zenloger/autopilot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix errors

Browse Source
This commit is contained in:
russian_proger
2026-04-05 18:14:52 +03:00
parent daee1767fb
commit b4b8f78970
6 changed files with 350 additions and 278 deletions
Download Patch File Download Diff File Expand all files Collapse all files

229
models/SiaN/notebook.gen.ipynb
View File

@@ -42,9 +42,9 @@
" \"batch_size\": 32,\n",
" \"train_split\": 0.8,\n",
" \"num_workers\": 0,\n",
" \"epochs\": 100,\n",
" \"epochs\": 10,\n",
" \"learning_rate\": 2e-4,\n",
" \"dropout_rate\": 0.3,\n",
" \"dropout_rate\": 0.5,\n",
" \"backbone\": \"resnet18\",\n",
" \"output_dir\": r\"C:\\Users\\admin\\Projects\\autopilot\\models\\SiaN\\runs\",\n",
" \"save_every_n_epochs\": 15,\n",
@@ -62,11 +62,11 @@
" rx = np.radians(np.random.uniform(-angle_range, angle_range))\n",
" ry = np.radians(np.random.uniform(-angle_range, angle_range))\n",
" rz = np.radians(np.random.uniform(-angle_range, angle_range))\n",
" return np.array([rx, ry, rz, tx, ty, scale])\n",
" return np.array([tx, ty, rx, ry, rz, scale])\n",
"\n",
"\n",
"def homography_params_to_matrix(params, K):\n",
" rx, ry, rz, tx, ty, scale = params\n",
" tx, ty, rx, ry, rz, scale = params\n",
" cy, sy = np.cos(rz), np.sin(rz)\n",
" cp, sp = np.cos(ry), np.sin(ry)\n",
" cr, sr = np.cos(rx), np.sin(rx)\n",
@@ -87,7 +87,7 @@
" r20, r21 = E[2, 0], E[2, 1]\n",
" ry = np.arctan2(r20, r21)\n",
" rx = np.arctan2(-E[1, 2], E[1, 1])\n",
" return np.array([rx, ry, rz, tx, ty, scale], dtype=np.float32)\n",
" return np.array([tx, ty, rx, ry, rz, scale], dtype=np.float32)\n",
"\n"
]
},
@@ -189,7 +189,7 @@
" else:\n",
" google_img = self._google_images[idx]\n",
" yandex_img = self._yandex_images[idx]\n",
" target_params = np.zeros(6, dtype=np.float32)\n",
" target_params = np.array([0, 0, 0, 0, 0, 1], dtype=np.float32)\n",
" target_matrix = np.eye(3, dtype=np.float32)\n",
"\n",
" google_img = Image.fromarray(google_img)\n",
@@ -249,6 +249,12 @@
"metadata": {},
"outputs": [],
"source": [
"\n",
"\n",
"def angular_difference(pred_angles, target_angles):\n",
" diff = pred_angles - target_angles\n",
" diff = torch.atan2(torch.sin(diff), torch.cos(diff))\n",
" return torch.abs(diff)\n",
"\n",
"\n",
"class HomographyCNN6(nn.Module):\n",
@@ -263,31 +269,53 @@
" nn.Linear(self.feature_dim * 4, 512),\n",
" nn.ReLU(inplace=True),\n",
" nn.Dropout(dropout_rate),\n",
" nn.Linear(1024, 512),\n",
" nn.ReLU(inplace=True),\n",
" nn.Dropout(dropout_rate),\n",
" nn.Linear(512, 256),\n",
" nn.ReLU(inplace=True),\n",
" nn.Dropout(dropout_rate),\n",
" nn.Linear(256, 9),\n",
" nn.Linear(512, 9),\n",
" )\n",
"\n",
" def _normalize_sin_cos(self, _sin, _cos):\n",
" _len = torch.sqrt(_sin ** 2 + _cos ** 2)\n",
" return _sin / _len, _cos / _len\n",
"\n",
" def forward(self, img1, img2):\n",
" f1 = self.backbone(img1)\n",
" f2 = self.backbone(img2)\n",
" combined = torch.cat([f1, f2, torch.abs(f1 - f2), f1 * f2], dim=1)\n",
"\n",
" combined[:, (0, 1)] = torch.tanh(combined[:, (0, 1)]) * 10 # [-10; 10]\n",
" combined[:, (2, 3)] = self._normalize_sin_cos(torch.tanh(combined[:, 2]), torch.tanh(combined[:, 3]))\n",
" combined[:, (4, 5)] = self._normalize_sin_cos(torch.tanh(combined[:, 4]), torch.tanh(combined[:, 5]))\n",
" combined[:, (6, 7)] = self._normalize_sin_cos(torch.tanh(combined[:, 6]), torch.tanh(combined[:, 7]))\n",
" \n",
" return self.head(combined)\n",
"\n",
" def decode_output(self, output):\n",
" tx, ty = output[:, 0], output[:, 1]\n",
" sin1, cos1 = torch.tanh(output[:, 2]), torch.tanh(output[:, 3])\n",
" sin2, cos2 = torch.tanh(output[:, 4]), torch.tanh(output[:, 5])\n",
" sin3, cos3 = torch.tanh(output[:, 6]), torch.tanh(output[:, 7])\n",
" tx = output[:, 0]\n",
" ty = output[:, 1]\n",
" scale = output[:, 8]\n",
"\n",
" angle1 = torch.atan2(sin1, cos1)\n",
" angle2 = torch.atan2(sin2, cos2)\n",
" angle3 = torch.atan2(sin3, cos3)\n",
" angle1 = torch.atan2(output[:, 2], output[:, 3])\n",
" angle2 = torch.atan2(output[:, 4], output[:, 5])\n",
" angle3 = torch.atan2(output[:, 6], output[:, 7])\n",
"\n",
" return torch.stack([tx, ty, angle1, angle2, angle3, scale], dim=1)\n",
