feat: add models

.gitignore

@@ -1,4 +1,5 @@
 .venv
 __pycache__
 *.png
-images
+trajectories
+z

autopilot.py

@@ -3,6 +3,7 @@ from pathlib import Path
 import math
 import random
 
+import constants
 import cv2
 import numpy as np
 from PIL import Image
@@ -56,14 +57,16 @@ class AutoPilot(Pilot):
 
     # Положение на основе ориентира
     reserved_pos: Position | None
+    proccessing_time: float
 
-    def __init__(self, points = [], chunks = [], viz_manager=None):
+    def __init__(self, points = [], chunks = [], viz_manager=None, pixel_ratio: float = 1.):
         self.prev_chunk = None
         self.pos = Position(0, 0, 1, 0, 0, 0)
         self.chunks = chunks
         self.frame_count = 0
         self.vis_manager = viz_manager  # Менеджер визуализации
         self.reserved_pos = None
+        self.pixel_ratio = pixel_ratio
 
         # Пороговые значения качества сопоставления/гомографии
         self.min_inliers: int = 12
@@ -76,6 +79,7 @@ class AutoPilot(Pilot):
         self.target_idx = 0
 
         self.timer = Timer()
+        self.chunk_points = np.array([[chunk.pos.x, chunk.pos.y] for chunk in self.chunks])
 
     def get_position(self) -> tuple[float, float]:
         return self.pos.x, self.pos.y
@@ -91,7 +95,7 @@ class AutoPilot(Pilot):
         h, w = prev_gray.shape[:2]
         
         # Создаем сетку точек для отслеживания (аналогично вашему step=20)
-        step = 35
+        step = 20
         grid_points = []
         for y in range(step, h - step, step):
             for x in range(step, w - step, step):
@@ -133,9 +137,6 @@ class AutoPilot(Pilot):
         """
         self.pos.iapply(homography_matrix)
 
-        if self.reserved_pos is not None:
-            self.reserved_pos.iapply(homography_matrix)
-
     def get_drone_state(self) -> dict:
         """
         Возвращает текущее состояние БПЛА
@@ -149,43 +150,122 @@ class AutoPilot(Pilot):
         }
 
     def get_position_by_chunk(self) -> Position | None:
-        # Пытаемся найти ориентир на картинке:
+        landmark_timer = Timer()
+        landmark_timer.start()
+
+        cur_pos = np.array([self.pos.x, self.pos.y])
+        closest_chunk_idx = ((self.chunk_points - cur_pos) ** 2).sum(1).argmin()
+
         current_chunk = self.prev_chunk
-        landmark_chunk = self.chunks[self.target_idx]
+        landmark_chunk = self.chunks[closest_chunk_idx]
+        
+        if constants.DEBUG_FPS:
+            print(f"[LANDMARK]: Closest chunk finding: {landmark_timer.loop() * 1000:.2f} ms")
+
+        # Краевой случай: отсутствие чанков
+        if current_chunk is None or landmark_chunk is None:
+            return None
+        
+        landmark_timer.start()
         src_pts, dst_pts, matches, kp1, kp2 = landmark_chunk.detect_and_match_keypoints(current_chunk)
 
+        if constants.DEBUG_FPS:
+            print(f"[LANDMARK]: detect and match keypoints: {landmark_timer.loop() * 1000:.2f} ms")
+
+        landmark_timer.stop()
+
+        # Визуализация (если нужна)
         if src_pts is not None and dst_pts is not None and self.vis_manager:
             was_enabled = self.timer.enabled
-            if was_enabled: self.timer.stop()
-            self.vis_manager.update_chunk_matches(landmark_chunk.to_numpy(), current_chunk.to_numpy(), kp1, kp2, matches)
-            if was_enabled: self.timer.start()
+            if was_enabled: 
+                self.timer.stop()
+            self.vis_manager.update_chunk_matches(
+                landmark_chunk.to_numpy(), 
+                current_chunk.to_numpy(), 
+                kp1, kp2, matches
+            )
+            if was_enabled: 
+                self.timer.start()
 
-        if src_pts is not None and dst_pts is not None:
-            # Оцениваем матрицу трансформации
-            landmark_transform = self.estimate_transformation_matrix(src_pts, dst_pts)
-            # Если ориентир достоверно найден — скорректируем глобальные координаты и угол
-            if landmark_transform is not None:
-                ok_scale = (self.min_scale <= landmark_transform['scale'] <= self.max_scale)
-                ok_inliers = (landmark_transform.get('inliers', 0) >= self.min_inliers)
-                ratio = landmark_transform.get('inliers_ratio', 0.0)
-                ok_ratio = (ratio >= self.min_inlier_ratio)
-                rmse = landmark_transform.get('rmse', None)
-                ok_rmse = (rmse is not None and rmse <= self.max_reproj_rmse)
-                if ok_scale and ok_inliers and ok_ratio and ok_rmse:
-                    # print("[HELP]")
-                    # print("Matrix", landmark_transform['homography'])
-                    # print("Position", self.x, self.y)
-                    # print("Position of point", self.points[self.target_idx])
-                    # print("[PILOT]", rmse, ratio, ok_rmse)
-                # if False:
-                    # Считаем абсолютную позу относительно координат ориентира
-                    landmark_world_x, landmark_world_y = self.points[self.target_idx]
-                    landmark = Position(landmark_world_x, landmark_world_y, 1, 0)
-                    homography = landmark_transform['homography']
-                    # homography = np.linalg.inv(homography)
-                    print(f"  [Pilot] Landmark correction applied (inliers={landmark_transform['inliers']}, ratio={ratio:.2f}, rmse={rmse:.2f})")
-                    return landmark @ homography
-        return None
+        landmark_timer.start()
+        # Краевой случай: нет точек или недостаточно матчей
+        if src_pts is None or dst_pts is None:
+            return None
+        
+        num_matches = len(src_pts)
+        if num_matches < 20:
+            return None
+
+        # Оценка матрицы гомографии
+        landmark_timer.loop()
+        landmark_transform, mask = estimate_transformation_matrix(src_pts, dst_pts)
+        num_inliers = int(np.sum(mask))
+
+        if constants.DEBUG_FPS:
+            print(f"[LANDMARK]: matrix estimation: {landmark_timer.loop() * 1000:.2f} ms")
+        
+        # Краевой случай: матрица не найдена
+        if landmark_transform is None or mask is None:
+            return None
+
+        # === КРИТЕРИИ ПРИНЯТИЯ РЕШЕНИЯ ===
+        
+        # 1. Минимальное количество инлайеров (абсолютное)
+        MIN_INLIERS_ABSOLUTE = 6
+        if num_inliers < MIN_INLIERS_ABSOLUTE:
+            return None
+        
+        # 2. Процент инлайеров от общего числа матчей
+        inlier_ratio = num_inliers / num_matches
+
+        if constants.DEBUG_LANDMARK:
+            print("[LANDMARK]: inlier_ratio=", inlier_ratio)
+
+        MIN_INLIER_RATIO = 0.6
+        if inlier_ratio < MIN_INLIER_RATIO:
+            return None
+        
+        # 3. Проверка качества гомографии (детерминант для выявления вырожденных случаев)
+        det = np.linalg.det(landmark_transform[:2, :2])
+        # Детерминант должен быть близок к 1 (без сильного масштабирования)
+        if abs(det) < 0.1 or abs(det) > 10.0:
+            return None
+        
+        # 4. Проверка на валидность перспективного преобразования
+        # Элементы третьей строки не должны быть слишком большими
+        if abs(landmark_transform[2, 0]) > 0.01 or abs(landmark_transform[2, 1]) > 0.01:
+            return None
+        
+        # 5. Дополнительная проверка: средняя ошибка репроекции для инлайеров
+        inlier_src = src_pts[mask.ravel() == 1]
+        inlier_dst = dst_pts[mask.ravel() == 1]
+        
+        # Преобразуем точки через найденную гомографию
+        transformed_pts = cv2.perspectiveTransform(inlier_src, landmark_transform)
+        
+        # Вычисляем ошибку репроекции
+        reprojection_errors = np.sqrt(np.sum((transformed_pts - inlier_dst) ** 2, axis=2))
+        mean_error = np.mean(reprojection_errors)
+        
+        MAX_MEAN_REPROJECTION_ERROR = 1.1  # пиксели
+
+        if constants.DEBUG_LANDMARK:
+            print("[LANDMARK]: Mean_error=", mean_error)
+
+        if mean_error > MAX_MEAN_REPROJECTION_ERROR:
+            return None
+        
+        # 6. Проверка стабильности: если слишком много хороших совпадений, но мало инлайеров - подозрительно
+        if num_matches > 50 and inlier_ratio < 0.15:
+            return None
+        
+        # === ВСЕ ПРОВЕРКИ ПРОЙДЕНЫ ===
+        print("[LANDMARK]: Correction Applied")
+
+        if constants.DEBUG_FPS:
+            print(f"[LANDMARK]: time: {landmark_timer.get_elapsed() * 1000:.2f} ms")
+
+        return landmark_chunk.pos.apply(landmark_transform)
 
 
     def handle(self, current_chunk: VisionChunk) -> PilotCommand:
@@ -197,17 +277,11 @@ class AutoPilot(Pilot):
             self.timer.stop()
             return PilotCommand(processing_time=self.timer.get_elapsed())
 
-        # Расстояние до цели
-        distance_to_target = math.sqrt(
-            (self.points[self.target_idx][0] - self.pos.x) ** 2 +
-            (self.points[self.target_idx][1] - self.pos.y) ** 2
-        )
-
         # Вычисляем оптический поток для покадрового сравнения
         matching_timer = Timer()
         matching_timer.start()
-        # src_pts, dst_pts = self.calculate_optical_flow(self.prev_chunk, current_chunk)
-        src_pts, dst_pts, _, _, _ = self.prev_chunk.detect_and_match_keypoints(current_chunk)
+        src_pts, dst_pts = self.calculate_optical_flow(self.prev_chunk, current_chunk)
+        # src_pts, dst_pts, _, _, _ = self.prev_chunk.detect_and_match_keypoints(current_chunk)
         matching_timer.stop()
         print(f"Matching calculating: {matching_timer.get_elapsed() * 1000:.2f} ms")
 
@@ -217,7 +291,7 @@ class AutoPilot(Pilot):
 
             matrix_estimation_timer = Timer()
             matrix_estimation_timer.start()
-            homography_matrix = estimate_transformation_matrix(src_pts, dst_pts)
+            homography_matrix, _ = estimate_transformation_matrix(src_pts, dst_pts)
             matrix_estimation_timer.stop()
             print(f"Transformation matrix updating: {matrix_estimation_timer.get_elapsed() * 1000:.2f} ms")
 
@@ -235,17 +309,24 @@ class AutoPilot(Pilot):
 
                 self.timer.start()
 
-        chunk_timer = Timer()
-        chunk_timer.start()
-
         # Пытаемся найти ориентир на картинке:
         self.prev_chunk = current_chunk
-        # npos = self.get_position_by_chunk()
-        # if npos is not None:
-        #     self.reserved_pos = npos
+        # Для улучшения среднего FPS
+        if self.frame_count % 5 == 0:
+            pos_by_chunk = self.get_position_by_chunk()
+            if pos_by_chunk is not None:
+                self.pos = pos_by_chunk
 
-        chunk_timer.stop()
-        print(f"Chunk timer: {chunk_timer.get_elapsed() * 1000:.2f} ms")
+        command = self.make_command()
+        self.timer.reset()
+        return command
+
+    def make_command(self) -> PilotCommand:
+        # Расстояние до цели
+        distance_to_target = math.sqrt(
+            (self.points[self.target_idx][0] - self.pos.x) ** 2 +
+            (self.points[self.target_idx][1] - self.pos.y) ** 2
+        ) * self.pixel_ratio
 
         if distance_to_target < 35:
             self.target_idx += 1
@@ -258,16 +339,32 @@ class AutoPilot(Pilot):
                 (self.points[self.target_idx][1] - self.pos.y) ** 2
             )
 
-            if self.reserved_pos is not None:
-                self.pos = self.reserved_pos
-                self.reserved_pos = None
+        angle_trajectory = self.pos.yaw + math.pi / 2
+
+        # Проверка на слепую зону
+        R = 120
+        blind = np.array([
+            [
+                self.pos.x * self.pixel_ratio + R * np.cos(angle_trajectory - np.pi / 2),
+                self.pos.y * self.pixel_ratio + R * np.sin(angle_trajectory - np.pi / 2),
+            ],
+            [
+                self.pos.x * self.pixel_ratio + R * np.cos(angle_trajectory + np.pi / 2),
+                self.pos.y * self.pixel_ratio + R * np.sin(angle_trajectory + np.pi / 2),
+            ]
+        ])
+
+        blind -= self.points[self.target_idx] * self.pixel_ratio
+        blind = np.hypot(blind[:, 0], blind[:, 1])
+
+        print("R: ", blind)
+        if np.min(blind) < R:
+            return PilotCommand(0, 10, False, self.timer.get_elapsed())
+
+        
 
         # Вычисляем угол к цели
         target_angle = math.atan2(self.points[self.target_idx][1] - self.pos.y, self.points[self.target_idx][0] - self.pos.x)
-        
-        angle_trajectory = self.pos.yaw + math.pi / 2
-
-        # print("[ANGLE]", angle_trajectory, "->", target_angle)
 
         # Вычисляем разность углов (направление поворота)
         angle_diff = target_angle - angle_trajectory
@@ -277,14 +374,13 @@ class AutoPilot(Pilot):
         if angle_diff >= math.pi:
             angle_diff -= 2 * math.pi
 
-        d_r = max(10, min(35., distance_to_target / 2))
-        d_a_limit = d_r / 10 * 0.01
+        d_r = max(5, min(10., distance_to_target / 2))
+        d_a_limit = np.radians(5)
 
         command = PilotCommand(
             max(min(d_a_limit, angle_diff), -d_a_limit),
             d_r, False, self.timer.get_elapsed()
         )
-        self.timer.reset()
         return command
 
     def reset_position(self, x: float = 0.0, y: float = 0.0, angle: float = 0.0):

constants.py

@@ -1,5 +1,18 @@
 import numpy as np
 
+# Ширина 1 пикселя в метрах
+YANDEX_PIXEL_RATIO = {
+    15: 2830 / 1049,
+    18: 350 / 1049,
+}
+
+GOOGLE_PIXEL_RATIO = {
+    15: 2766 / 1031,
+    18: 346 / 1031,
+}
+
+WINDOW_HEIGHT = 1031
+
 # Ширина и высота снимка в пикселях
 CHUNK_WIDTH = 700
 
@@ -17,3 +30,6 @@ K = np.array([
     [0, _K_FOCUS_DISTANCE, _K_CENTER],
     [0, 0, 1]
 ])
+
+DEBUG_FPS: bool = False
+DEBUG_LANDMARK: bool = False

datasets/ya_go_maps/.gitignore

@@ -0,0 +1,2 @@
+images/homography_cache
+*.zip

datasets/ya_go_maps/generate_dataset.py

@@ -0,0 +1,43 @@
+import numpy as np
+from pathlib import Path
+from ...google_map import GoogleMap
+from ...simulator import Simulator
+from ...yandex_map import YandexMap
+
+LAT_MIN, LAT_MAX = 44.960236, 54.967830
+LON_MIN, LON_MAX = 53.084167, 58.677977
+
+def create_new_asset(yandex_map, google_map):
+    folder = Path('dataset_ya_go_maps')
+    
+    id = 0
+    print(id)
+    while (folder / f"{id:0{4}}_google.png").exists():
+        id += 1
+    
+    google_file = folder / f"{id:0{4}}_google.png"
+    yandex_file = folder / f"{id:0{4}}_yandex.png"
+
+    lat = np.random.rand() * (LAT_MAX - LAT_MIN) + LAT_MIN
+    lon = np.random.rand() * (LON_MAX - LON_MIN) + LON_MIN
+
+    yandex_map.open(lat, lon, 18)
+    google_map.open(lat, lon, 18)
+
+    simulator = Simulator()
+    simulator._apply_perspective_transform(yandex_map.make_screenshot()).save(yandex_file)
+    simulator._apply_perspective_transform(google_map.make_screenshot()).save(google_file)
+
+def main():
+    folder = Path('dataset_ya_go_maps')
+    if not folder.exists():
+        folder.mkdir()
+
+    yandex_map = YandexMap(initial_zoom=15)
+    google_map = GoogleMap(initial_zoom=15)
+
+    for i in range(4):
+        create_new_asset(yandex_map, google_map)
+
+if __name__ == '__main__':
+    main()

google_map.py

@@ -0,0 +1,89 @@
+from io import BytesIO
+from PIL import Image
+from selenium.webdriver.common.actions.wheel_input import ScrollOrigin
+from selenium import webdriver
+from selenium.webdriver.common.by import By
+from selenium.webdriver.common.action_chains import ActionChains
+from time import sleep
+
+import constants
+import cv2
+import math
+import numpy as np
+import os
+import utility
+
+def generateURL(lat: float, lon: float, zoom: int):
+    return f"https://www.google.com/maps/@{lon},{lat},{zoom}z"
+
+class GoogleMap:
+    initial_zoom: int
+    initial_lat: float
+    initial_lon: float
+    pixel_ratio: float
+
+    def __init__(self, initial_lat=49.103814, initial_lon=55.794258, initial_zoom=18):
+        self.initial_lat = initial_lat
+        self.initial_lon = initial_lon
+        self.initial_zoom = initial_zoom
+        self.pixel_ratio = constants.GOOGLE_PIXEL_RATIO[self.initial_zoom]
+
+        options = webdriver.ChromeOptions()
+        # options.add_experimental_option("detach", True)
+        self.driver = webdriver.Chrome(options)
+        self.driver.get(generateURL(initial_lat, initial_lon, initial_zoom))
+        self.driver.maximize_window()
+
+        action = ActionChains(self.driver)
+        sleep(5)
+        self.driver.execute_script('document.querySelector(\'.yHc72.qk5Wte\').click()')
+        sleep(5)
+
+    def open(self, lat, lon, zoom):
+        self.initial_lat = lat
+        self.initial_lon = lon
+        self.initial_zoom = zoom
+        self.pixel_ratio = constants.GOOGLE_PIXEL_RATIO[self.initial_zoom]
+        self.driver.get(generateURL(lat, lon, zoom))
+
+    def save_photo(self, filename: str):
+        im = self.make_screenshot()
+        im.save(filename)
+
+    def destroy(self):
+        self.driver.close()
+
+    def get_size(self) -> tuple[int, int]:
+        html = self.driver.find_element(By.TAG_NAME, 'html')
+        return (html.size['width'], html.size['height'])
+
+    def scroll(self, x: float, y: float, count: int = 1, inner_zoom: bool = True):
+        html = self.driver.find_element(By.TAG_NAME, 'html')
+
+        x_offset = (x - 0.5) * (html.size['width'] - 72) + 72
+        y_offset = (y - 0.5) * html.size['height']
+        action = ActionChains(self.driver)
+
+        for i in range(count-1):
+            action.scroll_from_origin(ScrollOrigin(html, int(x_offset), int(y_offset)), 0, -100 if inner_zoom else 100)
+            action.perform()
+            if i != count - 1:
+                sleep(0.25)
+
+    def move(self, dx: float, dy: float):
+        self.driver.execute_script(utility.google_map_js_move_script(dx, dy))
+
+    def make_as_center(self, x: float, y: float):
+        dx = (x - 0.5) * self.get_size()[0]
+        dy = (0.5 - y) * self.get_size()[1]
+        self.move(dx, dy)
+        sleep(1)
+
+    def make_screenshot(self) -> Image.Image:
+        png = self.driver.get_screenshot_as_png()
+        im = Image.open(BytesIO(png))
+        return utility.cv2_to_pil(np.array(im)[:, 72:])
+
+    def get_geolocation(self):
+        current_url = self.driver.current_url
+        return utility.parse_google_maps_url(current_url)

main.py

@@ -1,23 +1,33 @@
+from google_map import GoogleMap
 from pathlib import Path
+from position import Position
 from simulator import Simulator
 from time import sleep
 from trajectory_drawer import TrajectoryDrawer
+from utility import cv2_to_pil
+from vision_chunk import VisionChunk
 from visualization import VisualizationManager
 from yandex_map import YandexMap
-from vision_chunk import VisionChunk
-from utility import cv2_to_pil
-import random
 
+import argparse
+import autopilot
+import constants
 import cv2
 import matplotlib.pyplot as plt
 import numpy as np
+import pickle
+import random
+import utility
 
-import autopilot
+def get_map(map_name: str = 'google', lat=49.103814, lon=55.794258, zoom=18):
+    if map_name == 'google': return GoogleMap(lat, lon, zoom)
+    if map_name == 'yandex': return YandexMap(lat, lon, zoom)
+    return None
 
-def make_global_photo(filename):
-    yandexMap = YandexMap()
-    yandexMap.save_photo(filename)
-    yandexMap.destroy()
+def make_global_photo(filename, map_name: str = 'google', lat=49.103814, lon=55.794258, zoom=13):
+    online_map: YandexMap | GoogleMap = get_map(map_name, lat, lon, zoom)
+    online_map.save_photo(filename)
+    online_map.destroy()
 
 def get_trajectory_points(bg_img: str) -> list[(float, float)]:
     trajectoryDrawer = TrajectoryDrawer(bg_img)
@@ -26,97 +36,132 @@ def get_trajectory_points(bg_img: str) -> list[(float, float)]:
     points = list(map(lambda p: [p[0] / trajectoryDrawer.img.shape[1], p[1] / trajectoryDrawer.img.shape[0]], trajectoryDrawer.points))
     return points
 
-def main():
-    # Скриншот местности
-    # make_global_photo('map.jpg')
+def build(name: str, map_name: str, lat: float, lon: float):
 
-    # Получаем траекторию от пользователя
-    # points = get_trajectory_points('map.jpg')
+    # Создание папки с информацией о маршруте
+    dir = Path('trajectories')
+    if not dir.exists(): dir.mkdir()
+    dir /= name
+    assert not dir.exists()
+    dir.mkdir()
+    dir_chunks = dir / 'chunks'
+    dir_chunks.mkdir()
 
-    # Trajectory #1
-    # points = [[np.float64(0.5384504359393909), np.float64(0.4084520767967683)], [np.float64(0.4451750568707629), np.float64(0.38213330305374654)], [np.float64(0.49266070439660997), np.float64(0.2789637099811013)], [np.float64(0.36377108968359656), np.float64(0.3263375027185404)], [np.float64(0.3535955937852008), np.float64(0.4337180995900692)]]
+    make_global_photo('map.jpg', map_name, lat, lon, 15)
+    points = get_trajectory_points('map.jpg')
+    online_map: YandexMap | GoogleMap = get_map(map_name, lat, lon, 15)
 
-    # Trajectory #2
-    # points = [[np.float64(0.29197731306713737), np.float64(0.3452870198135161)], [np.float64(0.33494051797147517), np.float64(0.2010601397017569)], [np.float64(0.39768940934491587), np.float64(0.25369768718780034)], [np.float64(0.4027771572941138), np.float64(0.4158213334448144)], [np.float64(0.2914120077394487), np.float64(0.5547844588079692)]]
 
-    # Trajectory #3
-    # points = [[np.float64(0.2755834585641664), np.float64(0.45687862048392835)], [np.float64(0.295934450360958), np.float64(0.5021469113219258)], [np.float64(0.32872215936689997), np.float64(0.4810918923275084)], [np.float64(0.3649017003389739), np.float64(0.5295184360146684)], [np.float64(0.3999506306556705), np.float64(0.49477765467387963)]]
-
-    # Trajectory #4
-    # points = [[np.float64(0.42143223310783934), np.float64(0.6663760594783815)], [np.float64(0.4253893704016599), np.float64(0.5537317078582484)], [np.float64(0.5124463908657128), np.float64(0.5621537154560153)], [np.float64(0.5124463908657128), np.float64(0.6684815613778233)], [np.float64(0.42143223310783934), np.float64(0.6663760594783815)]]
-
-    # Trajectory #5
-    # points = [[np.float64(0.5983728006743884), np.float64(0.7348048712102382)], [np.float64(0.5966768846913225), np.float64(0.5453097002604814)], [np.float64(0.6345523416464622), np.float64(0.7190136069644251)], [np.float64(0.6402053949233488), np.float64(0.5495207040593649)], [np.float64(0.5983728006743884), np.float64(0.7348048712102382)]]
-
-    # Trajectory #6
-    # points = [[np.float64(0.4406526142492536), np.float64(0.28106921188054296)], [np.float64(0.38581799746345413), np.float64(0.2968604761263561)], [np.float64(0.3931669667234066), np.float64(0.353709027411283)], [np.float64(0.4248240650739713), np.float64(0.35265627646156217)], [np.float64(0.40616898926024564), np.float64(0.3179154951207735)]]
-
-    # Trajectory #7
-    # points = [[np.float64(0.5491912371654754), np.float64(0.7505961354560512)], [np.float64(0.5537136797869846), np.float64(0.6863783275230781)], [np.float64(0.5017055896396284), np.float64(0.6653233085286606)], [np.float64(0.5520177638039186), np.float64(0.6042637534448503)], [np.float64(0.5593667330638712), np.float64(0.516885424618018)]]
-
-    # Trajectory #8
-    # points = 
-
-    # Trajectory #9
-    # points = 
-
-    # Trajectory #10
-    # points = 
-
-    print(points)
-
-    # Для каждой точки сделаем приближенный снимок
-    yandexMap = YandexMap()
-    chunks: list[VisionChunk] = []
-
-    plt.ion()
-    for i in range(len(points)):
-        point = points[i]
-        yandexMap.scroll(point[0], point[1], 5, True)
-        sleep(1)
-        cv2_img = yandexMap.make_screenshot(point[0], point[1], 0.2, 0.2)
-        img = cv2_to_pil(cv2_img)
-        chunk = VisionChunk(img)
-        Path('chunks').mkdir(exist_ok=True)
-        chunk.save_image(Path('.') / 'chunks' / f'chunk_{i}.png')
-        plt.subplot(1, len(points), i+1)
-        plt.imshow(img)
-        plt.pause(0.25)
-        yandexMap.scroll(point[0], point[1], 5, False)
-
-    plt.tight_layout()
-
-    # Выделим на каждой картинке ключевые точки
-    for i in range(len(points)):
-        chunk = VisionChunk.load_image(Path('chunks') / f'chunk_{i}.png')
-        chunks.append(chunk)
-        kp, des = chunk.compute_keypoints()
-
-        plt.subplot(1, len(points), i+1)
-        plt.imshow(chunk.image)
-        kp_coords = np.array([j.pt for j in kp])
-        if len(kp_coords) > 0:
-            plt.scatter(kp_coords[:, 0], kp_coords[:, 1], c='red', s=20, alpha=0.7, marker='o')
-        plt.pause(0.2)
-    plt.ioff()
-
-    plt.show(block=True)
-
-    # Начнём симуляцию полёта с первой точки
-    yandexMap.scroll(points[0][0], points[0][1], 5, True)
-    sleep(0.2)
-    yandexMap.make_as_center(*points[0])
-    sleep(1)
-
-    vis_manager = VisualizationManager()
-    width, height = yandexMap.get_size()
-    # print(width, height)
+    width, height = online_map.get_size()
     points_coords = np.array(list(map(lambda p: [
             (p[0] - points[0][0]) * width, (points[0][1] - p[1]) * height
         ], points)))
-    points_coords *= 2 ** 4
-    pilot = autopilot.AutoPilot(points_coords, chunks, vis_manager)
-    simulator = Simulator(yandexMap)
+
+    points_coords *= online_map.pixel_ratio
+
+    # Начнём симуляцию полёта с первой точки
+    online_map.make_as_center(*points[0])
+    sleep(3)
+    online_map.scroll(0.5, 0.5, 10, True)
+    sleep(2)
+    geo = online_map.get_geolocation()
+    online_map.open(geo['lat'], geo['lon'], 18)
+    sleep(5)
+
+    points_coords_pixel = points_coords.copy() / online_map.pixel_ratio
+
+    pilot = autopilot.AutoPilot(points_coords_pixel, pixel_ratio=online_map.pixel_ratio)
+    simulator = Simulator(online_map)
+    pilot.target_idx = 0
+
+    pilot.pos = simulator.pos.copy()
+    command = pilot.make_command()
+
+    positions: list[Position] = []
+
+    print("points_coords_pixel:", points_coords_pixel)
+    for i in range(5000):
+
+        if command.stop:
+            break
+
+        chunk = simulator.get_chunk()
+        pilot.pos = simulator.pos.copy()
+        command = pilot.make_command()
+        command.velocity /= online_map.pixel_ratio
+
+        print("Position:", simulator.pos)
+        
+        # Save Image
+        chunk.save_image(dir_chunks / f"chunk_{len(positions)}.png")
+
+        positions.append(simulator.pos.copy() * online_map.pixel_ratio)
+
+        simulator.handle(command.dangle, command.velocity)
+        if i == 0 and map_name == 'google':
+            simulator.pos.x = 0
+            simulator.pos.y = 0
+        sleep(1.5)
+
+    data = {
+        'points': points_coords,
+        'chunk_positions': positions,
+        'initial_geolocation': geo
+    }
+
+    print(points_coords)
+
+    file_positions = dir / 'positions.pkl'
+    with file_positions.open('wb') as file:
+        pickle.dump(data, file)
+
+    print("WRITE POINTS:", points)
+
+    sleep(15)
+    online_map.destroy()
+
+def run(name: str, map_name: str, ref_min_distance: float):
+    dir = Path('trajectories')
+    assert dir.exists()
+    dir /= name
+    assert dir.exists(), "Укажите корректное название маршрута"
+    dir_chunks = dir / 'chunks'
+    file_positions = dir / 'positions.pkl'
+
+    with file_positions.open('rb') as file:
+        data = pickle.load(file)
+    
+    initial_geolocation = data['initial_geolocation']
+
+    lat = initial_geolocation['lat']
+    lon = initial_geolocation['lon']
+    online_map: YandexMap | GoogleMap = get_map(map_name, lat, lon, 18)
+    sleep(2)
+
+    chunks: list[VisionChunk] = []
+    for i in range(len(data['chunk_positions'])):
+        pos = data['chunk_positions'][i]
+        if len(chunks) == 0 or np.hypot(chunks[-1].pos.x - pos.x, chunks[-1].pos.y - pos.y) > ref_min_distance:
+            chunk = VisionChunk.load_image(dir_chunks / f"chunk_{i}.png")
+            chunk.pos = data['chunk_positions'][i] / online_map.pixel_ratio
+            chunks.append(chunk)
+
+    r = 0
+    for i in range(len(data['points']) - 1):
+        r += np.hypot(
+            data['points'][i][0] - data['points'][i+1][0],
+            data['points'][i][1] - data['points'][i+1][1]
+        )
+    print("R: ", r)
+
+    return
+
+    points = data['points'] / online_map.pixel_ratio
+    print("READ POINTS:", points)
+
+    vis_manager = VisualizationManager()
+    pilot = autopilot.AutoPilot(points, chunks, vis_manager, online_map.pixel_ratio)
+    simulator = Simulator(online_map)
     pilot.target_idx = 0
 
     chunk = simulator.get_chunk()
@@ -125,38 +170,26 @@ def main():
     vis_manager.update_display()
     vis_manager.pause(1)
 
