第二次大修

README.md

@@ -58,49 +58,33 @@ ic_layout_recognition/
 └── README.md
 ```
 
-### 1. 训练模型
+## 🚀 使用方法
 
-使用以下命令启动模型训练。训练过程采用自监督学习，通过对图像应用随机旋转来生成训练对，从而优化关键点检测和描述子生成。
+### 1. 配置
+首先，请修改 **`config.py`** 文件，设置正确的训练数据、验证数据和模型保存路径。
 
+### 2. 训练模型
 ```bash
-python train.py --data_dir path/to/layouts --save_dir path/to/save
+python train.py --data_dir /path/to/your/layouts --save_dir /path/to/your/models --epochs 50
+```
+使用 `--help` 查看更多选项。
+
+### 3. 模板匹配
+```bash
+python match.py --model_path /path/to/your/models/rord_model_final.pth \
+                --layout /path/to/layout.png \
+                --template /path/to/template.png \
+                --output /path/to/result.png
 ```
 
-| 参数 | 描述 |
+### 4. 评估模型
-| :--- | :--- |
-| `--data_dir` | **[必需]** 包含 PNG 格式 IC 版图图像的目录。 |
-| `--save_dir` | **[必需]** 训练好的模型权重保存目录。 |
-
-### 2. 评估模型
-
-使用以下命令在验证集上评估模型的性能。评估脚本会计算基于 IoU 阈值的精确率、召回率和 F1 分数。
-
 ```bash
-python evaluate.py --model_path path/to/model.pth --val_dir path/to/val/images --annotations_dir path/to/val/annotations --templates path/to/templates
+python evaluate.py --model_path /path/to/your/models/rord_model_final.pth \
+                   --val_dir /path/to/val/images \
+                   --annotations_dir /path/to/val/annotations \
+                   --templates_dir /path/to/templates
 ```
 
-| 参数 | 描述 |
-| :--- | :--- |
-| `--model_path` | **[必需]** 训练好的模型权重 (`.pth`) 文件路径。 |
-| `--val_dir` | **[必需]** 验证集图像目录。 |
-| `--annotations_dir` | **[必需]** 包含真实标注的 JSON 文件目录。 |
-| `--templates` | **[必需]** 模板图像的路径列表。 |
-
-### 3. 进行模板匹配
-
-使用以下命令将模板图像与指定的版图图像进行匹配。匹配过程利用 RoRD 模型提取关键点和描述子，通过互最近邻（MNN）匹配和 RANSAC 几何验证来定位模板。
-
-```bash
-python match.py --model_path path/to/model.pth --layout_path path/to/layout.png --template_path path/to/template.png --output_path path/to/output.png
-```
-
-| 参数 | 描述 |
-| :--- | :--- |
-| `--model_path` | **[必需]** 训练好的模型权重 (`.pth`) 文件路径。 |
-| `--layout_path` | **[必需]** 待匹配的版图图像路径。 |
-| `--template_path` | **[必需]** 模板图像路径。 |
-| `--output_path` | **[可选]** 保存可视化匹配结果的路径。 |
-
 ## 📦 数据准备
 
 ### 训练数据

config.py

@@ -0,0 +1,31 @@
+# config.py
+
+# --- 训练参数 ---
+LEARNING_RATE = 1e-4
+BATCH_SIZE = 4
+NUM_EPOCHS = 20  # 增加了训练轮数
+PATCH_SIZE = 256
+
+# --- 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 # 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
+
+# --- 文件路径 ---
+# 训练数据目录
+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

@@ -1,123 +1,84 @@
-from models.rord import RoRD
+# evaluate.py
-from data.ic_dataset import ICLayoutDataset
+
-from utils.transforms import SobelTransform
-from match import match_template_to_layout
 import torch
-from torchvision import transforms
+from PIL import Image
 import json
 import os
-from PIL import Image
+import argparse
+
+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
 
 def compute_iou(box1, box2):
     x1, y1, w1, h1 = box1['x'], box1['y'], box1['width'], box1['height']
     x2, y2, w2, h2 = box2['x'], box2['y'], box2['width'], box2['height']
-    
+    inter_x1, inter_y1 = max(x1, x2), max(y1, y2)
-    inter_x1 = max(x1, x2)
+    inter_x2, inter_y2 = min(x1 + w1, x2 + w2), min(y1 + h1, y2 + h2)
-    inter_y1 = max(y1, y2)
-    inter_x2 = min(x1 + w1, x2 + w2)
-    inter_y2 = min(y1 + h1, y2 + h2)
-    
     inter_area = max(0, inter_x2 - inter_x1) * max(0, inter_y2 - inter_y1)
-    
+    union_area = w1 * h1 + w2 * h2 - inter_area
-    box1_area = w1 * h1
+    return inter_area / union_area if union_area > 0 else 0
-    box2_area = w2 * h2
-    union_area = box1_area + box2_area - inter_area
-    
-    iou = inter_area / union_area if union_area > 0 else 0
-    return iou
 
-def evaluate(model, val_dataset, templates, iou_threshold=0.5):
+def evaluate(model, val_dataset, template_dir):
     model.eval()
-    all_true_positives = 0
+    all_tp, all_fp, all_fn = 0, 0, 0
-    all_false_positives = 0
+    transform = get_transform()
-    all_false_negatives = 0
+    
+    template_paths = [os.path.join(template_dir, f) for f in os.listdir(template_dir) if f.endswith('.png')]
 
-    for layout_idx in range(len(val_dataset)):
+    for layout_tensor, annotation in val_dataset:
-        layout_image, annotation = val_dataset[layout_idx]