"\n",
" def get_components(self, output):\n",
" decoded = self.decode_output(output)\n",
" return {\n",
" \"tx\": decoded[:, 0],\n",
" \"ty\": decoded[:, 1],\n",
" \"rx\": decoded[:, 2],\n",
" \"ry\": decoded[:, 3],\n",
" \"rz\": decoded[:, 4],\n",
" \"scale\": decoded[:, 5],\n",
" }\n",
"\n",
"\n",
"class HomographyLoss6(nn.Module):\n",
" def __init__(self, angle_loss_weight=1.0, trans_loss_weight=1.0, scale_loss_weight=1.0):\n",
@@ -301,63 +329,50 @@
" tx_loss = self.criterion(pred[:, 0], target[:, 0])\n",
" ty_loss = self.criterion(pred[:, 1], target[:, 1])\n",
"\n",
" sin1_pred, cos1_pred = pred[:, 2], pred[:, 3]\n",
" sin2_pred, cos2_pred = pred[:, 4], pred[:, 5]\n",
" sin3_pred, cos3_pred = pred[:, 6], pred[:, 7]\n",
" sin_rx_pred = pred[:, 2]\n",
" cos_rx_pred = pred[:, 3]\n",
" sin_ry_pred = pred[:, 4]\n",
" cos_ry_pred = pred[:, 5]\n",
" sin_rz_pred = pred[:, 6]\n",
" cos_rz_pred = pred[:, 7]\n",
"\n",
" sin1_target = torch.sin(target[:, 2])\n",
" cos1_target = torch.cos(target[:, 2])\n",
" sin2_target = torch.sin(target[:, 3])\n",
" cos2_target = torch.cos(target[:, 3])\n",
" sin3_target = torch.sin(target[:, 4])\n",
" cos3_target = torch.cos(target[:, 4])\n",
" sin_rx_target = torch.sin(target[:, 2])\n",
" cos_rx_target = torch.cos(target[:, 2])\n",
" sin_ry_target = torch.sin(target[:, 3])\n",
" cos_ry_target = torch.cos(target[:, 3])\n",
" sin_rz_target = torch.sin(target[:, 4])\n",
" cos_rz_target = torch.cos(target[:, 4])\n",
"\n",
" sin1_pred_t = torch.tanh(sin1_pred)\n",
" cos1_pred_t = torch.tanh(cos1_pred)\n",
" sin2_pred_t = torch.tanh(sin2_pred)\n",
" cos2_pred_t = torch.tanh(cos2_pred)\n",
" sin3_pred_t = torch.tanh(sin3_pred)\n",
" cos3_pred_t = torch.tanh(cos3_pred)\n",
" dot_rx = sin_rx_pred * sin_rx_target + cos_rx_pred * cos_rx_target\n",
" dot_ry = sin_ry_pred * sin_ry_target + cos_ry_pred * cos_ry_target\n",
" dot_rz = sin_rz_pred * sin_rz_target + cos_rz_pred * cos_rz_target\n",
"\n",
" angle1_loss = (1 - (sin1_pred_t * sin1_target + cos1_pred_t * cos1_target)).mean()\n",
" angle2_loss = (1 - (sin2_pred_t * sin2_target + cos2_pred_t * cos2_target)).mean()\n",
" angle3_loss = (1 - (sin3_pred_t * sin3_target + cos3_pred_t * cos3_target)).mean()\n",
" rx_loss = (1 - dot_rx).mean()\n",
" ry_loss = (1 - dot_ry).mean()\n",
" rz_loss = (1 - dot_rz).mean()\n",
"\n",
" scale_loss = self.criterion(pred[:, 8], target[:, 5])\n",
"\n",
" total_loss = (\n",
" self.trans_loss_weight * (tx_loss + ty_loss) +\n",
" self.angle_loss_weight * (angle1_loss + angle2_loss + angle3_loss) +\n",
" self.angle_loss_weight * (rx_loss + ry_loss + rz_loss) +\n",
" self.scale_loss_weight * scale_loss\n",
" )\n",
"\n",
" return total_loss\n",
"\n",
" def compute_mse_components(self, pred, target):\n",
" tx_mse = self.criterion(pred[:, 0], target[:, 0]).item()\n",
" ty_mse = self.criterion(pred[:, 1], target[:, 1]).item()\n",
" decoded = self.decode_output(pred)\n",
" tx_mse = self.criterion(decoded[:, 0], target[:, 0]).item()\n",
" ty_mse = self.criterion(decoded[:, 1], target[:, 1]).item()\n",
"\n",
" sin1_target = torch.sin(target[:, 2])\n",
" cos1_target = torch.cos(target[:, 2])\n",
" sin2_target = torch.sin(target[:, 3])\n",
" cos2_target = torch.cos(target[:, 3])\n",
" sin3_target = torch.sin(target[:, 4])\n",
" cos3_target = torch.cos(target[:, 4])\n",
" rx_mse = angular_difference(decoded[:, 2], target[:, 2]).item()\n",
" ry_mse = angular_difference(decoded[:, 3], target[:, 3]).item()\n",
" rz_mse = angular_difference(decoded[:, 4], target[:, 4]).item()\n",
"\n",
" sin1_pred_t = torch.tanh(pred[:, 2])\n",
" cos1_pred_t = torch.tanh(pred[:, 3])\n",
" sin2_pred_t = torch.tanh(pred[:, 4])\n",
" cos2_pred_t = torch.tanh(pred[:, 5])\n",
" sin3_pred_t = torch.tanh(pred[:, 6])\n",
" cos3_pred_t = torch.tanh(pred[:, 7])\n",
" scale_mse = self.criterion(decoded[:, 5], target[:, 5]).item()\n",
"\n",
" angle1_loss = (1 - (sin1_pred_t * sin1_target + cos1_pred_t * cos1_target)).mean().item()\n",
" angle2_loss = (1 - (sin2_pred_t * sin2_target + cos2_pred_t * cos2_target)).mean().item()\n",
" angle3_loss = (1 - (sin3_pred_t * sin3_target + cos3_pred_t * cos3_target)).mean().item()\n",