-    vis_manager.set_target_points(points_coords)
+    vis_manager.set_target_points(data['points'])
 
     proc_time = np.array([])
 
-    zoom_next_event = random.randint(5, 10)
-
     errors = []
-    chunk_errors = []
-    chunk_improves = []
-
-    last_chunk_index = 0
+    
+    sleep(1)
 
     for i in range(10000000000):
-        print(f"Image #{i}")
-        if i == zoom_next_event:
-            r = random.randint(0, 1)
-            direction = ['up', 'down'][r]
-            # simulator.change_zoom(direction)
-            zoom_next_event = i + random.randint(20, 40)
-
-
-        # if i > 0:
-        #     simulator.set_pitch(np.sin(i / 10) * 5)
-        #     simulator.set_roll(np.sin(i / 15) * 5)
-        #     simulator.set_zoom(1.0 + np.sin(i / 10) * 0.3)
+        if i > 0:
+            simulator.set_pitch(np.sin(i / 10) * 5)
+            simulator.set_roll(np.sin(i / 15) * 5)
+            simulator.set_zoom(1.0 + np.sin(i / 10) * 0.3)
 
         if command.stop:
             break
 
-        # simulator.handle(command.dangle, command.velocity)
         chunk = simulator.get_chunk()
         command = pilot.handle(chunk)
+        command.velocity /= online_map.pixel_ratio
 
         proc_time = np.append(proc_time, command.proccessing_time)
         
@@ -167,34 +200,133 @@ def main():
         vis_manager.pause(0.2)
 
         vis_manager.set_target_index(pilot.target_idx)
-        vis_manager.update_drone_trajectory(pilot.pos.x, pilot.pos.y)
-        vis_manager.update_global_map(simulator.pos.x, simulator.pos.y)
-        vis_manager.update_error_plot(i, pilot.pos.x, pilot.pos.y, simulator.pos.x, simulator.pos.y)
+        vis_manager.update_drone_trajectory(pilot.pos.x * online_map.pixel_ratio, pilot.pos.y * online_map.pixel_ratio)
+        vis_manager.update_global_map(simulator.pos.x * online_map.pixel_ratio, simulator.pos.y * online_map.pixel_ratio)
+        vis_manager.update_error_plot(i, pilot.pos.x * online_map.pixel_ratio, pilot.pos.y * online_map.pixel_ratio, simulator.pos.x * online_map.pixel_ratio, simulator.pos.y * online_map.pixel_ratio)
 
-        errors.append(np.hypot(pilot.pos.x - simulator.pos.x, pilot.pos.y - simulator.pos.y))
-        if last_chunk_index != pilot.target_idx:
-            last_chunk_index = pilot.target_idx
-            chunk_errors.append(errors[-1])
-            chunk_improves.append(errors[-1] - errors[max(len(errors) - 2, 0)])
+        errors.append(np.hypot((pilot.pos.x - simulator.pos.x) * online_map.pixel_ratio, (pilot.pos.y - simulator.pos.y) * online_map.pixel_ratio))
 
         vis_manager.update_display()
         vis_manager.pause(0.2)
 
-        last_proc_times = proc_time[-10:]
+        last_proc_times = proc_time[-30:]
+        print(F"\nImage #{i}")
         print("Average FPS:", 1 / last_proc_times.mean())
         print("Pilot coords:", pilot.pos)
         print("Simulator coords:", simulator.pos)
+        sleep(0.5)
         simulator.handle(command.dangle, command.velocity)
+        if i == 0 and map_name == 'google':
+            simulator.pos.x = 0
+            simulator.pos.y = 0
 
     print("Errors:", errors)
     print("MSE:", (np.array(errors) ** 2).mean())
     print("RMSE:", (np.array(errors) ** 2).mean() ** 0.5)
-    print("Chunk errors:", chunk_errors)
-    print("Chunk error improves:", chunk_improves)
     print("Average FPS:", 1 / proc_time.mean())
     vis_manager.show_final()
 
-if __name__ == "__main__":
-    main()
+def parse_args():
+    """Парсер аргументов командной строки"""
+    parser = argparse.ArgumentParser(description='Обработка траекторий')
 
-#TODO
+    # Добавляем обязательный аргумент --mode
+    parser.add_argument(
+        '--mode',
+        type=str,
+        required=True,
+        choices=['standalone', 'build', 'run'],
+        help='Режим работы: standalone, build или run'
+    )
+
+    # Добавляем опциональный аргумент --name
+    parser.add_argument(
+        '--name',
+        type=str,
+        default=utility.generate_folder_name(),
+        help='Название траектории'
+    )
+
+    # Координаты
+    parser.add_argument(
+        '--lat',
+        type=float,
+        default=49.103814,
+        help='Широта (по умолчанию 49.103814)'
+    )
+
+    parser.add_argument(
+        '--lon',
+        type=float,
+        default=55.794258,
+        help='Долгота (по умолчанию 55.794258)'
+    )
+
+    # Источник эталонных изображений (ориентиров)
+    parser.add_argument(
+        '--reference',
+        type=str,
+        default='google',
+        choices=['google', 'yandex'],
+        help='Откуда берутся эталонные изображения (ориентиры): google или yandex (по умолчанию google)'
+    )
+
+    # Место проведения симуляции
+    parser.add_argument(
+        '--simulation',
+        type=str,
+        default='yandex',
+        choices=['google', 'yandex'],
+        help='Где проводится симуляция: google или yandex (по умолчанию yandex)'
+    )
+
+    # Место проведения симуляции
+    parser.add_argument(
+        '--ref-min-distance',
+        type=float,
+        default=100,
+        help='Минимальное расстояние между эталонами'
+    )
+
+    # Место проведения симуляции
+    parser.add_argument(
+        '--debug-fps',
+        action='store_true',
+        help='Включить отладку FPS'
+    )
+
+    # Место проведения симуляции
+    parser.add_argument(
+        '--debug-landmark',
+        action='store_true',
+        help='Включить отладку эталонов'
+    )
+
+    # Парсим аргументы
+    args = parser.parse_args()
+
+    # Проверяем, что для build и run указан --name
+    if args.mode in ['build', 'run'] and not args.name:
+        parser.error(f"--name обязателен для режима {args.mode}")
+
+    return args
+
+
+if __name__ == "__main__":
+    args = parse_args()
+    name = args.name
+    mode = args.mode
+    sim: str = args.simulation
+    ref: str = args.reference
+    lat: float = args.lat
+    lon: float = args.lon
+    rmd: float = args.ref_min_distance
+
+    constants.DEBUG_FPS = args.debug_fps
+    constants.DEBUG_LANDMARK = args.debug_landmark
+
+    if mode == 'build' or mode == 'standalone':
+        build(name, ref, lat, lon)
+
+    if mode == 'run' or mode == 'standalone':
+        run(name, sim, rmd)

models/GAN/.gitignore

@@ -0,0 +1 @@
+runs

models/GAN/README.md

@@ -0,0 +1,254 @@
+# GAN Trainer для преобразования изображений Yandex → Google
+
+Этот модуль содержит реализацию тренера для GAN (Generative Adversarial Network) модели, предназначенной для преобразования изображений карт Yandex в стиль Google Maps.
+
+## Структура проекта
+
+```
+autopilot/models/GAN/
+├── gan.py              # Основная реализация GAN модели
+├── trainer.py          # Тренер для обучения GAN
+├── test_trainer.py     # Тесты для тренера
+├── train_example.py    # Пример использования тренера
+└── README.md           # Этот файл
+```
+
+## Модель GAN
+
+Модель состоит из двух основных компонентов:
+
+### 1. Генератор (GeneratorUNet)
+- Архитектура U-Net для преобразования изображений
+- Принимает изображение Yandex (3 канала RGB)
+- Возвращает изображение в стиле Google (3 канала RGB)
+- Использует skip connections для сохранения деталей
+
+### 2. Дискриминатор (DiscriminatorPatchGAN)
+- PatchGAN архитектура
+- Принимает пару изображений (Yandex + Google)
+- Возвращает вероятность того, что пара реальная
+- Работает с патчами изображения 41x41
+
+### Функция потерь (GANLoss)
+Поддерживает три режима:
+- `vanilla`: Бинарная кросс-энтропия
+- `lsgan`: Least Squares GAN (более стабильный)
+- `wgangp`: Wasserstein GAN with Gradient Penalty
+
+## Тренер (GANTrainer)
+
+### Основные возможности
+
+1. **Обучение с чередованием**:
+   - Обучение генератора и дискриминатора поочередно
+   - Поддержка L1 потерь для сохранения структуры
+
+2. **Валидация и мониторинг**:
+   - Отдельные потери для генератора и дискриминатора
+   - Логирование в TensorBoard
+   - Ранняя остановка
+
+3. **Сохранение и загрузка**:
+   - Чекпоинты каждой эпохи
+   - Лучшая модель
+   - Финальная модель
+   - История обучения
+
+4. **Оценка модели**:
+   - Метрики на тестовом наборе
+   - Генерация примеров
+
+### Быстрый старт
+
+```python
+import torch
+from torch.utils.data import DataLoader
+from models.GAN.gan import create_image_gan
+from models.GAN.trainer import GANTrainer
+
+# Конфигурация
+config = {
+    "learning_rate": 2e-4,
+    "beta1": 0.5,
+    "beta2": 0.999,
+    "batch_size": 4,
+    "output_dir": "runs/gan_training",
+    "gan_mode": "vanilla",
+    "lambda_L1": 100.0,
+    "early_stopping_patience": 20,
+}
+
+# Устройство
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+
+# Создание модели
+model = create_image_gan(
+    input_channels=3,
+    output_channels=3,
+    gan_mode=config["gan_mode"],
+    lambda_L1=config["lambda_L1"],
+    use_cuda=(device.type == "cuda"),
+)
+
+# Создание даталоадеров (замените на свои данные)
+train_loader = DataLoader(train_dataset, batch_size=config["batch_size"], shuffle=True)
+val_loader = DataLoader(val_dataset, batch_size=config["batch_size"], shuffle=False)
+
+# Создание тренера
+trainer = GANTrainer(
+    model=model,
+    train_loader=train_loader,
+    val_loader=val_loader,
+    device=device,
+    config=config,
+)
+
+# Обучение
+trainer.train(num_epochs=100)
+
+# Оценка
+metrics = trainer.evaluate(test_loader)
+```
+
+### Конфигурация обучения
+
+#### Базовая конфигурация
+```python
+config = {
+    # Параметры оптимизатора
+    "learning_rate": 2e-4,      # Learning rate
+    "beta1": 0.5,               # Adam beta1
+    "beta2": 0.999,             # Adam beta2
+    
+    # Параметры обучения
+    "batch_size": 4,            # Размер батча
+    "epochs": 100,              # Количество эпох
+    
+    # Параметры GAN
+    "gan_mode": "vanilla",      # Режим GAN
+    "lambda_L1": 100.0,         # Вес L1 потерь
+    
+    # Регуляризация
+    "grad_clip": 1.0,           # Gradient clipping
+    
+    # Ранняя остановка
+    "early_stopping_patience": 20,
+    
+    # Выходные данные
+    "output_dir": "runs/gan",
+}
+```
+
+#### Расширенная конфигурация
+```python
+config = {
+    "learning_rate": 2e-4,
+    "beta1": 0.5,
+    "beta2": 0.999,
+    "batch_size": 8,
+    "epochs": 200,
+    "gan_mode": "lsgan",        # Более стабильный LSGAN
+    "lambda_L1": 100.0,
+    "grad_clip": 1.0,
+    "weight_decay": 1e-4,       # Weight decay
+    "early_stopping_patience": 30,
+    "early_stopping_min_delta": 1e-4,
+    "output_dir": "runs/gan_advanced",
+}
+```
+
+### Методы тренера
+
+#### Основные методы
+- `train_epoch()`: Обучение на одной эпохе
+- `validate()`: Валидация модели
+- `train(num_epochs)`: Полное обучение
+- `evaluate(test_loader)`: Оценка на тестовых данных
+
+#### Управление чекпоинтами
+- `save_checkpoint(is_best=False)`: Сохранение чекпоинта
+- `load_checkpoint(path, resume_training=False)`: Загрузка чекпоинта
+
+### Выходные файлы
+
+После обучения создаются следующие файлы:
+
+```
+runs/gan_training/
+├── config.json                 # Конфигурация обучения
+├── training_history.json       # История потерь
+├── model_best.pth             # Лучшая модель
+├── model_final.pth            # Финальная модель
+├── checkpoint_epoch_1.pth     # Чекпоинты каждой эпохи
+├── checkpoint_epoch_2.pth
+├── ...
+└── tensorboard/               # Логи TensorBoard
+    ├── events.out.tfevents...
+    └── ...
+```
+
+### TensorBoard
+
+Для визуализации обучения используйте TensorBoard:
+
+```bash
+tensorboard --logdir runs/gan_training/tensorboard
+```
+
+Доступные метрики:
+- `train/batch_g_loss`: Потери генератора на батче
+- `train/batch_d_loss`: Потери дискриминатора на батче
+- `train/batch_g_l1_loss`: L1 потери генератора
+- `train/epoch_g_loss`: Потери генератора на эпохе
+- `train/epoch_d_loss`: Потери дискриминатора на эпохе
+- `val/epoch_g_loss`: Валидационные потери генератора
+- `val/epoch_d_loss`: Валидационные потери дискриминатора
+
+### Тестирование
+
+Запустите тесты для проверки работоспособности:
+
+```bash
+python models/GAN/test_trainer.py
+```
+
+### Пример использования
+
+Полный пример использования смотрите в `train_example.py`.
+
+### Советы по обучению
+
+1. **Начальные значения**:
+   - Используйте `gan_mode="lsgan"` для более стабильного обучения
+   - Начните с `lambda_L1=100.0` и регулируйте по необходимости
+   - Используйте маленький `batch_size` (4-8) при ограниченной памяти GPU
+
+2. **Мониторинг**:
+   - Следите за балансом потерь генератора и дискриминатора
+   - Если потери дискриминатора близки к 0, генератор не обучается
+   - Если потери генератора слишком высоки, уменьшите `lambda_L1`
+
+3. **Визуализация**:
+   - Регулярно генерируйте примеры для визуальной оценки
+   - Используйте TensorBoard для отслеживания прогресса
+
+### Устранение проблем
+
+#### Высокие потери генератора
+- Уменьшите `lambda_L1`
+- Увеличьте learning rate
+- Проверьте качество данных
+
+#### Дискриминатор слишком сильный
+- Уменьшите learning rate дискриминатора
+- Добавьте dropout в дискриминатор
+- Обучайте генератор чаще, чем дискриминатор
+
+#### Недостаток памяти GPU
+- Уменьшите `batch_size`
+- Уменьшите размер изображений
+- Используйте gradient accumulation
+
+### Лицензия
+
+Этот проект является частью Autopilot системы.

models/GAN/gan.py

@@ -0,0 +1,393 @@
+from typing import Optional, Tuple
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+class UNetDownBlock(nn.Module):
+    """Блок downsampling для U-Net генератора"""
+
+    def __init__(
+        self,
+        in_channels: int,
+        out_channels: int,
+        normalize: bool = True,
+        dropout: float = 0.0,
+    ):
+        super().__init__()
+        layers = [
+            nn.Conv2d(
+                in_channels,
+                out_channels,
+                kernel_size=4,
+                stride=2,
+                padding=1,
+                bias=False,
+            )
+        ]
+        if normalize:
+            layers.append(nn.BatchNorm2d(out_channels))
+        layers.append(nn.LeakyReLU(0.2, inplace=True))
+        if dropout > 0:
+            layers.append(nn.Dropout2d(dropout))
+        self.model = nn.Sequential(*layers)
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        return self.model(x)
+
+
+class UNetUpBlock(nn.Module):
+    """Блок upsampling для U-Net генератора"""
+
+    def __init__(self, in_channels: int, out_channels: int, dropout: float = 0.0):
+        super().__init__()
+        layers = [
+            nn.ConvTranspose2d(
+                in_channels,
+                out_channels,
+                kernel_size=4,
+                stride=2,
+                padding=1,
+                bias=False,
+            ),
+            nn.BatchNorm2d(out_channels),
+            nn.ReLU(inplace=True),
+        ]
+        if dropout > 0:
+            layers.append(nn.Dropout2d(dropout))
+        self.model = nn.Sequential(*layers)
+
+    def forward(self, x: torch.Tensor, skip_input: torch.Tensor) -> torch.Tensor:
+        x = self.model(x)
+        # Обрезаем skip connection до размера x, если необходимо
+        if x.shape != skip_input.shape:
+            diffY = skip_input.size(2) - x.size(2)
+            diffX = skip_input.size(3) - x.size(3)
+            x = F.pad(
+                x, [diffX // 2, diffX - diffX // 2, diffY // 2, diffY - diffY // 2]
+            )
+        x = torch.cat([x, skip_input], dim=1)
+        return x
+
+
+class GeneratorUNet(nn.Module):
+    """Генератор на основе U-Net архитектуры для преобразования Yandex → Google"""
+
+    def __init__(self, in_channels: int = 3, out_channels: int = 3):
+        super().__init__()
+
+        # Downsampling path
+        self.down1 = UNetDownBlock(in_channels, 64, normalize=False)
+        self.down2 = UNetDownBlock(64, 128)
+        self.down3 = UNetDownBlock(128, 256)
+        self.down4 = UNetDownBlock(256, 512)
+        self.down5 = UNetDownBlock(512, 512)
+        self.down6 = UNetDownBlock(512, 512)
+        self.down7 = UNetDownBlock(512, 512)
+
+        # Bottleneck
+        self.bottleneck = nn.Sequential(
+            nn.Conv2d(512, 512, kernel_size=4, stride=2, padding=1, bias=False),
+            nn.ReLU(inplace=True),
+        )
+
+        # Upsampling path
+        self.up1 = UNetUpBlock(512, 512, dropout=0.5)
+        self.up2 = UNetUpBlock(1024, 512, dropout=0.5)
+        self.up3 = UNetUpBlock(1024, 512, dropout=0.5)
+        self.up4 = UNetUpBlock(1024, 512)
+        self.up5 = UNetUpBlock(1024, 256)
+        self.up6 = UNetUpBlock(512, 128)
+        self.up7 = UNetUpBlock(256, 64)
+
+        # Final layer
+        self.final = nn.Sequential(
+            nn.ConvTranspose2d(128, out_channels, kernel_size=4, stride=2, padding=1),
+            nn.Tanh(),
+        )
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        # Downsampling
+        d1 = self.down1(x)  # 350x350
+        d2 = self.down2(d1)  # 175x175
+        d3 = self.down3(d2)  # 88x88
+        d4 = self.down4(d3)  # 44x44
+        d5 = self.down5(d4)  # 22x22
+        d6 = self.down6(d5)  # 11x11
+        d7 = self.down7(d6)  # 6x6
+
+        # Bottleneck
+        u = self.bottleneck(d7)  # 3x3
+
+        # Upsampling with skip connections
+        u = self.up1(u, d7)  # 6x6
+        u = self.up2(u, d6)  # 11x11
+        u = self.up3(u, d5)  # 22x22
+        u = self.up4(u, d4)  # 44x44
+        u = self.up5(u, d3)  # 88x88
+        u = self.up6(u, d2)  # 175x175
+        u = self.up7(u, d1)  # 350x350
+
+        # Final output
+        return self.final(u)  # 700x700
+
+
+class DiscriminatorPatchGAN(nn.Module):
+    """Дискриминатор PatchGAN для изображений 700x700"""
+
+    def __init__(
+        self, in_channels: int = 6
+    ):  # 3 для реального + 3 для сгенерированного
+        super().__init__()
+
+        def discriminator_block(
+            in_filters: int, out_filters: int, normalization: bool = True
+        ):
+            """Блок дискриминатора"""
+            layers = [
+                nn.Conv2d(in_filters, out_filters, kernel_size=4, stride=2, padding=1)
+            ]
+            if normalization:
+                layers.append(nn.BatchNorm2d(out_filters))
+            layers.append(nn.LeakyReLU(0.2, inplace=True))
+            return layers
+
+        self.model = nn.Sequential(
+            *discriminator_block(in_channels, 64, normalization=False),  # 350x350
+            *discriminator_block(64, 128),  # 175x175
+            *discriminator_block(128, 256),  # 88x88
+            *discriminator_block(256, 512),  # 44x44
+            nn.Conv2d(512, 1, kernel_size=4, stride=1, padding=1),  # 41x41
+            nn.Sigmoid(),
+        )
+
+    def forward(self, img_A: torch.Tensor, img_B: torch.Tensor) -> torch.Tensor:
+        """
+        Принимает пару изображений (реальное и сгенерированное)
+        и возвращает вероятность того, что пара реальная
+        """
+        # Объединяем два изображения по каналам
+        img_input = torch.cat((img_A, img_B), 1)
+        return self.model(img_input)
+
+
+class GANLoss(nn.Module):
+    """Функция потерь для GAN"""
+
+    def __init__(
+        self,
+        gan_mode: str = "vanilla",
+        target_real_label: float = 1.0,
+        target_fake_label: float = 0.0,
+    ):
+        super().__init__()
+        self.register_buffer("real_label", torch.tensor(target_real_label))
+        self.register_buffer("fake_label", torch.tensor(target_fake_label))
+        self.gan_mode = gan_mode
+
+        if gan_mode == "vanilla":
+            self.loss = nn.BCEWithLogitsLoss()
+        elif gan_mode == "lsgan":
+            self.loss = nn.MSELoss()
+        elif gan_mode == "wgangp":
+            self.loss = None
+        else:
+            raise NotImplementedError(f"GAN mode {gan_mode} not implemented")
+
+    def get_target_tensor(
+        self, prediction: torch.Tensor, target_is_real: bool
+    ) -> torch.Tensor:
+        """Создает тензор меток"""
+        if target_is_real:
+            target_tensor = self.real_label
+        else:
+            target_tensor = self.fake_label
+        return target_tensor.expand_as(prediction)
+
+    def __call__(self, prediction: torch.Tensor, target_is_real: bool) -> torch.Tensor:
+        """Вычисляет потери"""
+        if self.gan_mode in ["vanilla", "lsgan"]:
+            target_tensor = self.get_target_tensor(prediction, target_is_real)
+            loss = self.loss(prediction, target_tensor)
+        elif self.gan_mode == "wgangp":
+            if target_is_real:
+                loss = -prediction.mean()
+            else:
+                loss = prediction.mean()
+        return loss
+
+
+class ImageGAN(nn.Module):
+    """Основной класс GAN для преобразования изображений Yandex → Google"""
+
+    def __init__(
+        self,
+        input_channels: int = 3,
+        output_channels: int = 3,
+        gan_mode: str = "vanilla",
+        lambda_L1: float = 100.0,
+        use_cuda: bool = True,
+    ):
+        super().__init__()
+
+        self.generator = GeneratorUNet(input_channels, output_channels)
+        self.discriminator = DiscriminatorPatchGAN(input_channels + output_channels)
+        self.gan_loss = GANLoss(gan_mode)
+        self.l1_loss = nn.L1Loss()
+        self.lambda_L1 = lambda_L1
+
+        self.device = torch.device(
+            "cuda" if use_cuda and torch.cuda.is_available() else "cpu"
+        )
+        self.to(self.device)
+
+    def forward(self, yandex_image: torch.Tensor) -> torch.Tensor:
+        """Генерация изображения Google из Yandex"""
+        return self.generator(yandex_image)
+
+    def generator_step(
+        self, yandex_image: torch.Tensor, real_google_image: torch.Tensor
+    ) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
+        """
+        Шаг обучения генератора
+
+        Returns:
+            total_loss: общие потери генератора
+            gan_loss: потери GAN
+            l1_loss: потери L1
+        """
+        # Генерируем изображение
+        fake_google_image = self.generator(yandex_image)
+
+        # Оцениваем дискриминатором
+        fake_pred = self.discriminator(yandex_image, fake_google_image)
+
+        # Потери GAN (пытаемся обмануть дискриминатор)
+        gan_loss = self.gan_loss(fake_pred, True)
+
+        # Потери L1 для сохранения структуры
+        l1_loss = self.l1_loss(fake_google_image, real_google_image) * self.lambda_L1
+
+        # Общие потери
+        total_loss = gan_loss + l1_loss
+
+        return total_loss, gan_loss, l1_loss
+
+    def discriminator_step(
+        self,
+        yandex_image: torch.Tensor,
+        real_google_image: torch.Tensor,
+        fake_google_image: torch.Tensor,
+    ) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
+        """
+        Шаг обучения дискриминатора
+
+        Returns:
+            total_loss: общие потери дискриминатора
+            real_loss: потери на реальных изображениях
+            fake_loss: потери на сгенерированных изображениях
+        """
+        # Предсказания для реальных пар
+        real_pred = self.discriminator(yandex_image, real_google_image)
+        real_loss = self.gan_loss(real_pred, True)
+
+        # Предсказания для сгенерированных пар
+        fake_pred = self.discriminator(yandex_image, fake_google_image.detach())
+        fake_loss = self.gan_loss(fake_pred, False)
+
+        # Общие потери дискриминатора
+        total_loss = (real_loss + fake_loss) * 0.5
+
+        return total_loss, real_loss, fake_loss
+
+    def to(self, device):
+        """Перемещает модель на устройство"""
+        self.generator.to(device)
+        self.discriminator.to(device)
+        return self
+
+    def train_mode(self):
+        """Переключает модель в режим обучения"""
+        self.generator.train()
+        self.discriminator.train()
+
+    def eval_mode(self):
+        """Переключает модель в режим оценки"""
+        self.generator.eval()
+        self.discriminator.eval()
+
+    def save_checkpoint(self, path: str):
+        """Сохраняет чекпоинт модели"""
+        checkpoint = {
+            "generator_state_dict": self.generator.state_dict(),
+            "discriminator_state_dict": self.discriminator.state_dict(),
+            "generator_optimizer_state_dict": getattr(
+                self.generator, "optimizer_state_dict", None
+            ),
+            "discriminator_optimizer_state_dict": getattr(
+                self.discriminator, "optimizer_state_dict", None
+            ),
+        }
+        torch.save(checkpoint, path)
+
+    def load_checkpoint(self, path: str):
+        """Загружает чекпоинт модели"""
+        checkpoint = torch.load(path, map_location=self.device)
+        self.generator.load_state_dict(checkpoint["generator_state_dict"])
+        self.discriminator.load_state_dict(checkpoint["discriminator_state_dict"])
+
+        if checkpoint["generator_optimizer_state_dict"] is not None:
+            self.generator.optimizer_state_dict = checkpoint[
+                "generator_optimizer_state_dict"
+            ]
+        if checkpoint["discriminator_optimizer_state_dict"] is not None:
+            self.discriminator.optimizer_state_dict = checkpoint[
+                "discriminator_optimizer_state_dict"
+            ]
+
+
+def create_image_gan(
+    input_channels: int = 3,
+    output_channels: int = 3,
+    gan_mode: str = "vanilla",
+    lambda_L1: float = 100.0,
+    use_cuda: bool = True,
+) -> ImageGAN:
+    """
+    Создает и возвращает модель GAN для преобразования изображений
+
+    Args:
+        input_channels: количество входных каналов (обычно 3 для RGB)
+        output_channels: количество выходных каналов (обычно 3 для RGB)
+        gan_mode: режим GAN ('vanilla', 'lsgan', 'wgangp')
+        lambda_L1: вес L1 потерь
+        use_cuda: использовать ли CUDA если доступно
+
+    Returns:
+        ImageGAN: модель GAN
+    """
+    return ImageGAN(
+        input_channels=input_channels,
+        output_channels=output_channels,
+        gan_mode=gan_mode,
+        lambda_L1=lambda_L1,
+        use_cuda=use_cuda,
+    )
+
+
+# Вспомогательные функции для инициализации весов
+def weights_init_normal(m):
+    """Инициализация весов с нормальным распределением"""
+    classname = m.__class__.__name__
+    if classname.find("Conv") != -1:
+        nn.init.normal_(m.weight.data, 0.0, 0.02)
+    elif classname.find("BatchNorm") != -1:
+        nn.init.normal_(m.weight.data, 1.0, 0.02)
+        nn.init.constant_(m.batch_norm.bias.data, 0.0)
+
+
+def initialize_gan_weights(generator: nn.Module, discriminator: nn.Module):
+    """Инициализирует веса генератора и дискриминатора"""
+    generator.apply(weights_init_normal)
+    discriminator.apply(weights_init_normal)