+        layout_tensor = layout_tensor.unsqueeze(0).cuda()
-        # layout_image is [3, H, W]
+        gt_by_template = {box['template']: [] for box in annotation.get('boxes', [])}
-        layout_tensor = layout_image.unsqueeze(0).cuda()  # [1, 3, H, W]
-        
-        # 假设 annotation 是 {"boxes": [{"template": "template1.png", "x": x, "y": y, "width": w, "height": h}, ...]}
-        gt_boxes_by_template = {}
         for box in annotation.get('boxes', []):
-            template_name = box['template']
+            gt_by_template[box['template']].append(box)
-            if template_name not in gt_boxes_by_template:
-                gt_boxes_by_template[template_name] = []
-            gt_boxes_by_template[template_name].append(box)
 
-        for template_path in templates:
+        for template_path in template_paths:
             template_name = os.path.basename(template_path)
-            template_image = Image.open(template_path).convert('L')
+            template_tensor = transform(Image.open(template_path).convert('L')).unsqueeze(0).cuda()
-            template_tensor = transform(template_image).unsqueeze(0).cuda()  # [1, 3, H, W]
+            
-
+            detected = match_template_to_layout(model, layout_tensor, template_tensor)
-            # 执行匹配
+            gt_boxes = gt_by_template.get(template_name, [])
-            detected_bboxes = match_template_to_layout(model, layout_tensor, template_tensor)
+            
-
+            matched_gt = [False] * len(gt_boxes)
-            # 获取当前模板的 gt_boxes
+            tp = 0
-            gt_boxes = gt_boxes_by_template.get(template_name, [])
+            for det_box in detected:
-
-            # 初始化已分配的 gt_box 索引
-            assigned_gt = set()
-
-            for det_box in detected_bboxes:
                 best_iou = 0
                 best_gt_idx = -1
-                for idx, gt_box in enumerate(gt_boxes):
+                for i, gt_box in enumerate(gt_boxes):
-                    if idx in assigned_gt:
+                    if matched_gt[i]: continue
-                        continue
                     iou = compute_iou(det_box, gt_box)
                     if iou > best_iou:
-                        best_iou = iou
+                        best_iou, best_gt_idx = iou, i
-                        best_gt_idx = idx
+                
-                if best_iou > iou_threshold and best_gt_idx != -1:
+                if best_iou > config.IOU_THRESHOLD:
-                    all_true_positives += 1
+                    tp += 1
-                    assigned_gt.add(best_gt_idx)
+                    matched_gt[best_gt_idx] = True
-                else:
+            
-                    all_false_positives += 1
+            all_tp += tp
+            all_fp += len(detected) - tp
+            all_fn += len(gt_boxes) - tp
 
-            # 计算 FN：未分配的 gt_box
+    precision = all_tp / (all_tp + all_fp) if (all_tp + all_fp) > 0 else 0
-            for idx in range(len(gt_boxes)):
+    recall = all_tp / (all_tp + all_fn) if (all_tp + all_fn) > 0 else 0
-                if idx not in assigned_gt:
-                    all_false_negatives += 1
-
-    # 计算评估指标
-    precision = all_true_positives / (all_true_positives + all_false_positives) if (all_true_positives + all_false_positives) > 0 else 0
-    recall = all_true_positives / (all_true_positives + all_false_negatives) if (all_true_positives + all_false_negatives) > 0 else 0
     f1 = 2 * (precision * recall) / (precision + recall) if (precision + recall) > 0 else 0
-
+    return {'precision': precision, 'recall': recall, 'f1': f1}
-    return {
-        'precision': precision,
-        'recall': recall,
-        'f1': f1
-    }
 
 if __name__ == "__main__":
-    # 设置变换
+    parser = argparse.ArgumentParser(description="评估 RoRD 模型性能")
-    transform = transforms.Compose([
+    parser.add_argument('--model_path', type=str, default=config.MODEL_PATH)
-        SobelTransform(),
+    parser.add_argument('--val_dir', type=str, default=config.VAL_IMG_DIR)
-        transforms.ToTensor(),
+    parser.add_argument('--annotations_dir', type=str, default=config.VAL_ANN_DIR)
-        transforms.Lambda(lambda x: x.repeat(3, 1, 1)),  # [1, H, W] -> [3, H, W]