"\n",
" scale_mse = self.criterion(pred[:, 8], target[:, 5]).item()\n",
"\n",
" avg_angle_loss = (angle1_loss + angle2_loss + angle3_loss) / 3\n",
" avg_angle_loss = (rx_mse + ry_mse + rz_mse) / 3\n",
"\n",
" return {\n",
" 'trans': (tx_mse + ty_mse) / 2,\n",
@@ -393,7 +408,7 @@
" self.val_loader = val_loader\n",
" self.device = device\n",
" self.criterion = HomographyLoss6()\n",
" self.optimizer = optim.Adam(model.parameters(), lr=config[\"learning_rate\"])\n",
" self.optimizer = optim.Adam(model.parameters(), lr=config[\"learning_rate\"], weight_decay=1e-4)\n",
" self.writer = None\n",
" self.best_val_loss = float(\"inf\")\n",
" self.train_losses = []\n",
@@ -424,7 +439,8 @@
" total_loss += loss.item() * google_img.size(0)\n",
" total_samples += google_img.size(0)\n",
" \n",
" mse_components = self.criterion.compute_mse_components(output, target)\n",
" decoded_output = self.model.decode_output(output)\n",
" mse_components = self.criterion.compute_mse_components(decoded_output, target)\n",
" mse_trans_sum += mse_components['trans'] * google_img.size(0)\n",
" mse_angle_sum += mse_components['angle'] * google_img.size(0)\n",
" mse_scale_sum += mse_components['scale'] * google_img.size(0)\n",
@@ -447,11 +463,12 @@
" yandex_img = batch[\"yandex_img\"].to(self.device)\n",
" target = batch[\"homography_params\"].to(self.device)\n",
" output = self.model(google_img, yandex_img)\n",
" decoded_output = self.model.decode_output(output)\n",
" loss = self.criterion(output, target)\n",
" total_loss += loss.item() * google_img.size(0)\n",
" total_samples += google_img.size(0)\n",
" \n",
" mse_components = self.criterion.compute_mse_components(output, target)\n",
" mse_components = self.criterion.compute_mse_components(decoded_output, target)\n",
" mse_trans_sum += mse_components['trans'] * google_img.size(0)\n",
" mse_angle_sum += mse_components['angle'] * google_img.size(0)\n",
" mse_scale_sum += mse_components['scale'] * google_img.size(0)\n",
@@ -513,12 +530,6 @@
"os.makedirs(IMG_DIR, exist_ok=True)\n",
"\n",
"\n",
"def angular_difference(pred_angles, target_angles):\n",
" diff = pred_angles - target_angles\n",
" diff = torch.atan2(torch.sin(diff), torch.cos(diff))\n",
" return torch.abs(diff)\n",
"\n",
"\n",
"def analyze_training(trainer):\n",
" print(\"=== Training Analysis ===\\n\")\n",
"\n",
@@ -538,37 +549,54 @@
" n_samples = 50\n",
" names = [\"tx\", \"ty\", \"rx\", \"ry\", \"rz\", \"scale\"]\n",
" \n",
" _, val_loader_for_analysis = create_data_loaders(\n",
" root_dir=config[\"data_dir\"],\n",
" batch_size=config[\"batch_size\"],\n",
" train_split=config[\"train_split\"],\n",
" num_workers=config[\"num_workers\"],\n",
" image_size=config[\"image_size\"],\n",
" augment_train=True,\n",
" cache_level=0,\n",
" )\n",
" \n",
" with torch.no_grad():\n",
" all_errors = [[] for _ in range(6)]\n",
" all_targets = [[] for _ in range(6)]\n",
" all_preds = [[] for _ in range(6)]\n",
" \n",
" for i in range(n_samples):\n",
" try:\n",
" batch = next(iter(trainer.val_loader))\n",
" except StopIteration:\n",
" sample_count = 0\n",
" for batch in val_loader_for_analysis:\n",
" if sample_count >= n_samples:\n",
" break\n",
" \n",
" google_img = batch[\"google_img\"].to(trainer.device)\n",
" yandex_img = batch[\"yandex_img\"].to(trainer.device)\n",
" target_params = batch[\"homography_params\"].to(trainer.device)\n",
" pred_params = trainer.model(google_img, yandex_img)\n",
" decoded_pred = trainer.model.decode_output(pred_params)\n",
" \n",
" tx_error = torch.abs(decoded_pred[:, 0] - target_params[:, 0]).item()\n",
" ty_error = torch.abs(decoded_pred[:, 1] - target_params[:, 1]).item()\n",
" rx_error = angular_difference(decoded_pred[:, 2], target_params[:, 2]).item()\n",
" ry_error = angular_difference(decoded_pred[:, 3], target_params[:, 3]).item()\n",
" rz_error = angular_difference(decoded_pred[:, 4], target_params[:, 4]).item()\n",
" scale_error = torch.abs(decoded_pred[:, 5] - target_params[:, 5]).item()\n",
" batch_size = google_img.size(0)\n",
" for i in range(batch_size):\n",
" if sample_count >= n_samples:\n",
" break\n",
" \n",
" tx_error = torch.abs(decoded_pred[i, 0] - target_params[i, 0]).item()\n",