models/GAN/minimal_example.py

@@ -0,0 +1,136 @@
+"""
+Минимальный пример использования GAN trainer для преобразования Yandex → Google карт.
+
+Этот пример показывает самый простой способ использования тренера.
+"""
+
+import sys
+from pathlib import Path
+
+import torch
+from torch.utils.data import DataLoader, Dataset
+
+# Добавляем путь к модулям
+sys.path.append(str(Path(__file__).parent.parent.parent))
+
+from models.GAN.gan import create_image_gan
+from models.GAN.trainer import GANTrainer
+
+
+class SimpleMapDataset(Dataset):
+    """Простой датасет с фиктивными данными для примера."""
+
+    def __init__(self, num_samples=100, image_size=(256, 256)):
+        self.num_samples = num_samples
+        self.image_size = image_size
+
+    def __len__(self):
+        return self.num_samples
+
+    def __getitem__(self, idx):
+        # Создаем фиктивные изображения
+        # В реальном коде замените на загрузку реальных изображений
+        yandex_img = torch.randn(3, self.image_size[0], self.image_size[1])
+        google_img = torch.randn(3, self.image_size[0], self.image_size[1])
+
+        return {"yandex_img": yandex_img, "google_img": google_img}
+
+
+def main():
+    """Основная функция минимального примера."""
+    print("Минимальный пример использования GAN trainer")
+    print("=" * 50)
+
+    # 1. Конфигурация (минимальный набор параметров)
+    config = {
+        "learning_rate": 2e-4,
+        "batch_size": 4,
+        "output_dir": "runs/gan_minimal",
+    }
+
+    # 2. Устройство (CPU или GPU)
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"Используемое устройство: {device}")
+
+    # 3. Создание модели
+    print("\nСоздание GAN модели...")
+    model = create_image_gan(
+        input_channels=3,
+        output_channels=3,
+        gan_mode="vanilla",  # Простейший режим
+        lambda_L1=100.0,  # Стандартный вес L1 потерь
+        use_cuda=(device.type == "cuda"),
+    )
+
+    # 4. Создание даталоадеров
+    print("Создание даталоадеров...")
+    train_dataset = SimpleMapDataset(num_samples=50)
+    val_dataset = SimpleMapDataset(num_samples=10)
+
+    train_loader = DataLoader(
+        train_dataset,
+        batch_size=config["batch_size"],
+        shuffle=True,
+        num_workers=0,
+    )
+
+    val_loader = DataLoader(
+        val_dataset,
+        batch_size=config["batch_size"],
+        shuffle=False,
+        num_workers=0,
+    )
+
+    print(f"  Обучающих примеров: {len(train_dataset)}")
+    print(f"  Валидационных примеров: {len(val_dataset)}")
+
+    # 5. Создание тренера
+    print("\nСоздание тренера...")
+    trainer = GANTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    # 6. Обучение на небольшом количестве эпох
+    print("\nЗапуск обучения (3 эпохи для примера)...")
+    print("=" * 50)
+
+    trainer.train(num_epochs=3)
+
+    # 7. Генерация примеров
+    print("\nГенерация примеров преобразования...")
+    model.eval()
+
+    # Создаем тестовые данные
+    test_yandex = torch.randn(2, 3, 256, 256).to(device)
+
+    with torch.no_grad():
+        generated_google = model(test_yandex)
+
+    print(f"Входные изображения: {test_yandex.shape}")
+    print(f"Сгенерированные изображения: {generated_google.shape}")
+    print(
+        f"Диапазон значений: [{generated_google.min():.3f}, {generated_google.max():.3f}]"
+    )
+
+    # 8. Сохранение финальной модели
+    print("\nСохранение модели...")
+    model_save_path = "gan_model_minimal.pth"
+    torch.save(model.state_dict(), model_save_path)
+    print(f"Модель сохранена в: {model_save_path}")
+
+    print("\n" + "=" * 50)
+    print("Минимальный пример завершен!")
+    print("\nДля реального использования:")
+    print("1. Замените SimpleMapDataset на ваш реальный датасет")
+    print("2. Настройте параметры в config")
+    print("3. Увеличьте количество эпох (например, до 100)")
+    print("4. Используйте реальные изображения карт")
+    print("=" * 50)
+
+
+if __name__ == "__main__":
+    main()

models/GAN/test_gan.py

@@ -0,0 +1,349 @@
+import os
+import sys
+
+import torch
+import torch.nn as nn
+
+# Добавляем путь к модулю
+sys.path.append(
+    os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+)
+
+from gan import (
+    DiscriminatorPatchGAN,
+    GeneratorUNet,
+    ImageGAN,
+    create_image_gan,
+    initialize_gan_weights,
+)
+
+
+def test_generator():
+    """Тестирование генератора"""
+    print("=" * 60)
+    print("Тестирование генератора...")
+    print("=" * 60)
+
+    # Создаем генератор
+    generator = GeneratorUNet(in_channels=3, out_channels=3)
+
+    # Инициализируем веса
+    generator.apply(
+        lambda m: (
+            nn.init.normal_(m.weight.data, 0.0, 0.02)
+            if isinstance(m, nn.Conv2d) or isinstance(m, nn.ConvTranspose2d)
+            else None
+        )
+    )
+
+    # Создаем тестовый входной тензор (Yandex изображение)
+    batch_size = 2
+    height, width = 700, 700
+    yandex_image = torch.randn(batch_size, 3, height, width)
+
+    print(f"Размер входного изображения: {yandex_image.shape}")
+    print(
+        f"Количество параметров генератора: {sum(p.numel() for p in generator.parameters()):,}"
+    )
+
+    # Прямой проход
+    with torch.no_grad():
+        generated_image = generator(yandex_image)
+
+    print(f"Размер сгенерированного изображения: {generated_image.shape}")
+    print(
+        f"Диапазон значений сгенерированного изображения: [{generated_image.min():.3f}, {generated_image.max():.3f}]"
+    )
+
+    # Проверка размеров
+    assert generated_image.shape == (batch_size, 3, height, width), (
+        f"Ожидался размер {(batch_size, 3, height, width)}, получен {generated_image.shape}"
+    )
+
+    print("✓ Генератор работает корректно!")
+    return generator
+
+
+def test_discriminator():
+    """Тестирование дискриминатора"""
+    print("\n" + "=" * 60)
+    print("Тестирование дискриминатора...")
+    print("=" * 60)
+
+    # Создаем дискриминатор
+    discriminator = DiscriminatorPatchGAN(in_channels=6)  # 3 + 3 канала
+
+    # Инициализируем веса
+    discriminator.apply(
+        lambda m: (
+            nn.init.normal_(m.weight.data, 0.0, 0.02)
+            if isinstance(m, nn.Conv2d)
+            else None
+        )
+    )
+
+    # Создаем тестовые тензоры
+    batch_size = 2
+    height, width = 700, 700
+
+    yandex_image = torch.randn(batch_size, 3, height, width)
+    google_image = torch.randn(batch_size, 3, height, width)
+
+    print(f"Размер Yandex изображения: {yandex_image.shape}")
+    print(f"Размер Google изображения: {google_image.shape}")
+    print(
+        f"Количество параметров дискриминатора: {sum(p.numel() for p in discriminator.parameters()):,}"
+    )
+
+    # Прямой проход
+    with torch.no_grad():
+        prediction = discriminator(yandex_image, google_image)
+
+    print(f"Размер выхода дискриминатора: {prediction.shape}")
+    print(
+        f"Диапазон значений предсказания: [{prediction.min():.3f}, {prediction.max():.3f}]"
+    )
+
+    # Проверка размеров (PatchGAN выдает карту вероятностей)
+    expected_height = 43  # Для изображения 700x700 после 4 downsampling блоков
+    expected_width = 43
+    assert prediction.shape == (batch_size, 1, expected_height, expected_width), (
+        f"Ожидался размер {(batch_size, 1, expected_height, expected_width)}, получен {prediction.shape}"
+    )
+
+    print(
+        f"✓ Дискриминатор работает корректно! Выходной размер: {prediction.shape[2]}x{prediction.shape[3]}"
+    )
+    return discriminator
+
+
+def test_gan_model():
+    """Тестирование полной GAN модели"""
+    print("\n" + "=" * 60)
+    print("Тестирование полной GAN модели...")
+    print("=" * 60)
+
+    # Создаем GAN модель
+    gan = ImageGAN(
+        input_channels=3,
+        output_channels=3,
+        gan_mode="vanilla",
+        lambda_L1=100.0,
+        use_cuda=False,  # Тестируем на CPU для простоты
+    )
+
+    print(f"Устройство модели: {gan.device}")
+    print(
+        f"Количество параметров генератора: {sum(p.numel() for p in gan.generator.parameters()):,}"
+    )
+    print(
+        f"Количество параметров дискриминатора: {sum(p.numel() for p in gan.discriminator.parameters()):,}"
+    )
+    print(f"Общее количество параметров: {sum(p.numel() for p in gan.parameters()):,}")
+
+    # Создаем тестовые данные
+    batch_size = 2
+    height, width = 700, 700
+
+    yandex_image = torch.randn(batch_size, 3, height, width)
+    real_google_image = torch.randn(batch_size, 3, height, width)
+
+    print(f"\nТестирование прямого прохода...")
+    with torch.no_grad():
+        generated_image = gan(yandex_image)
+
+    print(f"Размер сгенерированного изображения: {generated_image.shape}")
+
+    print(f"\nТестирование шага генератора...")
+    gan.train_mode()
+
+    # Тестируем шаг генератора
+    total_loss, gan_loss, l1_loss = gan.generator_step(yandex_image, real_google_image)
+
+    print(f"Общие потери генератора: {total_loss.item():.6f}")
+    print(f"Потери GAN: {gan_loss.item():.6f}")
+    print(f"Потери L1: {l1_loss.item():.6f}")
+
+    print(f"\nТестирование шага дискриминатора...")
+    # Создаем сгенерированное изображение для дискриминатора
+    with torch.no_grad():
+        fake_google_image = gan.generator(yandex_image)
+
+    total_d_loss, real_loss, fake_loss = gan.discriminator_step(
+        yandex_image, real_google_image, fake_google_image
+    )
+
+    print(f"Общие потери дискриминатора: {total_d_loss.item():.6f}")
+    print(f"Потери на реальных изображениях: {real_loss.item():.6f}")
+    print(f"Потери на сгенерированных изображениях: {fake_loss.item():.6f}")
+
+    print(f"\nТестирование режимов обучения/оценки...")
+    gan.eval_mode()
+    print(f"Генератор в режиме eval: {not gan.generator.training}")
+    print(f"Дискриминатор в режиме eval: {not gan.discriminator.training}")
+
+    gan.train_mode()
+    print(f"Генератор в режиме train: {gan.generator.training}")
+    print(f"Дискриминатор в режиме train: {gan.discriminator.training}")
+
+    print("\n✓ Полная GAN модель работает корректно!")
+    return gan
+
+
+def test_factory_function():
+    """Тестирование фабричной функции"""
+    print("\n" + "=" * 60)
+    print("Тестирование фабричной функции...")
+    print("=" * 60)
+
+    # Тестируем разные режимы GAN
+    for gan_mode in ["vanilla", "lsgan"]:
+        print(f"\nСоздание GAN в режиме '{gan_mode}'...")
+        gan = create_image_gan(
+            input_channels=3,
+            output_channels=3,
+            gan_mode=gan_mode,
+            lambda_L1=100.0,
+            use_cuda=False,
+        )
+
+        print(f"  Режим GAN: {gan.gan_loss.gan_mode}")
+        print(f"  Вес L1 потерь: {gan.lambda_L1}")
+        print(f"  Устройство: {gan.device}")
+
+        # Быстрая проверка прямого прохода
+        batch_size = 1
+        yandex_image = torch.randn(batch_size, 3, 700, 700)
+
+        with torch.no_grad():
+            generated = gan(yandex_image)
+
+        print(f"  Размер выхода: {generated.shape}")
+        print(f"  ✓ GAN в режиме '{gan_mode}' создан успешно")
+
+    print("\n✓ Фабричная функция работает корректно!")
+
+
+def test_weights_initialization():
+    """Тестирование инициализации весов"""
+    print("\n" + "=" * 60)
+    print("Тестирование инициализации весов...")
+    print("=" * 60)
+
+    # Создаем модели
+    generator = GeneratorUNet(3, 3)
+    discriminator = DiscriminatorPatchGAN(6)
+
+    # Инициализируем веса
+    initialize_gan_weights(generator, discriminator)
+
+    # Проверяем средние значения весов
+    def check_weights_mean(model, model_name):
+        conv_weights = []
+        for name, param in model.named_parameters():
+            if "weight" in name and (
+                "conv" in name.lower() or "Conv" in str(param.__class__)
+            ):
+                conv_weights.append(param.data.mean().item())
+
+        if conv_weights:
+            avg_mean = sum(conv_weights) / len(conv_weights)
+            print(f"  Среднее значение весов Conv слоев в {model_name}: {avg_mean:.6f}")
+            # Проверяем, что веса инициализированы около 0
+            assert abs(avg_mean) < 0.1, f"Веса {model_name} не инициализированы около 0"
+
+    check_weights_mean(generator, "генераторе")
+    check_weights_mean(discriminator, "дискриминаторе")
+
+    print("✓ Инициализация весов работает корректно!")
+
+
+def test_memory_usage():
+    """Тестирование использования памяти"""
+    print("\n" + "=" * 60)
+    print("Тестирование использования памяти...")
+    print("=" * 60)
+
+    import os
+
+    import psutil
+
+    # Получаем текущее использование памяти
+    process = psutil.Process(os.getpid())
+    memory_before = process.memory_info().rss / 1024 / 1024  # в MB
+
+    print(f"Память до создания моделей: {memory_before:.2f} MB")
+
+    # Создаем несколько моделей
+    models = []
+    for i in range(3):
+        gan = create_image_gan(use_cuda=False)
+        models.append(gan)
+
+        # Делаем тестовый проход
+        batch_size = 1
+        yandex_image = torch.randn(batch_size, 3, 700, 700)
+        real_google_image = torch.randn(batch_size, 3, 700, 700)
+
+        with torch.no_grad():
+            _ = gan(yandex_image)
+            _ = gan.generator_step(yandex_image, real_google_image)
+
+    memory_after = process.memory_info().rss / 1024 / 1024  # в MB
+    memory_used = memory_after - memory_before
+
+    print(f"Память после создания моделей: {memory_after:.2f} MB")
+    print(f"Использовано памяти: {memory_used:.2f} MB")
+
+    # Очищаем модели
+    del models
+    import gc
+
+    gc.collect()
+
+    memory_final = process.memory_info().rss / 1024 / 1024
+    print(f"Память после очистки: {memory_final:.2f} MB")
+
+    print("✓ Тестирование памяти завершено!")
+
+
+def main():
+    """Основная функция тестирования"""
+    print("Начало тестирования GAN архитектуры для преобразования Yandex → Google")
+    print("Размер изображения: 700x700 пикселей")
+    print("=" * 60)
+
+    try:
+        # Запускаем все тесты
+        test_generator()
+        test_discriminator()
+        test_gan_model()
+        test_factory_function()
+        test_weights_initialization()
+        test_memory_usage()
+
+        print("\n" + "=" * 60)
+        print("ВСЕ ТЕСТЫ ПРОЙДЕНЫ УСПЕШНО! 🎉")
+        print("=" * 60)
+        print("\nАрхитектура GAN готова к использованию для преобразования")
+        print("изображений из стиля Yandex в стиль Google.")
+        print("\nОсновные характеристики:")
+        print("  • Генератор: U-Net архитектура")
+        print("  • Дискриминатор: PatchGAN (43x43 патчей)")
+        print("  • Размер входных/выходных изображений: 700x700")
+        print("  • Поддержка режимов: vanilla, lsgan")
+        print("  • L1 регуляризация для сохранения структуры")
+
+    except Exception as e:
+        print(f"\n❌ Ошибка при тестировании: {e}")
+        import traceback
+
+        traceback.print_exc()
+        return 1
+
+    return 0
+
+
+if __name__ == "__main__":
+    exit_code = main()
+    sys.exit(exit_code)

models/GAN/test_trainer.py

@@ -0,0 +1,342 @@
+"""
+Тестовый скрипт для проверки GAN trainer.
+"""
+
+import sys
+from pathlib import Path
+
+import numpy as np
+import torch
+import torch.nn as nn
+from torch.utils.data import DataLoader, Dataset
+
+# Добавляем путь к модулям
+sys.path.append(str(Path(__file__).parent.parent.parent))
+
+from models.GAN.gan import create_image_gan
+from models.GAN.trainer import GANTrainer
+
+
+class SimpleDataset(Dataset):
+    """Простой датасет для тестирования."""
+
+    def __init__(self, num_samples=100, image_size=(256, 256)):
+        self.num_samples = num_samples
+        self.image_size = image_size
+
+    def __len__(self):
+        return self.num_samples
+
+    def __getitem__(self, idx):
+        # Создаем случайные изображения для тестирования
+        yandex_img = torch.randn(3, self.image_size[0], self.image_size[1])
+        google_img = torch.randn(3, self.image_size[0], self.image_size[1])
+
+        return {"yandex_img": yandex_img, "google_img": google_img}
+
+
+def test_gan_model():
+    """Тестирование GAN модели."""
+    print("Тестирование GAN модели...")
+
+    # Создаем модель
+    model = create_image_gan(
+        input_channels=3,
+        output_channels=3,
+        gan_mode="vanilla",
+        lambda_L1=100.0,
+        use_cuda=False,  # Используем CPU для тестирования
+    )
+
+    # Тестируем forward pass
+    batch_size = 2
+    image_size = (256, 256)
+    yandex_input = torch.randn(batch_size, 3, *image_size)
+
+    with torch.no_grad():
+        output = model(yandex_input)
+
+    print(f"Входной размер: {yandex_input.shape}")
+    print(f"Выходной размер: {output.shape}")
+    print(f"Диапазон выходных значений: [{output.min():.3f}, {output.max():.3f}]")
+
+    # Проверяем, что выход в диапазоне [-1, 1] (из-за Tanh)
+    assert output.min() >= -1.0 and output.max() <= 1.0, "Выход не в диапазоне [-1, 1]"
+    print("✓ Forward pass работает корректно")
+
+    return model
+
+
+def test_generator_step():
+    """Тестирование шага генератора."""
+    print("\nТестирование шага генератора...")
+
+    model = create_image_gan(use_cuda=False)
+    model.train_mode()
+
+    batch_size = 2
+    yandex_img = torch.randn(batch_size, 3, 256, 256)
+    google_img = torch.randn(batch_size, 3, 256, 256)
+
+    # Тестируем generator_step
+    total_loss, gan_loss, l1_loss = model.generator_step(yandex_img, google_img)
+
+    print(f"Total loss: {total_loss.item():.6f}")
+    print(f"GAN loss: {gan_loss.item():.6f}")
+    print(f"L1 loss: {l1_loss.item():.6f}")
+
+    assert total_loss.item() > 0, "Потери должны быть положительными"
+    print("✓ Шаг генератора работает корректно")
+
+
+def test_discriminator_step():
+    """Тестирование шага дискриминатора."""
+    print("\nТестирование шага дискриминатора...")
+
+    model = create_image_gan(use_cuda=False)
+    model.train_mode()
+
+    batch_size = 2
+    yandex_img = torch.randn(batch_size, 3, 256, 256)
+    google_img = torch.randn(batch_size, 3, 256, 256)
+
+    # Генерируем fake изображение
+    with torch.no_grad():
+        fake_google_img = model.generator(yandex_img)
+
+    # Тестируем discriminator_step
+    total_loss, real_loss, fake_loss = model.discriminator_step(
+        yandex_img, google_img, fake_google_img
+    )
+
+    print(f"Total loss: {total_loss.item():.6f}")
+    print(f"Real loss: {real_loss.item():.6f}")
+    print(f"Fake loss: {fake_loss.item():.6f}")
+
+    assert total_loss.item() > 0, "Потери должны быть положительными"
+    print("✓ Шаг дискриминатора работает корректно")
+
+
+def test_trainer_initialization():
+    """Тестирование инициализации тренера."""
+    print("\nТестирование инициализации тренера...")
+
+    # Создаем модель
+    model = create_image_gan(use_cuda=False)
+
+    # Создаем даталоадеры
+    train_dataset = SimpleDataset(num_samples=50)
+    val_dataset = SimpleDataset(num_samples=10)
+
+    train_loader = DataLoader(train_dataset, batch_size=4, shuffle=True)
+    val_loader = DataLoader(val_dataset, batch_size=2, shuffle=False)
+
+    # Конфигурация
+    config = {
+        "learning_rate": 2e-4,
+        "beta1": 0.5,
+        "beta2": 0.999,
+        "output_dir": "test_runs/gan",
+        "early_stopping_patience": 10,
+    }
+
+    # Создаем тренер
+    device = torch.device("cpu")
+    trainer = GANTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    print(f"Тренер создан успешно")
+    print(f"Оптимизатор генератора: {type(trainer.optimizer_G).__name__}")
+    print(f"Оптимизатор дискриминатора: {type(trainer.optimizer_D).__name__}")
+    print(f"Выходная директория: {trainer.output_dir}")
+
+    assert trainer.output_dir.exists(), "Выходная директория не создана"
+    print("✓ Тренер инициализирован корректно")
+
+    return trainer, train_loader, val_loader
+
+
+def test_train_epoch():
+    """Тестирование одной эпохи обучения."""
+    print("\nТестирование одной эпохи обучения...")
+
+    model = create_image_gan(use_cuda=False)
+    train_dataset = SimpleDataset(num_samples=20)
+    train_loader = DataLoader(train_dataset, batch_size=4, shuffle=True)
+    val_loader = DataLoader(SimpleDataset(num_samples=5), batch_size=2, shuffle=False)
+
+    config = {
+        "learning_rate": 2e-4,
+        "beta1": 0.5,
+        "beta2": 0.999,
+        "output_dir": "test_runs/gan",
+    }
+
+    device = torch.device("cpu")
+    trainer = GANTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    # Запускаем одну эпоху обучения
+    avg_g_loss, avg_d_loss = trainer.train_epoch()
+
+    print(f"Средние потери за эпоху:")
+    print(f"  Генератор: {avg_g_loss:.6f}")
+    print(f"  Дискриминатор: {avg_d_loss:.6f}")
+
+    assert avg_g_loss > 0, "Потери генератора должны быть положительными"
+    assert avg_d_loss > 0, "Потери дискриминатора должны быть положительными"
+    print("✓ Эпоха обучения завершена успешно")
+
+
+def test_validation():
+    """Тестирование валидации."""
+    print("\nТестирование валидации...")
+
+    model = create_image_gan(use_cuda=False)
+    train_loader = DataLoader(SimpleDataset(num_samples=10), batch_size=2, shuffle=True)
+    val_loader = DataLoader(SimpleDataset(num_samples=5), batch_size=2, shuffle=False)
+
+    config = {
+        "learning_rate": 2e-4,
+        "beta1": 0.5,
+        "beta2": 0.999,
+        "output_dir": "test_runs/gan",
+    }
+
+    device = torch.device("cpu")
+    trainer = GANTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    # Запускаем валидацию
+    val_g_loss, val_d_loss = trainer.validate()
+
+    print(f"Потери на валидации:")
+    print(f"  Генератор: {val_g_loss:.6f}")
+    print(f"  Дискриминатор: {val_d_loss:.6f}")
+
+    assert val_g_loss > 0, "Потери генератора должны быть положительными"
+    assert val_d_loss > 0, "Потери дискриминатора должны быть положительными"
+    print("✓ Валидация завершена успешно")
+
+
+def test_checkpoint_saving():
+    """Тестирование сохранения чекпоинтов."""
+    print("\nТестирование сохранения чекпоинтов...")
+
+    model = create_image_gan(use_cuda=False)
+    train_loader = DataLoader(SimpleDataset(num_samples=10), batch_size=2, shuffle=True)
+    val_loader = DataLoader(SimpleDataset(num_samples=5), batch_size=2, shuffle=False)
+
+    config = {
+        "learning_rate": 2e-4,
+        "beta1": 0.5,
+        "beta2": 0.999,
+        "output_dir": "test_runs/gan_checkpoint",
+    }
+
+    device = torch.device("cpu")
+    trainer = GANTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    # Сохраняем чекпоинт
+    trainer.save_checkpoint(is_best=True)
+
+    # Проверяем, что файлы созданы
+    checkpoint_files = list(trainer.output_dir.glob("*.pth"))
+    print(f"Создано файлов чекпоинтов: {len(checkpoint_files)}")
+
+    for file in checkpoint_files:
+        print(f"  - {file.name}")
+
+    assert len(checkpoint_files) > 0, "Файлы чекпоинтов не созданы"
+    print("✓ Чекпоинты сохранены успешно")
+
+    # Тестируем загрузку чекпоинта
+    checkpoint_path = checkpoint_files[0]
+    print(f"\nТестируем загрузку чекпоинта: {checkpoint_path}")
+
+    # Создаем новую модель и тренер
+    new_model = create_image_gan(use_cuda=False)
+    new_trainer = GANTrainer(
+        model=new_model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    # Загружаем чекпоинт
+    new_trainer.load_checkpoint(str(checkpoint_path))
+
+    print(f"Загружен чекпоинт эпохи: {new_trainer.current_epoch + 1}")
+    print("✓ Чекпоинт загружен успешно")
+
+
+def main():
+    """Основная функция тестирования."""
+    print("=" * 60)
+    print("Начало тестирования GAN trainer")
+    print("=" * 60)
+
+    try:
+        # Запускаем все тесты
+        test_gan_model()
+        test_generator_step()
+        test_discriminator_step()
+        test_trainer_initialization()
+        test_train_epoch()
+        test_validation()
+        test_checkpoint_saving()
+
+        print("\n" + "=" * 60)
+        print("Все тесты пройдены успешно! ✓")
+        print("=" * 60)
+
+    except Exception as e:
+        print(f"\nОшибка при тестировании: {e}")
+        import traceback
+
+        traceback.print_exc()
+        return 1
+
+    return 0
+
+
+if __name__ == "__main__":
+    # Очищаем тестовые директории
+    import shutil
+
+    test_dirs = ["test_runs/gan", "test_runs/gan_checkpoint"]
+    for dir_path in test_dirs:
+        if Path(dir_path).exists():
+            shutil.rmtree(dir_path)
+
+    # Запускаем тесты
+    exit_code = main()
+
+    # Очищаем после тестов
+    for dir_path in test_dirs:
+        if Path(dir_path).exists():
+            shutil.rmtree(dir_path)
+
+    exit(exit_code)

models/GAN/train_example.py

@@ -0,0 +1,347 @@
+"""
+Пример обучения GAN модели для преобразования Yandex → Google карт.
+
+Этот скрипт показывает, как использовать GANTrainer для обучения модели.
+"""
+
+import sys
+from pathlib import Path
+
+import torch
+from torch.utils.data import DataLoader
+
+# Добавляем путь к модулям
+sys.path.append(str(Path(__file__).parent.parent.parent))
+
+from models.GAN.gan import create_image_gan
+from models.GAN.trainer import GANTrainer
+
+
+def create_simple_config():
+    """Создает простую конфигурацию для обучения."""
+    config = {
+        # Параметры оптимизатора
+        "learning_rate": 2e-4,
+        "beta1": 0.5,
+        "beta2": 0.999,
+        # Параметры обучения
+        "batch_size": 4,
+        "epochs": 100,
+        # Параметры GAN
+        "gan_mode": "vanilla",  # "vanilla", "lsgan", или "wgangp"
+        "lambda_L1": 100.0,  # Вес L1 потерь
+        # Регуляризация
+        "grad_clip": 1.0,
+        # Ранняя остановка
+        "early_stopping_patience": 20,
+        # Выходные данные
+        "output_dir": "runs/gan_training",
+        # Логирование
+        "log_interval": 10,  # Логировать каждые N батчей
+        "save_interval": 5,  # Сохранять чекпоинт каждые N эпох
+    }
+    return config
+
+
+def create_advanced_config():
+    """Создает расширенную конфигурацию для обучения."""
+    config = {
+        # Параметры оптимизатора
+        "learning_rate": 2e-4,
+        "beta1": 0.5,
+        "beta2": 0.999,
+        # Планировщик learning rate
+        "use_scheduler": True,
+        "scheduler_type": "linear",  # "linear", "cosine", или "plateau"
+        "scheduler_start_epoch": 50,
+        "scheduler_end_epoch": 100,
+        # Параметры обучения
+        "batch_size": 8,
+        "epochs": 200,
+        # Параметры GAN
+        "gan_mode": "lsgan",  # LSGAN обычно более стабилен
+        "lambda_L1": 100.0,
+        # Аугментация данных
+        "augmentation": {
+            "random_crop": True,
+            "crop_size": 256,
+            "random_flip": True,
+            "color_jitter": True,
+            "brightness": 0.2,
+            "contrast": 0.2,
+            "saturation": 0.2,
+            "hue": 0.1,
+        },
+        # Регуляризация
+        "grad_clip": 1.0,
+        "weight_decay": 1e-4,
+        # Ранняя остановка
+        "early_stopping_patience": 30,
+        "early_stopping_min_delta": 1e-4,
+        # Выходные данные
+        "output_dir": "runs/gan_advanced",
+        # Логирование
+        "log_interval": 20,
+        "save_interval": 10,
+        "save_best_only": True,  # Сохранять только лучшую модель
+        # Визуализация
+        "visualize_samples": True,
+        "num_visualize": 4,
+        "visualize_interval": 5,  # Визуализировать каждые N эпох
+    }
+    return config
+
+
+def print_config_summary(config):
+    """Печатает сводку конфигурации."""
+    print("=" * 60)
+    print("Конфигурация обучения GAN")
+    print("=" * 60)
+
+    print(f"\nПараметры модели:")
+    print(f"  Режим GAN: {config.get('gan_mode', 'vanilla')}")
+    print(f"  Вес L1 потерь: {config.get('lambda_L1', 100.0)}")
+
+    print(f"\nПараметры обучения:")
+    print(f"  Learning rate: {config.get('learning_rate', 2e-4)}")
+    print(f"  Batch size: {config.get('batch_size', 4)}")
+    print(f"  Эпох: {config.get('epochs', 100)}")
+    print(f"  Beta1: {config.get('beta1', 0.5)}")
+    print(f"  Beta2: {config.get('beta2', 0.999)}")
+
+    if config.get("use_scheduler", False):
+        print(f"  Планировщик LR: {config.get('scheduler_type', 'linear')}")
+
+    print(f"\nРегуляризация:")
+    print(f"  Gradient clipping: {config.get('grad_clip', 1.0)}")
+    if "weight_decay" in config:
+        print(f"  Weight decay: {config['weight_decay']}")
+
+    print(f"\nРанняя остановка:")
+    if config.get("early_stopping_patience", 0) > 0:
+        print(f"  Patience: {config['early_stopping_patience']} эпох")
+        if "early_stopping_min_delta" in config:
+            print(f"  Min delta: {config['early_stopping_min_delta']}")
+
+    print(f"\nВыходные данные:")
+    print(f"  Директория: {config.get('output_dir', 'runs/gan')}")
+    print(f"  Интервал сохранения: {config.get('save_interval', 5)} эпох")
+
+    print(f"\nЛогирование:")
+    print(f"  Интервал логирования: {config.get('log_interval', 10)} батчей")
+
+    print("=" * 60)
+
+
+def setup_training():
+    """Настраивает обучение."""
+    print("Настройка обучения GAN...")
+
+    # Выбираем конфигурацию
+    use_advanced = False  # Измените на True для расширенной конфигурации
+
+    if use_advanced:
+        config = create_advanced_config()
+    else:
+        config = create_simple_config()
+
+    # Печатаем сводку конфигурации
+    print_config_summary(config)
+
+    # Устройство
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"\nИспользуемое устройство: {device}")
+
+    if device.type == "cuda":
+        print(f"  GPU: {torch.cuda.get_device_name(0)}")
+        print(
+            f"  Память: {torch.cuda.get_device_properties(0).total_memory / 1e9:.2f} GB"
+        )
+
+    # Создаем модель
+    print("\nСоздание модели...")
+    model = create_image_gan(
+        input_channels=3,
+        output_channels=3,
+        gan_mode=config.get("gan_mode", "vanilla"),
+        lambda_L1=config.get("lambda_L1", 100.0),
+        use_cuda=(device.type == "cuda"),
+    )
+
+    # Создаем даталоадеры
+    print("\nСоздание даталоадеров...")
+    # ЗАМЕНИТЕ ЭТО НА ВАШИ РЕАЛЬНЫЕ ДАННЫЕ
+    # Пример:
+    # from your_dataset_module import create_data_loaders
+    # train_loader, val_loader = create_data_loaders(
+    #     data_dir="ваш/путь/к/данным",
+    #     batch_size=config["batch_size"],
+    #     image_size=(256, 256),
+    #     augment=config.get("augmentation", None),
+    # )
+
+    # Для примера создаем фиктивные даталоадеры
+    # ВАЖНО: Замените это на реальные данные!
+    print("  ВНИМАНИЕ: Используются фиктивные данные!")
+    print("  Замените на реальные даталоадеры!")
+
+    import numpy as np
+    from torch.utils.data import Dataset
+
+    class DummyDataset(Dataset):
+        def __init__(self, num_samples=100):
+            self.num_samples = num_samples
+
+        def __len__(self):
+            return self.num_samples
+
+        def __getitem__(self, idx):
+            # Фиктивные данные для примера
+            yandex_img = torch.randn(3, 256, 256)
+            google_img = torch.randn(3, 256, 256)
+            return {"yandex_img": yandex_img, "google_img": google_img}
+
+    train_dataset = DummyDataset(num_samples=100)
+    val_dataset = DummyDataset(num_samples=20)
+
+    train_loader = DataLoader(
+        train_dataset,
+        batch_size=config.get("batch_size", 4),
+        shuffle=True,
+        num_workers=0,
+    )
+
+    val_loader = DataLoader(
+        val_dataset,
+        batch_size=config.get("batch_size", 4),
+        shuffle=False,
+        num_workers=0,
+    )
+
+    print(f"  Размер обучающего набора: {len(train_dataset)}")
+    print(f"  Размер валидационного набора: {len(val_dataset)}")
+    print(f"  Батчей в эпохе: {len(train_loader)}")
+
+    # Создаем тренер
+    print("\nСоздание тренера...")
+    trainer = GANTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    return trainer, config
+
+
+def train_model(trainer, config):
+    """Запускает обучение модели."""
+    print("\n" + "=" * 60)
+    print("Начало обучения")
+    print("=" * 60)
+
+    epochs = config.get("epochs", 100)
+
+    try:
+        trainer.train(num_epochs=epochs)
+
+        print("\n" + "=" * 60)
+        print("Обучение завершено успешно!")
+        print("=" * 60)
+
+    except KeyboardInterrupt:
+        print("\n\nОбучение прервано пользователем.")
+        print("Сохранение текущего состояния...")
+        trainer.save_checkpoint(is_best=False)
+
+    except Exception as e:
+        print(f"\n\nОшибка при обучении: {e}")
+        import traceback
+
+        traceback.print_exc()
+
+        # Пытаемся сохранить чекпоинт при ошибке
+        try:
+            trainer.save_checkpoint(is_best=False)
+            print("Текущее состояние сохранено.")
+        except:
+            print("Не удалось сохранить состояние.")
+
+
+def evaluate_model(trainer, test_loader=None):
+    """Оценивает обученную модель."""
+    print("\n" + "=" * 60)
+    print("Оценка модели")
+    print("=" * 60)
+
+    if test_loader is None:
+        print("Тестовый даталоадер не предоставлен.")
+        print("Используется валидационный даталоадер для оценки.")
+        test_loader = trainer.val_loader
+
+    metrics = trainer.evaluate(test_loader)
+
+    print("\nМетрики оценки:")
+    for key, value in metrics.items():
+        print(f"  {key}: {value:.6f}")
+
+    return metrics
+
+
+def generate_examples(model, device, num_examples=4):
+    """Генерирует примеры преобразования."""
+    print("\n" + "=" * 60)
+    print("Генерация примеров")
+    print("=" * 60)
+
+    model.eval()
+
+    # Создаем фиктивные входные данные
+    yandex_input = torch.randn(num_examples, 3, 256, 256).to(device)
+
+    with torch.no_grad():
+        google_output = model(yandex_input)
+
+    print(f"Сгенерировано {num_examples} примеров")
+    print(f"Размер входных данных: {yandex_input.shape}")
+    print(f"Размер выходных данных: {google_output.shape}")
+
+    # Сохраняем примеры (в реальном коде сохраняйте как изображения)
+    print("\nПримеры сгенерированы.")
+    print("В реальном коде сохраняйте их как изображения для визуализации.")
+
+    return yandex_input, google_output
+
+
+def main():
+    """Основная функция."""
+    print("=" * 60)
+    print("Пример обучения GAN для преобразования Yandex → Google")
+    print("=" * 60)
+
+    # Настройка
+    trainer, config = setup_training()
+
+    # Обучение
+    train_model(trainer, config)
+
+    # Оценка (требует реальных тестовых данных)
+    # evaluate_model(trainer)
+
+    # Генерация примеров
+    # generate_examples(trainer.model, trainer.device)
+
+    print("\n" + "=" * 60)
+    print("Скрипт завершен.")
+    print("=" * 60)
+    print("\nСледующие шаги:")
+    print("1. Замените фиктивные даталоадеры на реальные данные")
+    print("2. Настройте параметры в create_simple_config()")
+    print("3. Запустите обучение с реальными данными")
+    print("4. Визуализируйте результаты")
+    print("=" * 60)
+
+
+if __name__ == "__main__":
+    main()

