删除残差路径和shortcut，镜像问题仍存在

.gitignore

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+.vscode/
+__pycache__/
+venv/
+runs/

dist_temporal_train.sh

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+#!/usr/bin/env bash
+
+# Distributed training script for SwiftFormerTemporal
+# Usage: ./dist_temporal_train.sh <DATA_PATH> <NUM_GPUS> [OPTIONS]
+
+DATA_PATH=$1
+NUM_GPUS=$2
+
+# Shift arguments to pass remaining options to python script
+shift 2
+
+# Default parameters
+MODEL=${MODEL:-"SwiftFormerTemporal_XS"}
+BATCH_SIZE=${BATCH_SIZE:-128}
+EPOCHS=${EPOCHS:-100}
+# LR=${LR:-1e-3}
+LR=${LR:-0.01}
+OUTPUT_DIR=${OUTPUT_DIR:-"./temporal_output"}
+
+echo "Starting distributed training with $NUM_GPUS GPUs"
+echo "Data path: $DATA_PATH"
+echo "Model: $MODEL"
+echo "Batch size: $BATCH_SIZE"
+echo "Epochs: $EPOCHS"
+echo "Output dir: $OUTPUT_DIR"
+
+# Check if torch.distributed.launch or torchrun should be used
+# For newer PyTorch versions (>=1.9), torchrun is recommended
+PYTHON_VERSION=$(python -c "import torch; print(torch.__version__)")
+echo "PyTorch version: $PYTHON_VERSION"
+
+# Use torchrun for newer PyTorch versions
+if [[ "$PYTHON_VERSION" =~ ^2\. ]] || [[ "$PYTHON_VERSION" =~ ^1\.1[0-9]\. ]]; then
+    echo "Using torchrun (PyTorch >=1.10)"
+    torchrun --nproc_per_node=$NUM_GPUS --master_port=12345 main_temporal.py \
+        --data-path "$DATA_PATH" \
+        --model "$MODEL" \
+        --batch-size $BATCH_SIZE \
+        --epochs $EPOCHS \
+        --lr $LR \
+        --output-dir "$OUTPUT_DIR" \
+        "$@"
+else
+    echo "Using torch.distributed.launch"
+    python -m torch.distributed.launch --nproc_per_node=$NUM_GPUS --master_port=12345 --use_env main_temporal.py \
+        --data-path "$DATA_PATH" \
+        --model "$MODEL" \
+        --batch-size $BATCH_SIZE \
+        --epochs $EPOCHS \
+        --lr $LR \
+        --output-dir "$OUTPUT_DIR" \
+        "$@"
+fi
+
+# For single-node multi-GPU training with specific options:
+# --world-size 1 --rank 0 --dist-url 'tcp://localhost:12345'
+
+echo "Training completed. Check logs in $OUTPUT_DIR"

