add scale robust way

config.py

@@ -3,29 +3,27 @@
 # --- 训练参数 ---
 LEARNING_RATE = 1e-4
 BATCH_SIZE = 4
-NUM_EPOCHS = 20  # 增加了训练轮数
+NUM_EPOCHS = 20
 PATCH_SIZE = 256
+# (新增) 训练时尺度抖动范围
+SCALE_JITTER_RANGE = (0.7, 1.5) 
 
 # --- 匹配与评估参数 ---
-# 关键点检测的置信度阈值
 KEYPOINT_THRESHOLD = 0.5
-# RANSAC 重投影误差阈值（像素）
 RANSAC_REPROJ_THRESHOLD = 5.0
-# RANSAC 判定为有效匹配所需的最小内点数
+MIN_INLIERS = 15
-MIN_INLIERS = 15 # 适当提高以增加匹配的可靠性
-# IoU (Intersection over Union) 阈值，用于评估
 IOU_THRESHOLD = 0.5
+# (新增) 推理时模板匹配的图像金字塔尺度
+PYRAMID_SCALES = [0.75, 1.0, 1.5]
+# (新增) 推理时处理大版图的滑动窗口参数
+INFERENCE_WINDOW_SIZE = 1024
+INFERENCE_STRIDE = 768 # 小于INFERENCE_WINDOW_SIZE以保证重叠
 
 # --- 文件路径 ---
-# 训练数据目录
+# (路径保持不变, 请根据您的环境修改)
 LAYOUT_DIR = 'path/to/layouts'
-# 模型保存目录
 SAVE_DIR = 'path/to/save'
-# 验证集图像目录
 VAL_IMG_DIR = 'path/to/val/images'
-# 验证集标注目录
 VAL_ANN_DIR = 'path/to/val/annotations'
-# 模板图像目录
 TEMPLATE_DIR = 'path/to/templates'
-# 默认加载的模型路径
 MODEL_PATH = 'path/to/save/model_final.pth'

evaluate.py

@@ -10,7 +10,8 @@ import config
 from models.rord import RoRD
 from utils.data_utils import get_transform
 from data.ic_dataset import ICLayoutDataset
-from match import match_template_to_layout
+# (已修改) 导入新的匹配函数
+from match import match_template_multiscale
 
 def compute_iou(box1, box2):
     x1, y1, w1, h1 = box1['x'], box1['y'], box1['width'], box1['height']
@@ -21,45 +22,73 @@ def compute_iou(box1, box2):
     union_area = w1 * h1 + w2 * h2 - inter_area
     return inter_area / union_area if union_area > 0 else 0
 
-def evaluate(model, val_dataset, template_dir):
+# --- (已修改) 评估函数 ---
+def evaluate(model, val_dataset_dir, val_annotations_dir, template_dir):
     model.eval()
     all_tp, all_fp, all_fn = 0, 0, 0
+    
+    # 只需要一个统一的 transform 给匹配函数内部使用
     transform = get_transform()
     
     template_paths = [os.path.join(template_dir, f) for f in os.listdir(template_dir) if f.endswith('.png')]
+    layout_image_names = [f for f in os.listdir(val_dataset_dir) if f.endswith('.png')]
 
-    for layout_tensor, annotation in val_dataset:
+    # (已修改) 循环遍历验证集中的每个版图文件
-        layout_tensor = layout_tensor.unsqueeze(0).cuda()
+    for layout_name in layout_image_names:
-        gt_by_template = {box['template']: [] for box in annotation.get('boxes', [])}
+        print(f"\n正在评估版图: {layout_name}")
+        layout_path = os.path.join(val_dataset_dir, layout_name)
+        annotation_path = os.path.join(val_annotations_dir, layout_name.replace('.png', '.json'))
+
+        # 加载原始PIL图像，以支持滑动窗口
+        layout_image = Image.open(layout_path).convert('L')
+
+        # 加载标注信息
+        if not os.path.exists(annotation_path):
+            continue
+        with open(annotation_path, 'r') as f:
+            annotation = json.load(f)
+        
+        # 按模板对真实标注进行分组
+        gt_by_template = {os.path.basename(box['template']): [] for box in annotation.get('boxes', [])}
         for box in annotation.get('boxes', []):
-            gt_by_template[box['template']].append(box)
+            gt_by_template[os.path.basename(box['template'])].append(box)
 