models/GAN/trainer.py

@@ -0,0 +1,415 @@
+import json
+import time
+from pathlib import Path
+from typing import Any, Dict, List, Tuple
+
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.optim as optim
+from torch.utils.data import DataLoader
+from torch.utils.tensorboard import SummaryWriter
+from tqdm import tqdm
+
+# Type aliases
+ModuleType = nn.Module
+TensorType = torch.Tensor
+
+
+class GANTrainer:
+    """Trainer class for GAN model."""
+
+    def __init__(
+        self,
+        model: ModuleType,
+        train_loader: DataLoader,
+        val_loader: DataLoader,
+        device: torch.device,
+        config: Dict[str, Any],
+    ):
+        """
+        Initialize the GAN trainer.
+
+        Args:
+            model: GAN model (ImageGAN)
+            train_loader: Training data loader
+            val_loader: Validation data loader
+            device: Device to run training on
+            config: Training configuration dictionary
+        """
+        self.model = model.to(device)
+        self.train_loader = train_loader
+        self.val_loader = val_loader
+        self.device = device
+        self.config = config
+
+        # Optimizers
+        lr = config.get("learning_rate", 2e-4)
+        beta1 = config.get("beta1", 0.5)
+        beta2 = config.get("beta2", 0.999)
+
+        # Separate optimizers for generator and discriminator
+        # Note: self.model is expected to have .generator and .discriminator attributes
+        self.optimizer_G = optim.Adam(
+            self.model.generator.parameters(), lr=lr, betas=(beta1, beta2)
+        )
+        self.optimizer_D = optim.Adam(
+            self.model.discriminator.parameters(), lr=lr, betas=(beta1, beta2)
+        )
+
+        # Training state
+        self.current_epoch = 0
+        self.best_val_loss = float("inf")
+        self.g_losses: List[float] = []
+        self.d_losses: List[float] = []
+        self.val_g_losses: List[float] = []
+        self.val_d_losses: List[float] = []
+
+        # Create output directory
+        self.output_dir = Path(config.get("output_dir", "runs/gan"))
+        self.output_dir.mkdir(parents=True, exist_ok=True)
+
+        # TensorBoard writer
+        self.writer = SummaryWriter(log_dir=self.output_dir / "tensorboard")
+
+        # Save configuration
+        config_path = self.output_dir / "config.json"
+        with open(config_path, "w") as f:
+            json.dump(config, f, indent=2)
+
+        print(f"Training configuration saved to {config_path}")
+        # Access parameters through the model's generator and discriminator
+        generator_params = sum(p.numel() for p in self.model.generator.parameters())
+        discriminator_params = sum(
+            p.numel() for p in self.model.discriminator.parameters()
+        )
+
+        print(f"Generator has {generator_params:,} parameters")
+        print(f"Discriminator has {discriminator_params:,} parameters")
+
+    def train_epoch(self) -> Tuple[float, float]:
+        """
+        Train for one epoch.
+
+        Returns:
+            Tuple of (average generator loss, average discriminator loss)
+        """
+        self.model.train()
+        total_g_loss = 0.0
+        total_d_loss = 0.0
+        num_batches = len(self.train_loader)
+
+        progress_bar = tqdm(self.train_loader, desc=f"Epoch {self.current_epoch + 1}")
+        for batch_idx, batch in enumerate(progress_bar):
+            # Move data to device
+            yandex_img = batch["yandex_img"].to(self.device)
+            google_img = batch["google_img"].to(self.device)
+
+            # ========== Train Discriminator ==========
+            self.optimizer_D.zero_grad()
+
+            # Generate fake image
+            with torch.no_grad():
+                fake_google_img = self.model.generator(yandex_img)
+
+            # Discriminator loss - returns tuple of tensors
+            d_loss_tuple = self.model.discriminator_step(
+                yandex_img, google_img, fake_google_img
+            )
+            d_loss, d_real_loss, d_fake_loss = d_loss_tuple
+
+            # Backward and optimize discriminator
+            d_loss.backward()
+            self.optimizer_D.step()
+
+            # ========== Train Generator ==========
+            self.optimizer_G.zero_grad()
+
+            # Generate fake image
+            fake_google_img = self.model.generator(yandex_img)
+
+            # Generator loss - returns tuple of tensors
+            g_loss_tuple = self.model.generator_step(yandex_img, google_img)
+            g_loss, g_gan_loss, g_l1_loss = g_loss_tuple
+
+            # Backward and optimize generator
+            g_loss.backward()
+            self.optimizer_G.step()
+
+            # Update statistics
+            total_g_loss += g_loss.item()
+            total_d_loss += d_loss.item()
+
+            # Update progress bar
+            progress_bar.set_postfix(
+                {
+                    "g_loss": g_loss.item(),
+                    "d_loss": d_loss.item(),
+                    "g_l1": g_l1_loss.item(),
+                    "d_real": d_real_loss.item(),
+                    "d_fake": d_fake_loss.item(),
+                }
+            )
+
+            # Log batch losses to TensorBoard
+            global_step = self.current_epoch * num_batches + batch_idx
+            self.writer.add_scalar("train/batch_g_loss", g_loss.item(), global_step)
+            self.writer.add_scalar("train/batch_d_loss", d_loss.item(), global_step)
+            self.writer.add_scalar(
+                "train/batch_g_l1_loss", g_l1_loss.item(), global_step
+            )
+            self.writer.add_scalar(
+                "train/batch_d_real_loss", d_real_loss.item(), global_step
+            )
+            self.writer.add_scalar(
+                "train/batch_d_fake_loss", d_fake_loss.item(), global_step
+            )
+
+        avg_g_loss = total_g_loss / num_batches
+        avg_d_loss = total_d_loss / num_batches
+        self.g_losses.append(avg_g_loss)
+        self.d_losses.append(avg_d_loss)
+
+        return avg_g_loss, avg_d_loss
+
+    def validate(self) -> Tuple[float, float]:
+        """
+        Validate the model.
+
+        Returns:
+            Tuple of (average generator validation loss, average discriminator validation loss)
+        """
+        self.model.eval()
+        total_g_loss = 0.0
+        total_d_loss = 0.0
+
+        progress_bar = tqdm(self.val_loader, desc="Validation")
+        for batch in progress_bar:
+            # Move data to device
+            yandex_img = batch["yandex_img"].to(self.device)
+            google_img = batch["google_img"].to(self.device)
+
+            with torch.no_grad():
+                # Generate fake image
+                fake_google_img = self.model.generator(yandex_img)
+
+                # Generator loss - returns tuple of tensors
+                g_loss_tuple = self.model.generator_step(yandex_img, google_img)
+                g_loss, g_gan_loss, g_l1_loss = g_loss_tuple
+
+                # Discriminator loss - returns tuple of tensors
+                d_loss_tuple = self.model.discriminator_step(
+                    yandex_img, google_img, fake_google_img
+                )
+                d_loss, d_real_loss, d_fake_loss = d_loss_tuple
+
+                # Update statistics
+                total_g_loss += g_loss.item()
+                total_d_loss += d_loss.item()
+
+            # Update progress bar
+            progress_bar.set_postfix({"g_loss": g_loss.item(), "d_loss": d_loss.item()})
+
+        avg_g_loss = total_g_loss / len(self.val_loader)
+        avg_d_loss = total_d_loss / len(self.val_loader)
+        self.val_g_losses.append(avg_g_loss)
+        self.val_d_losses.append(avg_d_loss)
+
+        return avg_g_loss, avg_d_loss
+
+    def save_checkpoint(self, is_best: bool = False):
+        """
+        Save training checkpoint.
+
+        Args:
+            is_best: Whether this is the best model so far
+        """
+        checkpoint = {
+            "epoch": self.current_epoch,
+            "model_state_dict": self.model.state_dict(),
+            "optimizer_G_state_dict": self.optimizer_G.state_dict(),
+            "optimizer_D_state_dict": self.optimizer_D.state_dict(),
+            "g_losses": self.g_losses,
+            "d_losses": self.d_losses,
+            "val_g_losses": self.val_g_losses,
+            "val_d_losses": self.val_d_losses,
+            "best_val_loss": self.best_val_loss,
+            "config": self.config,
+        }
+
+        # Save regular checkpoint
+        checkpoint_path = (
+            self.output_dir / f"checkpoint_epoch_{self.current_epoch + 1}.pth"
+        )
+        torch.save(checkpoint, checkpoint_path)
+
+        # Save best model
+        if is_best:
+            best_path = self.output_dir / "model_best.pth"
+            torch.save(checkpoint, best_path)
+            print(f"Best model saved to {best_path}")
+
+    def load_checkpoint(self, checkpoint_path: str, resume_training: bool = False):
+        """
+        Load training checkpoint.
+
+        Args:
+            checkpoint_path: Path to checkpoint file
+            resume_training: Если True, продолжить обучение с сохраненной эпохи
+        """
+        checkpoint = torch.load(checkpoint_path, map_location=self.device)
+
+        self.model.load_state_dict(checkpoint["model_state_dict"])
+        self.optimizer_G.load_state_dict(checkpoint["optimizer_G_state_dict"])
+        self.optimizer_D.load_state_dict(checkpoint["optimizer_D_state_dict"])
+
+        self.current_epoch = checkpoint["epoch"]
+        self.g_losses = checkpoint["g_losses"]
+        self.d_losses = checkpoint["d_losses"]
+        self.val_g_losses = checkpoint["val_g_losses"]
+        self.val_d_losses = checkpoint["val_d_losses"]
+        self.best_val_loss = checkpoint["best_val_loss"]
+
+        if resume_training:
+            print(f"Resuming training from epoch {self.current_epoch + 1}")
+        else:
+            print(f"Loaded checkpoint from epoch {self.current_epoch + 1}")
+
+    def train(self, num_epochs: int, start_epoch: int = 0):
+        """
+        Train the model for specified number of epochs.
+
+        Args:
+            num_epochs: Number of epochs to train
+            start_epoch: Starting epoch (useful when resuming training)
+        """
+        print(
+            f"Starting GAN training for {num_epochs} epochs from epoch {start_epoch + 1}..."
+        )
+        start_time = time.time()
+
+        for epoch in range(start_epoch, start_epoch + num_epochs):
+            self.current_epoch = epoch
+
+            # Train for one epoch
+            train_g_loss, train_d_loss = self.train_epoch()
+
+            # Validate
+            val_g_loss, val_d_loss = self.validate()
+
+            # Log to TensorBoard
+            self.writer.add_scalar("train/epoch_g_loss", train_g_loss, epoch)
+            self.writer.add_scalar("train/epoch_d_loss", train_d_loss, epoch)
+            self.writer.add_scalar("val/epoch_g_loss", val_g_loss, epoch)
+            self.writer.add_scalar("val/epoch_d_loss", val_d_loss, epoch)
+
+            # Print epoch summary
+            print(f"\nEpoch {epoch + 1}/{num_epochs}:")
+            print("  Generator:")
+            print(f"    Train Loss: {train_g_loss:.6f}")
+            print(f"    Val Loss: {val_g_loss:.6f}")
+            print("  Discriminator:")
+            print(f"    Train Loss: {train_d_loss:.6f}")
+            print(f"    Val Loss: {val_d_loss:.6f}")
+
+            # Save checkpoint
+            val_total_loss = val_g_loss + val_d_loss
+            is_best = val_total_loss < self.best_val_loss
+            if is_best:
+                self.best_val_loss = val_total_loss
+
+            self.save_checkpoint(is_best=is_best)
+
+            # Early stopping
+            if self.config.get("early_stopping_patience", 0) > 0:
+                val_losses = [
+                    g + d for g, d in zip(self.val_g_losses, self.val_d_losses)
+                ]
+                if (
+                    epoch - np.argmin(val_losses)
+                    >= self.config["early_stopping_patience"]
+                ):
+                    print(f"Early stopping at epoch {epoch + 1}")
+                    break
+
+        # Training completed
+        training_time = time.time() - start_time
+        print(f"\nTraining completed in {training_time:.2f} seconds")
+        print(f"Best validation total loss: {self.best_val_loss:.6f}")
+
+        # Save final model
+        final_model_path = self.output_dir / "model_final.pth"
+        torch.save(self.model.state_dict(), final_model_path)
+        print(f"Final model saved to {final_model_path}")
+
+        # Save training history
+        history_path = self.output_dir / "training_history.json"
+        history = {
+            "g_losses": self.g_losses,
+            "d_losses": self.d_losses,
+            "val_g_losses": self.val_g_losses,
+            "val_d_losses": self.val_d_losses,
+            "best_val_loss": self.best_val_loss,
+            "total_epochs": self.current_epoch + 1,
+        }
+        with open(history_path, "w") as f:
+            json.dump(history, f, indent=2)
+        print(f"Training history saved to {history_path}")
+
+        # Close TensorBoard writer
+        self.writer.close()
+
+    def evaluate(self, test_loader: DataLoader) -> Dict:
+        """
+        Evaluate the model on test data.
+
+        Args:
+            test_loader: Test data loader
+
+        Returns:
+            Dictionary with evaluation metrics
+        """
+        self.model.eval()
+        total_g_loss = 0.0
+        total_d_loss = 0.0
+
+        print("Evaluating model on test set...")
+
+        for batch in tqdm(test_loader, desc="Evaluation"):
+            # Move data to device
+            yandex_img = batch["yandex_img"].to(self.device)
+            google_img = batch["google_img"].to(self.device)
+
+            with torch.no_grad():
+                # Generate fake image
+                fake_google_img = self.model.generator(yandex_img)
+
+                # Generator loss - returns tuple of tensors
+                g_loss_tuple = self.model.generator_step(yandex_img, google_img)
+                g_loss, g_gan_loss, g_l1_loss = g_loss_tuple
+
+                # Discriminator loss - returns tuple of tensors
+                d_loss_tuple = self.model.discriminator_step(
+                    yandex_img, google_img, fake_google_img
+                )
+                d_loss, d_real_loss, d_fake_loss = d_loss_tuple
+
+                # Update statistics
+                total_g_loss += g_loss.item()
+                total_d_loss += d_loss.item()
+
+        avg_g_loss = total_g_loss / len(test_loader)
+        avg_d_loss = total_d_loss / len(test_loader)
+
+        metrics = {
+            "generator_loss": avg_g_loss,
+            "discriminator_loss": avg_d_loss,
+            "total_loss": avg_g_loss + avg_d_loss,
+        }
+
+        print("\nTest Results:")
+        print(f"  Generator Loss: {avg_g_loss:.6f}")
+        print(f"  Discriminator Loss: {avg_d_loss:.6f}")
+        print(f"  Total Loss: {avg_g_loss + avg_d_loss:.6f}")
+
+        return metrics

models/SiaN/.gitignore

@@ -0,0 +1 @@
+runs

models/SiaN/README_homography.md

@@ -0,0 +1,295 @@
+# Homography Estimation System
+
+This system provides a complete pipeline for estimating homography matrices between Google and Yandex map images using deep learning.
+
+## Overview
+
+Homography estimation is crucial for aligning images from different sources (Google Maps and Yandex Maps in this case). The system includes:
+
+1. **Dataset handling** - Loading and preprocessing image pairs
+2. **Data augmentation** - Homography-based augmentation for robust training
+3. **CNN model** - Deep learning model for homography estimation
+4. **Training pipeline** - Complete training and evaluation workflow
+5. **Inference tools** - Tools for using trained models on new data
+
+## Installation
+
+### Prerequisites
+- Python 3.8+
+- PyTorch 1.9+
+- OpenCV
+- PIL/Pillow
+- NumPy
+
+### Install dependencies
+```bash
+pip install torch torchvision opencv-python pillow numpy matplotlib tqdm tensorboard
+```
+
+## Dataset Structure
+
+The system expects image pairs in the following format:
+```
+dataset/
+├── 0000_google.png
+├── 0000_yandex.png
+├── 0001_google.png
+├── 0001_yandex.png
+└── ...
+```
+
+Each pair consists of:
+- `{idx:04d}_google.png` - Google map image
+- `{idx:04d}_yandex.png` - Yandex map image
+
+## Quick Start
+
+### 1. Explore the dataset
+```python
+from models.homography import HomographyDataset
+
+dataset = HomographyDataset(
+    root_dir=r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images",
+    augment=True,
+    image_size=(256, 256)
+)
+
+print(f"Found {len(dataset)} image pairs")
+sample = dataset[0]
+print(f"Sample homography matrix:\n{sample['homography'].numpy()}")
+```
+
+### 2. Train a model
+```bash
+python models/train_homography.py \
+  --data_dir "C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images" \
+  --epochs 50 \
+  --batch_size 16 \
+  --lr 1e-3 \
+  --output_dir "runs/my_experiment"
+```
+
+### 3. Perform inference
+```bash
+python models/infer_homography.py \
+  --model_path "runs/my_experiment/checkpoint_best.pth" \
+  --mode single \
+  --google_path "path/to/google.png" \
+  --yandex_path "path/to/yandex.png" \
+  --output_vis "alignment_result.png"
+```
+
+## File Structure
+
+```
+models/
+├── homography.py              # Dataset class and data loaders
+├── homography_cnn.py          # CNN model architecture
+├── train_homography.py        # Training script
+├── infer_homography.py        # Inference script
+├── example_homography.py      # Example usage
+├── homography.ipynb           # Jupyter notebook (empty)
+└── README_homography.md       # This file
+```
+
+## Model Architecture
+
+The homography estimation model (`HomographyCNN`) consists of:
+
+1. **Dual encoders** - Separate feature extraction for Google and Yandex images
+2. **Residual blocks** - For deep feature learning
+3. **Fusion layers** - Combine features from both images
+4. **Regression head** - Predict 3x3 homography matrix
+
+### Key Features:
+- Residual connections for stable training
+- Batch normalization options
+- Dropout for regularization
+- Geometric consistency loss
+
+## Training Configuration
+
+Default training parameters:
+- **Optimizer**: Adam with learning rate 1e-3
+- **Loss function**: Combined matrix + geometric + regularization loss
+- **Batch size**: 32
+- **Image size**: 256x256
+- **Train/val split**: 80/20
+
+## Inference Modes
+
+The inference script supports three modes:
+
+### 1. Single image pair
+```bash
+python infer_homography.py --mode single \
+  --google_path google.png --yandex_path yandex.png
+```
+
+### 2. Dataset evaluation
+```bash
+python infer_homography.py --mode dataset \
+  --dataset_dir path/to/dataset --num_samples 100
+```
+
+### 3. Batch processing
+```bash
+python infer_homography.py --mode batch \
+  --input_dir path/to/input --output_dir path/to/output
+```
+
+## Evaluation Metrics
+
+The system computes several metrics:
+- **Matrix MSE**: Mean squared error of homography matrix elements
+- **Corner error**: Average pixel error at image corners
+- **Geometric consistency**: Warping error across grid points
+
+## Data Augmentation
+
+The dataset applies homography-based augmentation:
+- Random rotation (-30° to 30°)
+- Random scaling (0.8x to 1.2x)
+- Random translation (-50 to 50 pixels)
+- Small perspective distortion
+
+## Integration with Autopilot System
+
+The homography estimation can be integrated into the autopilot system:
+
+```python
+from models.infer_homography import HomographyInference
+
+# Initialize inference
+inference = HomographyInference(model_path="path/to/model.pth")
+
+# During flight loop
+homography = inference.predict(google_img, yandex_img)
+# Use homography to update drone position
+```
+
+## Troubleshooting
+
+### Common Issues
+
+1. **Out of memory**
+   - Reduce batch size
+   - Use smaller image size
+   - Enable gradient checkpointing
+
+2. **Poor convergence**
+   - Adjust learning rate
+   - Increase model capacity
+   - Add more data augmentation
+
+3. **Inference errors**
+   - Check image formats (must be RGB)
+   - Verify model was trained with same image size
+   - Ensure proper normalization
+
+### Debugging Tips
+
+- Use `example_homography.py` to test components
+- Enable TensorBoard for training visualization
+- Check homography matrix normalization (last element should be ~1)
+
+## Advanced Usage
+
+### Custom Model Architecture
+```python
+from models.homography_cnn import create_homography_model
+
+model = create_homography_model(
+    model_type="cnn",
+    input_size=(512, 512),
+    hidden_channels=128,
+    num_blocks=6,
+    dropout_rate=0.5
+)
+```
+
+### Custom Loss Function
+```python
+from models.homography_cnn import HomographyLoss
+
+loss_fn = HomographyLoss(
+    matrix_weight=0.7,
+    geometric_weight=0.3,
+    reg_weight=0.05,
+    grid_size=16
+)
+```
+
+### Transfer Learning
+```python
+# Load pretrained model
+checkpoint = torch.load("pretrained.pth")
+model.load_state_dict(checkpoint["model_state_dict"])
+
+# Fine-tune on new data
+for param in model.google_encoder.parameters():
+    param.requires_grad = False  # Freeze encoder
+```
+
+## Performance Tips
+
+1. **Training speed**
+   - Use multiple GPU workers for data loading
+   - Enable mixed precision training
+   - Use gradient accumulation for larger effective batch sizes
+
+2. **Memory efficiency**
+   - Use gradient checkpointing
+   - Implement progressive resizing
+   - Use memory-efficient optimizers
+
+3. **Inference speed**
+   - Use TensorRT or ONNX for deployment
+   - Implement model quantization
+   - Use batch inference when possible
+
+## Future Improvements
+
+1. **Model enhancements**
+   - Transformer-based architecture
+   - Multi-scale feature fusion
+   - Uncertainty estimation
+
+2. **Training improvements**
+   - Self-supervised pre-training
+   - Curriculum learning
+   - Adversarial training
+
+3. **Deployment features**
+   - Real-time inference optimization
+   - Mobile deployment
+   - Web API
+
+## Citation
+
+If you use this system in your research, please cite:
+
+```bibtex
+@software{homography_estimation_2024,
+  title = {Homography Estimation for Map Alignment},
+  author = {Autopilot Team},
+  year = {2024},
+  url = {https://github.com/your-repo/homography-estimation}
+}
+```
+
+## License
+
+This project is licensed under the MIT License - see the LICENSE file for details.
+
+## Support
+
+For questions and issues:
+1. Check the troubleshooting section
+2. Review the example scripts
+3. Open an issue on GitHub
+4. Contact the development team
+
+---
+
+*Last updated: October 2024*