+    parser.add_argument('--templates_dir', type=str, default=config.TEMPLATE_DIR)
-        transforms.Normalize(mean=[0.5, 0.5, 0.5], std=[0.5, 0.5, 0.5])
+    args = parser.parse_args()
-    ])
 
-    # 加载模型
     model = RoRD().cuda()
-    model.load_state_dict(torch.load('path/to/weights.pth'))
+    model.load_state_dict(torch.load(args.model_path))
-    model.eval()
+    val_dataset = ICLayoutDataset(args.val_dir, args.annotations_dir, get_transform())
-
+    
-    # 定义验证数据集
+    results = evaluate(model, val_dataset, args.templates_dir)
-    val_dataset = ICLayoutDataset(
-        image_dir='path/to/val/images',
-        annotation_dir='path/to/val/annotations',
-        transform=transform
-    )
-
-    # 定义模板列表
-    templates = ['path/to/templates/template1.png', 'path/to/templates/template2.png']  # 替换为实际模板路径
-
-    # 评估模型
-    results = evaluate(model, val_dataset, templates)
     print("评估结果：")
-    print(f"精确率: {results['precision']:.4f}")
+    print(f"  精确率 (Precision): {results['precision']:.4f}")
-    print(f"召回率: {results['recall']:.4f}")
+    print(f"  召回率 (Recall):    {results['recall']:.4f}")
-    print(f"F1 分数: {results['f1']:.4f}")
+    print(f"  F1 分数 (F1 Score):  {results['f1']:.4f}")

match.py

@@ -1,199 +1,108 @@
+# match.py
+
 import torch
 import torch.nn.functional as F
-from models.rord import RoRD
-from torchvision import transforms
-from utils.transforms import SobelTransform
 import numpy as np
 import cv2
 from PIL import Image
+import argparse
+import os
 
-def extract_keypoints_and_descriptors(model, image):
+import config
-    """
+from models.rord import RoRD
-    从 RoRD 模型中提取关键点和描述子。
+from utils.data_utils import get_transform
 
-    参数：
+def extract_keypoints_and_descriptors(model, image, kp_thresh):
-        model (RoRD): RoRD 模型。
-        image (torch.Tensor): 输入图像张量，形状为 [1, 1, H, W]。
-
-    返回：
-        tuple: (keypoints_input, descriptors)
-            - keypoints_input: [N, 2] float tensor，关键点在输入图像中的坐标。
-            - descriptors: [N, 128] float tensor，L2 归一化的描述子。
-    """
     with torch.no_grad():
-        detection_map, _, desc_rord = model(image)
+        detection_map, desc = model(image)
-        desc = desc_rord  # 使用 RoRD 描述子头
+        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
 
-        # 从检测图中提取关键点
+        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
-        thresh = 0.5
-        binary_map = (detection_map > thresh).float()
-        coords = torch.nonzero(binary_map[0, 0] > thresh).float()  # [N, 2]，每个行是 (i_d, j_d)
-        keypoints_input = coords * 16.0  # 将特征图坐标映射到输入图像坐标（stride=16）
-
-        # 从描述子图中提取描述子
-        # detection_map 的形状为 [1, 1, H/16, W/16]，desc 的形状为 [1, 128, H/8, W/8]
-        # 将 detection_map 的坐标映射到 desc 的坐标：(i_d * 2, j_d * 2)
-        keypoints_desc = (coords * 2).long()  # [N, 2]，整数坐标
-        H_desc, W_desc = desc.shape[2], desc.shape[3]
-        mask = (keypoints_desc[:, 0] < H_desc) & (keypoints_desc[:, 1] < W_desc)
-        keypoints_desc = keypoints_desc[mask]
-        keypoints_input = keypoints_input[mask]
-
-        # 提取描述子
-        descriptors = desc[0, :, keypoints_desc[:, 0], keypoints_desc[:, 1]].T  # [N, 128]
-
-        # L2 归一化描述子
         descriptors = F.normalize(descriptors, p=2, dim=1)
-
         return keypoints_input, descriptors
 
-def mutual_nearest_neighbor(template_descs, layout_descs):
+def mutual_nearest_neighbor(descs1, descs2):
-    """
+    sim = descs1 @ descs2.T
-    使用互最近邻（MNN）找到模板和版图之间的匹配。
+    nn12 = torch.max(sim, dim=1)
-
+    nn21 = torch.max(sim, dim=0)
-    参数：
+    ids1 = torch.arange(0, sim.shape[0], device=sim.device)
-        template_descs (torch.Tensor): 模板描述子，形状为 [M, 128]。
+    mask = (ids1 == nn21.indices[nn12.indices])
-        layout_descs (torch.Tensor): 版图描述子，形状为 [N, 128]。
+    matches = torch.stack([ids1[mask], nn12.indices[mask]], dim=1)
-
+    return matches.cpu().numpy()
-    返回：
-        list: [(i_template, i_layout)]，互最近邻匹配对的列表。
-    """
-    M, N = template_descs.size(0), layout_descs.size(0)
-    if M == 0 or N == 0:
-        return []
-    similarity_matrix = template_descs @ layout_descs.T  # [M, N]，点积矩阵
-
-    # 找到每个模板描述子的最近邻