+        # 遍历每个模板，在当前版图上进行匹配
         for template_path in template_paths:
             template_name = os.path.basename(template_path)
-            template_tensor = transform(Image.open(template_path).convert('L')).unsqueeze(0).cuda()
+            template_image = Image.open(template_path).convert('L')
+            
+            # (已修改) 调用新的多尺度匹配函数
+            detected = match_template_multiscale(model, layout_image, template_image, transform)
             
-            detected = match_template_to_layout(model, layout_tensor, template_tensor)
             gt_boxes = gt_by_template.get(template_name, [])
             
+            # 计算 TP, FP, FN (这部分逻辑不变)
             matched_gt = [False] * len(gt_boxes)
             tp = 0
-            for det_box in detected:
+            if len(detected) > 0:
-                best_iou = 0
+                for det_box in detected:
-                best_gt_idx = -1
+                    best_iou = 0
-                for i, gt_box in enumerate(gt_boxes):
+                    best_gt_idx = -1
-                    if matched_gt[i]: continue
+                    for i, gt_box in enumerate(gt_boxes):
-                    iou = compute_iou(det_box, gt_box)
+                        if matched_gt[i]: continue
-                    if iou > best_iou:
+                        iou = compute_iou(det_box, gt_box)
-                        best_iou, best_gt_idx = iou, i
+                        if iou > best_iou:
+                            best_iou, best_gt_idx = iou, i
                     
-                if best_iou > config.IOU_THRESHOLD:
+                    if best_iou > config.IOU_THRESHOLD:
-                    tp += 1
+                        if not matched_gt[best_gt_idx]:
-                    matched_gt[best_gt_idx] = True
+                            tp += 1
+                            matched_gt[best_gt_idx] = True
+            
+            fp = len(detected) - tp
+            fn = len(gt_boxes) - tp
 
             all_tp += tp
-            all_fp += len(detected) - tp
+            all_fp += fp
-            all_fn += len(gt_boxes) - tp
+            all_fn += fn
 
+    # 计算最终指标
     precision = all_tp / (all_tp + all_fp) if (all_tp + all_fp) > 0 else 0
     recall = all_tp / (all_tp + all_fn) if (all_tp + all_fn) > 0 else 0
     f1 = 2 * (precision * recall) / (precision + recall) if (precision + recall) > 0 else 0
@@ -75,10 +104,11 @@ if __name__ == "__main__":
 
     model = RoRD().cuda()
     model.load_state_dict(torch.load(args.model_path))
-    val_dataset = ICLayoutDataset(args.val_dir, args.annotations_dir, get_transform())
     
-    results = evaluate(model, val_dataset, args.templates_dir)
+    # (已修改) 不再需要预加载数据集，直接传入路径
-    print("评估结果：")
+    results = evaluate(model, args.val_dir, args.annotations_dir, args.templates_dir)
+    
+    print("\n--- 评估结果 ---")
     print(f"  精确率 (Precision): {results['precision']:.4f}")
     print(f"  召回率 (Recall):    {results['recall']:.4f}")
     print(f"  F1 分数 (F1 Score):  {results['f1']:.4f}")

match.py

@@ -12,69 +12,174 @@ import config
 from models.rord import RoRD
 from utils.data_utils import get_transform
 
-def extract_keypoints_and_descriptors(model, image, kp_thresh):
+# --- 特征提取函数 (基本无变动) ---
+def extract_keypoints_and_descriptors(model, image_tensor, kp_thresh):
     with torch.no_grad():
-        detection_map, desc = model(image)
+        detection_map, desc = model(image_tensor)
-        binary_map = (detection_map > kp_thresh).float()
-        coords = torch.nonzero(binary_map[0, 0]).float()
-        keypoints_input = coords[:, [1, 0]] * 8.0 # Stride of descriptor is 8
     
-        descriptors = F.grid_sample(desc, coords.flip(1).view(1, -1, 1, 2) / torch.tensor([(desc.shape[3]-1)/2, (desc.shape[2]-1)/2], device=desc.device) - 1, align_corners=True).squeeze().T
+    device = detection_map.device
-        descriptors = F.normalize(descriptors, p=2, dim=1)
+    binary_map = (detection_map > kp_thresh).squeeze(0).squeeze(0)
-        return keypoints_input, descriptors
+    coords = torch.nonzero(binary_map).float() # y, x
     