models/SiaN/example_homography.py

@@ -0,0 +1,345 @@
+"""
+Example script demonstrating the complete homography estimation workflow.
+
+This script shows how to:
+1. Load the ya_go_maps dataset
+2. Create and train a homography estimation model
+3. Perform inference on new image pairs
+4. Visualize results
+"""
+
+import os
+import sys
+from pathlib import Path
+
+# Add parent directory to path for imports
+sys.path.append(str(Path(__file__).parent.parent))
+
+import matplotlib.pyplot as plt
+import numpy as np
+import torch
+from PIL import Image
+
+from models.homography import HomographyDataset, create_data_loaders
+from models.homography_cnn import HomographyCNN, HomographyLoss, create_homography_model
+from models.infer_homography import HomographyInference
+from models.train_homography import HomographyTrainer
+
+
+def example_dataset_loading():
+    """Example 1: Loading and exploring the dataset."""
+    print("=" * 60)
+    print("Example 1: Loading and exploring the dataset")
+    print("=" * 60)
+
+    # Path to the dataset
+    dataset_path = r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images"
+
+    # Create dataset
+    dataset = HomographyDataset(
+        root_dir=dataset_path,
+        augment=True,
+        image_size=(256, 256),
+        cache_homographies=True,
+    )
+
+    print(f"Dataset size: {len(dataset)} image pairs")
+
+    # Get a sample
+    sample = dataset[0]
+    print(f"\nSample keys: {list(sample.keys())}")
+    print(f"Google image shape: {sample['google_img'].shape}")
+    print(f"Yandex image shape: {sample['yandex_img'].shape}")
+    print(f"Homography shape: {sample['homography'].shape}")
+
+    # Show sample homography matrix
+    print(f"\nSample homography matrix:")
+    print(sample["homography"].numpy())
+
+    # Get sample without augmentation for visualization
+    raw_sample = dataset.get_sample_without_augmentation(0)
+
+    # Visualize sample
+    fig, axes = plt.subplots(1, 2, figsize=(10, 5))
+
+    axes[0].imshow(raw_sample["google_img"])
+    axes[0].set_title("Google Map")
+    axes[0].axis("off")
+
+    axes[1].imshow(raw_sample["yandex_img"])
+    axes[1].set_title("Yandex Map")
+    axes[1].axis("off")
+
+    plt.suptitle("Sample Image Pair (without augmentation)")
+    plt.tight_layout()
+    plt.show()
+
+    return dataset
+
+
+def example_model_creation():
+    """Example 2: Creating and testing the model."""
+    print("\n" + "=" * 60)
+    print("Example 2: Creating and testing the model")
+    print("=" * 60)
+
+    # Set device
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"Using device: {device}")
+
+    # Create model
+    model = HomographyCNN(
+        input_channels=3,
+        hidden_channels=64,
+        num_blocks=4,
+        dropout_rate=0.3,
+        use_batch_norm=True,
+    ).to(device)
+
+    print(
+        f"Model created with {sum(p.numel() for p in model.parameters()):,} parameters"
+    )
+
+    # Create dummy input
+    batch_size = 2
+    height, width = 256, 256
+
+    google_img = torch.randn(batch_size, 3, height, width).to(device)
+    yandex_img = torch.randn(batch_size, 3, height, width).to(device)
+
+    # Test forward pass
+    print("\nTesting forward pass...")
+    output = model(google_img, yandex_img, return_matrix=True)
+    print(f"Output shape: {output.shape}")  # Should be (2, 3, 3)
+    print(f"Sample output matrix:")
+    print(output[0].cpu().detach().numpy())
+
+    # Test loss function
+    print("\nTesting loss function...")
+    target_homography = torch.eye(3).unsqueeze(0).expand(batch_size, -1, -1).to(device)
+    loss_fn = HomographyLoss(
+        matrix_weight=1.0,
+        geometric_weight=0.5,
+        reg_weight=0.1,
+        grid_size=8,
+    ).to(device)
+
+    loss = loss_fn(output, target_homography, google_img, yandex_img)
+    print(f"Loss value: {loss.item():.6f}")
+
+    # Test metrics
+    print("\nTesting metrics...")
+    metrics = loss_fn.compute_metrics(output, target_homography)
+    for key, value in metrics.items():
+        print(f"{key}: {value:.6f}")
+
+    return model, loss_fn
+
+
+def example_data_loaders():
+    """Example 3: Creating data loaders for training."""
+    print("\n" + "=" * 60)
+    print("Example 3: Creating data loaders for training")
+    print("=" * 60)
+
+    # Path to the dataset
+    dataset_path = r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images"
+
+    # Create data loaders
+    train_loader, val_loader = create_data_loaders(
+        root_dir=dataset_path,
+        batch_size=16,
+        train_split=0.8,
+        num_workers=0,  # Use 0 for debugging, increase for training
+        image_size=(256, 256),
+        augment_train=True,
+        augment_val=False,
+    )
+
+    print(f"Train batches: {len(train_loader)}")
+    print(f"Val batches: {len(val_loader)}")
+
+    # Get a batch from train loader
+    batch = next(iter(train_loader))
+    print(f"\nBatch keys: {list(batch.keys())}")
+    print(f"Batch size: {batch['google_img'].shape[0]}")
+    print(f"Image shape: {batch['google_img'].shape[1:]}")
+
+    return train_loader, val_loader
+
+
+def example_training_config():
+    """Example 4: Setting up training configuration."""
+    print("\n" + "=" * 60)
+    print("Example 4: Training configuration")
+    print("=" * 60)
+
+    # Training configuration
+    config = {
+        # Model config
+        "model_type": "cnn",
+        "hidden_channels": 64,
+        "num_blocks": 4,
+        "dropout_rate": 0.3,
+        "use_batch_norm": True,
+        "image_size": [256, 256],
+        # Training config
+        "epochs": 50,
+        "batch_size": 16,
+        "learning_rate": 1e-3,
+        "weight_decay": 1e-4,
+        "optimizer": "adam",
+        "scheduler": "plateau",
+        "grad_clip": 1.0,
+        # Loss config
+        "matrix_weight": 1.0,
+        "geometric_weight": 0.5,
+        "reg_weight": 0.1,
+        "grid_size": 8,
+        # Data config
+        "data_dir": r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images",
+        "train_split": 0.8,
+        "num_workers": 0,
+        # Output config
+        "output_dir": "runs/example_training",
+        "seed": 42,
+    }
+
+    print("Training configuration:")
+    for key, value in config.items():
+        print(f"  {key}: {value}")
+
+    return config
+
+
+def example_inference():
+    """Example 5: Performing inference with a trained model."""
+    print("\n" + "=" * 60)
+    print("Example 5: Inference example")
+    print("=" * 60)
+
+    # Note: This example assumes you have a trained model
+    # For demonstration, we'll show the code structure
+
+    print("Inference workflow:")
+    print("1. Load trained model")
+    print("2. Preprocess input images")
+    print("3. Predict homography matrix")
+    print("4. Visualize alignment")
+
+    # Example code structure (commented out since we don't have a trained model yet)
+    """
+    # Create inference object
+    inference = HomographyInference(
+        model_path="runs/homography/checkpoint_best.pth",
+        device="cuda" if torch.cuda.is_available() else "cpu",
+    )
+
+    # Load images
+    google_img = Image.open("path/to/google.png")
+    yandex_img = Image.open("path/to/yandex.png")
+
+    # Predict homography
+    homography = inference.predict(google_img, yandex_img)
+
+    print(f"Predicted homography matrix:")
+    print(homography.cpu().numpy())
+
+    # Visualize alignment
+    inference.visualize_alignment(
+        google_img,
+        yandex_img,
+        homography.cpu().numpy(),
+        save_path="alignment_visualization.png",
+        show=True,
+    )
+    """
+
+    print(
+        "\nNote: To run actual inference, first train a model using train_homography.py"
+    )
+
+
+def example_quick_start():
+    """Example 6: Quick start guide."""
+    print("\n" + "=" * 60)
+    print("Example 6: Quick Start Guide")
+    print("=" * 60)
+
+    print("\nTo get started with homography estimation:")
+    print("\n1. First, explore the dataset:")
+    print(
+        '   python -c "from models.homography import HomographyDataset; '
+        "dataset = HomographyDataset(r'C:\\Users\\admin\\Projects\\autopilot\\datasets\\ya_go_maps\\images'); "
+        "print(f'Found {len(dataset)} image pairs')\""
+    )
+
+    print("\n2. Train a model:")
+    print("   python models/train_homography.py \\")
+    print(
+        '     --data_dir "C:\\Users\\admin\\Projects\\autopilot\\datasets\\ya_go_maps\\images" \\'
+    )
+    print("     --epochs 50 \\")
+    print("     --batch_size 16 \\")
+    print('     --output_dir "runs/my_experiment"')
+
+    print("\n3. Perform inference on a single image pair:")
+    print("   python models/infer_homography.py \\")
+    print('     --model_path "runs/my_experiment/checkpoint_best.pth" \\')
+    print("     --mode single \\")
+    print('     --google_path "path/to/google.png" \\')
+    print('     --yandex_path "path/to/yandex.png" \\')
+    print('     --output_vis "alignment_result.png"')
+
+    print("\n4. Evaluate on the entire dataset:")
+    print("   python models/infer_homography.py \\")
+    print('     --model_path "runs/my_experiment/checkpoint_best.pth" \\')
+    print("     --mode dataset \\")
+    print(
+        '     --dataset_dir "C:\\Users\\admin\\Projects\\autopilot\\datasets\\ya_go_maps\\images" \\'
+    )
+    print('     --save_results "evaluation_results.json"')
+
+
+def main():
+    """Run all examples."""
+    print("Homography Estimation Workflow Examples")
+    print("=" * 60)
+
+    try:
+        # Example 1: Dataset loading
+        dataset = example_dataset_loading()
+
+        # Example 2: Model creation
+        model, loss_fn = example_model_creation()
+
+        # Example 3: Data loaders
+        train_loader, val_loader = example_data_loaders()
+
+        # Example 4: Training configuration
+        config = example_training_config()
+
+        # Example 5: Inference
+        example_inference()
+
+        # Example 6: Quick start
+        example_quick_start()
+
+        print("\n" + "=" * 60)
+        print("All examples completed successfully!")
+        print("=" * 60)
+
+        print("\nNext steps:")
+        print("1. Run the training script to train a model")
+        print("2. Use the inference script to test the trained model")
+        print("3. Integrate the homography estimation into your autopilot system")
+
+    except Exception as e:
+        print(f"\nError running examples: {e}")
+        import traceback
+
+        traceback.print_exc()
+
+
+if __name__ == "__main__":
+    main()

models/SiaN/homography.py

@@ -0,0 +1,434 @@
+import os
+import random
+from typing import Any, Dict, List, Optional, Tuple
+
+import cv2
+import numpy as np
+import torch
+from PIL import Image
+from torch.utils.data import DataLoader, Dataset
+
+
+class HomographyDataset(Dataset):
+    """
+    Dataset for homography estimation between Yandex and Google map image pairs.
+
+    This dataset loads pairs of images (Yandex and Google maps) and provides
+    homography matrices for data augmentation and training.
+    """
+
+    def __init__(
+        self,
+        root_dir: str,
+        transform=None,
+        augment: bool = True,
+        max_samples: Optional[int] = None,
+        image_size: Tuple[int, int] = (700, 700),
+        cache_homographies: bool = True,
+    ):
+        """
+        Initialize the HomographyDataset.
+
+        Args:
+            root_dir: Directory containing image pairs (format: {idx:04d}_google.png, {idx:04d}_yandex.png)
+            transform: Optional torchvision transforms to apply
+            augment: Whether to apply homography-based data augmentation
+            max_samples: Maximum number of samples to load (None for all)
+            image_size: Target size for images (height, width)
+            cache_homographies: Whether to cache generated homography matrices to disk
+        """
+        self.root_dir = root_dir
+        self.transform = transform
+        self.augment = augment
+        self.image_size = image_size
+        self.cache_homographies = cache_homographies
+
+        # Find all image pairs
+        self.image_pairs = self._discover_image_pairs()
+
+        if max_samples is not None:
+            self.image_pairs = self.image_pairs[:max_samples]
+
+        print(f"Found {len(self.image_pairs)} image pairs in {root_dir}")
+
+        # Create directory for cached homographies if needed
+        if cache_homographies:
+            self.homography_cache_dir = os.path.join(root_dir, "homography_cache")
+            os.makedirs(self.homography_cache_dir, exist_ok=True)
+
+    def _discover_image_pairs(self) -> List[Dict[str, Any]]:
+        """Discover all Google-Yandex image pairs in the dataset directory."""
+        image_pairs = []
+
+        # Get all Google images
+        google_files = [
+            f for f in os.listdir(self.root_dir) if f.endswith("_google.png")
+        ]
+
+        for google_file in sorted(google_files):
+            # Extract index from filename
+            idx_str = google_file.split("_")[0]
+            try:
+                idx = int(idx_str)
+            except ValueError:
+                continue
+
+            # Check if corresponding Yandex image exists
+            yandex_file = f"{idx:04d}_yandex.png"
+            yandex_path = os.path.join(self.root_dir, yandex_file)
+
+            if os.path.exists(yandex_path):
+                image_pairs.append(
+                    {
+                        "idx": idx,
+                        "google_path": os.path.join(self.root_dir, google_file),
+                        "yandex_path": yandex_path,
+                    }
+                )
+
+        return image_pairs
+
+    def __len__(self) -> int:
+        """Return the number of image pairs in the dataset."""
+        return len(self.image_pairs)
+
+    def __getitem__(self, idx: int) -> Dict[str, torch.Tensor]:
+        """
+        Get a sample from the dataset.
+
+        Returns a dictionary with:
+            - 'google_img': Google map image tensor
+            - 'yandex_img': Yandex map image tensor
+            - 'homography': Ground truth homography matrix (3x3)
+            - 'idx': Sample index
+        """
+        pair_info = self.image_pairs[idx]
+
+        # Load images
+        google_img = Image.open(pair_info["google_path"]).convert("RGB")
+        yandex_img = Image.open(pair_info["yandex_path"]).convert("RGB")
+
+        # Resize images to target size
+        google_img = google_img.resize(
+            (self.image_size[1], self.image_size[0]), Image.BILINEAR
+        )
+        yandex_img = yandex_img.resize(
+            (self.image_size[1], self.image_size[0]), Image.BILINEAR
+        )
+
+        # Get or generate homography matrix
+        homography_matrix = self._get_homography_matrix(pair_info["idx"])
+
+        # Apply data augmentation if enabled
+        if self.augment:
+            google_img, yandex_img, homography_matrix = self._apply_augmentation(
+                google_img, yandex_img, homography_matrix
+            )
+
+        # Convert images to tensors
+        if self.transform:
+            google_img = self.transform(google_img)
+            yandex_img = self.transform(yandex_img)
+        else:
+            # Default conversion to tensor
+            google_img = (
+                torch.from_numpy(np.array(google_img)).float().permute(2, 0, 1) / 255.0
+            )
+            yandex_img = (
+                torch.from_numpy(np.array(yandex_img)).float().permute(2, 0, 1) / 255.0
+            )
+
+        # Convert homography to tensor
+        homography_tensor = torch.from_numpy(homography_matrix).float()
+
+        return {
+            "google_img": google_img,
+            "yandex_img": yandex_img,
+            "homography": homography_tensor,
+            "idx": torch.tensor(pair_info["idx"], dtype=torch.long),
+        }
+
+    def _get_homography_matrix(self, idx: int) -> np.ndarray:
+        """
+        Get homography matrix for a given index.
+
+        If cached homography exists, load it. Otherwise generate a new one.
+        """
+        if self.cache_homographies:
+            cache_path = os.path.join(
+                self.homography_cache_dir, f"{idx:04d}_homography.npy"
+            )
+            if os.path.exists(cache_path):
+                return np.load(cache_path)
+
+        # Generate new homography matrix
+        homography_matrix = self.generate_random_homography()
+
+        # Cache if enabled
+        if self.cache_homographies:
+            np.save(cache_path, homography_matrix)
+
+        return homography_matrix
+
+    def generate_random_homography(self) -> np.ndarray:
+        """
+        Generate a random homography matrix for data augmentation.
+
+        Returns:
+            np.ndarray: 3x3 homography matrix.
+        """
+        # Generate random affine transformation parameters
+        angle = np.random.uniform(-30, 30)  # rotation in degrees
+        scale = np.random.uniform(0.8, 1.2)  # scaling factor
+        tx = np.random.uniform(-50, 50)  # translation in x
+        ty = np.random.uniform(-50, 50)  # translation in y
+
+        # Convert angle to radians
+        theta = np.radians(angle)
+
+        # Create affine transformation matrix
+        affine_matrix = np.array(
+            [
+                [scale * np.cos(theta), -scale * np.sin(theta), tx],
+                [scale * np.sin(theta), scale * np.cos(theta), ty],
+                [0, 0, 1],
+            ]
+        )
+
+        # Add small perspective distortion
+        perspective = np.random.uniform(-0.001, 0.001, (2, 3))
+        perspective = np.vstack([perspective, [0, 0, 0]])
+
+        homography_matrix = affine_matrix + perspective
+
+        return homography_matrix
+
+    def _apply_augmentation(
+        self,
+        google_img: Image.Image,
+        yandex_img: Image.Image,
+        base_homography: np.ndarray,
+    ) -> Tuple[Image.Image, Image.Image, np.ndarray]:
+        """
+        Apply homography-based data augmentation to image pair.
+
+        Args:
+            google_img: Google map image
+            yandex_img: Yandex map image
+            base_homography: Base homography matrix
+
+        Returns:
+            Tuple of (augmented_google_img, augmented_yandex_img, augmented_homography)
+        """
+        # Generate augmentation homography
+        aug_homography = self.generate_random_homography()
+
+        # Combine with base homography
+        combined_homography = aug_homography @ base_homography
+
+        # Apply augmentation to both images
+        google_aug = self._apply_homography_to_image(google_img, aug_homography)
+        yandex_aug = self._apply_homography_to_image(yandex_img, aug_homography)
+
+        return google_aug, yandex_aug, combined_homography
+
+    def _apply_homography_to_image(
+        self, img: Image.Image, homography: np.ndarray
+    ) -> Image.Image:
+        """
+        Apply homography transformation to a single image.
+
+        Args:
+            img: PIL Image to transform
+            homography: 3x3 homography matrix
+
+        Returns:
+            Transformed PIL Image
+        """
+        # Convert to numpy array
+        img_np = np.array(img)
+
+        # Get image dimensions
+        h, w = img_np.shape[:2]
+
+        # Apply homography transformation
+        transformed = cv2.warpPerspective(
+            img_np,
+            homography,
+            (w, h),
+            flags=cv2.INTER_LINEAR,
+            borderMode=cv2.BORDER_REFLECT,
+        )
+
+        # Convert back to PIL Image
+        return Image.fromarray(transformed)
+
+    def get_sample_without_augmentation(self, idx: int) -> Dict[str, Any]:
+        """
+        Get a sample without data augmentation.
+
+        Useful for visualization and evaluation.
+        """
+        pair_info = self.image_pairs[idx]
+
+        # Load images
+        google_img = Image.open(pair_info["google_path"]).convert("RGB")
+        yandex_img = Image.open(pair_info["yandex_path"]).convert("RGB")
+
+        # Resize
+        google_img = google_img.resize(
+            (self.image_size[1], self.image_size[0]), Image.BILINEAR
+        )
+        yandex_img = yandex_img.resize(
+            (self.image_size[1], self.image_size[0]), Image.BILINEAR
+        )
+
+        # Get homography matrix
+        homography_matrix = self._get_homography_matrix(pair_info["idx"])
+
+        return {
+            "google_img": google_img,
+            "yandex_img": yandex_img,
+            "homography": homography_matrix,
+            "idx": pair_info["idx"],
+            "google_path": pair_info["google_path"],
+            "yandex_path": pair_info["yandex_path"],
+        }
+
+
+def create_data_loaders(
+    root_dir: str,
+    batch_size: int = 32,
+    train_split: float = 0.8,
+    num_workers: int = 4,
+    image_size: Tuple[int, int] = (256, 256),
+    augment_train: bool = True,
+    augment_val: bool = False,
+) -> Tuple[DataLoader, DataLoader]:
+    """
+    Create train and validation data loaders for homography estimation.
+
+    Args:
+        root_dir: Directory containing image pairs
+        batch_size: Batch size for data loaders
+        train_split: Fraction of data to use for training
+        num_workers: Number of worker processes for data loading
+        image_size: Target image size (height, width)
+        augment_train: Whether to augment training data
+        augment_val: Whether to augment validation data
+
+    Returns:
+        Tuple of (train_loader, val_loader)
+    """
+    from torchvision import transforms
+
+    # Define transforms
+    transform = transforms.Compose(
+        [
+            transforms.ToTensor(),
+            transforms.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
+        ]
+    )
+
+    # Create full dataset
+    full_dataset = HomographyDataset(
+        root_dir=root_dir,
+        transform=transform,
+        augment=False,  # We'll handle augmentation separately
+        image_size=image_size,
+        cache_homographies=True,
+    )
+
+    # Split dataset
+    dataset_size = len(full_dataset)
+    train_size = int(train_split * dataset_size)
+    val_size = dataset_size - train_size
+
+    # Create indices for splitting
+    indices = list(range(dataset_size))
+    random.shuffle(indices)
+    train_indices = indices[:train_size]
+    val_indices = indices[train_size:]
+
+    # Create subset samplers
+    from torch.utils.data import Subset
+
+    train_dataset = Subset(full_dataset, train_indices)
+    val_dataset = Subset(full_dataset, val_indices)
+
+    # Apply augmentation by overriding __getitem__ for train dataset
+    if augment_train:
+
+        class AugmentedSubset(Subset):
+            def __getitem__(self, idx):
+                sample = self.dataset[self.indices[idx]]
+                # Apply augmentation
+                google_img = sample["google_img"]
+                yandex_img = sample["yandex_img"]
+                homography = sample["homography"]
+
+                # Generate augmentation homography
+                aug_homography = torch.from_numpy(
+                    full_dataset.generate_random_homography()
+                ).float()
+
+                # Combine homographies
+                combined_homography = aug_homography @ homography
+
+                # Apply augmentation (simplified - in practice would warp images)
+                # For now, we just return the combined homography
+                return {
+                    "google_img": google_img,
+                    "yandex_img": yandex_img,
+                    "homography": combined_homography,
+                    "idx": sample["idx"],
+                }
+
+        train_dataset = AugmentedSubset(full_dataset, train_indices)
+
+    # Create data loaders
+    train_loader = DataLoader(
+        train_dataset,
+        batch_size=batch_size,
+        shuffle=True,
+        num_workers=num_workers,
+        pin_memory=True,
+    )
+
+    val_loader = DataLoader(
+        val_dataset,
+        batch_size=batch_size,
+        shuffle=False,
+        num_workers=num_workers,
+        pin_memory=True,
+    )
+
+    return train_loader, val_loader
+
+
+if __name__ == "__main__":
+    # Example usage
+    dataset = HomographyDataset(
+        root_dir=r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images",
+        augment=True,
+        image_size=(256, 256),
+    )
+
+    print(f"Dataset size: {len(dataset)}")
+
+    # Get a sample
+    sample = dataset[0]
+    print(f"Sample keys: {list(sample.keys())}")
+    print(f"Google image shape: {sample['google_img'].shape}")
+    print(f"Yandex image shape: {sample['yandex_img'].shape}")
+    print(f"Homography shape: {sample['homography'].shape}")
+
+    # Create data loaders
+    train_loader, val_loader = create_data_loaders(
+        root_dir=r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images",
+        batch_size=16,
+        train_split=0.8,
+    )
+
+    print(f"Train batches: {len(train_loader)}")
+    print(f"Val batches: {len(val_loader)}")

models/SiaN/homography_cnn.py

@@ -0,0 +1,551 @@
+from typing import Optional, Tuple
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+class HomographyCNN(nn.Module):
+    """
+    CNN model for homography estimation between two images.
+
+    This model takes two images (Google and Yandex maps) as input and
+    outputs a 3x3 homography matrix that transforms one image to align with the other.
+    """
+
+    def __init__(
+        self,
+        input_channels: int = 3,
+        hidden_channels: int = 64,
+        num_blocks: int = 4,
+        dropout_rate: float = 0.3,
+        use_batch_norm: bool = True,
+        output_size: int = 9,  # Flattened 3x3 homography matrix
+    ):
+        """
+        Initialize the HomographyCNN model.
+
+        Args:
+            input_channels: Number of input channels per image (3 for RGB)
+            hidden_channels: Base number of channels in the network
+            num_blocks: Number of convolutional blocks
+            dropout_rate: Dropout rate for regularization
+            use_batch_norm: Whether to use batch normalization
+            output_size: Size of output vector (9 for flattened 3x3 matrix)
+        """
+        super().__init__()
+
+        self.input_channels = input_channels
+        self.hidden_channels = hidden_channels
+        self.num_blocks = num_blocks
+        self.dropout_rate = dropout_rate
+        self.use_batch_norm = use_batch_norm
+
+        # Feature extraction for each image separately
+        self.google_encoder = self._build_encoder()
+        self.yandex_encoder = self._build_encoder()
+
+        # Fusion layers to combine features from both images
+        self.fusion_layers = self._build_fusion_layers()
+
+        # Regression head for homography estimation
+        self.regression_head = self._build_regression_head(output_size)
+
+        # Initialize weights
+        self._initialize_weights()
+
+    def _build_encoder(self) -> nn.Module:
+        """Build the encoder network for a single image."""
+        layers = []
+        in_channels = self.input_channels
+        out_channels = self.hidden_channels
+
+        # First convolutional block
+        layers.append(
+            nn.Conv2d(in_channels, out_channels, kernel_size=7, stride=2, padding=3)
+        )
+        if self.use_batch_norm:
+            layers.append(nn.BatchNorm2d(out_channels))
+        layers.append(nn.ReLU(inplace=True))
+        layers.append(nn.MaxPool2d(kernel_size=3, stride=2, padding=1))
+
+        # Additional convolutional blocks
+        for i in range(self.num_blocks):
+            block_in_channels = out_channels
+            block_out_channels = out_channels * 2 if i < 2 else out_channels
+
+            layers.append(
+                ResidualBlock(
+                    in_channels=block_in_channels,
+                    out_channels=block_out_channels,
+                    stride=1 if i == 0 else 2,
+                    dropout_rate=self.dropout_rate,
+                    use_batch_norm=self.use_batch_norm,
+                )
+            )
+
+            if i < 2:
+                out_channels = block_out_channels
+
+        return nn.Sequential(*layers)
+
+    def _build_fusion_layers(self) -> nn.Module:
+        """Build layers to fuse features from both images."""
+        # After encoding, each image has hidden_channels * 4 features
+        fused_channels = (
+            self.hidden_channels * 8
+        )  # Concatenated features from both images
+
+        layers = [
+            # Reduce dimensionality
+            nn.Conv2d(
+                fused_channels, self.hidden_channels * 4, kernel_size=3, padding=1
+            ),
+            nn.BatchNorm2d(self.hidden_channels * 4)
+            if self.use_batch_norm
+            else nn.Identity(),
+            nn.ReLU(inplace=True),
+            nn.Dropout2d(self.dropout_rate),
+            # Further processing
+            nn.Conv2d(
+                self.hidden_channels * 4,
+                self.hidden_channels * 2,
+                kernel_size=3,
+                padding=1,
+            ),
+            nn.BatchNorm2d(self.hidden_channels * 2)
+            if self.use_batch_norm
+            else nn.Identity(),
+            nn.ReLU(inplace=True),
+            nn.Dropout2d(self.dropout_rate),
+            # Global pooling
+            nn.AdaptiveAvgPool2d((1, 1)),
+        ]
+
+        return nn.Sequential(*layers)
+
+    def _build_regression_head(self, output_size: int) -> nn.Module:
+        """Build the regression head for homography estimation."""
+        # Input size after fusion and global pooling
+        input_features = self.hidden_channels * 2
+
+        layers = [
+            nn.Flatten(),
+            nn.Linear(input_features, 512),
+            nn.BatchNorm1d(512) if self.use_batch_norm else nn.Identity(),
+            nn.ReLU(inplace=True),
+            nn.Dropout(self.dropout_rate),
+            nn.Linear(512, 256),
+            nn.BatchNorm1d(256) if self.use_batch_norm else nn.Identity(),
+            nn.ReLU(inplace=True),
+            nn.Dropout(self.dropout_rate),
+            nn.Linear(256, 128),
+            nn.BatchNorm1d(128) if self.use_batch_norm else nn.Identity(),
+            nn.ReLU(inplace=True),
+            nn.Dropout(self.dropout_rate),
+            nn.Linear(128, output_size),
+        ]
+
+        return nn.Sequential(*layers)
+
+    def _initialize_weights(self):
+        """Initialize model weights."""
+        for m in self.modules():
+            if isinstance(m, nn.Conv2d):
+                nn.init.kaiming_normal_(m.weight, mode="fan_out", nonlinearity="relu")
+                if m.bias is not None:
+                    nn.init.constant_(m.bias, 0)
+            elif isinstance(m, nn.BatchNorm2d) or isinstance(m, nn.BatchNorm1d):
+                nn.init.constant_(m.weight, 1)
+                nn.init.constant_(m.bias, 0)
+            elif isinstance(m, nn.Linear):
+                nn.init.normal_(m.weight, 0, 0.01)
+                nn.init.constant_(m.bias, 0)
+
+    def forward(
+        self,
+        google_img: torch.Tensor,
+        yandex_img: torch.Tensor,
+        return_matrix: bool = True,
+    ) -> torch.Tensor:
+        """
+        Forward pass of the model.
+
+        Args:
+            google_img: Google map image tensor of shape (B, C, H, W)
+            yandex_img: Yandex map image tensor of shape (B, C, H, W)
+            return_matrix: If True, return 3x3 matrix; if False, return flattened vector
+
+        Returns:
+            Homography matrix tensor of shape (B, 3, 3) or flattened vector of shape (B, 9)
+        """
+        # Extract features from both images
+        google_features = self.google_encoder(google_img)
+        yandex_features = self.yandex_encoder(yandex_img)
+
+        # Concatenate features along channel dimension
+        combined_features = torch.cat([google_features, yandex_features], dim=1)
+
+        # Fuse features
+        fused_features = self.fusion_layers(combined_features)
+
+        # Regression to get homography parameters
+        homography_flat = self.regression_head(fused_features)
+
+        if return_matrix:
+            # Reshape to 3x3 matrix
+            batch_size = homography_flat.shape[0]
+            homography_matrix = homography_flat.view(batch_size, 3, 3)
+
+            # Ensure the last element is 1 (homogeneous coordinate normalization)
+            # Add small epsilon to prevent division by zero
+            epsilon = 1e-8
+            homography_matrix = homography_matrix / (
+                homography_matrix[:, 2, 2].view(-1, 1, 1) + epsilon
+            )
+
+            return homography_matrix
+        else:
+            return homography_flat
+
+    def predict_homography(
+        self,
+        google_img: torch.Tensor,
+        yandex_img: torch.Tensor,
+        normalize: bool = True,
+    ) -> torch.Tensor:
+        """
+        Predict homography matrix with optional normalization.
+
+        Args:
+            google_img: Google map image tensor
+            yandex_img: Yandex map image tensor
+            normalize: Whether to normalize the homography matrix
+
+        Returns:
+            Predicted homography matrix
+        """
+        self.eval()
+        with torch.no_grad():
+            homography = self.forward(google_img, yandex_img, return_matrix=True)
+
+            if normalize:
+                # Normalize so that last element is 1
+                homography = homography / homography[:, 2, 2].view(-1, 1, 1)
+
+            return homography
+
+
+class ResidualBlock(nn.Module):
+    """Residual block with optional downsampling."""
+
+    def __init__(
+        self,
+        in_channels: int,
+        out_channels: int,
+        stride: int = 1,
+        dropout_rate: float = 0.3,
+        use_batch_norm: bool = True,
+    ):
+        super().__init__()
+
+        self.conv1 = nn.Conv2d(
+            in_channels,
+            out_channels,
+            kernel_size=3,
+            stride=stride,
+            padding=1,
+            bias=False,
+        )
+        self.bn1 = nn.BatchNorm2d(out_channels) if use_batch_norm else nn.Identity()
+        self.relu1 = nn.ReLU(inplace=True)
+        self.dropout1 = (
+            nn.Dropout2d(dropout_rate) if dropout_rate > 0 else nn.Identity()
+        )
+
+        self.conv2 = nn.Conv2d(
+            out_channels, out_channels, kernel_size=3, stride=1, padding=1, bias=False
+        )
+        self.bn2 = nn.BatchNorm2d(out_channels) if use_batch_norm else nn.Identity()
+        self.relu2 = nn.ReLU(inplace=True)
+        self.dropout2 = (
+            nn.Dropout2d(dropout_rate) if dropout_rate > 0 else nn.Identity()
+        )
+
+        # Shortcut connection
+        self.shortcut = nn.Sequential()
+        if stride != 1 or in_channels != out_channels:
+            self.shortcut = nn.Sequential(
+                nn.Conv2d(
+                    in_channels, out_channels, kernel_size=1, stride=stride, bias=False
+                ),
+                nn.BatchNorm2d(out_channels) if use_batch_norm else nn.Identity(),
+            )
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        identity = self.shortcut(x)
+
+        out = self.conv1(x)
+        out = self.bn1(out)
+        out = self.relu1(out)
+        out = self.dropout1(out)
+
+        out = self.conv2(out)
+        out = self.bn2(out)
+
+        out += identity
+        out = self.relu2(out)
+        out = self.dropout2(out)
+
+        return out
+
+
+class HomographyLoss(nn.Module):
+    """
+    Custom loss function for homography estimation.
+
+    Combines multiple loss terms:
+    1. Matrix element-wise L2 loss
+    2. Geometric consistency loss (warping error)
+    3. Determinant regularization (to prevent degenerate matrices)
+    """
+
+    def __init__(
+        self,
+        matrix_weight: float = 1.0,
+        geometric_weight: float = 0.5,
+        reg_weight: float = 0.1,
+        grid_size: int = 8,
+    ):
+        super().__init__()
+        self.matrix_weight = matrix_weight
+        self.geometric_weight = geometric_weight
+        self.reg_weight = reg_weight
+        self.grid_size = grid_size
+
+        # Create grid of points for geometric loss
+        self.register_buffer(
+            "grid_points",
+            self._create_grid_points(grid_size),
+            persistent=False,
+        )
+
+    def _create_grid_points(self, grid_size: int) -> torch.Tensor:
+        """Create a grid of points for geometric consistency loss."""
+        x = torch.linspace(-1, 1, grid_size)
+        y = torch.linspace(-1, 1, grid_size)
+        grid_y, grid_x = torch.meshgrid(y, x, indexing="ij")
+        grid_points = torch.stack([grid_x.flatten(), grid_y.flatten()], dim=1)
+        # Add homogeneous coordinate
+        ones = torch.ones(grid_points.shape[0], 1)
+        grid_points = torch.cat([grid_points, ones], dim=1)
+        return grid_points.T  # Shape: (3, grid_size*grid_size)
+
+    def forward(
+        self,
+        pred_homography: torch.Tensor,
+        target_homography: torch.Tensor,
+        google_img: Optional[torch.Tensor] = None,
+        yandex_img: Optional[torch.Tensor] = None,
+    ) -> torch.Tensor:
+        """
+        Compute homography loss.
+
+        Args:
+            pred_homography: Predicted homography matrices (B, 3, 3)
+            target_homography: Target homography matrices (B, 3, 3)
+            google_img: Google images (optional, for geometric loss)
+            yandex_img: Yandex images (optional, for geometric loss)
+
+        Returns:
+            Combined loss value
+        """
+        batch_size = pred_homography.shape[0]
+
+        # 1. Matrix element-wise L2 loss
+        matrix_loss = F.mse_loss(pred_homography, target_homography)
+
+        # 2. Geometric consistency loss (if images provided)
+        geometric_loss = torch.tensor(0.0, device=pred_homography.device)
+        if google_img is not None and yandex_img is not None:
+            # Warp grid points with predicted homography
+            grid_points = self.grid_points.unsqueeze(0).expand(batch_size, -1, -1)
+            warped_points = torch.bmm(pred_homography, grid_points)
+
+            # Normalize homogeneous coordinates
+            warped_points = warped_points / (warped_points[:, 2:3, :] + 1e-8)
+
+            # Warp with target homography for comparison
+            target_warped_points = torch.bmm(target_homography, grid_points)
+            target_warped_points = target_warped_points / (
+                target_warped_points[:, 2:3, :] + 1e-8
+            )
+
+            # Compute point-wise distance
+            geometric_loss = F.mse_loss(
+                warped_points[:, :2, :], target_warped_points[:, :2, :]
+            )
+
+        # 3. Regularization loss (prevent degenerate matrices)
+        # Encourage determinant to be close to 1
+        pred_det = torch.det(pred_homography)
+        reg_loss = F.mse_loss(pred_det, torch.ones_like(pred_det))
+
+        # Combine losses
+        total_loss = (
+            self.matrix_weight * matrix_loss
+            + self.geometric_weight * geometric_loss
+            + self.reg_weight * reg_loss
+        )
+
+        return total_loss
+
+    def compute_metrics(
+        self,
+        pred_homography: torch.Tensor,
+        target_homography: torch.Tensor,
+    ) -> dict:
+        """
+        Compute evaluation metrics for homography estimation.
+
+        Args:
+            pred_homography: Predicted homography matrices
+            target_homography: Target homography matrices
+
+        Returns:
+            Dictionary of metrics
+        """
+        with torch.no_grad():
+            # Normalize matrices
+            pred_norm = pred_homography / pred_homography[:, 2, 2].view(-1, 1, 1)
+            target_norm = target_homography / target_homography[:, 2, 2].view(-1, 1, 1)
+
+            # Matrix L2 error
+            matrix_error = F.mse_loss(pred_norm, target_norm, reduction="none").mean(
+                dim=(1, 2)
+            )
+
+            # Corner error (warp 4 corners of the image)
+            corners = torch.tensor(
+                [[-1, -1, 1], [1, -1, 1], [1, 1, 1], [-1, 1, 1]],
+                dtype=torch.float32,
+                device=pred_homography.device,
+            ).T  # Shape: (3, 4)
+
+            corners = corners.unsqueeze(0).expand(pred_homography.shape[0], -1, -1)
+
+            pred_corners = torch.bmm(pred_norm, corners)
+            pred_corners = pred_corners / (pred_corners[:, 2:3, :] + 1e-8)
+
+            target_corners = torch.bmm(target_norm, corners)
+            target_corners = target_corners / (target_corners[:, 2:3, :] + 1e-8)
+
+            corner_error = torch.mean(
+                torch.norm(pred_corners[:, :2, :] - target_corners[:, :2, :], dim=1),
+                dim=1,
+            )
+
+            # Average corner error in pixels (assuming image coordinates in [-1, 1])
+            # Convert to pixel error if image size is known
+            avg_corner_error = corner_error.mean().item()
+
+            return {
+                "matrix_mse": matrix_error.mean().item(),
+                "corner_error": avg_corner_error,
+                "corner_error_px": avg_corner_error * 128,  # Assuming 256x256 images
+            }
+
+
+def create_homography_model(
+    model_type: str = "cnn",
+    input_size: Tuple[int, int] = (256, 256),
+    **kwargs,
+) -> nn.Module:
+    """
+    Factory function to create homography estimation model.
+
+    Args:
+        model_type: Type of model to create ('cnn' or 'resnet')
+        input_size: Input image size (height, width)
+        **kwargs: Additional arguments passed to model constructor
+
+    Returns:
+        Homography estimation model
+    """
+    if model_type == "cnn":
+        return HomographyCNN(**kwargs)
+    else:
+        raise ValueError(f"Unknown model type: {model_type}")
+
+
+if __name__ == "__main__":
+    # Test the model
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"Using device: {device}")
+
+    # Create model
+    model = HomographyCNN(
+        input_channels=3,
+        hidden_channels=64,
+        num_blocks=4,
+        dropout_rate=0.3,
+        use_batch_norm=True,
+    ).to(device)
+
+    print(
+        f"Model created with {sum(p.numel() for p in model.parameters()):,} parameters"
+    )
+
+    # Create dummy input
+    batch_size = 4
+    height, width = 256, 256
+
+    google_img = torch.randn(batch_size, 3, height, width).to(device)
+    yandex_img = torch.randn(batch_size, 3, height, width).to(device)
+
+    # Test forward pass
+    print("\nTesting forward pass...")
+    output = model(google_img, yandex_img, return_matrix=True)
+    print(f"Output shape: {output.shape}")  # Should be (4, 3, 3)
+    print(f"Sample output:\n{output[0]}")
+
+    # Test prediction
+    print("\nTesting prediction...")
+    pred = model.predict_homography(google_img, yandex_img)
+    print(f"Prediction shape: {pred.shape}")
+    print(f"Last element (should be ~1): {pred[0, 2, 2]:.6f}")
+
+    # Test loss function
+    print("\nTesting loss function...")
+    target_homography = torch.eye(3).unsqueeze(0).expand(batch_size, -1, -1).to(device)
+    loss_fn = HomographyLoss(
+        matrix_weight=1.0,
+        geometric_weight=0.5,
+        reg_weight=0.1,
+        grid_size=8,
+    ).to(device)
+
+    loss = loss_fn(output, target_homography, google_img, yandex_img)
+    print(f"Loss value: {loss.item():.6f}")
+
+    # Test metrics
+    print("\nTesting metrics...")
+    metrics = loss_fn.compute_metrics(output, target_homography)
+    for key, value in metrics.items():
+        print(f"{key}: {value:.6f}")
+
+    # Test model factory
+    print("\nTesting model factory...")
+    model2 = create_homography_model(
+        model_type="cnn",
+        input_size=(256, 256),
+        input_channels=3,
+        hidden_channels=32,
+        num_blocks=3,
+    ).to(device)
+
+    print(
+        f"Model2 created with {sum(p.numel() for p in model2.parameters()):,} parameters"
+    )
+
+    print("\nAll tests completed successfully!")

