        Args:
+            images: List of PIL Images
+
+        Returns:
+            If compressor is None: DINO features [N, 1024]
+            If compressor is set: Binary hash bits [N, 512]
+        """
+        if self.compressor is None:
+            return self.extract_features(images)
+
+        # Extract features first
+        features = self.extract_features(images)  # [N, 1024]
+
+        # Add sequence dimension for compressor (expects [B, N, dim])
+        features = features.unsqueeze(1)  # [N, 1, 1024]
+
+        # Compress to hash codes
+        _, _, bits = self.compressor(features)
+
+        return bits

mini-nav/compressors/pipeline.py

@@ -0,0 +1,170 @@
+"""Complete pipeline for SAM + DINO + HashCompressor.
+
+This pipeline extracts object masks from images using SAM2.1,
+crops the objects, extracts features using DINOv2,
+and compresses them to binary hash codes using HashCompressor.
+"""
+
+from pathlib import Path
+from typing import Optional
+
+import torch
+import torch.nn as nn
+from PIL import Image
+
+from .dino_compressor import DinoCompressor
+from .hash_compressor import HashCompressor
+from .segament_compressor import SegmentCompressor
+
+
+def create_pipeline_from_config(config) -> "SAMHashPipeline":
+    """Create SAMHashPipeline from a config object.
+
+    Args:
+        config: Configuration object with model settings
+
+    Returns:
+        Initialized SAMHashPipeline
+    """
+    return SAMHashPipeline(
+        sam_model=config.model.sam_model,
+        dino_model=config.model.name,
+        hash_bits=config.model.compression_dim,
+        sam_min_mask_area=config.model.sam_min_mask_area,
+        sam_max_masks=config.model.sam_max_masks,
+        compressor_path=config.model.compressor_path,
+        device=config.model.device if config.model.device != "auto" else None,
+    )
+
+
+class SAMHashPipeline(nn.Module):
+    """Complete pipeline: SAM segmentation + DINO features + Hash compression.
+
+    Pipeline flow:
+        Image -> SAM (extract masks) -> Crop objects -> DINO (features) -> Hash (binary codes)
+
+    Usage:
+        # Initialize with config
+        pipeline = SAMHashPipeline(
+            sam_model="facebook/sam2.1-hiera-large",
+            dino_model="facebook/dinov2-large",
+            hash_bits=512,
+        )
+
+        # Process image
+        image = Image.open("path/to/image.jpg")
+        hash_codes = pipeline(image)  # [N, 512] binary bits
+    """
+
+    def __init__(
+        self,
+        sam_model: str = "facebook/sam2.1-hiera-large",
+        dino_model: str = "facebook/dinov2-large",
+        hash_bits: int = 512,
+        sam_min_mask_area: int = 100,
+        sam_max_masks: int = 10,
+        compressor_path: Optional[str] = None,
+        device: Optional[str] = None,
+    ):
+        """Initialize the complete pipeline.
+
+        Args:
+            sam_model: SAM model name from HuggingFace
+            dino_model: DINOv2 model name from HuggingFace
+            hash_bits: Number of bits in hash code
+            sam_min_mask_area: Minimum mask area threshold
+            sam_max_masks: Maximum number of masks to keep
+            compressor_path: Optional path to trained HashCompressor weights