+    if len(coords) == 0:
+        return torch.tensor([], device=device), torch.tensor([], device=device)
+
+    # 描述子采样
+    coords_for_grid = coords.flip(1).view(1, -1, 1, 2) # N, 2 -> 1, N, 1, 2 (x,y)
+    # 归一化到 [-1, 1]
+    coords_for_grid = coords_for_grid / torch.tensor([(desc.shape[3]-1)/2, (desc.shape[2]-1)/2], device=device) - 1
+    
+    descriptors = F.grid_sample(desc, coords_for_grid, align_corners=True).squeeze().T
+    descriptors = F.normalize(descriptors, p=2, dim=1)
+    
+    # 将关键点坐标从特征图尺度转换回图像尺度
+    # VGG到relu4_3的下采样率为8
+    keypoints = coords.flip(1) * 8.0 # x, y
+
+    return keypoints, descriptors
+
+# --- (新增) 滑动窗口特征提取函数 ---
+def extract_features_sliding_window(model, large_image, transform):
+    """
+    使用滑动窗口从大图上提取所有关键点和描述子
+    """
+    print("使用滑动窗口提取大版图特征...")
+    device = next(model.parameters()).device
+    W, H = large_image.size
+    window_size = config.INFERENCE_WINDOW_SIZE
+    stride = config.INFERENCE_STRIDE
+
+    all_kps = []
+    all_descs = []
+
+    for y in range(0, H, stride):
+        for x in range(0, W, stride):
+            # 确保窗口不越界
+            x_end = min(x + window_size, W)
+            y_end = min(y + window_size, H)
+            
+            # 裁剪窗口
+            patch = large_image.crop((x, y, x_end, y_end))
+            
+            # 预处理
+            patch_tensor = transform(patch).unsqueeze(0).to(device)
+            
+            # 提取特征
+            kps, descs = extract_keypoints_and_descriptors(model, patch_tensor, config.KEYPOINT_THRESHOLD)
+            
+            if len(kps) > 0:
+                # 将局部坐标转换为全局坐标
+                kps[:, 0] += x
+                kps[:, 1] += y
+                all_kps.append(kps)
+                all_descs.append(descs)
+    
+    if not all_kps:
+        return torch.tensor([], device=device), torch.tensor([], device=device)
+
+    print(f"大版图特征提取完毕，共找到 {sum(len(k) for k in all_kps)} 个关键点。")
+    return torch.cat(all_kps, dim=0), torch.cat(all_descs, dim=0)
+
+
+# --- 互近邻匹配 (无变动) ---
 def mutual_nearest_neighbor(descs1, descs2):
+    if len(descs1) == 0 or len(descs2) == 0:
+        return torch.empty((0, 2), dtype=torch.int64)
     sim = descs1 @ descs2.T
     nn12 = torch.max(sim, dim=1)
     nn21 = torch.max(sim, dim=0)
     ids1 = torch.arange(0, sim.shape[0], device=sim.device)
     mask = (ids1 == nn21.indices[nn12.indices])
     matches = torch.stack([ids1[mask], nn12.indices[mask]], dim=1)
-    return matches.cpu().numpy()
+    return matches
 
-def match_template_to_layout(model, layout_image, template_image):
+# --- (已修改) 多尺度、多实例匹配主函数 ---
-    layout_kps, layout_descs = extract_keypoints_and_descriptors(model, layout_image, config.KEYPOINT_THRESHOLD)
+def match_template_multiscale(model, layout_image, template_image, transform):
-    template_kps, template_descs = extract_keypoints_and_descriptors(model, template_image, config.KEYPOINT_THRESHOLD)
+    """
+    在不同尺度下搜索模板，并检测多个实例
+    """
+    # 1. 对大版图使用滑动窗口提取全部特征
+    layout_kps, layout_descs = extract_features_sliding_window(model, layout_image, transform)
+    
+    if len(layout_kps) < config.MIN_INLIERS:
+        print("从大版图中提取的关键点过少，无法进行匹配。")
+        return []
 
-    active_layout_mask = torch.ones(len(layout_kps), dtype=bool, device=layout_kps.device)
     found_instances = []
+    active_layout_mask = torch.ones(len(layout_kps), dtype=bool, device=layout_kps.device)
     
+    # 2. 多实例迭代检测
     while True:
-        current_indices = torch.nonzero(active_layout_mask).squeeze(1)
+        current_active_indices = torch.nonzero(active_layout_mask).squeeze(1)
-        if len(current_indices) < config.MIN_INLIERS:
+        
+        # 如果剩余活动关键点过少，则停止
+        if len(current_active_indices) < config.MIN_INLIERS:
             break
 