" ty_error = torch.abs(decoded_pred[i, 1] - target_params[i, 1]).item()\n",
" rx_error = angular_difference(decoded_pred[i, 2], target_params[i, 2]).item()\n",
" ry_error = angular_difference(decoded_pred[i, 3], target_params[i, 3]).item()\n",
" rz_error = angular_difference(decoded_pred[i, 4], target_params[i, 4]).item()\n",
" scale_error = torch.abs(decoded_pred[i, 5] - target_params[i, 5]).item()\n",
" \n",
" errors = [tx_error, ty_error, rx_error, ry_error, rz_error, scale_error]\n",
" targets = target_params[0].cpu().numpy()\n",
" preds = decoded_pred[0].cpu().numpy()\n",
" target_reordered = target_params[i].cpu().numpy()\n",
" pred_reordered = decoded_pred[i].cpu().numpy()\n",
" \n",
" for j in range(6):\n",
" all_errors[j].append(errors[j])\n",
" all_targets[j].append(targets[j])\n",
" all_preds[j].append(preds[j])\n",
" all_targets[j].append(target_reordered[j])\n",
" all_preds[j].append(pred_reordered[j])\n",
" \n",
" sample_count += 1\n",
" \n",
" mean_errors = [np.mean(all_errors[i]) for i in range(6)]\n",
" std_errors = [np.std(all_errors[i]) for i in range(6)]\n",
@@ -618,7 +646,7 @@
" for j in range(6):\n",
" row = j // 3\n",
" col = j % 3\n",
" axes[row, col].bar(range(n_samples), all_errors[j], color=\"steelblue\", alpha=0.7)\n",
" axes[row, col].bar(range(len(all_errors[j])), all_errors[j], color=\"steelblue\", alpha=0.7)\n",
" axes[row, col].set_xlabel(\"Sample\")\n",
" axes[row, col].set_ylabel(\"Absolute Error\")\n",
" axes[row, col].set_title(f\"{names[j]}: Mean={np.mean(all_errors[j]):.4f}, Std={np.std(all_errors[j]):.4f}\")\n",
@@ -657,25 +685,30 @@
" n_vis_samples = 20\n",
" \n",
" with torch.no_grad():\n",
" for sample_idx in range(n_vis_samples):\n",
" try:\n",
" batch = next(iter(trainer.val_loader))\n",
" except StopIteration:\n",
" vis_count = 0\n",
" for batch in val_loader_for_analysis:\n",
" if vis_count >= n_vis_samples:\n",
" break\n",
" google_img = batch[\"google_img\"].to(trainer.device)\n",
" yandex_img = batch[\"yandex_img\"].to(trainer.device)\n",
" target_params = batch[\"homography_params\"].to(trainer.device)\n",
" batch_size = batch[\"google_img\"].size(0)\n",
" \n",
" for i in range(batch_size):\n",
" if vis_count >= n_vis_samples:\n",
" break\n",
" \n",
" google_img = batch[\"google_img\"][i:i+1].to(trainer.device)\n",
" yandex_img = batch[\"yandex_img\"][i:i+1].to(trainer.device)\n",
" target_params = batch[\"homography_params\"][i:i+1].to(trainer.device)\n",
" pred_params = trainer.model(google_img, yandex_img)\n",
" decoded_pred = trainer.model.decode_output(pred_params)\n",
" \n",
" tx_error = torch.abs(decoded_pred[:, 0] - target_params[:, 0]).cpu().numpy()\n",
" ty_error = torch.abs(decoded_pred[:, 1] - target_params[:, 1]).cpu().numpy()\n",
" rx_error = angular_difference(decoded_pred[:, 2], target_params[:, 2]).cpu().numpy()\n",
" ry_error = angular_difference(decoded_pred[:, 3], target_params[:, 3]).cpu().numpy()\n",
" rz_error = angular_difference(decoded_pred[:, 4], target_params[:, 4]).cpu().numpy()\n",
" scale_error = torch.abs(decoded_pred[:, 5] - target_params[:, 5]).cpu().numpy()\n",
" tx_error = torch.abs(decoded_pred[0, 0] - target_params[0, 0]).item()\n",
" ty_error = torch.abs(decoded_pred[0, 1] - target_params[0, 1]).item()\n",
" rx_error = angular_difference(decoded_pred[0, 2], target_params[0, 2]).item()\n",
" ry_error = angular_difference(decoded_pred[0, 3], target_params[0, 3]).item()\n",
" rz_error = angular_difference(decoded_pred[0, 4], target_params[0, 4]).item()\n",
" scale_error = torch.abs(decoded_pred[0, 5] - target_params[0, 5]).item()\n",
" \n",
" errors = np.array([tx_error[0], ty_error[0], rx_error[0], ry_error[0], rz_error[0], scale_error[0]])\n",
" errors = np.array([tx_error, ty_error, rx_error, ry_error, rz_error, scale_error])\n",
" targets = target_params[0].cpu().numpy()\n",
" preds = decoded_pred[0].cpu().numpy()\n",
" \n",
@@ -706,14 +739,16 @@
" axes[1, 1].set_ylabel(\"Absolute Error\")\n",
" axes[1, 1].set_title(f\"Prediction Error (Mean: {np.mean(errors):.4f})\")\n",
" axes[1, 1].grid(True, alpha=0.3, axis=\"y\")\n",
" for i, e in enumerate(errors):\n",