+            device: Device to run models on
+        """
+        super().__init__()
+
+        # Auto detect device
+        if device is None:
+            device = "cuda" if torch.cuda.is_available() else "cpu"
+        self.device = torch.device(device)
+
+        # Initialize components
+        self.segmentor = SegmentCompressor(
+            model_name=sam_model,
+            min_mask_area=sam_min_mask_area,
+            max_masks=sam_max_masks,
+            device=device,
+        )
+
+        # HashCompressor expects DINO features (1024 dim for dinov2-large)
+        dino_dim = 1024 if "large" in dino_model else 768
+        self.hash_compressor = HashCompressor(
+            input_dim=dino_dim, hash_bits=hash_bits
+        ).to(device)
+
+        # Load pretrained compressor if provided
+        if compressor_path is not None:
+            self.hash_compressor.load_state_dict(
+                torch.load(compressor_path, map_location=device)
+            )
+            print(f"[OK] Loaded HashCompressor from {compressor_path}")
+
+        self.dino = DinoCompressor(
+            model_name=dino_model,
+            compressor=self.hash_compressor,
+            device=device,
+        )
+
+    def forward(self, image: Image.Image) -> torch.Tensor:
+        """Process a single image through the complete pipeline.
+
+        Args:
+            image: Input PIL Image
+
+        Returns:
+            Binary hash codes [N, hash_bits] where N is number of detected objects
+        """
+        # Step 1: SAM - extract and crop objects
+        cropped_objects = self.segmentor(image)
+
+        if len(cropped_objects) == 0:
+            # No objects detected, return empty tensor
+            return torch.empty(
+                0, self.hash_compressor.hash_bits, dtype=torch.int32, device=self.device
+            )
+
+        # Step 2: DINO - extract features from cropped objects
+        # Step 3: HashCompressor - compress features to binary codes
+        hash_codes = self.dino.encode(cropped_objects)
+
+        return hash_codes
+
+    def extract_features(
+        self, image: Image.Image, use_hash: bool = False
+    ) -> torch.Tensor:
+        """Extract features from image with optional hash compression.
+
+        Args:
+            image: Input PIL Image
+            use_hash: If True, return binary hash codes; else return DINO features
+
+        Returns:
+            Features [N, dim] where dim is 1024 (DINO) or 512 (hash)
+        """
+        cropped_objects = self.segmentor(image)
+
+        if len(cropped_objects) == 0:
+            dim = self.hash_compressor.hash_bits if use_hash else 1024
+            return torch.empty(0, dim, device=self.device)
+
+        if use_hash:
+            return self.dino.encode(cropped_objects)
+        else:
+            return self.dino.extract_features(cropped_objects)
+
+    def extract_masks(self, image: Image.Image) -> list[torch.Tensor]:
+        """Extract only masks without full processing (for debugging).
+
+        Args:
+            image: Input PIL Image
+
+        Returns:
+            List of binary masks [H, W]
+        """
+        return self.segmentor.extract_masks(image)