-    nn_template_to_layout = torch.argmax(similarity_matrix, dim=1)  # [M]
-
-    # 找到每个版图描述子的最近邻
-    nn_layout_to_template = torch.argmax(similarity_matrix, dim=0)  # [N]
-
-    # 找到互最近邻
-    mutual_matches = []
-    for i in range(M):
-        j = nn_template_to_layout[i]
-        if nn_layout_to_template[j] == i:
-            mutual_matches.append((i.item(), j.item()))
-
-    return mutual_matches
-
-def ransac_filter(matches, template_kps, layout_kps):
-    """
-    使用 RANSAC 对匹配进行几何验证，并返回内点。
-
-    参数：
-        matches (list): [(i_template, i_layout)]，匹配对列表。
-        template_kps (torch.Tensor): 模板关键点，形状为 [M, 2]。
-        layout_kps (torch.Tensor): 版图关键点，形状为 [N, 2]。
-
-    返回：
-        tuple: (inlier_matches, num_inliers)
-            - inlier_matches: [(i_template, i_layout)]，内点匹配对。
-            - num_inliers: int，内点数量。
-    """
-    src_pts = np.array([template_kps[i].cpu().numpy() for i, _ in matches])
-    dst_pts = np.array([layout_kps[j].cpu().numpy() for _, j in matches])
-
-    if len(src_pts) < 4:
-        return [], 0
-
-    try:
-        H, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, ransacReprojThreshold=5.0)
-        if H is None:
-            return [], 0
-        inliers = mask.ravel() > 0
-        num_inliers = np.sum(inliers)
-        inlier_matches = [matches[k] for k in range(len(matches)) if inliers[k]]
-        return inlier_matches, num_inliers
-    except cv2.error:
-        return [], 0
 
 def match_template_to_layout(model, layout_image, template_image):
-    """
+    layout_kps, layout_descs = extract_keypoints_and_descriptors(model, layout_image, config.KEYPOINT_THRESHOLD)
-    使用 RoRD 模型执行模板匹配，迭代找到所有匹配并屏蔽已匹配区域。
+    template_kps, template_descs = extract_keypoints_and_descriptors(model, template_image, config.KEYPOINT_THRESHOLD)
 
-    参数：
+    active_layout_mask = torch.ones(len(layout_kps), dtype=bool, device=layout_kps.device)
-        model (RoRD): RoRD 模型。
+    found_instances = []
-        layout_image (torch.Tensor): 版图图像张量，形状为 [1, 1, H_layout, W_layout]。
-        template_image (torch.Tensor): 模板图像张量，形状为 [1, 1, H_template, W_template]。
 
-    返回：
-        list: [{'x': x_min, 'y': y_min, 'width': w, 'height': h}]，所有检测到的边框。
-    """
-    # 提取版图和模板的关键点和描述子
-    layout_kps, layout_descs = extract_keypoints_and_descriptors(model, layout_image)
-    template_kps, template_descs = extract_keypoints_and_descriptors(model, template_image)
-
-    # 初始化活动版图关键点掩码
-    active_layout = torch.ones(len(layout_kps), dtype=bool)
-
-    bboxes = []
     while True:
-        # 获取当前活动的版图关键点和描述子
+        current_indices = torch.nonzero(active_layout_mask).squeeze(1)
-        current_layout_kps = layout_kps[active_layout]
+        if len(current_indices) < config.MIN_INLIERS:
-        current_layout_descs = layout_descs[active_layout]
-
-        if len(current_layout_descs) == 0:
             break
 
-        # MNN 匹配
+        current_layout_kps, current_layout_descs = layout_kps[current_indices], layout_descs[current_indices]
         matches = mutual_nearest_neighbor(template_descs, current_layout_descs)
+        
+        if len(matches) < 4: break
 
-        if len(matches) == 0:
+        src_pts = template_kps[matches[:, 0]].cpu().numpy()
+        dst_pts = current_layout_kps[matches[:, 1]].cpu().numpy()
+
+        H, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, config.RANSAC_REPROJ_THRESHOLD)
+        if H is None or mask.sum() < config.MIN_INLIERS:
             break
 
-        # 将当前版图索引映射回原始版图索引
+        inlier_mask = mask.ravel().astype(bool)
-        active_indices = torch.nonzero(active_layout).squeeze(1)
+        
-        matches_original = [(i_template, active_indices[i_layout].item()) for i_template, i_layout in matches]
+        # 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)
 
-        # RANSAC 过滤
+        kp_x, kp_y = layout_kps[:, 0], layout_kps[:, 1]
-        inlier_matches, num_inliers = ransac_filter(matches_original, template_kps, layout_kps)
+        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
 
-        if num_inliers > 10:  # 设置内点阈值
+def visualize_matches(layout_path, template_path, bboxes, output_path):
-            # 获取内点在版图中的关键点