" axes[1, 1].text(i, e + 0.01, f\"{e:.3f}\", ha=\"center\", va=\"bottom\", fontsize=8)\n",
" for i_e, e in enumerate(errors):\n",
" axes[1, 1].text(i_e, e + 0.01, f\"{e:.3f}\", ha=\"center\", va=\"bottom\", fontsize=8)\n",
" \n",
" plt.suptitle(f\"Sample {sample_idx + 1}\", fontsize=14)\n",
" plt.suptitle(f\"Sample {vis_count + 1}\", fontsize=14)\n",
" plt.tight_layout()\n",
" plt.savefig(os.path.join(IMG_DIR, f\"prediction_sample_{sample_idx + 1:02d}.png\"), dpi=100)\n",
" plt.savefig(os.path.join(IMG_DIR, f\"prediction_sample_{vis_count + 1:02d}.png\"), dpi=100)\n",
" plt.show()\n",
" print(f\"Saved prediction_sample_{sample_idx + 1:02d}.png\")\n",
" print(f\"Saved prediction_sample_{vis_count + 1:02d}.png\")\n",
" \n",
" vis_count += 1\n",
" \n",
" print(f\"\\nPrediction errors over {n_samples} samples:\")\n",
" print(f\"{'Param':<8} {'Mean Error':>12} {'Std Error':>12} {'Min':>8} {'Max':>8}\")\n",

100
models/SiaN/src/analyze.py
View File

@@ -3,18 +3,14 @@ import torch
import numpy as np
import matplotlib.pyplot as plt
from .dataloader import create_data_loaders
from .model import angular_difference
from .utils import config
IMG_DIR = os.path.join(config["output_dir"], "images")
os.makedirs(IMG_DIR, exist_ok=True)
def angular_difference(pred_angles, target_angles):
diff = pred_angles - target_angles
diff = torch.atan2(torch.sin(diff), torch.cos(diff))
return torch.abs(diff)
def analyze_training(trainer):
print("=== Training Analysis ===\n")
@@ -34,37 +30,54 @@ def analyze_training(trainer):
n_samples = 50
names = ["tx", "ty", "rx", "ry", "rz", "scale"]
_, val_loader_for_analysis = create_data_loaders(
root_dir=config["data_dir"],
batch_size=config["batch_size"],
train_split=config["train_split"],
num_workers=config["num_workers"],
image_size=config["image_size"],
augment_train=True,
cache_level=0,
)
with torch.no_grad():
all_errors = [[] for _ in range(6)]
all_targets = [[] for _ in range(6)]
all_preds = [[] for _ in range(6)]
for i in range(n_samples):
try:
batch = next(iter(trainer.val_loader))
except StopIteration:
sample_count = 0
for batch in val_loader_for_analysis:
if sample_count >= n_samples:
break
google_img = batch["google_img"].to(trainer.device)
yandex_img = batch["yandex_img"].to(trainer.device)
target_params = batch["homography_params"].to(trainer.device)
pred_params = trainer.model(google_img, yandex_img)
decoded_pred = trainer.model.decode_output(pred_params)
tx_error = torch.abs(decoded_pred[:, 0] - target_params[:, 0]).item()
ty_error = torch.abs(decoded_pred[:, 1] - target_params[:, 1]).item()
rx_error = angular_difference(decoded_pred[:, 2], target_params[:, 2]).item()
ry_error = angular_difference(decoded_pred[:, 3], target_params[:, 3]).item()
rz_error = angular_difference(decoded_pred[:, 4], target_params[:, 4]).item()
scale_error = torch.abs(decoded_pred[:, 5] - target_params[:, 5]).item()
batch_size = google_img.size(0)
for i in range(batch_size):
if sample_count >= n_samples:
break
tx_error = torch.abs(decoded_pred[i, 0] - target_params[i, 0]).item()
ty_error = torch.abs(decoded_pred[i, 1] - target_params[i, 1]).item()
rx_error = angular_difference(decoded_pred[i, 2], target_params[i, 2]).item()
ry_error = angular_difference(decoded_pred[i, 3], target_params[i, 3]).item()
rz_error = angular_difference(decoded_pred[i, 4], target_params[i, 4]).item()
scale_error = torch.abs(decoded_pred[i, 5] - target_params[i, 5]).item()
errors = [tx_error, ty_error, rx_error, ry_error, rz_error, scale_error]
targets = target_params[0].cpu().numpy()
preds = decoded_pred[0].cpu().numpy()
target_reordered = target_params[i].cpu().numpy()
pred_reordered = decoded_pred[i].cpu().numpy()
for j in range(6):
all_errors[j].append(errors[j])
all_targets[j].append(targets[j])
all_preds[j].append(preds[j])
all_targets[j].append(target_reordered[j])
all_preds[j].append(pred_reordered[j])
sample_count += 1
mean_errors = [np.mean(all_errors[i]) for i in range(6)]
std_errors = [np.std(all_errors[i]) for i in range(6)]
@@ -114,7 +127,7 @@ def analyze_training(trainer):
for j in range(6):
row = j // 3
col = j % 3