mini-nav/compressors/segament_compressor.py

@@ -0,0 +1,180 @@
+"""Segment Anything 2 feature extractor with mask filtering and image cropping.
+
+Extracts object masks from images using SAM2.1, filters by area and confidence,
+then crops the original image to obtain individual object regions.
+"""
+
+from typing import Optional
+
+import numpy as np
+import torch
+import torch.nn as nn
+from PIL import Image
+from transformers import AutoModelForMaskGeneration, AutoProcessor
+
+
+class SegmentCompressor(nn.Module):
+    """SAM2.1 based segmenter with mask filtering.
+
+    Extracts object masks from images, filters by area and confidence,
+    and crops the original image to produce individual object patches.
+    """
+
+    def __init__(
+        self,
+        model_name: str = "facebook/sam2.1-hiera-large",
+        min_mask_area: int = 100,
+        max_masks: int = 10,
+        device: Optional[str] = None,
+    ):
+        """Initialize SAM2.1 segmenter.
+
+        Args:
+            model_name: HuggingFace model name for SAM2.1
+            min_mask_area: Minimum mask pixel area threshold
+            max_masks: Maximum number of masks to keep
+            device: Device to load model on (auto-detect if None)
+        """
+        super().__init__()
+
+        self.model_name = model_name
+        self.min_mask_area = min_mask_area
+        self.max_masks = max_masks
+
+        # Auto detect device
+        if device is None:
+            device = "cuda" if torch.cuda.is_available() else "cpu"
+        self.device = torch.device(device)
+
+        # Load SAM model and processor
+        self.processor = AutoProcessor.from_pretrained(model_name)
+        self.model = AutoModelForMaskGeneration.from_pretrained(model_name).to(
+            self.device
+        )
+        self.model.eval()
+
+    def forward(self, image: Image.Image) -> list[Image.Image]:
+        """Extract object masks and crop object regions.
+
+        Args:
+            image: Input PIL Image
+
+        Returns:
+            List of cropped object images (one per valid mask)
+        """
+        # Run SAM inference
+        inputs = self.processor(image, return_tensors="pt").to(self.device)
+
+        with torch.no_grad():
+            outputs = self.model(**inputs)
+
+        # Post-process masks
+        masks = self.processor.post_process_masks(
+            outputs.pred_masks,
+            inputs["original_sizes"],
+            inputs["reshaped_input_sizes"],
+        )[0]
+
+        # Filter masks by area and confidence
+        valid_masks = self._filter_masks(masks)
+
+        if len(valid_masks) == 0:
+            return []
+
+        # Crop object regions from original image
+        cropped_objects = self._crop_objects(image, valid_masks)
+
+        return cropped_objects
+
+    def _filter_masks(self, masks: torch.Tensor) -> list[dict]:
+        """Filter masks by area and keep top-N.
+
+        Args:
+            masks: Predicted masks [N, H, W]
+
+        Returns:
+            List of mask dictionaries with 'mask' and 'area'
+        """
+        valid_masks = []
+
+        for mask in masks:
+            # Calculate mask area
+            area = mask.sum().item()
+
+            # Filter by minimum area
+            if area < self.min_mask_area:
+                continue
+
+            valid_masks.append({"mask": mask, "area": area})
+
+        # Sort by area (descending) and keep top-N
+        valid_masks = sorted(valid_masks, key=lambda x: x["area"], reverse=True)
+        valid_masks = valid_masks[: self.max_masks]
+
+        return valid_masks
+
+    def _crop_objects(
+        self, image: Image.Image, masks: list[dict]
+    ) -> list[Image.Image]:
+        """Crop object regions from image using masks.
+
+        Args:
+            image: Original PIL Image
+            masks: List of mask dictionaries
+
+        Returns:
+            List of cropped object images
+        """
+        # Convert PIL to numpy for processing
+        image_np = np.array(image)
+        h, w = image_np.shape[:2]
+
+        cropped_objects = []
+
+        for mask_info in masks:
+            mask = mask_info["mask"].cpu().numpy()
+
+            # Find bounding box from mask
+            rows = mask.any(axis=1)
+            cols = mask.any(axis=0)
+
+            if not rows.any() or not cols.any():
+                continue
+
+            y_min, y_max = rows.argmax(), h - rows[::-1].argmax() - 1
+            x_min, x_max = cols.argmax(), w - cols[::-1].argmax() - 1
+
+            # Add small padding
+            pad = 5
+            x_min = max(0, x_min - pad)
+            y_min = max(0, y_min - pad)
+            x_max = min(w, x_max + pad)
+            y_max = min(h, y_max + pad)
+
+            # Crop
+            cropped = image.crop((x_min, y_min, x_max, y_max))
+            cropped_objects.append(cropped)
+
+        return cropped_objects
+
+    @torch.no_grad()
+    def extract_masks(self, image: Image.Image) -> list[torch.Tensor]:
+        """Extract only masks without cropping (for debugging).
+
+        Args:
+            image: Input PIL Image
+
+        Returns:
+            List of binary masks [H, W]
+        """
+        inputs = self.processor(image, return_tensors="pt").to(self.device)
+        outputs = self.model(**inputs)
+
+        masks = self.processor.post_process_masks(
+            outputs.pred_masks,
+            inputs["original_sizes"],
+            inputs["reshaped_input_sizes"],
+        )[0]
+
+        valid_masks = self._filter_masks(masks)
+        return [m["mask"] for m in valid_masks]

mini-nav/configs/config.yaml

@@ -2,6 +2,10 @@ model:
   name: "facebook/dinov2-large"
   compression_dim: 512
   device: "auto" # auto-detect GPU
+  sam_model: "facebook/sam2.1-hiera-large"  # SAM model name
+  sam_min_mask_area: 100  # Minimum mask area threshold
+  sam_max_masks: 10  # Maximum number of masks to keep
+  compressor_path: null  # Path to trained HashCompressor weights (optional)
 
 output:
   directory: "./outputs"

mini-nav/configs/models.py

@@ -1,6 +1,7 @@
 """Pydantic data models for feature compressor configuration."""
 