+    layout_img = cv2.imread(layout_path)
-            inlier_layout_kps = [layout_kps[j].cpu().numpy() for _, j in inlier_matches]
+    for i, bbox in enumerate(bboxes):
-            inlier_layout_kps = np.array(inlier_layout_kps)
+        x, y, w, h = bbox['x'], bbox['y'], bbox['width'], bbox['height']
-
+        cv2.rectangle(layout_img, (x, y), (x + w, y + h), (0, 255, 0), 2)
-            # 计算边框
+        cv2.putText(layout_img, f"Match {i+1}", (x, y - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
-            x_min = int(inlier_layout_kps[:, 0].min())
+    cv2.imwrite(output_path, layout_img)
-            y_min = int(inlier_layout_kps[:, 1].min())
+    print(f"可视化结果已保存至: {output_path}")
-            x_max = int(inlier_layout_kps[:, 0].max())
-            y_max = int(inlier_layout_kps[:, 1].max())
-            bboxes.append({'x': x_min, 'y': y_min, 'width': x_max - x_min, 'height': y_max - y_min})
-
-            # 屏蔽内点
-            for _, j in inlier_matches:
-                active_layout[j] = False
-        else:
-            break
-
-    return bboxes
 
 if __name__ == "__main__":
-    # 设置变换
+    parser = argparse.ArgumentParser(description="使用 RoRD 进行模板匹配")
-    transform = transforms.Compose([
+    parser.add_argument('--model_path', type=str, default=config.MODEL_PATH)
-        SobelTransform(),
+    parser.add_argument('--layout', type=str, required=True)
-        transforms.ToTensor(),
+    parser.add_argument('--template', type=str, required=True)
-        transforms.Normalize(mean=[0.5], std=[0.5])
+    parser.add_argument('--output', type=str)
-    ])
+    args = parser.parse_args()
 
-    # 加载模型
+    transform = get_transform()
     model = RoRD().cuda()
-    model.load_state_dict(torch.load('path/to/weights.pth'))
+    model.load_state_dict(torch.load(args.model_path))
     model.eval()
 
-    # 加载版图和模板图像
+    layout_tensor = transform(Image.open(args.layout).convert('L')).unsqueeze(0).cuda()
-    layout_image = Image.open('path/to/layout.png').convert('L')
+    template_tensor = transform(Image.open(args.template).convert('L')).unsqueeze(0).cuda()
-    layout_tensor = transform(layout_image).unsqueeze(0).cuda()
 
-    template_image = Image.open('path/to/template.png').convert('L')
-    template_tensor = transform(template_image).unsqueeze(0).cuda()
-
-    # 执行匹配
     detected_bboxes = match_template_to_layout(model, layout_tensor, template_tensor)
-
+    print("\n检测到的边界框:")
-    # 打印检测到的边框
-    print("检测到的边框：")
     for bbox in detected_bboxes:
-        print(bbox)
+        print(bbox)
+
+    if args.output:
+        visualize_matches(args.layout, args.template, detected_bboxes, args.output)

models/rord.py

@@ -1,16 +1,25 @@
+# models/rord.py
+
 import torch
 import torch.nn as nn
 from torchvision import models
 
 class RoRD(nn.Module):
     def __init__(self):
+        """
+        修复后的 RoRD 模型。
+        - 实现了共享骨干网络，以提高计算效率和减少内存占用。
+        - 移除了冗余的 descriptor_head_vanilla。
+        """
         super(RoRD, self).__init__()
-        # 检测骨干网络：VGG-16 直到 relu5_3（层 0 到 29）
-        self.backbone_det = models.vgg16(pretrained=True).features[:30]
-        # 描述骨干网络：VGG-16 直到 relu4_3（层 0 到 22）
-        self.backbone_desc = models.vgg16(pretrained=True).features[:23]
         
-        # 检测头：输出关键点概率图
+        vgg16_features = models.vgg16(pretrained=True).features
+        
+        # 共享骨干网络
+        self.slice1 = vgg16_features[:23]  # 到 relu4_3
+        self.slice2 = vgg16_features[23:30] # 从 relu4_3 到 relu5_3
+
+        # 检测头
         self.detection_head = nn.Sequential(
             nn.Conv2d(512, 256, kernel_size=3, padding=1),
             nn.ReLU(inplace=True),
@@ -18,16 +27,8 @@ class RoRD(nn.Module):
             nn.Sigmoid()
         )
         
-        # 普通描述子头（D2-Net 风格）
+        # 描述子头
-        self.descriptor_head_vanilla = nn.Sequential(
+        self.descriptor_head = nn.Sequential(
-            nn.Conv2d(512, 256, kernel_size=3, padding=1),
-            nn.ReLU(inplace=True),
-            nn.Conv2d(256, 128, kernel_size=1),
-            nn.InstanceNorm2d(128)
-        )
-        
-        # RoRD 描述子头（旋转鲁棒）
-        self.descriptor_head_rord = nn.Sequential(