axes[row, col].bar(range(n_samples), all_errors[j], color="steelblue", alpha=0.7)
axes[row, col].bar(range(len(all_errors[j])), all_errors[j], color="steelblue", alpha=0.7)
axes[row, col].set_xlabel("Sample")
axes[row, col].set_ylabel("Absolute Error")
axes[row, col].set_title(f"{names[j]}: Mean={np.mean(all_errors[j]):.4f}, Std={np.std(all_errors[j]):.4f}")
@@ -153,25 +166,30 @@ def analyze_training(trainer):
n_vis_samples = 20
with torch.no_grad():
for sample_idx in range(n_vis_samples):
try:
batch = next(iter(trainer.val_loader))
except StopIteration:
vis_count = 0
for batch in val_loader_for_analysis:
if vis_count >= n_vis_samples:
break
google_img = batch["google_img"].to(trainer.device)
yandex_img = batch["yandex_img"].to(trainer.device)
target_params = batch["homography_params"].to(trainer.device)
batch_size = batch["google_img"].size(0)
for i in range(batch_size):
if vis_count >= n_vis_samples:
break
google_img = batch["google_img"][i:i+1].to(trainer.device)
yandex_img = batch["yandex_img"][i:i+1].to(trainer.device)
target_params = batch["homography_params"][i:i+1].to(trainer.device)
pred_params = trainer.model(google_img, yandex_img)
decoded_pred = trainer.model.decode_output(pred_params)
tx_error = torch.abs(decoded_pred[:, 0] - target_params[:, 0]).cpu().numpy()
ty_error = torch.abs(decoded_pred[:, 1] - target_params[:, 1]).cpu().numpy()
rx_error = angular_difference(decoded_pred[:, 2], target_params[:, 2]).cpu().numpy()
ry_error = angular_difference(decoded_pred[:, 3], target_params[:, 3]).cpu().numpy()
rz_error = angular_difference(decoded_pred[:, 4], target_params[:, 4]).cpu().numpy()
scale_error = torch.abs(decoded_pred[:, 5] - target_params[:, 5]).cpu().numpy()
tx_error = torch.abs(decoded_pred[0, 0] - target_params[0, 0]).item()
ty_error = torch.abs(decoded_pred[0, 1] - target_params[0, 1]).item()
rx_error = angular_difference(decoded_pred[0, 2], target_params[0, 2]).item()
ry_error = angular_difference(decoded_pred[0, 3], target_params[0, 3]).item()
rz_error = angular_difference(decoded_pred[0, 4], target_params[0, 4]).item()
scale_error = torch.abs(decoded_pred[0, 5] - target_params[0, 5]).item()
errors = np.array([tx_error[0], ty_error[0], rx_error[0], ry_error[0], rz_error[0], scale_error[0]])
errors = np.array([tx_error, ty_error, rx_error, ry_error, rz_error, scale_error])
targets = target_params[0].cpu().numpy()
preds = decoded_pred[0].cpu().numpy()
@@ -202,14 +220,16 @@ def analyze_training(trainer):
axes[1, 1].set_ylabel("Absolute Error")
axes[1, 1].set_title(f"Prediction Error (Mean: {np.mean(errors):.4f})")
axes[1, 1].grid(True, alpha=0.3, axis="y")
for i, e in enumerate(errors):
axes[1, 1].text(i, e + 0.01, f"{e:.3f}", ha="center", va="bottom", fontsize=8)
for i_e, e in enumerate(errors):
axes[1, 1].text(i_e, e + 0.01, f"{e:.3f}", ha="center", va="bottom", fontsize=8)
plt.suptitle(f"Sample {sample_idx + 1}", fontsize=14)
plt.suptitle(f"Sample {vis_count + 1}", fontsize=14)
plt.tight_layout()
plt.savefig(os.path.join(IMG_DIR, f"prediction_sample_{sample_idx + 1:02d}.png"), dpi=100)
plt.savefig(os.path.join(IMG_DIR, f"prediction_sample_{vis_count + 1:02d}.png"), dpi=100)
plt.show()
print(f"Saved prediction_sample_{sample_idx + 1:02d}.png")
print(f"Saved prediction_sample_{vis_count + 1:02d}.png")
vis_count += 1
print(f"\nPrediction errors over {n_samples} samples:")
print(f"{'Param':<8} {'Mean Error':>12} {'Std Error':>12} {'Min':>8} {'Max':>8}")

2
models/SiaN/src/dataloader.py
View File

@@ -95,7 +95,7 @@ class YaGoDataset(Dataset):
else:
google_img = self._google_images[idx]
yandex_img = self._yandex_images[idx]
target_params = np.zeros(6, dtype=np.float32)
target_params = np.array([0, 0, 0, 0, 0, 1], dtype=np.float32)
target_matrix = np.eye(3, dtype=np.float32)
google_img = Image.fromarray(google_img)

111
models/SiaN/src/model.py
View File

@@ -3,6 +3,12 @@ import torch.nn as nn
from torchvision import models
def angular_difference(pred_angles, target_angles):
diff = pred_angles - target_angles
diff = torch.atan2(torch.sin(diff), torch.cos(diff))
return torch.abs(diff)
class HomographyCNN6(nn.Module):
def __init__(self, input_channels=3, backbone_name="resnet18", pretrained=True, dropout_rate=0.3):