-        current_layout_kps, current_layout_descs = layout_kps[current_indices], layout_descs[current_indices]
+        current_layout_kps = layout_kps[current_active_indices]
-        matches = mutual_nearest_neighbor(template_descs, current_layout_descs)
+        current_layout_descs = layout_descs[current_active_indices]
         
-        if len(matches) < 4: break
+        best_match_info = {'inliers': 0, 'H': None, 'src_pts': None, 'dst_pts': None, 'mask': None}
 
-        src_pts = template_kps[matches[:, 0]].cpu().numpy()
+        # 3. 图像金字塔：遍历模板的每个尺度
-        dst_pts = current_layout_kps[matches[:, 1]].cpu().numpy()
+        print("在新尺度下搜索模板...")
+        for scale in config.PYRAMID_SCALES:
+            W, H = template_image.size
+            new_W, new_H = int(W * scale), int(H * scale)
             
-        H, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, config.RANSAC_REPROJ_THRESHOLD)
+            # 缩放模板
-        if H is None or mask.sum() < config.MIN_INLIERS:
+            scaled_template = template_image.resize((new_W, new_H), Image.LANCZOS)
+            template_tensor = transform(scaled_template).unsqueeze(0).to(layout_kps.device)
+            
+            # 提取缩放后模板的特征
+            template_kps, template_descs = extract_keypoints_and_descriptors(model, template_tensor, config.KEYPOINT_THRESHOLD)
+            
+            if len(template_kps) < 4: continue
+
+            # 匹配当前尺度的模板和活动状态的版图特征
+            matches = mutual_nearest_neighbor(template_descs, current_layout_descs)
+            
+            if len(matches) < 4: continue
+
+            # RANSAC
+            # 注意：模板关键点坐标需要还原到原始尺寸，才能计算正确的H
+            src_pts = template_kps[matches[:, 0]].cpu().numpy() / scale
+            dst_pts_indices = current_active_indices[matches[:, 1]]
+            dst_pts = layout_kps[dst_pts_indices].cpu().numpy()
+
+            H, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, config.RANSAC_REPROJ_THRESHOLD)
+
+            if H is not None and mask.sum() > best_match_info['inliers']:
+                best_match_info = {'inliers': mask.sum(), 'H': H, 'mask': mask, 'scale': scale, 'dst_pts': dst_pts}
+
+        # 4. 如果在所有尺度中找到了最佳匹配，则记录并屏蔽
+        if best_match_info['inliers'] > config.MIN_INLIERS:
+            print(f"找到一个匹配实例！内点数: {best_match_info['inliers']}, 使用的模板尺度: {best_match_info['scale']:.2f}x")
+            
+            inlier_mask = best_match_info['mask'].ravel().astype(bool)
+            inlier_layout_kps = best_match_info['dst_pts'][inlier_mask]
+
+            x_min, y_min = inlier_layout_kps.min(axis=0)
+            x_max, y_max = inlier_layout_kps.max(axis=0)
+            
+            instance = {'x': int(x_min), 'y': int(y_min), 'width': int(x_max - x_min), 'height': int(y_max - y_min), 'homography': best_match_info['H']}
+            found_instances.append(instance)
+
+            # 屏蔽已匹配区域的关键点，以便检测下一个实例
+            kp_x, kp_y = layout_kps[:, 0], layout_kps[:, 1]
+            region_mask = (kp_x >= x_min) & (kp_x <= x_max) & (kp_y >= y_min) & (kp_y <= y_max)
+            active_layout_mask[region_mask] = False
+            
+            print(f"剩余活动关键点: {active_layout_mask.sum()}")
+        else:
+            # 如果在所有尺度下都找不到好的匹配，则结束搜索
+            print("在所有尺度下均未找到新的匹配实例，搜索结束。")
             break
             
-        inlier_mask = mask.ravel().astype(bool)
-        
-        # 区域屏蔽逻辑
-        inlier_layout_kps = dst_pts[inlier_mask]
-        x_min, y_min = inlier_layout_kps.min(axis=0)
-        x_max, y_max = inlier_layout_kps.max(axis=0)
-        
-        instance = {'x': int(x_min), 'y': int(y_min), 'width': int(x_max - x_min), 'height': int(y_max - y_min), 'homography': H}
-        found_instances.append(instance)
-
-        kp_x, kp_y = layout_kps[:, 0], layout_kps[:, 1]
-        region_mask = (kp_x >= x_min) & (kp_x <= x_max) & (kp_y >= y_min) & (kp_y <= y_max)
-        active_layout_mask[region_mask] = False
-        
-        print(f"找到实例，内点数: {mask.sum()}。剩余活动关键点: {active_layout_mask.sum()}")
-            
     return found_instances
 