             nn.Conv2d(512, 256, kernel_size=3, padding=1),
             nn.ReLU(inplace=True),
             nn.Conv2d(256, 128, kernel_size=1),
@@ -35,13 +36,14 @@ class RoRD(nn.Module):
         )
 
     def forward(self, x):
-        # 检测分支
+        # 共享特征提取
-        features_det = self.backbone_det(x)
+        features_shared = self.slice1(x)
-        detection = self.detection_head(features_det)
         
-        # 描述分支
+        # 描述子分支
-        features_desc = self.backbone_desc(x)
+        descriptors = self.descriptor_head(features_shared)
-        desc_vanilla = self.descriptor_head_vanilla(features_desc)
-        desc_rord = self.descriptor_head_rord(features_desc)
         
-        return detection, desc_vanilla, desc_rord
+        # 检测器分支
+        features_det = self.slice2(features_shared)
+        detection_map = self.detection_head(features_det)
+        
+        return detection_map, descriptors

train.py

@@ -1,236 +1,142 @@
+# train.py
+
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
 from torch.utils.data import Dataset, DataLoader
-from torchvision import transforms
 from PIL import Image
 import numpy as np
 import cv2
 import os
-from models.rord import RoRD
+import argparse
 
-# 数据集类：生成随机旋转的训练对
+# 导入项目模块
+import config
+from models.rord import RoRD
+from utils.data_utils import get_transform
+
+# --- 训练专用数据集类 ---
 class ICLayoutTrainingDataset(Dataset):
     def __init__(self, image_dir, patch_size=256, transform=None):
-        """
-        初始化 IC 版图训练数据集。
-
-        参数：
-            image_dir (str): 存储 PNG 格式 IC 版图图像的目录路径。
-            patch_size (int): 裁剪的 patch 大小（默认 256x256）。
-            transform (callable, optional): 应用于图像的变换。
-        """
         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
 
     def __len__(self):
-        """
-        返回数据集中的图像数量。
-
-        返回：
-            int: 数据集大小。
-        """
         return len(self.image_paths)
 
     def __getitem__(self, index):
-        """
-        获取指定索引的训练对（原始 patch、旋转 patch、Homography 矩阵）。
-
-        参数：
-            index (int): 图像索引。
-
-        返回：
-            tuple: (patch, rotated_patch, H_tensor)
-                - patch: 原始 patch 张量。
-                - rotated_patch: 旋转后的 patch 张量。
-                - H_tensor: Homography 矩阵张量。
-        """
         img_path = self.image_paths[index]
-        image = Image.open(img_path).convert('L')  # 灰度图像
+        image = Image.open(img_path).convert('L')
 
-        # 获取图像大小
         W, H = image.size
-
-        # 随机选择裁剪的左上角坐标
         x = np.random.randint(0, W - self.patch_size + 1)
         y = np.random.randint(0, H - self.patch_size + 1)
         patch = image.crop((x, y, x + self.patch_size, y + self.patch_size))
-
-        # 转换为 NumPy 数组
         patch_np = np.array(patch)
+        
+        # 实现8个方向的离散几何变换
+        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
+        M = cv2.getRotationMatrix2D((cx, cy), theta_deg, 1)
 
-        # 随机旋转角度（0°~360°）
+        if is_mirrored:
-        theta = np.random.uniform(0, 360)
+            T1 = np.array([[1, 0, -cx], [0, 1, -cy], [0, 0, 1]])
-        theta_rad = np.deg2rad(theta)
+            Flip = np.array([[-1, 0, 0], [0, 1, 0], [0, 0, 1]])
-        cos_theta = np.cos(theta_rad)
+            T2 = np.array([[1, 0, cx], [0, 1, cy], [0, 0, 1]])
-        sin_theta = np.sin(theta_rad)
+            M_mirror_3x3 = T2 @ Flip @ T1
+            M_3x3 = np.vstack([M, [0, 0, 1]])
+            H = (M_3x3 @ M_mirror_3x3).astype(np.float32)
+        else:
+            H = np.vstack([M, [0, 0, 1]]).astype(np.float32)
+        
+        transformed_patch_np = cv2.warpPerspective(patch_np, H, (self.patch_size, self.patch_size))
+        transformed_patch = Image.fromarray(transformed_patch_np)
 
-        # 计算旋转中心（patch 的中心）
-        cx = self.patch_size / 2.0
-        cy = self.patch_size / 2.0
-
-        # 计算旋转的齐次矩阵（Homography）
-        H = np.array([
-            [cos_theta, -sin_theta, cx * (1 - cos_theta) + cy * sin_theta],
-            [sin_theta,  cos_theta, cy * (1 - cos_theta) - cx * sin_theta],
-            [0,          0,          1]
-        ], dtype=np.float32)
-
-        # 应用旋转到 patch