super().__init__()
@@ -15,31 +21,53 @@ class HomographyCNN6(nn.Module):
nn.Linear(self.feature_dim * 4, 512),
nn.ReLU(inplace=True),
nn.Dropout(dropout_rate),
nn.Linear(1024, 512),
nn.ReLU(inplace=True),
nn.Dropout(dropout_rate),
nn.Linear(512, 256),
nn.ReLU(inplace=True),
nn.Dropout(dropout_rate),
nn.Linear(256, 9),
nn.Linear(512, 9),
)
def _normalize_sin_cos(self, _sin, _cos):
_len = torch.sqrt(_sin ** 2 + _cos ** 2)
return _sin / _len, _cos / _len
def forward(self, img1, img2):
f1 = self.backbone(img1)
f2 = self.backbone(img2)
combined = torch.cat([f1, f2, torch.abs(f1 - f2), f1 * f2], dim=1)
combined[:, (0, 1)] = torch.tanh(combined[:, (0, 1)]) * 10 # [-10; 10]
combined[:, (2, 3)] = self._normalize_sin_cos(torch.tanh(combined[:, 2]), torch.tanh(combined[:, 3]))
combined[:, (4, 5)] = self._normalize_sin_cos(torch.tanh(combined[:, 4]), torch.tanh(combined[:, 5]))
combined[:, (6, 7)] = self._normalize_sin_cos(torch.tanh(combined[:, 6]), torch.tanh(combined[:, 7]))
return self.head(combined)
def decode_output(self, output):
tx, ty = output[:, 0], output[:, 1]
sin1, cos1 = torch.tanh(output[:, 2]), torch.tanh(output[:, 3])
sin2, cos2 = torch.tanh(output[:, 4]), torch.tanh(output[:, 5])
sin3, cos3 = torch.tanh(output[:, 6]), torch.tanh(output[:, 7])
tx = output[:, 0]
ty = output[:, 1]
scale = output[:, 8]
angle1 = torch.atan2(sin1, cos1)
angle2 = torch.atan2(sin2, cos2)
angle3 = torch.atan2(sin3, cos3)
angle1 = torch.atan2(output[:, 2], output[:, 3])
angle2 = torch.atan2(output[:, 4], output[:, 5])
angle3 = torch.atan2(output[:, 6], output[:, 7])
return torch.stack([tx, ty, angle1, angle2, angle3, scale], dim=1)
def get_components(self, output):
decoded = self.decode_output(output)
return {
"tx": decoded[:, 0],
"ty": decoded[:, 1],
"rx": decoded[:, 2],
"ry": decoded[:, 3],
"rz": decoded[:, 4],
"scale": decoded[:, 5],
}
class HomographyLoss6(nn.Module):
def __init__(self, angle_loss_weight=1.0, trans_loss_weight=1.0, scale_loss_weight=1.0):
@@ -53,63 +81,50 @@ class HomographyLoss6(nn.Module):
tx_loss = self.criterion(pred[:, 0], target[:, 0])
ty_loss = self.criterion(pred[:, 1], target[:, 1])
sin1_pred, cos1_pred = pred[:, 2], pred[:, 3]
sin2_pred, cos2_pred = pred[:, 4], pred[:, 5]
sin3_pred, cos3_pred = pred[:, 6], pred[:, 7]
sin_rx_pred = pred[:, 2]
cos_rx_pred = pred[:, 3]
sin_ry_pred = pred[:, 4]
cos_ry_pred = pred[:, 5]
sin_rz_pred = pred[:, 6]
cos_rz_pred = pred[:, 7]
sin1_target = torch.sin(target[:, 2])
cos1_target = torch.cos(target[:, 2])
sin2_target = torch.sin(target[:, 3])
cos2_target = torch.cos(target[:, 3])
sin3_target = torch.sin(target[:, 4])
cos3_target = torch.cos(target[:, 4])
sin_rx_target = torch.sin(target[:, 2])
cos_rx_target = torch.cos(target[:, 2])
sin_ry_target = torch.sin(target[:, 3])
cos_ry_target = torch.cos(target[:, 3])
sin_rz_target = torch.sin(target[:, 4])
cos_rz_target = torch.cos(target[:, 4])
sin1_pred_t = torch.tanh(sin1_pred)
cos1_pred_t = torch.tanh(cos1_pred)
sin2_pred_t = torch.tanh(sin2_pred)
cos2_pred_t = torch.tanh(cos2_pred)
sin3_pred_t = torch.tanh(sin3_pred)
cos3_pred_t = torch.tanh(cos3_pred)
dot_rx = sin_rx_pred * sin_rx_target + cos_rx_pred * cos_rx_target
dot_ry = sin_ry_pred * sin_ry_target + cos_ry_pred * cos_ry_target
dot_rz = sin_rz_pred * sin_rz_target + cos_rz_pred * cos_rz_target
angle1_loss = (1 - (sin1_pred_t * sin1_target + cos1_pred_t * cos1_target)).mean()
angle2_loss = (1 - (sin2_pred_t * sin2_target + cos2_pred_t * cos2_target)).mean()
angle3_loss = (1 - (sin3_pred_t * sin3_target + cos3_pred_t * cos3_target)).mean()
rx_loss = (1 - dot_rx).mean()
ry_loss = (1 - dot_ry).mean()
rz_loss = (1 - dot_rz).mean()
scale_loss = self.criterion(pred[:, 8], target[:, 5])
total_loss = (
self.trans_loss_weight * (tx_loss + ty_loss) +
self.angle_loss_weight * (angle1_loss + angle2_loss + angle3_loss) +
self.angle_loss_weight * (rx_loss + ry_loss + rz_loss) +
self.scale_loss_weight * scale_loss
)
return total_loss
def compute_mse_components(self, pred, target):
tx_mse = self.criterion(pred[:, 0], target[:, 0]).item()
ty_mse = self.criterion(pred[:, 1], target[:, 1]).item()