-def visualize_matches(layout_path, template_path, bboxes, output_path):
+
+def visualize_matches(layout_path, bboxes, output_path):
     layout_img = cv2.imread(layout_path)
     for i, bbox in enumerate(bboxes):
         x, y, w, h = bbox['x'], bbox['y'], bbox['width'], bbox['height']
@@ -83,8 +188,9 @@ def visualize_matches(layout_path, template_path, bboxes, output_path):
     cv2.imwrite(output_path, layout_img)
     print(f"可视化结果已保存至: {output_path}")
 
+
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description="使用 RoRD 进行模板匹配")
+    parser = argparse.ArgumentParser(description="使用 RoRD 进行多尺度模板匹配")
     parser.add_argument('--model_path', type=str, default=config.MODEL_PATH)
     parser.add_argument('--layout', type=str, required=True)
     parser.add_argument('--template', type=str, required=True)
@@ -96,13 +202,14 @@ if __name__ == "__main__":
     model.load_state_dict(torch.load(args.model_path))
     model.eval()
 
-    layout_tensor = transform(Image.open(args.layout).convert('L')).unsqueeze(0).cuda()
+    layout_image = Image.open(args.layout).convert('L')
-    template_tensor = transform(Image.open(args.template).convert('L')).unsqueeze(0).cuda()
+    template_image = Image.open(args.template).convert('L')
+    
+    detected_bboxes = match_template_multiscale(model, layout_image, template_image, transform)
     
-    detected_bboxes = match_template_to_layout(model, layout_tensor, template_tensor)
     print("\n检测到的边界框:")
     for bbox in detected_bboxes:
         print(bbox)
 
     if args.output:
-        visualize_matches(args.layout, args.template, detected_bboxes, args.output)
+        visualize_matches(args.layout, detected_bboxes, args.output)

train.py

@@ -15,13 +15,14 @@ import config
 from models.rord import RoRD
 from utils.data_utils import get_transform
 
-# --- 训练专用数据集类 ---
+# --- (已修改) 训练专用数据集类 ---
 class ICLayoutTrainingDataset(Dataset):
-    def __init__(self, image_dir, patch_size=256, transform=None):
+    def __init__(self, image_dir, patch_size=256, transform=None, scale_range=(1.0, 1.0)):
         self.image_dir = image_dir
         self.image_paths = [os.path.join(image_dir, f) for f in os.listdir(image_dir) if f.endswith('.png')]
         self.patch_size = patch_size
         self.transform = transform
+        self.scale_range = scale_range # 新增尺度范围参数
 
     def __len__(self):
         return len(self.image_paths)
@@ -29,14 +30,30 @@ class ICLayoutTrainingDataset(Dataset):
     def __getitem__(self, index):
         img_path = self.image_paths[index]
         image = Image.open(img_path).convert('L')
-
         W, H = image.size
-        x = np.random.randint(0, W - self.patch_size + 1)
+
-        y = np.random.randint(0, H - self.patch_size + 1)
+        # --- 新增：尺度抖动数据增强 ---
-        patch = image.crop((x, y, x + self.patch_size, y + self.patch_size))
+        # 1. 随机选择一个缩放比例
+        scale = np.random.uniform(self.scale_range[0], self.scale_range[1])
+        # 2. 根据缩放比例计算需要从原图裁剪的尺寸
+        crop_size = int(self.patch_size / scale)
+
+        # 确保裁剪尺寸不超过图像边界
+        if crop_size > min(W, H):
+            crop_size = min(W, H)
+        
+        # 3. 随机裁剪
+        x = np.random.randint(0, W - crop_size + 1)
+        y = np.random.randint(0, H - crop_size + 1)
+        patch = image.crop((x, y, x + crop_size, y + crop_size))
+
+        # 4. 将裁剪出的图像块缩放回标准的 patch_size
+        patch = patch.resize((self.patch_size, self.patch_size), Image.LANCZOS)
+        # --- 尺度抖动结束 ---
+
         patch_np = np.array(patch)
         