 from pathlib import Path
+from typing import Optional
 
 from pydantic import BaseModel, ConfigDict, Field, field_validator
 
@@ -15,6 +16,19 @@ class ModelConfig(BaseModel):
         default=512, gt=0, description="Output feature dimension"
     )
     device: str = "auto"
+    sam_model: str = Field(
+        default="facebook/sam2.1-hiera-large",
+        description="SAM model name from HuggingFace",
+    )
+    sam_min_mask_area: int = Field(
+        default=100, gt=0, description="Minimum mask area threshold"
+    )
+    sam_max_masks: int = Field(
+        default=10, gt=0, description="Maximum number of masks to keep"
+    )
+    compressor_path: Optional[str] = Field(
+        default=None, description="Path to trained HashCompressor weights"
+    )
 
 
 class OutputConfig(BaseModel):

mini-nav/tests/test_compressors.py

@@ -0,0 +1,303 @@
+"""Tests for compressor modules (SAM, DINO, HashCompressor, Pipeline)."""
+
+import tempfile
+from pathlib import Path
+from unittest.mock import MagicMock, patch
+
+import pytest
+import torch
+from PIL import Image
+
+from configs import cfg_manager
+from compressors import (
+    BinarySign,
+    DinoCompressor,
+    HashCompressor,
+    SegmentCompressor,
+    SAMHashPipeline,
+    create_pipeline_from_config,
+    bits_to_hash,
+    hash_to_bits,
+    hamming_distance,
+    hamming_similarity,
+)
+
+
+class TestHashCompressor:
+    """Test suite for HashCompressor."""
+
+    def test_hash_compressor_init(self):
+        """Verify HashCompressor initializes with correct dimensions."""
+        compressor = HashCompressor(input_dim=1024, hash_bits=512)
+        assert compressor.input_dim == 1024
+        assert compressor.hash_bits == 512
+
+    def test_hash_compressor_forward(self):
+        """Verify forward pass produces correct output shapes."""
+        compressor = HashCompressor(input_dim=1024, hash_bits=512)
+        tokens = torch.randn(4, 197, 1024)  # [B, N, input_dim]
+
+        logits, hash_codes, bits = compressor(tokens)
+
+        assert logits.shape == (4, 512)
+        assert hash_codes.shape == (4, 512)
+        assert bits.shape == (4, 512)
+        # Verify bits are binary (0 or 1)
+        assert torch.all((bits == 0) | (bits == 1))
+
+    def test_hash_compressor_encode(self):
+        """Verify encode method returns binary bits."""
+        compressor = HashCompressor(input_dim=1024, hash_bits=512)
+        tokens = torch.randn(2, 197, 1024)
+
+        bits = compressor.encode(tokens)
+
+        assert bits.shape == (2, 512)
+        assert bits.dtype == torch.int32
+        assert torch.all((bits == 0) | (bits == 1))
+
+    def test_hash_compressor_similarity(self):
+        """Verify compute_similarity returns correct shape."""
+        compressor = HashCompressor(input_dim=1024, hash_bits=512)
+
+        # Create random bits
+        bits1 = torch.randint(0, 2, (3, 512))
+        bits2 = torch.randint(0, 2, (5, 512))
+
+        sim = compressor.compute_similarity(bits1, bits2)
+
+        assert sim.shape == (3, 5)
+
+
+class TestBinarySign:
+    """Test suite for BinarySign function."""
+
+    def test_binary_sign_forward(self):
+        """Verify BinarySign produces {-1, +1} outputs."""
+        x = torch.randn(4, 512)
+        result = BinarySign.apply(x)
+
+        assert torch.all((result == 1) | (result == -1))
+
+    def test_binary_sign_round_trip(self):
+        """Verify bits -> hash -> bits preserves values."""
+        bits = torch.randint(0, 2, (4, 512))
+        hash_codes = bits_to_hash(bits)
+        bits_recovered = hash_to_bits(hash_codes)
+
+        assert torch.equal(bits, bits_recovered)
+
+