-        rotated_patch_np = cv2.warpPerspective(patch_np, H, (self.patch_size, self.patch_size))
-
-        # 转换回 PIL Image
-        rotated_patch = Image.fromarray(rotated_patch_np)
-
-        # 应用变换
         if self.transform:
             patch = self.transform(patch)
-            rotated_patch = self.transform(rotated_patch)
+            transformed_patch = self.transform(transformed_patch)
 
-        # 转换 H 为张量
+        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).float()
+        return patch, transformed_patch, H_tensor
 
-        return patch, rotated_patch, H_tensor
+# --- 特征图变换与损失函数 ---
-
-# 特征图变换函数
 def warp_feature_map(feature_map, H_inv):
-    """
-    使用逆 Homography 矩阵变换特征图。
-
-    参数：
-        feature_map (torch.Tensor): 输入特征图，形状为 [B, C, H, W]。
-        H_inv (torch.Tensor): 逆 Homography 矩阵，形状为 [B, 3, 3]。
-
-    返回：
-        torch.Tensor: 变换后的特征图，形状为 [B, C, H, W]。
-    """
     B, C, H, W = feature_map.size()
-    # 生成网格
+    grid = F.affine_grid(H_inv, feature_map.size(), align_corners=False).to(feature_map.device)
-    grid_y, grid_x = torch.meshgrid(
+    return F.grid_sample(feature_map, grid, align_corners=False)
-        torch.linspace(-1, 1, H, device=feature_map.device),
-        torch.linspace(-1, 1, W, device=feature_map.device),
-        indexing='ij'
-    )
-    grid = torch.stack((grid_x, grid_y, torch.ones_like(grid_x)), dim=-1)  # [H, W, 3]
-    grid = grid.unsqueeze(0).expand(B, H, W, 3)  # [B, H, W, 3]
 
-    # 将网格转换为齐次坐标并应用 H_inv
-    grid_flat = grid.view(B, -1, 3)  # [B, H*W, 3]
-    grid_transformed = torch.bmm(grid_flat, H_inv.transpose(1, 2))  # [B, H*W, 3]
-    grid_transformed = grid_transformed.view(B, H, W, 3)  # [B, H, W, 3]
-    grid_transformed = grid_transformed[..., :2] / (grid_transformed[..., 2:3] + 1e-8)  # [B, H, W, 2]
-
-    # 使用 grid_sample 进行变换
-    warped_feature = F.grid_sample(feature_map, grid_transformed, align_corners=True)
-    return warped_feature
-
-# 检测损失函数
 def compute_detection_loss(det_original, det_rotated, H):
-    """
+    with torch.no_grad():
-    计算检测损失（MSE），比较原始检测图与旋转检测图（逆变换后）。
+        H_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))[:, :2, :]
-
-    参数：
-        det_original (torch.Tensor): 原始图像的检测图，形状为 [B, 1, H, W]。
-        det_rotated (torch.Tensor): 旋转图像的检测图，形状为 [B, 1, H, W]。
-        H (torch.Tensor): Homography 矩阵，形状为 [B, 3, 3]。
-
-    返回：
-        torch.Tensor: 检测损失。
-    """
-    H_inv = torch.inverse(H)  # 计算逆 Homography
     warped_det_rotated = warp_feature_map(det_rotated, H_inv)
     return F.mse_loss(det_original, warped_det_rotated)
 
-# 描述子损失函数
 def compute_description_loss(desc_original, desc_rotated, H, margin=1.0):
-    """
+    B, C, H_feat, W_feat = desc_original.size()
-    计算描述子损失（三元组损失），基于对应点的描述子。
+    num_samples = 100
+    
+    # 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)
 
-    参数：
-        desc_original (torch.Tensor): 原始图像的描述子图，形状为 [B, 128, H, W]。
-        desc_rotated (torch.Tensor): 旋转图像的描述子图，形状为 [B, 128, H, W]。
-        H (torch.Tensor): Homography 矩阵，形状为 [B, 3, 3]。
-        margin (float): 三元组损失的边距。
-
-    返回：
-        torch.Tensor: 描述子损失。
-    """
-    B, C, H, W = desc_original.size()
-    # 随机选择锚点（anchor）
-    num_samples = min(100, H * W)  # 每张图像采样 100 个点
-    idx = torch.randint(0, H * W, (B, num_samples), device=desc_original.device)
-    idx_y = idx // W
-    idx_x = idx % W
-    coords = torch.stack((idx_x.float(), idx_y.float()), dim=-1)  # [B, num_samples, 2]
-
-    # 转换为齐次坐标
-    coords_hom = torch.cat((coords, torch.ones(B, num_samples, 1, device=coords.device)), dim=-1)  # [B, num_samples, 3]
-    coords_transformed = torch.bmm(coords_hom, H.transpose(1, 2))  # [B, num_samples, 3]
-    coords_transformed = coords_transformed[..., :2] / (coords_transformed[..., 2:3] + 1e-8)  # [B, num_samples, 2]
-
-    # 归一化到 [-1, 1] 用于 grid_sample
-    coords_transformed = coords_transformed / torch.tensor([W/2, H/2], device=coords.device) - 1
-
-    # 提取锚点和正样本描述子
-    anchor = desc_original.view(B, C, -1)[:, :, idx.view(-1)]  # [B, 128, num_samples]
-    positive = F.grid_sample(desc_rotated, coords_transformed.unsqueeze(2), align_corners=True).squeeze(3)  # [B, 128, num_samples]
-
-    # 随机选择负样本