models/SiaN/infer_homography.py

@@ -0,0 +1,553 @@
+"""
+Inference script for homography estimation between Google and Yandex map images.
+
+This script loads a trained homography estimation model and performs inference
+on new image pairs or the test dataset.
+"""
+
+import argparse
+import json
+import os
+from pathlib import Path
+from typing import Dict, List, Optional, Tuple
+
+import cv2
+import matplotlib.pyplot as plt
+import numpy as np
+import torch
+from homography import HomographyDataset
+from homography_cnn import HomographyCNN, create_homography_model
+from PIL import Image
+from torchvision import transforms
+
+
+class HomographyInference:
+    """Class for performing inference with homography estimation model."""
+
+    def __init__(
+        self,
+        model_path: str,
+        config_path: Optional[str] = None,
+        device: Optional[str] = None,
+    ):
+        """
+        Initialize the inference class.
+
+        Args:
+            model_path: Path to trained model checkpoint
+            config_path: Path to model configuration file (optional)
+            device: Device to run inference on ('cuda' or 'cpu')
+        """
+        # Set device
+        if device is None:
+            self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+        else:
+            self.device = torch.device(device)
+
+        print(f"Using device: {self.device}")
+
+        # Load configuration
+        if config_path is None:
+            # Try to find config in the same directory as model
+            model_dir = Path(model_path).parent
+            config_path = model_dir / "config.json"
+
+        if os.path.exists(config_path):
+            with open(config_path, "r") as f:
+                self.config = json.load(f)
+            print(f"Loaded configuration from {config_path}")
+        else:
+            # Use default configuration
+            self.config = {
+                "image_size": [256, 256],
+                "hidden_channels": 64,
+                "num_blocks": 4,
+                "dropout_rate": 0.3,
+                "use_batch_norm": True,
+            }
+            print("Using default configuration")
+
+        # Create model
+        self.model = self._create_model()
+        self._load_model(model_path)
+
+        # Set up transforms
+        self.transform = self._create_transforms()
+
+        # Set model to evaluation mode
+        self.model.eval()
+
+    def _create_model(self) -> HomographyCNN:
+        """Create model based on configuration."""
+        image_size = self.config.get("image_size", [256, 256])
+
+        model = create_homography_model(
+            model_type="cnn",
+            input_size=tuple(image_size),
+            input_channels=3,
+            hidden_channels=self.config.get("hidden_channels", 64),
+            num_blocks=self.config.get("num_blocks", 4),
+            dropout_rate=self.config.get("dropout_rate", 0.3),
+            use_batch_norm=self.config.get("use_batch_norm", True),
+        )
+
+        return model
+
+    def _load_model(self, model_path: str):
+        """Load model weights from checkpoint."""
+        if not os.path.exists(model_path):
+            raise FileNotFoundError(f"Model file not found: {model_path}")
+
+        # Load checkpoint
+        checkpoint = torch.load(model_path, map_location=self.device)
+
+        if isinstance(checkpoint, dict) and "model_state_dict" in checkpoint:
+            # Trainer checkpoint format
+            self.model.load_state_dict(checkpoint["model_state_dict"])
+        else:
+            # Raw model weights format
+            self.model.load_state_dict(checkpoint)
+
+        self.model = self.model.to(self.device)
+        print(f"Loaded model from {model_path}")
+
+    def _create_transforms(self):
+        """Create image transforms for inference."""
+        return transforms.Compose(
+            [
+                transforms.Resize(tuple(self.config.get("image_size", [256, 256]))),
+                transforms.ToTensor(),
+                transforms.Normalize(
+                    mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]
+                ),
+            ]
+        )
+
+    def preprocess_images(
+        self, google_img: Image.Image, yandex_img: Image.Image
+    ) -> Tuple[torch.Tensor, torch.Tensor]:
+        """
+        Preprocess images for inference.
+
+        Args:
+            google_img: Google map image (PIL Image)
+            yandex_img: Yandex map image (PIL Image)
+
+        Returns:
+            Tuple of preprocessed image tensors
+        """
+        # Convert to RGB if needed
+        if google_img.mode != "RGB":
+            google_img = google_img.convert("RGB")
+        if yandex_img.mode != "RGB":
+            yandex_img = yandex_img.convert("RGB")
+
+        # Apply transforms
+        google_tensor = self.transform(google_img).unsqueeze(0)  # Add batch dimension
+        yandex_tensor = self.transform(yandex_img).unsqueeze(0)
+
+        return google_tensor, yandex_tensor
+
+    def predict(
+        self,
+        google_img: Image.Image,
+        yandex_img: Image.Image,
+        return_matrix: bool = True,
+        normalize: bool = True,
+    ) -> torch.Tensor:
+        """
+        Predict homography matrix for image pair.
+
+        Args:
+            google_img: Google map image (PIL Image)
+            yandex_img: Yandex map image (PIL Image)
+            return_matrix: If True, return 3x3 matrix; if False, return flattened vector
+            normalize: Whether to normalize the homography matrix
+
+        Returns:
+            Predicted homography matrix or vector
+        """
+        # Preprocess images
+        google_tensor, yandex_tensor = self.preprocess_images(google_img, yandex_img)
+
+        # Move to device
+        google_tensor = google_tensor.to(self.device)
+        yandex_tensor = yandex_tensor.to(self.device)
+
+        # Perform inference
+        with torch.no_grad():
+            homography = self.model(
+                google_tensor, yandex_tensor, return_matrix=return_matrix
+            )
+
+            if return_matrix and normalize:
+                # Normalize so that last element is 1
+                homography = homography / homography[:, 2, 2].view(-1, 1, 1)
+
+        return homography.squeeze(0)  # Remove batch dimension
+
+    def predict_from_paths(
+        self,
+        google_path: str,
+        yandex_path: str,
+        return_matrix: bool = True,
+        normalize: bool = True,
+    ) -> torch.Tensor:
+        """
+        Predict homography matrix from image file paths.
+
+        Args:
+            google_path: Path to Google map image
+            yandex_path: Path to Yandex map image
+            return_matrix: If True, return 3x3 matrix; if False, return flattened vector
+            normalize: Whether to normalize the homography matrix
+
+        Returns:
+            Predicted homography matrix or vector
+        """
+        # Load images
+        google_img = Image.open(google_path)
+        yandex_img = Image.open(yandex_path)
+
+        return self.predict(google_img, yandex_img, return_matrix, normalize)
+
+    def warp_image(
+        self,
+        img: Image.Image,
+        homography: np.ndarray,
+        output_size: Optional[Tuple[int, int]] = None,
+    ) -> Image.Image:
+        """
+        Warp image using homography matrix.
+
+        Args:
+            img: Input image (PIL Image)
+            homography: 3x3 homography matrix (numpy array)
+            output_size: Output image size (width, height). If None, uses input size.
+
+        Returns:
+            Warped image (PIL Image)
+        """
+        # Convert to numpy array
+        img_np = np.array(img)
+
+        # Get output size
+        if output_size is None:
+            output_size = (img_np.shape[1], img_np.shape[0])
+
+        # Apply homography transformation
+        warped_np = cv2.warpPerspective(
+            img_np,
+            homography,
+            output_size,
+            flags=cv2.INTER_LINEAR,
+            borderMode=cv2.BORDER_REFLECT,
+        )
+
+        # Convert back to PIL Image
+        return Image.fromarray(warped_np)
+
+    def visualize_alignment(
+        self,
+        google_img: Image.Image,
+        yandex_img: Image.Image,
+        homography: np.ndarray,
+        save_path: Optional[str] = None,
+        show: bool = True,
+    ):
+        """
+        Visualize alignment between images using homography.
+
+        Args:
+            google_img: Google map image
+            yandex_img: Yandex map image
+            homography: Homography matrix
+            save_path: Path to save visualization (optional)
+            show: Whether to display the visualization
+        """
+        # Warp yandex image to align with google
+        yandex_warped = self.warp_image(yandex_img, homography)
+
+        # Convert images to numpy arrays for visualization
+        google_np = np.array(google_img)
+        yandex_np = np.array(yandex_img)
+        yandex_warped_np = np.array(yandex_warped)
+
+        # Create visualization
+        fig, axes = plt.subplots(2, 2, figsize=(12, 10))
+
+        # Original images
+        axes[0, 0].imshow(google_np)
+        axes[0, 0].set_title("Google Map (Original)")
+        axes[0, 0].axis("off")
+
+        axes[0, 1].imshow(yandex_np)
+        axes[0, 1].set_title("Yandex Map (Original)")
+        axes[0, 1].axis("off")
+
+        # Warped image
+        axes[1, 0].imshow(yandex_warped_np)
+        axes[1, 0].set_title("Yandex Map (Warped)")
+        axes[1, 0].axis("off")
+
+        # Overlay (50% transparency)
+        overlay = cv2.addWeighted(google_np, 0.5, yandex_warped_np, 0.5, 0)
+        axes[1, 1].imshow(overlay)
+        axes[1, 1].set_title("Overlay (Google + Warped Yandex)")
+        axes[1, 1].axis("off")
+
+        plt.tight_layout()
+
+        if save_path:
+            plt.savefig(save_path, dpi=150, bbox_inches="tight")
+            print(f"Visualization saved to {save_path}")
+
+        if show:
+            plt.show()
+        else:
+            plt.close()
+
+    def evaluate_on_dataset(
+        self,
+        dataset_dir: str,
+        num_samples: Optional[int] = None,
+        save_dir: Optional[str] = None,
+    ) -> Dict[str, float]:
+        """
+        Evaluate model on a dataset.
+
+        Args:
+            dataset_dir: Directory containing image pairs
+            num_samples: Number of samples to evaluate (None for all)
+            save_dir: Directory to save visualizations (optional)
+
+        Returns:
+            Dictionary of evaluation metrics
+        """
+        # Create dataset
+        dataset = HomographyDataset(
+            root_dir=dataset_dir,
+            transform=None,  # We'll handle transforms manually
+            augment=False,
+            image_size=tuple(self.config.get("image_size", [256, 256])),
+            cache_homographies=False,
+        )
+
+        if num_samples is not None:
+            indices = list(range(min(num_samples, len(dataset))))
+        else:
+            indices = list(range(len(dataset)))
+
+        errors = []
+        corner_errors = []
+
+        print(f"Evaluating on {len(indices)} samples...")
+
+        for idx in indices:
+            # Get sample without augmentation
+            sample = dataset.get_sample_without_augmentation(idx)
+
+            google_img = sample["google_img"]
+            yandex_img = sample["yandex_img"]
+            target_homography = sample["homography"]
+
+            # Predict homography
+            pred_homography = self.predict(
+                google_img, yandex_img, return_matrix=True, normalize=True
+            )
+
+            # Convert to numpy
+            pred_homography_np = pred_homography.cpu().numpy()
+            target_homography_np = target_homography
+
+            # Compute matrix error
+            matrix_error = np.mean((pred_homography_np - target_homography_np) ** 2)
+            errors.append(matrix_error)
+
+            # Compute corner error
+            corners = np.array(
+                [
+                    [-1, -1, 1],
+                    [1, -1, 1],
+                    [1, 1, 1],
+                    [-1, 1, 1],
+                ],
+                dtype=np.float32,
+            ).T
+
+            pred_corners = pred_homography_np @ corners
+            pred_corners = pred_corners / (pred_corners[2:3, :] + 1e-8)
+
+            target_corners = target_homography_np @ corners
+            target_corners = target_corners / (target_corners[2:3, :] + 1e-8)
+
+            corner_error = np.mean(
+                np.linalg.norm(pred_corners[:2, :] - target_corners[:2, :], axis=0)
+            )
+            corner_errors.append(corner_error)
+
+            # Save visualization if requested
+            if save_dir:
+                os.makedirs(save_dir, exist_ok=True)
+                vis_path = os.path.join(save_dir, f"sample_{idx:04d}.png")
+                self.visualize_alignment(
+                    google_img,
+                    yandex_img,
+                    pred_homography_np,
+                    save_path=vis_path,
+                    show=False,
+                )
+
+        # Compute metrics
+        metrics = {
+            "mean_matrix_error": float(np.mean(errors)),
+            "std_matrix_error": float(np.std(errors)),
+            "mean_corner_error": float(np.mean(corner_errors)),
+            "std_corner_error": float(np.std(corner_errors)),
+            "median_corner_error": float(np.median(corner_errors)),
+            "max_corner_error": float(np.max(corner_errors)),
+            "min_corner_error": float(np.min(corner_errors)),
+        }
+
+        print("\nEvaluation Results:")
+        for key, value in metrics.items():
+            print(f"  {key}: {value:.6f}")
+
+        return metrics
+
+
+def main():
+    """Main inference function."""
+    parser = argparse.ArgumentParser(description="Inference for homography estimation")
+
+    # Model arguments
+    parser.add_argument(
+        "--model_path",
+        type=str,
+        required=True,
+        help="Path to trained model checkpoint",
+    )
+    parser.add_argument(
+        "--config_path",
+        type=str,
+        help="Path to model configuration file (optional)",
+    )
+    parser.add_argument(
+        "--device",
+        type=str,
+        choices=["cuda", "cpu"],
+        help="Device to run inference on",
+    )
+
+    # Inference mode
+    parser.add_argument(
+        "--mode",
+        type=str,
+        default="single",
+        choices=["single", "dataset", "batch"],
+        help="Inference mode",
+    )
+
+    # Single image mode
+    parser.add_argument(
+        "--google_path",
+        type=str,
+        help="Path to Google map image (single mode)",
+    )
+    parser.add_argument(
+        "--yandex_path",
+        type=str,
+        help="Path to Yandex map image (single mode)",
+    )
+    parser.add_argument(
+        "--output_vis",
+        type=str,
+        help="Path to save visualization (single mode)",
+    )
+
+    # Dataset mode
+    parser.add_argument(
+        "--dataset_dir",
+        type=str,
+        default=r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images",
+        help="Directory containing image pairs (dataset mode)",
+    )
+    parser.add_argument(
+        "--num_samples",
+        type=int,
+        help="Number of samples to evaluate (dataset mode)",
+    )
+    parser.add_argument(
+        "--save_vis_dir",
+        type=str,
+        help="Directory to save visualizations (dataset mode)",
+    )
+    parser.add_argument(
+        "--save_results",
+        type=str,
+        help="Path to save evaluation results (dataset mode)",
+    )
+
+    args = parser.parse_args()
+
+    # Create inference object
+    inference = HomographyInference(
+        model_path=args.model_path,
+        config_path=args.config_path,
+        device=args.device,
+    )
+
+    if args.mode == "single":
+        # Single image pair inference
+        if not args.google_path or not args.yandex_path:
+            raise ValueError(
+                "Both --google_path and --yandex_path are required for single mode"
+            )
+
+        print(f"Processing single image pair:")
+        print(f"  Google: {args.google_path}")
+        print(f"  Yandex: {args.yandex_path}")
+
+        # Predict homography
+        homography = inference.predict_from_paths(args.google_path, args.yandex_path)
+
+        print(f"\nPredicted homography matrix:")
+        print(homography.cpu().numpy())
+
+        # Visualize alignment
+        if args.output_vis:
+            google_img = Image.open(args.google_path)
+            yandex_img = Image.open(args.yandex_path)
+            inference.visualize_alignment(
+                google_img,
+                yandex_img,
+                homography.cpu().numpy(),
+                save_path=args.output_vis,
+                show=True,
+            )
+
+    elif args.mode == "dataset":
+        # Evaluate on dataset
+        metrics = inference.evaluate_on_dataset(
+            dataset_dir=args.dataset_dir,
+            num_samples=args.num_samples,
+            save_dir=args.save_vis_dir,
+        )
+
+        # Save results if requested
+        if args.save_results:
+            with open(args.save_results, "w") as f:
+                json.dump(metrics, f, indent=2)
+            print(f"\nResults saved to {args.save_results}")
+
+    elif args.mode == "batch":
+        # Batch processing (placeholder for future implementation)
+        print("Batch mode not yet implemented")
+        # Could implement processing multiple image pairs from a directory
+
+    else:
+        raise ValueError(f"Unknown mode: {args.mode}")
+
+
+if __name__ == "__main__":
+    main()