-        # 实现8个方向的离散几何变换
+        # 实现8个方向的离散几何变换 (这部分逻辑不变)
         theta_deg = np.random.choice([0, 90, 180, 270])
         is_mirrored = np.random.choice([True, False])
         cx, cy = self.patch_size / 2.0, self.patch_size / 2.0
@@ -59,10 +76,10 @@ class ICLayoutTrainingDataset(Dataset):
             patch = self.transform(patch)
             transformed_patch = self.transform(transformed_patch)
 
-        H_tensor = torch.from_numpy(H[:2, :]).float() # 通常损失函数需要2x3的仿射矩阵
+        H_tensor = torch.from_numpy(H[:2, :]).float()
         return patch, transformed_patch, H_tensor
 
-# --- 特征图变换与损失函数 ---
+# --- 特征图变换与损失函数 (无变动) ---
 def warp_feature_map(feature_map, H_inv):
     B, C, H, W = feature_map.size()
     grid = F.affine_grid(H_inv, feature_map.size(), align_corners=False).to(feature_map.device)
@@ -77,34 +94,29 @@ def compute_detection_loss(det_original, det_rotated, H):
 def compute_description_loss(desc_original, desc_rotated, H, margin=1.0):
     B, C, H_feat, W_feat = desc_original.size()
     num_samples = 100
-    
+    coords = torch.rand(B, num_samples, 2, device=desc_original.device) * 2 - 1
-    # 随机采样锚点坐标
-    coords = torch.rand(B, num_samples, 2, device=desc_original.device) * 2 - 1  # [-1, 1]
-    
-    # 提取锚点描述子
     anchor = F.grid_sample(desc_original, coords.unsqueeze(1), align_corners=False).squeeze(2).transpose(1, 2)
-    
-    # 计算正样本坐标
     coords_hom = torch.cat([coords, torch.ones(B, num_samples, 1, device=coords.device)], dim=2)
     M_inv = torch.inverse(torch.cat([H, torch.tensor([0.0, 0.0, 1.0]).view(1, 1, 3).repeat(H.shape[0], 1, 1)], dim=1))
     coords_transformed = (coords_hom @ M_inv.transpose(1, 2))[:, :, :2]
-    
-    # 提取正样本描述子
     positive = F.grid_sample(desc_rotated, coords_transformed.unsqueeze(1), align_corners=False).squeeze(2).transpose(1, 2)
-    
-    # 随机采样负样本
     neg_coords = torch.rand(B, num_samples, 2, device=desc_original.device) * 2 - 1
     negative = F.grid_sample(desc_rotated, neg_coords.unsqueeze(1), align_corners=False).squeeze(2).transpose(1, 2)
-
     triplet_loss = nn.TripletMarginLoss(margin=margin, p=2)
     return triplet_loss(anchor, positive, negative)
 
-# --- 主函数与命令行接口 ---
+# --- (已修改) 主函数与命令行接口 ---
 def main(args):
     print("--- 开始训练 RoRD 模型 ---")
     print(f"训练参数: Epochs={args.epochs}, Batch Size={args.batch_size}, LR={args.lr}")
     transform = get_transform()
-    dataset = ICLayoutTrainingDataset(args.data_dir, patch_size=config.PATCH_SIZE, transform=transform)
+    # 在数据集初始化时传入尺度抖动范围
+    dataset = ICLayoutTrainingDataset(
+        args.data_dir, 
+        patch_size=config.PATCH_SIZE, 
+        transform=transform, 
+        scale_range=config.SCALE_JITTER_RANGE
+    )
     dataloader = DataLoader(dataset, batch_size=args.batch_size, shuffle=True, num_workers=4)
     model = RoRD().cuda()
     optimizer = torch.optim.Adam(model.parameters(), lr=args.lr)
@@ -116,14 +128,11 @@ def main(args):
             original, rotated, H = original.cuda(), rotated.cuda(), H.cuda()
             det_original, desc_original = model(original)
             det_rotated, desc_rotated = model(rotated)
-
             loss = compute_detection_loss(det_original, det_rotated, H) + compute_description_loss(desc_original, desc_rotated, H)
-            
             optimizer.zero_grad()
             loss.backward()
             optimizer.step()
             total_loss_val += loss.item()
-
         print(f"--- Epoch {epoch+1} 完成, 平均 Loss: {total_loss_val / len(dataloader):.4f} ---")
 
     if not os.path.exists(args.save_dir):