-    neg_idx = torch.randint(0, H * W, (B, num_samples), device=desc_original.device)
-    negative = desc_rotated.view(B, C, -1)[:, :, neg_idx.view(-1)]  # [B, 128, num_samples]
-
-    # 三元组损失
     triplet_loss = nn.TripletMarginLoss(margin=margin, p=2)
-    loss = triplet_loss(anchor.transpose(1, 2), positive.transpose(1, 2), negative.transpose(1, 2))
+    return triplet_loss(anchor, positive, negative)
-    return loss
 
-# 定义变换
+# --- 主函数与命令行接口 ---
-transform = transforms.Compose([
+def main(args):
-    transforms.ToTensor(),  # (1, 256, 256)
+    print("--- 开始训练 RoRD 模型 ---")
-    transforms.Lambda(lambda x: x.repeat(3, 1, 1)),  # (3, 256, 256)
+    print(f"训练参数: Epochs={args.epochs}, Batch Size={args.batch_size}, LR={args.lr}")
-    transforms.Normalize(mean=[0.5, 0.5, 0.5], std=[0.5, 0.5, 0.5])
+    transform = get_transform()
-])
+    dataset = ICLayoutTrainingDataset(args.data_dir, patch_size=config.PATCH_SIZE, transform=transform)
+    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)
 
-# 创建数据集和 DataLoader
+    for epoch in range(args.epochs):
-dataset = ICLayoutTrainingDataset('path/to/layouts', patch_size=256, transform=transform)
+        model.train()
-dataloader = DataLoader(dataset, batch_size=4, shuffle=True, num_workers=4)
+        total_loss_val = 0
+        for i, (original, rotated, H) in enumerate(dataloader):
+            original, rotated, H = original.cuda(), rotated.cuda(), H.cuda()
+            det_original, desc_original = model(original)
+            det_rotated, desc_rotated = model(rotated)
 
-# 定义模型
+            loss = compute_detection_loss(det_original, det_rotated, H) + compute_description_loss(desc_original, desc_rotated, H)
-model = RoRD().cuda()
+            
+            optimizer.zero_grad()
+            loss.backward()
+            optimizer.step()
+            total_loss_val += loss.item()
 
-# 定义优化器
+        print(f"--- Epoch {epoch+1} 完成, 平均 Loss: {total_loss_val / len(dataloader):.4f} ---")
-optimizer = torch.optim.Adam(model.parameters(), lr=1e-4)
 
-# 训练循环
+    if not os.path.exists(args.save_dir):
-num_epochs = 10
+        os.makedirs(args.save_dir)
-for epoch in range(num_epochs):
+    save_path = os.path.join(args.save_dir, 'rord_model_final.pth')
-    model.train()
+    torch.save(model.state_dict(), save_path)
-    total_loss = 0
+    print(f"模型已保存至: {save_path}")
-    for batch in dataloader:
-        original, rotated, H = batch
-        original = original.cuda()
-        rotated = rotated.cuda()
-        H = H.cuda()
 
-        # 前向传播
+if __name__ == "__main__":
-        det_original, _, desc_rord_original = model(original)
+    parser = argparse.ArgumentParser(description="训练 RoRD 模型")
-        det_rotated, _, desc_rord_rotated = model(rotated)
+    parser.add_argument('--data_dir', type=str, default=config.LAYOUT_DIR)
-
+    parser.add_argument('--save_dir', type=str, default=config.SAVE_DIR)
-        # 计算损失
+    parser.add_argument('--epochs', type=int, default=config.NUM_EPOCHS)
-        detection_loss = compute_detection_loss(det_original, det_rotated, H)
+    parser.add_argument('--batch_size', type=int, default=config.BATCH_SIZE)
-        description_loss = compute_description_loss(desc_rord_original, desc_rord_rotated, H)
+    parser.add_argument('--lr', type=float, default=config.LEARNING_RATE)
-        total_loss_batch = detection_loss + description_loss
+    main(parser.parse_args())
-
-        # 反向传播
-        optimizer.zero_grad()
-        total_loss_batch.backward()
-        optimizer.step()
-
-        total_loss += total_loss_batch.item()
-
-    print(f"Epoch {epoch+1}/{num_epochs}, Loss: {total_loss / len(dataloader):.4f}")
-
-# 保存模型
-torch.save(model.state_dict(), 'path/to/save/model.pth')

utils/data_utils.py

@@ -0,0 +1,14 @@
+from torchvision import transforms
+from .transforms import SobelTransform
+
+def get_transform():
+    """
+    获取统一的图像预处理管道。
+    确保训练、评估和推理使用完全相同的预处理。
+    """
+    return transforms.Compose([
+        SobelTransform(),  # 应用 Sobel 边缘检测
+        transforms.ToTensor(),
+        transforms.Lambda(lambda x: x.repeat(3, 1, 1)), # 适配 VGG 的三通道输入
+        transforms.Normalize(mean=[0.5, 0.5, 0.5], std=[0.5, 0.5, 0.5])
+    ])