decoded = self.decode_output(pred)
tx_mse = self.criterion(decoded[:, 0], target[:, 0]).item()
ty_mse = self.criterion(decoded[:, 1], target[:, 1]).item()
sin1_target = torch.sin(target[:, 2])
cos1_target = torch.cos(target[:, 2])
sin2_target = torch.sin(target[:, 3])
cos2_target = torch.cos(target[:, 3])
sin3_target = torch.sin(target[:, 4])
cos3_target = torch.cos(target[:, 4])
rx_mse = angular_difference(decoded[:, 2], target[:, 2]).item()
ry_mse = angular_difference(decoded[:, 3], target[:, 3]).item()
rz_mse = angular_difference(decoded[:, 4], target[:, 4]).item()
sin1_pred_t = torch.tanh(pred[:, 2])
cos1_pred_t = torch.tanh(pred[:, 3])
sin2_pred_t = torch.tanh(pred[:, 4])
cos2_pred_t = torch.tanh(pred[:, 5])
sin3_pred_t = torch.tanh(pred[:, 6])
cos3_pred_t = torch.tanh(pred[:, 7])
scale_mse = self.criterion(decoded[:, 5], target[:, 5]).item()
angle1_loss = (1 - (sin1_pred_t * sin1_target + cos1_pred_t * cos1_target)).mean().item()
angle2_loss = (1 - (sin2_pred_t * sin2_target + cos2_pred_t * cos2_target)).mean().item()
angle3_loss = (1 - (sin3_pred_t * sin3_target + cos3_pred_t * cos3_target)).mean().item()
scale_mse = self.criterion(pred[:, 8], target[:, 5]).item()
avg_angle_loss = (angle1_loss + angle2_loss + angle3_loss) / 3
avg_angle_loss = (rx_mse + ry_mse + rz_mse) / 3
return {
'trans': (tx_mse + ty_mse) / 2,

8
models/SiaN/src/train.py
View File

@@ -18,7 +18,7 @@ class HomographyTrainer:
self.val_loader = val_loader
self.device = device
self.criterion = HomographyLoss6()
self.optimizer = optim.Adam(model.parameters(), lr=config["learning_rate"])
self.optimizer = optim.Adam(model.parameters(), lr=config["learning_rate"], weight_decay=1e-4)
self.writer = None
self.best_val_loss = float("inf")
self.train_losses = []
@@ -49,7 +49,8 @@ class HomographyTrainer:
total_loss += loss.item() * google_img.size(0)
total_samples += google_img.size(0)
mse_components = self.criterion.compute_mse_components(output, target)
decoded_output = self.model.decode_output(output)
mse_components = self.criterion.compute_mse_components(decoded_output, target)
mse_trans_sum += mse_components['trans'] * google_img.size(0)
mse_angle_sum += mse_components['angle'] * google_img.size(0)
mse_scale_sum += mse_components['scale'] * google_img.size(0)
@@ -72,11 +73,12 @@ class HomographyTrainer:
yandex_img = batch["yandex_img"].to(self.device)
target = batch["homography_params"].to(self.device)
output = self.model(google_img, yandex_img)
decoded_output = self.model.decode_output(output)
loss = self.criterion(output, target)
total_loss += loss.item() * google_img.size(0)
total_samples += google_img.size(0)
mse_components = self.criterion.compute_mse_components(output, target)
mse_components = self.criterion.compute_mse_components(decoded_output, target)
mse_trans_sum += mse_components['trans'] * google_img.size(0)
mse_angle_sum += mse_components['angle'] * google_img.size(0)
mse_scale_sum += mse_components['scale'] * google_img.size(0)

10
models/SiaN/src/utils.py
View File

@@ -7,9 +7,9 @@ config = {
"batch_size": 32,
"train_split": 0.8,
"num_workers": 0,
"epochs": 100,
"epochs": 10,
"learning_rate": 2e-4,
"dropout_rate": 0.3,
"dropout_rate": 0.5,
"backbone": "resnet18",
"output_dir": r"C:\Users\admin\Projects\autopilot\models\SiaN\runs",
"save_every_n_epochs": 15,
@@ -27,11 +27,11 @@ def generate_random_homography_params(angle_range=10, translation_range=0.1, sca
rx = np.radians(np.random.uniform(-angle_range, angle_range))
ry = np.radians(np.random.uniform(-angle_range, angle_range))
rz = np.radians(np.random.uniform(-angle_range, angle_range))
return np.array([rx, ry, rz, tx, ty, scale])
return np.array([tx, ty, rx, ry, rz, scale])
def homography_params_to_matrix(params, K):
rx, ry, rz, tx, ty, scale = params
tx, ty, rx, ry, rz, scale = params
cy, sy = np.cos(rz), np.sin(rz)
cp, sp = np.cos(ry), np.sin(ry)
cr, sr = np.cos(rx), np.sin(rx)
@@ -52,4 +52,4 @@ def matrix_to_homography_params(H, K):
r20, r21 = E[2, 0], E[2, 1]
ry = np.arctan2(r20, r21)
rx = np.arctan2(-E[1, 2], E[1, 1])
return np.array([rx, ry, rz, tx, ty, scale], dtype=np.float32)
return np.array([tx, ty, rx, ry, rz, scale], dtype=np.float32)