+class TestHammingMetrics:
+    """Test suite for Hamming distance and similarity."""
+
+    def test_hamming_distance_same_codes(self):
+        """Verify hamming distance is 0 for identical single codes."""
+        bits1 = torch.randint(0, 2, (512,))
+        bits2 = bits1.clone()
+
+        dist = hamming_distance(bits1, bits2)
+
+        assert dist.item() == 0
+
+    def test_hamming_distance_self_comparison(self):
+        """Verify hamming distance diagonal is 0 (each code compared to itself)."""
+        bits = torch.randint(0, 2, (10, 512))
+
+        dist = hamming_distance(bits, bits)
+
+        # Diagonal should be 0 (distance to self)
+        diagonal = torch.diag(dist)
+        assert torch.all(diagonal == 0)
+
+    def test_hamming_distance_different(self):
+        """Verify hamming distance is correct for different codes."""
+        bits1 = torch.zeros(1, 512, dtype=torch.int32)
+        bits2 = torch.ones(1, 512, dtype=torch.int32)
+
+        dist = hamming_distance(bits1, bits2)
+
+        assert dist.item() == 512
+
+    def test_hamming_similarity(self):
+        """Verify hamming similarity is positive for similar codes."""
+        hash1 = torch.ones(1, 512)
+        hash2 = torch.ones(1, 512)
+
+        sim = hamming_similarity(hash1, hash2)
+
+        assert sim.item() == 512  # Max similarity
+
+
+class TestSegmentCompressor:
+    """Test suite for SegmentCompressor."""
+
+    @pytest.fixture
+    def mock_image(self):
+        """Create a mock PIL image."""
+        img = Image.new("RGB", (224, 224), color="red")
+        return img
+
+    def test_segment_compressor_init(self):
+        """Verify SegmentCompressor initializes with correct parameters."""
+        segmentor = SegmentCompressor(
+            model_name="facebook/sam2.1-hiera-large",
+            min_mask_area=100,
+            max_masks=10,
+        )
+
+        assert segmentor.model_name == "facebook/sam2.1-hiera-large"
+        assert segmentor.min_mask_area == 100
+        assert segmentor.max_masks == 10
+
+    def test_filter_masks(self):
+        """Verify mask filtering logic."""
+        # Create segmentor to get default filter params
+        segmentor = SegmentCompressor()
+
+        # Create mock masks tensor with different areas
+        # Masks shape: [N, H, W]
+        masks = []
+        for area in [50, 200, 150, 300, 10]:
+            mask = torch.zeros(100, 100)
+            mask[:1, :area] = 1  # Create mask with specific area
+            masks.append(mask)
+
+        masks_tensor = torch.stack(masks)  # [5, 100, 100]
+        valid = segmentor._filter_masks(masks_tensor)
+
+        # Should filter out 50 and 10 (below min_mask_area=100)
+        # Then keep top 3 (max_masks=10)
+        assert len(valid) == 3
+        # Verify sorted by area (descending)
+        areas = [v["area"] for v in valid]
+        assert areas == sorted(areas, reverse=True)
+
+
+class TestDinoCompressor:
+    """Test suite for DinoCompressor."""
+
+    def test_dino_compressor_init(self):
+        """Verify DinoCompressor initializes correctly."""
+        dino = DinoCompressor()
+
+        assert dino.model_name == "facebook/dinov2-large"
+
+    def test_dino_compressor_with_compressor(self):
+        """Verify DinoCompressor with HashCompressor."""
+        hash_compressor = HashCompressor(input_dim=1024, hash_bits=512)
+        dino = DinoCompressor(compressor=hash_compressor)
+
+        assert dino.compressor is hash_compressor
+
+
+class TestSAMHashPipeline:
+    """Test suite for SAMHashPipeline."""
+
+    def test_pipeline_init(self):
+        """Verify pipeline initializes all components."""