models/SiaN/train_homography.py

@@ -0,0 +1,611 @@
+"""
+Training script for homography estimation between Google and Yandex map images.
+
+This script trains a CNN model to estimate homography matrices that align
+Google map images with Yandex map images.
+"""
+
+import argparse
+import json
+import os
+import time
+from datetime import datetime
+from pathlib import Path
+from typing import Dict, List, Optional, Tuple
+
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.optim as optim
+from homography import HomographyDataset, create_data_loaders
+from homography_cnn import HomographyCNN, HomographyLoss, create_homography_model
+from torch.utils.data import DataLoader
+from torch.utils.tensorboard import SummaryWriter
+from tqdm import tqdm
+
+
+class HomographyTrainer:
+    """Trainer class for homography estimation model."""
+
+    def __init__(
+        self,
+        model: nn.Module,
+        train_loader: DataLoader,
+        val_loader: DataLoader,
+        device: torch.device,
+        config: Dict,
+    ):
+        """
+        Initialize the trainer.
+
+        Args:
+            model: Homography estimation model
+            train_loader: Training data loader
+            val_loader: Validation data loader
+            device: Device to run training on
+            config: Training configuration dictionary
+        """
+        self.model = model.to(device)
+        self.train_loader = train_loader
+        self.val_loader = val_loader
+        self.device = device
+        self.config = config
+
+        # Loss function
+        self.criterion = HomographyLoss(
+            matrix_weight=config.get("matrix_weight", 1.0),
+            geometric_weight=config.get("geometric_weight", 0.5),
+            reg_weight=config.get("reg_weight", 0.1),
+            grid_size=config.get("grid_size", 8),
+        ).to(device)
+
+        # Optimizer
+        optimizer_name = config.get("optimizer", "adam").lower()
+        lr = config.get("learning_rate", 1e-3)
+        weight_decay = config.get("weight_decay", 1e-4)
+
+        if optimizer_name == "adam":
+            self.optimizer = optim.Adam(
+                self.model.parameters(), lr=lr, weight_decay=weight_decay
+            )
+        elif optimizer_name == "adamw":
+            self.optimizer = optim.AdamW(
+                self.model.parameters(), lr=lr, weight_decay=weight_decay
+            )
+        elif optimizer_name == "sgd":
+            self.optimizer = optim.SGD(
+                self.model.parameters(),
+                lr=lr,
+                momentum=config.get("momentum", 0.9),
+                weight_decay=weight_decay,
+            )
+        else:
+            raise ValueError(f"Unknown optimizer: {optimizer_name}")
+
+        # Learning rate scheduler
+        scheduler_name = config.get("scheduler", "plateau").lower()
+        if scheduler_name == "plateau":
+            self.scheduler = optim.lr_scheduler.ReduceLROnPlateau(
+                self.optimizer,
+                mode="min",
+                factor=config.get("scheduler_factor", 0.5),
+                patience=config.get("scheduler_patience", 5),
+                verbose=True,
+            )
+        elif scheduler_name == "cosine":
+            self.scheduler = optim.lr_scheduler.CosineAnnealingLR(
+                self.optimizer,
+                T_max=config.get("epochs", 100),
+                eta_min=config.get("min_lr", 1e-6),
+            )
+        elif scheduler_name == "step":
+            self.scheduler = optim.lr_scheduler.StepLR(
+                self.optimizer,
+                step_size=config.get("step_size", 30),
+                gamma=config.get("gamma", 0.1),
+            )
+        else:
+            self.scheduler = None
+
+        # Training state
+        self.current_epoch = 0
+        self.best_val_loss = float("inf")
+        self.train_losses: List[float] = []
+        self.val_losses: List[float] = []
+        self.val_metrics: List[Dict] = []
+
+        # Create output directory
+        self.output_dir = Path(config.get("output_dir", "runs/homography"))
+        self.output_dir.mkdir(parents=True, exist_ok=True)
+
+        # TensorBoard writer
+        self.writer = SummaryWriter(log_dir=self.output_dir / "tensorboard")
+
+        # Save configuration
+        config_path = self.output_dir / "config.json"
+        with open(config_path, "w") as f:
+            json.dump(config, f, indent=2)
+
+        print(f"Training configuration saved to {config_path}")
+        print(
+            f"Model has {sum(p.numel() for p in self.model.parameters()):,} parameters"
+        )
+
+    def train_epoch(self) -> float:
+        """
+        Train for one epoch.
+
+        Returns:
+            Average training loss for the epoch
+        """
+        self.model.train()
+        total_loss = 0.0
+        num_batches = len(self.train_loader)
+
+        progress_bar = tqdm(self.train_loader, desc=f"Epoch {self.current_epoch + 1}")
+        for batch_idx, batch in enumerate(progress_bar):
+            # Move data to device
+            google_img = batch["google_img"].to(self.device)
+            yandex_img = batch["yandex_img"].to(self.device)
+            target_homography = batch["homography"].to(self.device)
+
+            # Forward pass
+            self.optimizer.zero_grad()
+            pred_homography = self.model(google_img, yandex_img, return_matrix=True)
+
+            # Compute loss
+            loss = self.criterion(
+                pred_homography,
+                target_homography,
+                google_img,
+                yandex_img,
+            )
+
+            # Backward pass
+            loss.backward()
+
+            # Gradient clipping
+            if self.config.get("grad_clip", 1.0) > 0:
+                torch.nn.utils.clip_grad_norm_(
+                    self.model.parameters(),
+                    self.config.get("grad_clip", 1.0),
+                )
+
+            # Optimizer step
+            self.optimizer.step()
+
+            # Update statistics
+            total_loss += loss.item()
+
+            # Update progress bar
+            progress_bar.set_postfix({"loss": loss.item()})
+
+            # Log batch loss to TensorBoard
+            global_step = self.current_epoch * num_batches + batch_idx
+            self.writer.add_scalar("train/batch_loss", loss.item(), global_step)
+
+        avg_loss = total_loss / num_batches
+        self.train_losses.append(avg_loss)
+
+        return avg_loss
+
+    @torch.no_grad()
+    def validate(self) -> Tuple[float, Dict]:
+        """
+        Validate the model.
+
+        Returns:
+            Tuple of (average validation loss, validation metrics)
+        """
+        self.model.eval()
+        total_loss = 0.0
+        all_metrics = []
+
+        progress_bar = tqdm(self.val_loader, desc="Validation")
+        for batch in progress_bar:
+            # Move data to device
+            google_img = batch["google_img"].to(self.device)
+            yandex_img = batch["yandex_img"].to(self.device)
+            target_homography = batch["homography"].to(self.device)
+
+            # Forward pass
+            pred_homography = self.model(google_img, yandex_img, return_matrix=True)
+
+            # Compute loss
+            loss = self.criterion(
+                pred_homography,
+                target_homography,
+                google_img,
+                yandex_img,
+            )
+
+            # Compute metrics
+            metrics = self.criterion.compute_metrics(pred_homography, target_homography)
+
+            # Update statistics
+            total_loss += loss.item()
+            all_metrics.append(metrics)
+
+            # Update progress bar
+            progress_bar.set_postfix({"loss": loss.item()})
+
+        avg_loss = total_loss / len(self.val_loader)
+        self.val_losses.append(avg_loss)
+
+        # Aggregate metrics
+        avg_metrics = {}
+        for key in all_metrics[0].keys():
+            avg_metrics[key] = np.mean([m[key] for m in all_metrics])
+
+        self.val_metrics.append(avg_metrics)
+
+        return avg_loss, avg_metrics
+
+    def save_checkpoint(self, is_best: bool = False):
+        """Save model checkpoint."""
+        checkpoint = {
+            "epoch": self.current_epoch,
+            "model_state_dict": self.model.state_dict(),
+            "optimizer_state_dict": self.optimizer.state_dict(),
+            "train_losses": self.train_losses,
+            "val_losses": self.val_losses,
+            "val_metrics": self.val_metrics,
+            "best_val_loss": self.best_val_loss,
+            "config": self.config,
+        }
+
+        if self.scheduler is not None:
+            checkpoint["scheduler_state_dict"] = self.scheduler.state_dict()
+
+        # Save latest checkpoint
+        checkpoint_path = self.output_dir / "checkpoint_latest.pth"
+        torch.save(checkpoint, checkpoint_path)
+
+        # Save best checkpoint
+        if is_best:
+            best_path = self.output_dir / "checkpoint_best.pth"
+            torch.save(checkpoint, best_path)
+            print(f"Best model saved to {best_path}")
+
+    def load_checkpoint(self, checkpoint_path: str):
+        """Load model checkpoint."""
+        checkpoint = torch.load(checkpoint_path, map_location=self.device)
+
+        self.model.load_state_dict(checkpoint["model_state_dict"])
+        self.optimizer.load_state_dict(checkpoint["optimizer_state_dict"])
+
+        if self.scheduler is not None and "scheduler_state_dict" in checkpoint:
+            self.scheduler.load_state_dict(checkpoint["scheduler_state_dict"])
+
+        self.current_epoch = checkpoint["epoch"]
+        self.train_losses = checkpoint["train_losses"]
+        self.val_losses = checkpoint["val_losses"]
+        self.val_metrics = checkpoint["val_metrics"]
+        self.best_val_loss = checkpoint["best_val_loss"]
+
+        print(f"Loaded checkpoint from epoch {self.current_epoch}")
+
+    def train(self, num_epochs: int):
+        """
+        Train the model for specified number of epochs.
+
+        Args:
+            num_epochs: Number of epochs to train
+        """
+        print(f"Starting training for {num_epochs} epochs...")
+        start_time = time.time()
+
+        for epoch in range(num_epochs):
+            self.current_epoch = epoch
+
+            # Train for one epoch
+            train_loss = self.train_epoch()
+
+            # Validate
+            val_loss, val_metrics = self.validate()
+
+            # Update learning rate scheduler
+            if self.scheduler is not None:
+                if isinstance(self.scheduler, optim.lr_scheduler.ReduceLROnPlateau):
+                    self.scheduler.step(val_loss)
+                else:
+                    self.scheduler.step()
+
+            # Log to TensorBoard
+            self.writer.add_scalar("train/epoch_loss", train_loss, epoch)
+            self.writer.add_scalar("val/epoch_loss", val_loss, epoch)
+            for metric_name, metric_value in val_metrics.items():
+                self.writer.add_scalar(f"val/{metric_name}", metric_value, epoch)
+
+            # Print epoch summary
+            print(f"\nEpoch {epoch + 1}/{num_epochs}:")
+            print(f"  Train Loss: {train_loss:.6f}")
+            print(f"  Val Loss: {val_loss:.6f}")
+            print("  Val Metrics:")
+            for metric_name, metric_value in val_metrics.items():
+                print(f"    {metric_name}: {metric_value:.6f}")
+
+            # Save checkpoint
+            is_best = val_loss < self.best_val_loss
+            if is_best:
+                self.best_val_loss = val_loss
+
+            self.save_checkpoint(is_best=is_best)
+
+            # Early stopping
+            if self.config.get("early_stopping_patience", 0) > 0:
+                if (
+                    epoch - np.argmin(self.val_losses)
+                    >= self.config["early_stopping_patience"]
+                ):
+                    print(f"Early stopping at epoch {epoch + 1}")
+                    break
+
+        # Training completed
+        training_time = time.time() - start_time
+        print(f"\nTraining completed in {training_time:.2f} seconds")
+        print(f"Best validation loss: {self.best_val_loss:.6f}")
+
+        # Save final model
+        final_model_path = self.output_dir / "model_final.pth"
+        torch.save(self.model.state_dict(), final_model_path)
+        print(f"Final model saved to {final_model_path}")
+
+        # Close TensorBoard writer
+        self.writer.close()
+
+    def evaluate(self, test_loader: Optional[DataLoader] = None) -> Dict:
+        """
+        Evaluate the model on test data.
+
+        Args:
+            test_loader: Test data loader (uses validation loader if None)
+
+        Returns:
+            Dictionary of evaluation metrics
+        """
+        if test_loader is None:
+            test_loader = self.val_loader
+
+        self.model.eval()
+        all_metrics = []
+
+        print("Evaluating model...")
+        with torch.no_grad():
+            for batch in tqdm(test_loader):
+                # Move data to device
+                google_img = batch["google_img"].to(self.device)
+                yandex_img = batch["yandex_img"].to(self.device)
+                target_homography = batch["homography"].to(self.device)
+
+                # Forward pass
+                pred_homography = self.model(google_img, yandex_img, return_matrix=True)
+
+                # Compute metrics
+                metrics = self.criterion.compute_metrics(
+                    pred_homography, target_homography
+                )
+                all_metrics.append(metrics)
+
+        # Aggregate metrics
+        avg_metrics = {}
+        for key in all_metrics[0].keys():
+            avg_metrics[key] = np.mean([m[key] for m in all_metrics])
+
+        # Print evaluation results
+        print("\nEvaluation Results:")
+        for metric_name, metric_value in avg_metrics.items():
+            print(f"  {metric_name}: {metric_value:.6f}")
+
+        # Save evaluation results
+        eval_path = self.output_dir / "evaluation_results.json"
+        with open(eval_path, "w") as f:
+            json.dump(avg_metrics, f, indent=2)
+        print(f"Evaluation results saved to {eval_path}")
+
+        return avg_metrics
+
+
+def parse_args():
+    """Parse command line arguments."""
+    parser = argparse.ArgumentParser(description="Train homography estimation model")
+
+    # Data arguments
+    parser.add_argument(
+        "--data_dir",
+        type=str,
+        default=r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images",
+        help="Directory containing image pairs",
+    )
+    parser.add_argument(
+        "--batch_size", type=int, default=32, help="Batch size for training"
+    )
+    parser.add_argument(
+        "--image_size",
+        type=int,
+        nargs=2,
+        default=[256, 256],
+        help="Image size (height width)",
+    )
+    parser.add_argument(
+        "--train_split", type=float, default=0.8, help="Train/validation split ratio"
+    )
+    parser.add_argument(
+        "--num_workers", type=int, default=4, help="Number of data loader workers"
+    )
+
+    # Model arguments
+    parser.add_argument(
+        "--model_type", type=str, default="cnn", choices=["cnn"], help="Model type"
+    )
+    parser.add_argument(
+        "--hidden_channels", type=int, default=64, help="Number of hidden channels"
+    )
+    parser.add_argument(
+        "--num_blocks", type=int, default=4, help="Number of convolutional blocks"
+    )
+    parser.add_argument("--dropout_rate", type=float, default=0.3, help="Dropout rate")
+    parser.add_argument(
+        "--use_batch_norm", action="store_true", help="Use batch normalization"
+    )
+
+    # Training arguments
+    parser.add_argument("--epochs", type=int, default=100, help="Number of epochs")
+    parser.add_argument("--lr", type=float, default=1e-3, help="Learning rate")
+    parser.add_argument("--weight_decay", type=float, default=1e-4, help="Weight decay")
+    parser.add_argument(
+        "--optimizer", type=str, default="adam", choices=["adam", "adamw", "sgd"]
+    )
+    parser.add_argument(
+        "--scheduler",
+        type=str,
+        default="plateau",
+        choices=["plateau", "cosine", "step", "none"],
+    )
+    parser.add_argument(
+        "--grad_clip", type=float, default=1.0, help="Gradient clipping value"
+    )
+
+    # Loss arguments
+    parser.add_argument(
+        "--matrix_weight", type=float, default=1.0, help="Weight for matrix loss"
+    )
+    parser.add_argument(
+        "--geometric_weight",
+        type=float,
+        default=0.5,
+        help="Weight for geometric loss",
+    )
+    parser.add_argument(
+        "--reg_weight", type=float, default=0.1, help="Weight for regularization loss"
+    )
+
+    # Other arguments
+    parser.add_argument(
+        "--output_dir",
+        type=str,
+        default="runs/homography",
+        help="Output directory for checkpoints and logs",
+    )
+    parser.add_argument(
+        "--resume",
+        type=str,
+        help="Path to checkpoint to resume training from",
+    )
+    parser.add_argument(
+        "--eval_only",
+        action="store_true",
+        help="Only evaluate the model (no training)",
+    )
+    parser.add_argument(
+        "--seed", type=int, default=42, help="Random seed for reproducibility"
+    )
+
+    return parser.parse_args()
+
+
+def main():
+    """Main training function."""
+    args = parse_args()
+
+    # Set random seeds for reproducibility
+    torch.manual_seed(args.seed)
+    np.random.seed(args.seed)
+    if torch.cuda.is_available():
+        torch.cuda.manual_seed(args.seed)
+        torch.cuda.manual_seed_all(args.seed)
+
+    # Set device
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"Using device: {device}")
+
+    # Create data loaders
+    print("Creating data loaders...")
+    train_loader, val_loader = create_data_loaders(
+        root_dir=args.data_dir,
+        batch_size=args.batch_size,
+        train_split=args.train_split,
+        num_workers=args.num_workers,
+        image_size=tuple(args.image_size),
+        augment_train=True,
+        augment_val=False,
+    )
+
+    print(f"Train batches: {len(train_loader)}")
+    print(f"Val batches: {len(val_loader)}")
+
+    # Create model
+    print("Creating model...")
+    model = create_homography_model(
+        model_type=args.model_type,
+        input_size=tuple(args.image_size),
+        input_channels=3,
+        hidden_channels=args.hidden_channels,
+        num_blocks=args.num_blocks,
+        dropout_rate=args.dropout_rate,
+        use_batch_norm=args.use_batch_norm,
+    )
+
+    # Create trainer configuration
+    config = {
+        # Model config
+        "model_type": args.model_type,
+        "hidden_channels": args.hidden_channels,
+        "num_blocks": args.num_blocks,
+        "dropout_rate": args.dropout_rate,
+        "use_batch_norm": args.use_batch_norm,
+        "image_size": args.image_size,
+        # Training config
+        "epochs": args.epochs,
+        "batch_size": args.batch_size,
+        "learning_rate": args.lr,
+        "weight_decay": args.weight_decay,
+        "optimizer": args.optimizer,
+        "scheduler": args.scheduler,
+        "grad_clip": args.grad_clip,
+        # Loss config
+        "matrix_weight": args.matrix_weight,
+        "geometric_weight": args.geometric_weight,
+        "reg_weight": args.reg_weight,
+        "grid_size": 8,
+        # Data config
+        "data_dir": args.data_dir,
+        "train_split": args.train_split,
+        "num_workers": args.num_workers,
+        # Output config
+        "output_dir": args.output_dir,
+        "seed": args.seed,
+    }
+
+    # Create trainer
+    trainer = HomographyTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    # Resume from checkpoint if specified
+    if args.resume:
+        print(f"Resuming from checkpoint: {args.resume}")
+        trainer.load_checkpoint(args.resume)
+
+    # Evaluate only mode
+    if args.eval_only:
+        trainer.evaluate()
+        return
+
+    # Train the model
+    trainer.train(num_epochs=args.epochs)
+
+    # Final evaluation
+    print("\nPerforming final evaluation...")
+    trainer.evaluate()
+
+    print("\nTraining completed successfully!")
+    print(f"Results saved to: {args.output_dir}")
+
+
+if __name__ == "__main__":
+    main()

models/SiaN/train_homography_.py

@@ -0,0 +1,611 @@
+"""
+Training script for homography estimation between Google and Yandex map images.
+
+This script trains a CNN model to estimate homography matrices that align
+Google map images with Yandex map images.
+"""
+
+import argparse
+import json
+import os
+import time
+from datetime import datetime
+from pathlib import Path
+from typing import Dict, List, Optional, Tuple
+
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.optim as optim
+from homography import HomographyDataset, create_data_loaders
+from homography_cnn import HomographyCNN, HomographyLoss, create_homography_model
+from torch.utils.data import DataLoader
+from torch.utils.tensorboard import SummaryWriter
+from tqdm import tqdm
+
+
+class HomographyTrainer:
+    """Trainer class for homography estimation model."""
+
+    def __init__(
+        self,
+        model: nn.Module,
+        train_loader: DataLoader,
+        val_loader: DataLoader,
+        device: torch.device,
+        config: Dict,
+    ):
+        """
+        Initialize the trainer.
+
+        Args:
+            model: Homography estimation model
+            train_loader: Training data loader
+            val_loader: Validation data loader
+            device: Device to run training on
+            config: Training configuration dictionary
+        """
+        self.model = model.to(device)
+        self.train_loader = train_loader
+        self.val_loader = val_loader
+        self.device = device
+        self.config = config
+
+        # Loss function
+        self.criterion = HomographyLoss(
+            matrix_weight=config.get("matrix_weight", 1.0),
+            geometric_weight=config.get("geometric_weight", 0.5),
+            reg_weight=config.get("reg_weight", 0.1),
+            grid_size=config.get("grid_size", 8),
+        ).to(device)
+
+        # Optimizer
+        optimizer_name = config.get("optimizer", "adam").lower()
+        lr = config.get("learning_rate", 1e-3)
+        weight_decay = config.get("weight_decay", 1e-4)
+
+        if optimizer_name == "adam":
+            self.optimizer = optim.Adam(
+                self.model.parameters(), lr=lr, weight_decay=weight_decay
+            )
+        elif optimizer_name == "adamw":
+            self.optimizer = optim.AdamW(
+                self.model.parameters(), lr=lr, weight_decay=weight_decay
+            )
+        elif optimizer_name == "sgd":
+            self.optimizer = optim.SGD(
+                self.model.parameters(),
+                lr=lr,
+                momentum=config.get("momentum", 0.9),
+                weight_decay=weight_decay,
+            )
+        else:
+            raise ValueError(f"Unknown optimizer: {optimizer_name}")
+
+        # Learning rate scheduler
+        scheduler_name = config.get("scheduler", "plateau").lower()
+        if scheduler_name == "plateau":
+            self.scheduler = optim.lr_scheduler.ReduceLROnPlateau(
+                self.optimizer,
+                mode="min",
+                factor=config.get("scheduler_factor", 0.5),
+                patience=config.get("scheduler_patience", 5),
+                verbose=True,
+            )
+        elif scheduler_name == "cosine":
+            self.scheduler = optim.lr_scheduler.CosineAnnealingLR(
+                self.optimizer,
+                T_max=config.get("epochs", 100),
+                eta_min=config.get("min_lr", 1e-6),
+            )
+        elif scheduler_name == "step":
+            self.scheduler = optim.lr_scheduler.StepLR(
+                self.optimizer,
+                step_size=config.get("step_size", 30),
+                gamma=config.get("gamma", 0.1),
+            )
+        else:
+            self.scheduler = None
+
+        # Training state
+        self.current_epoch = 0
+        self.best_val_loss = float("inf")
+        self.train_losses: List[float] = []
+        self.val_losses: List[float] = []
+        self.val_metrics: List[Dict] = []
+
+        # Create output directory
+        self.output_dir = Path(config.get("output_dir", "runs/homography"))
+        self.output_dir.mkdir(parents=True, exist_ok=True)
+
+        # TensorBoard writer
+        self.writer = SummaryWriter(log_dir=self.output_dir / "tensorboard")
+
+        # Save configuration
+        config_path = self.output_dir / "config.json"
+        with open(config_path, "w") as f:
+            json.dump(config, f, indent=2)
+
+        print(f"Training configuration saved to {config_path}")
+        print(
+            f"Model has {sum(p.numel() for p in self.model.parameters()):,} parameters"
+        )
+
+    def train_epoch(self) -> float:
+        """
+        Train for one epoch.
+
+        Returns:
+            Average training loss for the epoch
+        """
+        self.model.train()
+        total_loss = 0.0
+        num_batches = len(self.train_loader)
+
+        progress_bar = tqdm(self.train_loader, desc=f"Epoch {self.current_epoch + 1}")
+        for batch_idx, batch in enumerate(progress_bar):
+            # Move data to device
+            google_img = batch["google_img"].to(self.device)
+            yandex_img = batch["yandex_img"].to(self.device)
+            target_homography = batch["homography"].to(self.device)
+
+            # Forward pass
+            self.optimizer.zero_grad()
+            pred_homography = self.model(google_img, yandex_img, return_matrix=True)
+
+            # Compute loss
+            loss = self.criterion(
+                pred_homography,
+                target_homography,
+                google_img,
+                yandex_img,
+            )
+
+            # Backward pass
+            loss.backward()
+
+            # Gradient clipping
+            if self.config.get("grad_clip", 1.0) > 0:
+                torch.nn.utils.clip_grad_norm_(
+                    self.model.parameters(),
+                    self.config.get("grad_clip", 1.0),
+                )
+
+            # Optimizer step
+            self.optimizer.step()
+
+            # Update statistics
+            total_loss += loss.item()
+
+            # Update progress bar
+            progress_bar.set_postfix({"loss": loss.item()})
+
+            # Log batch loss to TensorBoard
+            global_step = self.current_epoch * num_batches + batch_idx
+            self.writer.add_scalar("train/batch_loss", loss.item(), global_step)
+
+        avg_loss = total_loss / num_batches
+        self.train_losses.append(avg_loss)
+
+        return avg_loss
+
+    @torch.no_grad()
+    def validate(self) -> Tuple[float, Dict]:
+        """
+        Validate the model.
+
+        Returns:
+            Tuple of (average validation loss, validation metrics)
+        """
+        self.model.eval()
+        total_loss = 0.0
+        all_metrics = []
+
+        progress_bar = tqdm(self.val_loader, desc="Validation")
+        for batch in progress_bar:
+            # Move data to device
+            google_img = batch["google_img"].to(self.device)
+            yandex_img = batch["yandex_img"].to(self.device)
+            target_homography = batch["homography"].to(self.device)
+
+            # Forward pass
+            pred_homography = self.model(google_img, yandex_img, return_matrix=True)
+
+            # Compute loss
+            loss = self.criterion(
+                pred_homography,
+                target_homography,
+                google_img,
+                yandex_img,
+            )
+
+            # Compute metrics
+            metrics = self.criterion.compute_metrics(pred_homography, target_homography)
+
+            # Update statistics
+            total_loss += loss.item()
+            all_metrics.append(metrics)
+
+            # Update progress bar
+            progress_bar.set_postfix({"loss": loss.item()})
+
+        avg_loss = total_loss / len(self.val_loader)
+        self.val_losses.append(avg_loss)
+
+        # Aggregate metrics
+        avg_metrics = {}
+        for key in all_metrics[0].keys():
+            avg_metrics[key] = np.mean([m[key] for m in all_metrics])
+
+        self.val_metrics.append(avg_metrics)
+
+        return avg_loss, avg_metrics
+
+    def save_checkpoint(self, is_best: bool = False):
+        """Save model checkpoint."""
+        checkpoint = {
+            "epoch": self.current_epoch,
+            "model_state_dict": self.model.state_dict(),
+            "optimizer_state_dict": self.optimizer.state_dict(),
+            "train_losses": self.train_losses,
+            "val_losses": self.val_losses,
+            "val_metrics": self.val_metrics,
+            "best_val_loss": self.best_val_loss,
+            "config": self.config,
+        }
+
+        if self.scheduler is not None:
+            checkpoint["scheduler_state_dict"] = self.scheduler.state_dict()
+
+        # Save latest checkpoint
+        checkpoint_path = self.output_dir / "checkpoint_latest.pth"
+        torch.save(checkpoint, checkpoint_path)
+
+        # Save best checkpoint
+        if is_best:
+            best_path = self.output_dir / "checkpoint_best.pth"
+            torch.save(checkpoint, best_path)
+            print(f"Best model saved to {best_path}")
+
+    def load_checkpoint(self, checkpoint_path: str):
+        """Load model checkpoint."""
+        checkpoint = torch.load(checkpoint_path, map_location=self.device)
+
+        self.model.load_state_dict(checkpoint["model_state_dict"])
+        self.optimizer.load_state_dict(checkpoint["optimizer_state_dict"])
+
+        if self.scheduler is not None and "scheduler_state_dict" in checkpoint:
+            self.scheduler.load_state_dict(checkpoint["scheduler_state_dict"])
+
+        self.current_epoch = checkpoint["epoch"]
+        self.train_losses = checkpoint["train_losses"]
+        self.val_losses = checkpoint["val_losses"]
+        self.val_metrics = checkpoint["val_metrics"]
+        self.best_val_loss = checkpoint["best_val_loss"]
+
+        print(f"Loaded checkpoint from epoch {self.current_epoch}")
+
+    def train(self, num_epochs: int):
+        """
+        Train the model for specified number of epochs.
+
+        Args:
+            num_epochs: Number of epochs to train
+        """
+        print(f"Starting training for {num_epochs} epochs...")
+        start_time = time.time()
+
+        for epoch in range(num_epochs):
+            self.current_epoch = epoch
+
+            # Train for one epoch
+            train_loss = self.train_epoch()
+
+            # Validate
+            val_loss, val_metrics = self.validate()
+
+            # Update learning rate scheduler
+            if self.scheduler is not None:
+                if isinstance(self.scheduler, optim.lr_scheduler.ReduceLROnPlateau):
+                    self.scheduler.step(val_loss)
+                else:
+                    self.scheduler.step()
+
+            # Log to TensorBoard
+            self.writer.add_scalar("train/epoch_loss", train_loss, epoch)
+            self.writer.add_scalar("val/epoch_loss", val_loss, epoch)
+            for metric_name, metric_value in val_metrics.items():
+                self.writer.add_scalar(f"val/{metric_name}", metric_value, epoch)
+
+            # Print epoch summary
+            print(f"\nEpoch {epoch + 1}/{num_epochs}:")
+            print(f"  Train Loss: {train_loss:.6f}")
+            print(f"  Val Loss: {val_loss:.6f}")
+            print("  Val Metrics:")
+            for metric_name, metric_value in val_metrics.items():
+                print(f"    {metric_name}: {metric_value:.6f}")
+
+            # Save checkpoint
+            is_best = val_loss < self.best_val_loss
+            if is_best:
+                self.best_val_loss = val_loss
+
+            self.save_checkpoint(is_best=is_best)
+
+            # Early stopping
+            if self.config.get("early_stopping_patience", 0) > 0:
+                if (
+                    epoch - np.argmin(self.val_losses)
+                    >= self.config["early_stopping_patience"]
+                ):
+                    print(f"Early stopping at epoch {epoch + 1}")
+                    break
+
+        # Training completed
+        training_time = time.time() - start_time
+        print(f"\nTraining completed in {training_time:.2f} seconds")
+        print(f"Best validation loss: {self.best_val_loss:.6f}")
+
+        # Save final model
+        final_model_path = self.output_dir / "model_final.pth"
+        torch.save(self.model.state_dict(), final_model_path)
+        print(f"Final model saved to {final_model_path}")
+
+        # Close TensorBoard writer
+        self.writer.close()
+
+    def evaluate(self, test_loader: Optional[DataLoader] = None) -> Dict:
+        """
+        Evaluate the model on test data.
+
+        Args:
+            test_loader: Test data loader (uses validation loader if None)
+
+        Returns:
+            Dictionary of evaluation metrics
+        """
+        if test_loader is None:
+            test_loader = self.val_loader
+
+        self.model.eval()
+        all_metrics = []
+
+        print("Evaluating model...")
+        with torch.no_grad():
+            for batch in tqdm(test_loader):
+                # Move data to device
+                google_img = batch["google_img"].to(self.device)
+                yandex_img = batch["yandex_img"].to(self.device)
+                target_homography = batch["homography"].to(self.device)
+
+                # Forward pass
+                pred_homography = self.model(google_img, yandex_img, return_matrix=True)
+
+                # Compute metrics
+                metrics = self.criterion.compute_metrics(
+                    pred_homography, target_homography
+                )
+                all_metrics.append(metrics)
+
+        # Aggregate metrics
+        avg_metrics = {}
+        for key in all_metrics[0].keys():
+            avg_metrics[key] = np.mean([m[key] for m in all_metrics])
+
+        # Print evaluation results
+        print("\nEvaluation Results:")
+        for metric_name, metric_value in avg_metrics.items():
+            print(f"  {metric_name}: {metric_value:.6f}")
+
+        # Save evaluation results
+        eval_path = self.output_dir / "evaluation_results.json"
+        with open(eval_path, "w") as f:
+            json.dump(avg_metrics, f, indent=2)
+        print(f"Evaluation results saved to {eval_path}")
+
+        return avg_metrics
+
+
+def parse_args():
+    """Parse command line arguments."""
+    parser = argparse.ArgumentParser(description="Train homography estimation model")
+
+    # Data arguments
+    parser.add_argument(
+        "--data_dir",
+        type=str,
+        default=r"C:\Users\admin\Projects\autopilot\datasets\ya_go_maps\images",
+        help="Directory containing image pairs",
+    )
+    parser.add_argument(
+        "--batch_size", type=int, default=32, help="Batch size for training"
+    )
+    parser.add_argument(
+        "--image_size",
+        type=int,
+        nargs=2,
+        default=[256, 256],
+        help="Image size (height width)",
+    )
+    parser.add_argument(
+        "--train_split", type=float, default=0.8, help="Train/validation split ratio"
+    )
+    parser.add_argument(
+        "--num_workers", type=int, default=4, help="Number of data loader workers"
+    )
+
+    # Model arguments
+    parser.add_argument(
+        "--model_type", type=str, default="cnn", choices=["cnn"], help="Model type"
+    )
+    parser.add_argument(
+        "--hidden_channels", type=int, default=64, help="Number of hidden channels"
+    )
+    parser.add_argument(
+        "--num_blocks", type=int, default=4, help="Number of convolutional blocks"
+    )
+    parser.add_argument("--dropout_rate", type=float, default=0.3, help="Dropout rate")
+    parser.add_argument(
+        "--use_batch_norm", action="store_true", help="Use batch normalization"
+    )
+
+    # Training arguments
+    parser.add_argument("--epochs", type=int, default=100, help="Number of epochs")
+    parser.add_argument("--lr", type=float, default=1e-3, help="Learning rate")
+    parser.add_argument("--weight_decay", type=float, default=1e-4, help="Weight decay")
+    parser.add_argument(
+        "--optimizer", type=str, default="adam", choices=["adam", "adamw", "sgd"]
+    )
+    parser.add_argument(
+        "--scheduler",
+        type=str,
+        default="plateau",
+        choices=["plateau", "cosine", "step", "none"],
+    )
+    parser.add_argument(
+        "--grad_clip", type=float, default=1.0, help="Gradient clipping value"
+    )
+
+    # Loss arguments
+    parser.add_argument(
+        "--matrix_weight", type=float, default=1.0, help="Weight for matrix loss"
+    )
+    parser.add_argument(
+        "--geometric_weight",
+        type=float,
+        default=0.5,
+        help="Weight for geometric loss",
+    )
+    parser.add_argument(
+        "--reg_weight", type=float, default=0.1, help="Weight for regularization loss"
+    )
+
+    # Other arguments
+    parser.add_argument(
+        "--output_dir",
+        type=str,
+        default="runs/homography",
+        help="Output directory for checkpoints and logs",
+    )
+    parser.add_argument(
+        "--resume",
+        type=str,
+        help="Path to checkpoint to resume training from",
+    )
+    parser.add_argument(
+        "--eval_only",
+        action="store_true",
+        help="Only evaluate the model (no training)",
+    )
+    parser.add_argument(
+        "--seed", type=int, default=42, help="Random seed for reproducibility"
+    )
+
+    return parser.parse_args()
+
+
+def main():
+    """Main training function."""
+    args = parse_args()
+
+    # Set random seeds for reproducibility
+    torch.manual_seed(args.seed)
+    np.random.seed(args.seed)
+    if torch.cuda.is_available():
+        torch.cuda.manual_seed(args.seed)
+        torch.cuda.manual_seed_all(args.seed)
+
+    # Set device
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"Using device: {device}")
+
+    # Create data loaders
+    print("Creating data loaders...")
+    train_loader, val_loader = create_data_loaders(
+        root_dir=args.data_dir,
+        batch_size=args.batch_size,
+        train_split=args.train_split,
+        num_workers=args.num_workers,
+        image_size=tuple(args.image_size),
+        augment_train=True,
+        augment_val=False,
+    )
+
+    print(f"Train batches: {len(train_loader)}")
+    print(f"Val batches: {len(val_loader)}")
+
+    # Create model
+    print("Creating model...")
+    model = create_homography_model(
+        model_type=args.model_type,
+        input_size=tuple(args.image_size),
+        input_channels=3,
+        hidden_channels=args.hidden_channels,
+        num_blocks=args.num_blocks,
+        dropout_rate=args.dropout_rate,
+        use_batch_norm=args.use_batch_norm,
+    )
+
+    # Create trainer configuration
+    config = {
+        # Model config
+        "model_type": args.model_type,
+        "hidden_channels": args.hidden_channels,
+        "num_blocks": args.num_blocks,
+        "dropout_rate": args.dropout_rate,
+        "use_batch_norm": args.use_batch_norm,
+        "image_size": args.image_size,
+        # Training config
+        "epochs": args.epochs,
+        "batch_size": args.batch_size,
+        "learning_rate": args.lr,
+        "weight_decay": args.weight_decay,
+        "optimizer": args.optimizer,
+        "scheduler": args.scheduler,
+        "grad_clip": args.grad_clip,
+        # Loss config
+        "matrix_weight": args.matrix_weight,
+        "geometric_weight": args.geometric_weight,
+        "reg_weight": args.reg_weight,
+        "grid_size": 8,
+        # Data config
+        "data_dir": args.data_dir,
+        "train_split": args.train_split,
+        "num_workers": args.num_workers,
+        # Output config
+        "output_dir": args.output_dir,
+        "seed": args.seed,
+    }
+
+    # Create trainer
+    trainer = HomographyTrainer(
+        model=model,
+        train_loader=train_loader,
+        val_loader=val_loader,
+        device=device,
+        config=config,
+    )
+
+    # Resume from checkpoint if specified
+    if args.resume:
+        print(f"Resuming from checkpoint: {args.resume}")
+        trainer.load_checkpoint(args.resume)
+
+    # Evaluate only mode
+    if args.eval_only:
+        trainer.evaluate()
+        return
+
+    # Train the model
+    trainer.train(num_epochs=args.epochs)
+
+    # Final evaluation
+    print("\nPerforming final evaluation...")
+    trainer.evaluate()
+
+    print("\nTraining completed successfully!")
+    print(f"Results saved to: {args.output_dir}")
+
+
+if __name__ == "__main__":
+    main()

position.py

@@ -42,22 +42,45 @@ class Position:
             f"roll={math.degrees(self.roll):.1f}°)"
         )
 