+        pipeline = SAMHashPipeline(
+            sam_model="facebook/sam2.1-hiera-large",
+            dino_model="facebook/dinov2-large",
+            hash_bits=512,
+        )
+
+        assert isinstance(pipeline.segmentor, SegmentCompressor)
+        assert isinstance(pipeline.dino, DinoCompressor)
+        assert isinstance(pipeline.hash_compressor, HashCompressor)
+
+    def test_pipeline_hash_bits(self):
+        """Verify pipeline uses correct hash bits."""
+        pipeline = SAMHashPipeline(hash_bits=256)
+        assert pipeline.hash_compressor.hash_bits == 256
+
+
+class TestConfigIntegration:
+    """Test suite for config integration with pipeline."""
+
+    def test_create_pipeline_from_config(self):
+        """Verify pipeline can be created from config."""
+        config = cfg_manager.load()
+
+        pipeline = create_pipeline_from_config(config)
+
+        assert isinstance(pipeline, SAMHashPipeline)
+        assert pipeline.hash_compressor.hash_bits == config.model.compression_dim
+
+    def test_config_sam_settings(self):
+        """Verify config contains SAM settings."""
+        config = cfg_manager.load()
+
+        assert hasattr(config.model, "sam_model")
+        assert hasattr(config.model, "sam_min_mask_area")
+        assert hasattr(config.model, "sam_max_masks")
+        assert config.model.sam_model == "facebook/sam2.1-hiera-large"
+        assert config.model.sam_min_mask_area == 100
+        assert config.model.sam_max_masks == 10
+
+
+class TestPipelineIntegration:
+    """Integration tests for full pipeline (slow, requires model downloads)."""
+
+    @pytest.mark.slow
+    def test_pipeline_end_to_end(self):
+        """Test full pipeline with actual models (slow test)."""
+        # Skip if no GPU
+        if not torch.cuda.is_available():
+            pytest.skip("Requires CUDA")
+
+        # Create a simple test image
+        image = Image.new("RGB", (640, 480), color=(128, 128, 128))
+
+        # Initialize pipeline (will download models on first run)
+        pipeline = SAMHashPipeline(
+            sam_model="facebook/sam2.1-hiera-large",
+            dino_model="facebook/dinov2-large",
+            hash_bits=512,
+            sam_min_mask_area=100,
+            sam_max_masks=5,
+        )
+
+        # Run pipeline
+        hash_codes = pipeline(image)
+
+        # Verify output shape
+        assert hash_codes.dim() == 2
+        assert hash_codes.shape[1] == 512
+        assert torch.all((hash_codes == 0) | (hash_codes == 1))
+
+    @pytest.mark.slow
+    def test_extract_features_without_hash(self):
+        """Test feature extraction without hash compression."""
+        if not torch.cuda.is_available():
+            pytest.skip("Requires CUDA")
+
+        image = Image.new("RGB", (640, 480), color=(128, 128, 128))
+
+        pipeline = SAMHashPipeline(
+            sam_model="facebook/sam2.1-hiera-large",
+            dino_model="facebook/dinov2-large",
+        )
+
+        features = pipeline.extract_features(image, use_hash=False)
+
+        # Should return DINO features (1024 for large)
+        assert features.dim() == 2
+        assert features.shape[1] == 1024
+
+    @pytest.mark.slow
+    def test_extract_masks_only(self):
+        """Test mask extraction only."""
+        if not torch.cuda.is_available():
+            pytest.skip("Requires CUDA")
+
+        image = Image.new("RGB", (640, 480), color=(128, 128, 128))
+
+        pipeline = SAMHashPipeline(
+            sam_model="facebook/sam2.1-hiera-large",
+        )
+
+        masks = pipeline.extract_masks(image)
+
+        # Should return a list of masks
+        assert isinstance(masks, list)