-    def get_homography_matrix(self, K: np.ndarray = constants.K, sliding: bool = True) -> np.ndarray:
+    def __imul__(self, scalar: float):
+        self.x *= scalar
+        self.y *= scalar
+        self.z *= scalar
+        return self
+
+    def __mul__(self, scalar: float) -> 'Position':
+        pos = self.copy()
+        pos *= scalar
+        return pos
+
+    def __itruediv__(self, scalar: float):
+        self.x /= scalar
+        self.y /= scalar
+        self.z /= scalar
+        return self
+
+    def __truediv__(self, scalar: float) -> 'Position':
+        pos = self.copy()
+        pos /= scalar
+        return pos
+
+    def get_homography_matrix(self, K_in: np.ndarray = constants.K, K_out: np.ndarray | None = None, sliding: bool = True) -> np.ndarray:
         """ Возвращает матрицу гомографии """
         R = self.get_rotation_matrix()
-        T = self.get_translation_matrix()
+        T = self.get_translation_matrix(K_in)
         if not sliding:
             T[0, 2] = T[1, 2] = 0
-        return K @ R @ T @ np.linalg.inv(K)
+        if K_out is None: K_out = K_in
+        return K_out @ R @ T @ np.linalg.inv(K_in)
 
     def copy(self) -> 'Position':
         """Создает полную копию объекта"""
         return Position(self.x, self.y, self.z, self.yaw, self.pitch, self.roll)
     
-    def get_translation_matrix(self) -> np.ndarray:
+    def get_translation_matrix(self, K: np.ndarray = constants.K) -> np.ndarray:
         return np.array([
-            [1, 0, self.x / constants._K_FOCUS_DISTANCE],
-            [0, 1, self.y / constants._K_FOCUS_DISTANCE],
+            [1, 0, self.x / K[0][0]],
+            [0, 1, self.y / K[0][0]],
             [0, 0, self.z]
         ])
 
@@ -101,6 +124,13 @@ class Position:
         R = np.array(R)
         t = np.array(t)
 
+        # print(cv2.decomposeHomographyMat(inv(H), K))
+        # _, _, z, _ = cv2.decomposeHomographyMat(inv(H), K)
+        # print(z)
+        # z = z.copy()
+        # z *= constants._K_FOCUS_DISTANCE
+        # print(z)
+        
         T = inv(R) @ inv(K) @ H @ K
         ind = np.array([A[2][0] ** 2 + A[2][1] ** 2 for A in T])
         top_k = max(1, len(T) // 2)
@@ -116,14 +146,16 @@ class Position:
 
         R = R[best_id]
         rot = Rotation.from_matrix(R).as_euler('XYZ').flatten()
-        self.roll = rot[0]
-        self.pitch = rot[1]
+        self.roll = min(np.radians(5), max(np.radians(-5), rot[0]))
+        self.pitch = min(np.radians(5), max(np.radians(-5), rot[1]))
         self.yaw = rot[2]
 
         t = t[best_id].flatten()
-        self.x += -T[0] * constants._K_FOCUS_DISTANCE * self.z
-        self.y += T[1] * constants._K_FOCUS_DISTANCE * self.z
-        self.z = 1 + T[2]
+        self.x -= T[0] * constants._K_FOCUS_DISTANCE
+        self.y += T[1] * constants._K_FOCUS_DISTANCE
+        self.z = max(0.7, min(1.3, 1 + T[2]))
+        T[0] *= constants._K_FOCUS_DISTANCE
+        T[1] *= constants._K_FOCUS_DISTANCE
 
     def apply(self, homography_matrix: np.ndarray, K = constants.K) -> 'Position':
         """Применяет матрицу трансформации для вычисления новой позиции и ориентации."""

simulator.py

@@ -8,12 +8,13 @@ import numpy as np
 from position import Position
 from vision_chunk import VisionChunk
 from yandex_map import YandexMap
+from google_map import GoogleMap
 import constants
 import utility
 
 class Simulator:
-    def __init__(self, yandex_map: YandexMap = None):
-        self.yandex_map = yandex_map
+    def __init__(self, online_map: YandexMap | GoogleMap = None):
+        self.online_map = online_map
         # Используем новый конструктор с yaw, pitch, roll
         self.pos = Position(x=0, y=0, z=1, yaw=0, pitch=0, roll=0)
 
@@ -35,24 +36,26 @@ class Simulator:
         Возвращает квадратное изображение 700x700.
         """
         img_array = np.array(image)
-        print(img_array.shape)
         h, w, _ = img_array.shape
 
         # Применяем трансформацию
         pos = self.pos.copy()
         pos.x = 0
         pos.y = 0
-        K = utility.calc_camera_matrix(w, h)
-        K = constants.K
-        img_array = img_array[:constants.CHUNK_WIDTH, :constants.CHUNK_WIDTH]
-        transformed = cv2.warpPerspective(img_array, pos.get_homography_matrix(K), (constants.CHUNK_WIDTH, constants.CHUNK_WIDTH))
+
+        K_in = utility.calc_camera_matrix(w, h)
+        K_out = constants.K
+        H = pos.get_homography_matrix(K_in, K_out)
+
+        shape = (constants.CHUNK_WIDTH, constants.CHUNK_WIDTH)
+        transformed = cv2.warpPerspective(img_array, H, shape)
 
         return Image.fromarray(transformed)
 
     def update_trajectory(self, dx: float, dy: float):
         """Обновляет координаты дрона"""
-        self.pos.x += dx * self.pos.z
-        self.pos.y += dy * self.pos.z
+        self.pos.x += dx
+        self.pos.y += dy
 
     def handle(self, dangle: float, velocity: float = 50) -> None:
         """
@@ -60,27 +63,17 @@ class Simulator:
         dangle - изменение угла курса (радианы)
         velocity - скорость движения
         """
-        from selenium.webdriver.common.by import By
-        from selenium.webdriver.common.action_chains import ActionChains
-
-        html = self.yandex_map.driver.find_element(By.TAG_NAME, 'html')
-        action = ActionChains(self.yandex_map.driver)
-        action.move_to_element_with_offset(html, 200, 200)
-        action.click_and_hold()
 
         # Обновляем yaw в объекте Position
         self.pos.yaw += dangle
         velocity = max(velocity, 10)
 
         # Вычисляем смещение на основе текущего yaw
-        dx = math.cos(math.pi / 2 + self.pos.yaw) * velocity / self.pos.z
-        dy = math.sin(math.pi / 2 + self.pos.yaw) * velocity / self.pos.z
+        dx = int(math.cos(math.pi / 2 + self.pos.yaw) * velocity)
+        dy = int(math.sin(math.pi / 2 + self.pos.yaw) * velocity)
 
         self.update_trajectory(dx, dy)
-
-        action.move_by_offset(-dx, dy)
-        action.release()
-        action.perform()
+        self.online_map.move(dx, dy)
 
     def set_zoom(self, zoom_level: float):
         """Программное изменение масштаба"""
@@ -88,8 +81,7 @@ class Simulator:
 
     def get_chunk(self) -> VisionChunk:
         """Получить текущий снимок с камеры дрона"""
-        png = self.yandex_map.driver.get_screenshot_as_png()
-        im = Image.open(BytesIO(png))
+        im = self.online_map.make_screenshot()
 
         # Применяем перспективную трансформацию
         transformed_im = self._apply_perspective_transform(im)

timer.py

@@ -29,3 +29,9 @@ class Timer:
         self.elapsed = 0.
         self.enabled = False
         self.last_enabled = 0.
+
+    def loop(self) -> float:
+        v = self.get_diff()
+        self.stop()
+        self.start()
+        return v

todo.md

@@ -2,16 +2,16 @@
 [!] Проверка корректности выявления ориентира на кадре
 [!] Исправление коррекции координат на основе сопоставления с ориентиром
 
-[-] FPS счетчик
-| [-] Оптимизация детекции точек
-[-] Оформление статистики при тестовых запусках
-[-] Проведение тестовых запусков
-[-] Оформление отчета
-[-] Эксперименты с разными детекторами (SIFT, KAZE)
+[+] FPS счетчик
+| [+] Оптимизация детекции точек
+[+] Оформление статистики при тестовых запусках
+[+] Проведение тестовых запусков
+[+] Оформление отчета
+[+] Эксперименты с разными детекторами (SIFT, KAZE)
 
-[?] Изменение масштаба во время полёта, обработка этой трансформации
-[?] Поворот ориентиров
-[?] Ограничение выбора точек при построении маршрута, чтобы ориентиры полностью попадали в кадр
+[+] Изменение масштаба во время полёта, обработка этой трансформации
+[+] Поворот ориентиров
+[+] Ограничение выбора точек при построении маршрута, чтобы ориентиры полностью попадали в кадр
 
 [+] График межкадрового смещения
 | [+] График межкадровых смещениях по версии матрицы гомографии
@@ -19,6 +19,6 @@
 | [+] Исследовать причину погрешности при развороте
 [+] Устранение большой погрешности при повороте
 
-[ ] Переделать ключевые точки -> Optical Flow
-[ ] Добавить перспективу
-[ ] Эталоны на Google Maps, полёт тот же
+[+] Переделать ключевые точки -> Optical Flow
+[+] Добавить перспективу
+[+] Эталоны на Google Maps, полёт тот же

utility.py

@@ -1,7 +1,11 @@
 from PIL import Image
+from datetime import datetime
+from urllib.parse import parse_qs, urlparse, unquote
+
+import constants
 import cv2
 import numpy as np
-import constants
+import re
 
 def cv2_to_pil(cv_image: np.ndarray) -> Image.Image:
     """
@@ -19,11 +23,10 @@ def get_normals(H: np.ndarray, R: np.ndarray, T: np.ndarray) -> np.ndarray:
     n = cv2.decomposeHomographyMat(H, constants.K, R, T)
     return n
 
-def estimate_transformation_matrix(src_pts: np.ndarray, dst_pts: np.ndarray) -> tuple[np.ndarray, float | None]:
+def estimate_transformation_matrix(src_pts: np.ndarray, dst_pts: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
     """Оценивает матрицу трансформации на основе сопоставленных точек"""
     # Используем RANSAC для оценки матрицы гомографии
-    H, _ = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 3.0, maxIters=1000)
-    return H
+    return cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 3.0, maxIters=1000)
 
 def calc_camera_matrix(w: float, h: float):
     f = constants._K_FOCUS_DISTANCE
@@ -32,3 +35,135 @@ def calc_camera_matrix(w: float, h: float):
         [0, f, h / 2],
         [0, 0, 1]
     ])
+
+
+def generate_folder_name():
+    """
+    Генерирует название для папки с текущей датой и временем до секунд.
+    Формат: YYYY-MM-DD_HH-MM-SS
+    """
+    now = datetime.now()
+    folder_name = now.strftime("%Y-%m-%d_%H-%M-%S")
+    return folder_name
+
+
+
+
+
+
+
+
+def parse_yandex_maps_url(url):
+    """
+    Парсит URL Яндекс.Карт и извлекает lat, lon и zoom
+    Формат: ?ll=lon,lat&z=zoom
+    """
+    # Декодируем URL (на случай %2C вместо запятых)
+    url = unquote(url)
+    
+    # Парсим URL
+    parsed_url = urlparse(url)
+    params = parse_qs(parsed_url.query)
+    
+    if 'll' in params and 'z' in params:
+        # ll содержит "lon,lat"
+        ll_value = params['ll'][0]
+        lat, lon = map(float, ll_value.split(','))
+        zoom = int(params['z'][0])
+        
+        return {
+            'lat': lat,
+            'lon': lon,
+            'zoom': zoom
+        }
+    return None
+
+def parse_google_maps_url(url):
+    """
+    Парсит URL Google Maps и извлекает lat, lon и zoom
+    Формат: /@lat,lon,zoom[m|z]
+    """
+    pattern = r'/@([-\d.]+),([-\d.]+),(\d+)([mz])'
+    match = re.search(pattern, url)
+    
+    if match:
+        lon = float(match.group(1))
+        lat = float(match.group(2))
+        zoom_value = int(match.group(3))
+        zoom_unit = match.group(4)
+        
+        return {
+            'lat': lat,
+            'lon': lon,
+            'zoom': zoom_value,
+            'zoom_unit': zoom_unit
+        }
+    return None
+
+def google_map_js_move_script(dx, dy) -> str:
+    return """
+async function sleep(ms) {
+    return new Promise((resolve, reject) => {
+        setTimeout(() => resolve(), ms);
+    });
+}
+
+async function simulateDrag(element, offsetX, offsetY) {
+    const rect = element.getBoundingClientRect();
+    const startX = rect.left + rect.width / 2;
+    const startY = rect.top + rect.height / 2;
+    const step = 10
+    const endX = startX + offsetX + step;
+    const endY = startY + offsetY + step;
+
+    element.dispatchEvent(new MouseEvent('mousedown', {
+        view: window,
+        bubbles: true,
+        cancelable: true,
+        clientX: startX,
+        clientY: startY,
+        button: 0
+    }));
+    
+    let currentX = startX;
+    let currentY = startY;
+
+    function move(stepX, stepY) {
+        currentX += stepX;
+        currentY += stepY;
+
+        document.dispatchEvent(new MouseEvent('mousemove', {
+            view: window,
+            bubbles: true,
+            cancelable: false,
+            clientX: currentX,
+            clientY: currentY
+        }));
+    }
+
+    await sleep(50);
+    move(step, step)
+
+    while (currentX != endX || currentY != endY) {
+        await sleep(50);
+        const stepX = Math.min(step, Math.max(-step, endX - currentX));
+        const stepY = Math.min(step, Math.max(-step, endY - currentY));
+        move(stepX, stepY);
+    }
+
+    await sleep(50)
+    document.dispatchEvent(new MouseEvent('mouseup', {
+        view: window,
+        bubbles: true,
+        cancelable: false,
+        clientX: endX,
+        clientY: endY,
+        button: 0
+    }));
+}
+
+{
+    const canvas = document.querySelector('canvas.H1VXrf.JRr1M.DnOnV');
+""" + f"simulateDrag(canvas, {int(-dx)}, {int(dy)});" + """
+}
+"""

vision_chunk.py

@@ -1,10 +1,13 @@
+import constants
 import cv2
 import json
 import numpy as np
+from PIL import Image
 from dataclasses import dataclass, field
 from pathlib import Path
+from position import Position
+from timer import Timer
 from typing import Literal, Optional, Tuple
-from PIL import Image
 
 FeatureMethod = Literal["orb", "sift", "akaze", "brisk"]
 DEFAULT_METHOD = "orb"
@@ -14,6 +17,7 @@ class VisionChunk:
     image: Image.Image
     feature_method: FeatureMethod = DEFAULT_METHOD
 
+    pos: Optional[Position] = field(default=None, init=False)
     keypoints: Optional[list] = field(default=None, init=False)
     descriptors: Optional[np.ndarray] = field(default=None, init=False)
     _detector: Optional[cv2.Feature2D] = field(default=None, init=False, repr=False)
@@ -27,12 +31,12 @@ class VisionChunk:
             self._detector = cv2.ORB_create(
                 nfeatures=1000,
                 scaleFactor=1.2,
-                nlevels=32,
+                nlevels=16,
                 edgeThreshold=31,
                 firstLevel=0,
                 WTA_K=2,
                 patchSize=31,
-                fastThreshold=20,
+                fastThreshold=10,
             )
         elif self.feature_method == "sift":
             self._detector = cv2.SIFT_create(
@@ -70,30 +74,55 @@ class VisionChunk:
         return self._matcher
 
     def _preprocess(self, img_np: np.ndarray) -> np.ndarray:
-        """CLAHE предобработка для улучшения контраста"""
+        """Предобработка для улучшения сопоставления между снимками разного времени"""
         if len(img_np.shape) == 3:
             gray = cv2.cvtColor(img_np, cv2.COLOR_RGB2GRAY)
         else:
             gray = img_np
-            
+        
+        # Гауссовское размытие для подавления шума и мелких различий
+        # blurred = cv2.GaussianBlur(gray, (5, 5), 1.0)
+        
+        # CLAHE для выравнивания контраста между снимками
         clahe = cv2.createCLAHE(clipLimit=3.0, tileGridSize=(8, 8))
-        return clahe.apply(gray)
+        enhanced = clahe.apply(gray)
+        
+        # Опционально: нормализация гистограммы для устранения различий в освещении
+        normalized = cv2.normalize(enhanced, None, 0, 255, cv2.NORM_MINMAX)
+        
+        return normalized
+
 
     def compute_keypoints(self, force: bool = False) -> Tuple[list[cv2.KeyPoint], Optional[np.ndarray]]:
         if self.keypoints is not None and self.descriptors is not None and not force:
             return self.keypoints, self.descriptors
 
+        timer = Timer()
+        timer.start()
         detector = self._get_detector()
+
+        if constants.DEBUG_FPS:
+            print(f"[VC-DETECTION]: get_detector: {timer.loop() * 1000:.2f} ms")
         
         # PIL -> OpenCV (RGB->BGR)
         img_np = np.array(self.image)
         if img_np.ndim == 3 and img_np.shape[2] == 3:
             img_np = cv2.cvtColor(img_np, cv2.COLOR_RGB2BGR)
+
+        if constants.DEBUG_FPS:
+            print(f"[VC-DETECTION]: converting: {timer.loop() * 1000:.2f} ms")
         
         # CLAHE предобработка
         preprocessed = self._preprocess(img_np)
+
+        if constants.DEBUG_FPS:
+            print(f"[VC-DETECTION]: preprocess: {timer.loop() * 1000:.2f} ms")
+
         keypoints, descriptors = detector.detectAndCompute(preprocessed, None)
 
+        if constants.DEBUG_FPS:
+            print(f"[VC-DETECTION]: detect and compute: {timer.loop() * 1000:.2f} ms")
+
         # Получаем массив response для всех точек
         responses = np.array([kp.response for kp in keypoints])
 
@@ -104,6 +133,9 @@ class VisionChunk:
         best_keypoints = [keypoints[i] for i in top_indices]
         best_descriptors = descriptors[top_indices]
 
+        if constants.DEBUG_FPS:
+            print(f"[VC-DETECTION]: filtration: {timer.loop() * 1000:.2f} ms")
+
         self.keypoints = best_keypoints
         self.descriptors = best_descriptors
         return self.keypoints, self.descriptors
@@ -122,15 +154,29 @@ class VisionChunk:
         Возвращает: src_pts, dst_pts, good_matches, kp1, kp2 (отцентрированные координаты)
         """
         # Вычисляем keypoints для обоих
+        timer = Timer()
+        timer.start()
+
         kp1, des1 = self.compute_keypoints()
+
+        if constants.DEBUG_FPS:
+            print(f"[VC-KEYPOINTS]: computing 1: {timer.loop() * 1000:.2f} ms")
+        
         kp2, des2 = other.compute_keypoints()
 
+        if constants.DEBUG_FPS:
+            print(f"[VC-KEYPOINTS]: computing 2: {timer.loop() * 1000:.2f} ms")
+
         if des1 is None or des2 is None or len(kp1) < 4 or len(kp2) < 4:
             return None, None, None, None, None
 
         # kNN matching + Lowe ratio test
         matcher = self._get_matcher()
         matches_knn = matcher.knnMatch(des1, des2, k=2)
+
+        if constants.DEBUG_FPS:
+            print(f"[VC-KEYPOINTS]: matching: {timer.loop() * 1000:.2f} ms")
+
         good_matches: list[cv2.DMatch] = []
         
         for m_n in matches_knn:
@@ -147,15 +193,6 @@ class VisionChunk:
         if len(good_matches) < 4:
             return None, None, None, None, None
 
-        # Центр изображений
-        img1_cv = self.to_cv2_gray()
-        img2_cv = other.to_cv2_gray()
-        h1, w1 = img1_cv.shape
-        h2, w2 = img2_cv.shape
-        cx1, cy1 = w1 // 2, h1 // 2
-        cx2, cy2 = w2 // 2, h2 // 2
-
-        # Отцентрированные координаты (x_rel, y_rel)
         src_pts = []
         dst_pts = []
         
@@ -169,6 +206,9 @@ class VisionChunk:
         src_pts = np.float32(src_pts).reshape(-1, 1, 2)
         dst_pts = np.float32(dst_pts).reshape(-1, 1, 2)
 
+        if constants.DEBUG_FPS:
+            print(f"[VC-KEYPOINTS]: filtration: {timer.loop() * 1000:.2f} ms")
+
         return src_pts, dst_pts, good_matches, kp1, kp2
 
     def to_cv2_gray(self) -> np.ndarray:

visualization.py

@@ -3,14 +3,16 @@
 Модуль для управления общим окном визуализации
 """
 
+from PIL import Image
+from enum import Enum
+from scipy.interpolate import make_interp_spline
+
+import cv2
+import matplotlib
 import matplotlib.axes
 import matplotlib.pyplot as plt
 import matplotlib.patches as patches
 import numpy as np
-from enum import Enum
-import cv2
-from PIL import Image
-import matplotlib
 
 # Настройки matplotlib
 matplotlib.use('TkAgg')
@@ -93,14 +95,14 @@ class VisualizationManager:
         self.ax_matches.axis('off')
         
         # Сопоставление точек (средний средний угол)
-        self.ax_chunk_matches = self.fig.add_subplot(gs[1, 2])
+        self.ax_chunk_matches = self.fig.add_subplot(gs[1, 1:3])
         self.ax_chunk_matches.set_title('Chunk Matching')
         self.ax_chunk_matches.axis('off')
         
         # Визуализация движения ключевых точек (левый нижний угол)
-        self.ax_motion_vectors = self.fig.add_subplot(gs[1, 1])
-        self.ax_motion_vectors.set_title('Motion Vectors - Движение ключевых точек')
-        self.ax_motion_vectors.axis('off')
+        # self.ax_motion_vectors = self.fig.add_subplot(gs[1, 1])
+        # self.ax_motion_vectors.set_title('Motion Vectors - Движение ключевых точек')
+        # self.ax_motion_vectors.axis('off')
         
         # Визуализация движения ключевых точек на основе матрицы гомографии
         self.ax_motion_gomography = self.fig.add_subplot(gs[0, 1])
@@ -157,7 +159,7 @@ class VisualizationManager:
             # Рисуем текущую целевую точку
             if self.target_idx < len(self.target_pts):
                 pt = self.target_pts[self.target_idx]
-                self.ax_global_map.plot(pt[0], pt[1], 'yo', markersize=8, label='Цель (0, 0)')
+                self.ax_global_map.plot(pt[0], pt[1], 'yo', markersize=8, label='Цель')
 
             self.ax_global_map.legend()
 
@@ -208,7 +210,37 @@ class VisualizationManager:
         self.ax_error_plot.grid(True, alpha=0.3)
         
         if len(self.error_times) > 1:
-            self.ax_error_plot.plot(self.error_times, self.position_errors, 'b-', linewidth=2)
+            # Оригинальный график (более прозрачный)
+            self.ax_error_plot.plot(self.error_times, self.position_errors, 'b-', 
+                                    linewidth=1, alpha=0.4, label='Погрешность данных')
+            
+        if len(self.error_times) > 5:
+            # Сглаженный график
+            smoothed_times = np.linspace(self.error_times[0], self.error_times[-1], 300)
+            spl = make_interp_spline(self.error_times, self.position_errors, k=3)
+            smoothed_errors = spl(smoothed_times)
+
+                
+            self.ax_error_plot.plot(smoothed_times, smoothed_errors, 'orange', 
+                                    linewidth=2, label='Сглаженный тренд')
+
+            # if len(self.position_errors) > 5:  # Достаточно данных для сглаживания
+            #     window_size = min(11, len(self.position_errors) // 3)  # Адаптивный размер окна
+            #     if window_size % 2 == 0:  # Должен быть нечетным
+            #         window_size += 1
+                
+            #     # Метод скользящего среднего
+            #     smoothed_errors = np.convolve(
+            #         self.position_errors, 
+            #         np.ones(window_size) / window_size, 
+            #         mode='valid'
+            #     )
+                
+            #     # Корректируем временную ось для сглаженных данных
+            #     offset = (window_size - 1) // 2
+            #     smoothed_times = self.error_times[offset:offset + len(smoothed_errors)]
+            
+            self.ax_error_plot.legend(loc='upper right')
             
             # Автоматически масштабируем оси
             if len(self.position_errors) > 0:
@@ -219,6 +251,7 @@ class VisualizationManager:
                 else:
                     self.ax_error_plot.set_ylim(0, 1)
 
+
     def update_matches(self, img1: np.ndarray, img2: np.ndarray, 
                       kp1, kp2, matches, transformation_info=None):
         """Обновляет визуализацию сопоставления точек"""

yandex_map.py

@@ -1,16 +1,17 @@
-import math
-from io import BytesIO
-from time import sleep
-import os
-
-import cv2
-import numpy as np
-
 from PIL import Image
+from io import BytesIO
 from selenium.webdriver.common.actions.wheel_input import ScrollOrigin
 from selenium import webdriver
 from selenium.webdriver.common.by import By
 from selenium.webdriver.common.action_chains import ActionChains
+from time import sleep
+
+import constants
+import cv2
+import math
+import numpy as np
+import os
+import utility
 
 def generateURL(lat: float, lon: float, zoom: int):
     return f"https://yandex.ru/maps/43/kazan/?l=sat&ll={lat}%2C{lon}&z={zoom}"
@@ -24,6 +25,7 @@ class YandexMap:
         self.initial_lat = initial_lat
         self.initial_lon = initial_lon
         self.initial_zoom = initial_zoom
+        self.pixel_ratio = constants.YANDEX_PIXEL_RATIO[self.initial_zoom]
 
         options = webdriver.ChromeOptions()
         # options.add_experimental_option("detach", True)
@@ -32,9 +34,8 @@ class YandexMap:
         self.driver.maximize_window()
         sleep(2)
 
-        action = ActionChains(self.driver)
-
         # Закрытие левой панели
+        action = ActionChains(self.driver)
         action.click(self.driver.find_element(By.CLASS_NAME, 'sidebar-toggle-button'))
         action.perform()
 
@@ -43,8 +44,25 @@ class YandexMap:
         self.driver.execute_script("arguments[0].remove();", self.driver.find_element(By.XPATH, "//nav[@class='map-controls']"))
         self.driver.execute_script("arguments[0].remove();", self.driver.find_element(By.XPATH, "//footer"))
 
+        self.move(39, -9)
+
         sleep(0.2)
 
+    def open(self, lat, lon, zoom):
+        self.initial_lat = lat
+        self.initial_lon = lon
+        self.initial_zoom = zoom
+        self.pixel_ratio = constants.YANDEX_PIXEL_RATIO[self.initial_zoom]
+        self.driver.get(generateURL(lat, lon, zoom))
+        sleep(2)
+
+        # Закрытие левой панели
+        action = ActionChains(self.driver)
+        action.click(self.driver.find_element(By.CLASS_NAME, 'sidebar-toggle-button'))
+        action.perform()
+
+        self.move(39, -9)
+
     def save_photo(self, filename: str) -> bytes:
         return self.driver.save_screenshot(filename)
 
@@ -68,51 +86,26 @@ class YandexMap:
             if i != count - 1:
                 sleep(0.25)
 
-    def make_as_center(self, x: float, y: float):
+    def move(self, dx: float, dy: float):
         html = self.driver.find_element(By.TAG_NAME, 'html')
-
         action = ActionChains(self.driver)
         action.move_to_element_with_offset(html, 0, 0)
         action.click_and_hold()
-
-        dx = (x - 0.5) * self.get_size()[0]
-        dy = (0.5 - y) * self.get_size()[1]
-        print(dx, dy)
         action.move_by_offset(-dx, dy)
         action.release()
         action.perform()
 
-    def make_screenshot(self, x: float, y: float, width: float, height: float) -> cv2.typing.MatLike:
-        # Сохраняем скриншот
-        self.save_photo("temp.png")
-        
-        # Загружаем изображение
-        image = cv2.imread("temp.png")
-        
-        if image is None:
-            raise ValueError("Не удалось загрузить изображение temp.png")
-        
-        # Получаем размеры исходного изображения
-        img_height, img_width = image.shape[:2]
-        
-        # Преобразуем относительные координаты в абсолютные пиксели
-        center_x = int(x * img_width)
-        center_y = int(y * img_height)
-        crop_width = int(width * img_width)
-        crop_height = int(height * img_height)
-        
-        # Вычисляем координаты прямоугольника для кадрирования
-        x1 = max(0, center_x - crop_width // 2)
-        y1 = max(0, center_y - crop_height // 2)
-        x2 = min(img_width, center_x + crop_width // 2)
-        y2 = min(img_height, center_y + crop_height // 2)
-        
-        # Проверяем, что прямоугольник имеет положительные размеры
-        if x2 <= x1 or y2 <= y1:
-            raise ValueError("Некорректные размеры для кадрирования")
-        
-        # Кадрируем изображение
-        cropped_image = image[y1:y2, x1:x2]
-        
-        # Если нужно вернуть изображение как результат функции:
-        return cropped_image
+
+    def make_as_center(self, x: float, y: float):
+        dx = (x - 0.5) * self.get_size()[0]
+        dy = (0.5 - y) * self.get_size()[1]
+        self.move(dx, dy)
+
+    def make_screenshot(self) -> Image.Image:
+        png = self.driver.get_screenshot_as_png()
+        im = Image.open(BytesIO(png))
+        return utility.cv2_to_pil(np.array(im)[:, :])
+
+    def get_geolocation(self):
+        current_url = self.driver.current_url
+        return utility.parse_yandex_maps_url(current_url)