evaluate_temporal.py

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+"""
+评估脚本 for SwiftFormerTemporal frame prediction
+输出预测图（注意反归一化）以及对应指标（mse&ssim&psnr）
+"""
+import argparse
+import os
+import torch
+import torch.nn as nn
+import pickle
+import numpy as np
+import random
+from pathlib import Path
+import json
+import matplotlib.pyplot as plt
+from PIL import Image
+import torchvision.transforms as transforms
+import torch.backends.cudnn as cudnn
+
+from util.video_dataset import VideoFrameDataset
+from models.swiftformer_temporal import (
+    SwiftFormerTemporal_XS, SwiftFormerTemporal_S, 
+    SwiftFormerTemporal_L1, SwiftFormerTemporal_L3
+)
+
+# 导入SSIM和PSNR计算
+from skimage.metrics import structural_similarity as ssim
+from skimage.metrics import peak_signal_noise_ratio as psnr
+import warnings
+warnings.filterwarnings('ignore')
+
+
+def denormalize(tensor):
+    """
+    将[-1, 1]范围的张量反归一化到[0, 255]范围
+    Args:
+        tensor: 形状为[B, C, H, W]或[C, H, W]，值在[-1, 1]
+    Returns:
+        反归一化后的张量，值在[0, 255]
+    """
+    # clip 到 [-1, 1] 范围
+    tensor = tensor.clamp(-1, 1)
+
+    # [-1, 1] -> [0, 1]
+    tensor = (tensor + 1) / 2
+    # [0, 1] -> [0, 255]
+    tensor = tensor * 255
+    return tensor.clamp(0, 255)
+
+def minmax_denormalize(tensor):
+    tensor_min = tensor.min()
+    tensor_max = tensor.max()
+    tensor = (tensor - tensor_min) / (tensor_max - tensor_min)
+    # tensor = tensor*2-1
+    tensor = tensor*255
+    return tensor.clamp(0, 255)
+
+
+def calculate_metrics(pred, target, debug=False):
+    """
+    计算MSE, SSIM, PSNR指标
+    Args:
+        pred: 预测图像，形状[H, W]，值在[0, 255]
+        target: 目标图像，形状[H, W]，值在[0, 255]
+        debug: 是否输出调试信息
+    Returns:
+        mse, ssim_value, psnr_value
+    """
+    # 转换为numpy数组
+    pred_np = pred.cpu().numpy() if torch.is_tensor(pred) else pred
+    target_np = target.cpu().numpy() if torch.is_tensor(target) else target
+    
+    # 确保是2D数组
+    if pred_np.ndim == 3:
+        pred_np = pred_np.squeeze(0)
+    if target_np.ndim == 3:
+        target_np = target_np.squeeze(0)
+    
+    # if debug:
+    #     print(f"[DEBUG] pred_np range: [{pred_np.min():.2f}, {pred_np.max():.2f}], mean: {pred_np.mean():.2f}")
+    #     print(f"[DEBUG] target_np range: [{target_np.min():.2f}, {target_np.max():.2f}], mean: {target_np.mean():.2f}")
+    #     print(f"[DEBUG] pred_np sample values (first 5): {pred_np.ravel()[:5]}")
+    
+    mse = np.mean((pred_np - target_np) ** 2)
+    
+    data_range = 255.0
+    ssim_value = ssim(pred_np, target_np, data_range=data_range)
+    
+    psnr_value = psnr(target_np, pred_np, data_range=data_range)
+    
+    return mse, ssim_value, psnr_value
+
+
+def save_comparison_figure(input_frames, target_frame, pred_frame, save_path, 
+                          input_frame_indices=None, target_frame_index=None):
+    """
+    保存对比图：输入帧、目标帧、预测帧
+    Args:
+        input_frames: 输入帧列表，每个形状为[H, W]，值在[0, 255]
+        target_frame: 目标帧，形状[H, W]，值在[0, 255]
+        pred_frame: 预测帧，形状[H, W]，值在[0, 255]
+        save_path: 保存路径
+        input_frame_indices: 输入帧的索引列表（可选）
+        target_frame_index: 目标帧索引（可选）
+    """
+    num_input = len(input_frames)
+    fig, axes = plt.subplots(1, num_input + 2, figsize=(4*(num_input+2), 4))
+    
+    # 绘制输入帧
+    for i in range(num_input):
+        ax = axes[i]
+        ax.imshow(input_frames[i], cmap='gray')
+        if input_frame_indices is not None:
+            ax.set_title(f'Input Frame {input_frame_indices[i]}')
+        else:
+            ax.set_title(f'Input {i+1}')
+        ax.axis('off')
+    
+    # 绘制目标帧
+    ax = axes[num_input]
+    ax.imshow(target_frame, cmap='gray')
+    if target_frame_index is not None:
+        ax.set_title(f'Target Frame {target_frame_index}')
+    else:
+        ax.set_title('Target')
+    ax.axis('off')
+    
+    # 绘制预测帧
+    ax = axes[num_input + 1]
+    ax.imshow(pred_frame, cmap='gray')
+    ax.set_title('Predicted')
+    ax.axis('off')
+
+    #debug print 
+    print(target_frame)
+    print(pred_frame)
+    
+    plt.tight_layout()
+    plt.savefig(save_path, dpi=150, bbox_inches='tight')
+    plt.close()
+
+
+def evaluate_model(model, data_loader, device, args):
+    """
+    评估模型并计算指标
+    Args:
+        model: 训练好的模型
+        data_loader: 数据加载器
+        device: 设备
+        args: 命令行参数
+    Returns:
+        metrics_dict: 包含所有指标的字典
+        sample_results: 示例结果用于可视化
+    """
+    model.eval()
+    # model.train() # 临时使用训练模式
+    
+    # 初始化指标累加器
+    total_mse = 0.0
+    total_ssim = 0.0
+    total_psnr = 0.0
+    total_samples = 0
+    
+    # 存储示例结果用于可视化（使用蓄水池抽样随机选择）
+    sample_results = []
+    max_samples_to_save = args.num_samples_to_save
+    max_samples = args.max_samples
+    # 用于蓄水池抽样的计数器（已处理的样本数，不包括因max_samples限制而跳过的样本）
+    sample_count = 0
+    
+    with torch.no_grad():
+        for batch_idx, (input_frames, target_frames, temporal_indices) in enumerate(data_loader):
+            input_frames = input_frames.to(device, non_blocking=True)
+            target_frames = target_frames.to(device, non_blocking=True)
+            
+            # 前向传播
+            pred_frames = model(input_frames)
+            
+            # 反归一化用于指标计算
+            # pred_denorm = minmax_denormalize(pred_frames)  # [B, 1, H, W]
+            pred_denorm = denormalize(pred_frames)
+            target_denorm = denormalize(target_frames)  # [B, 1, H, W]
+            
+            batch_size = input_frames.size(0)
+            
+            # 计算每个样本的指标
+            for i in range(batch_size):
+                # 检查是否达到最大样本数限制
+                if max_samples is not None and total_samples >= max_samples:
+                    break
+                
+                pred_i = pred_denorm[i]  # [1, H, W]
+                target_i = target_denorm[i]  # [1, H, W]
+                
+                # 对第一个样本启用调试
+                debug_mode = (batch_idx == 0 and i == 0 and total_samples == 0)
+                # if debug_mode:
+                #     print(f"[DEBUG] Raw pred_frames range: [{pred_frames.min():.4f}, {pred_frames.max():.4f}], mean: {pred_frames.mean():.4f}")
+                #     print(f"[DEBUG] Raw target_frames range: [{target_frames.min():.4f}, {target_frames.max():.4f}], mean: {target_frames.mean():.4f}")
+                #     print(f"[DEBUG] Pred_denorm range: [{pred_denorm.min():.2f}, {pred_denorm.max():.2f}], mean: {pred_denorm.mean():.2f}")
+                #     print(f"[DEBUG] Target_denorm range: [{target_denorm.min():.2f}, {target_denorm.max():.2f}], mean: {target_denorm.mean():.2f}")
+                
+                mse, ssim_value, psnr_value = calculate_metrics(pred_i, target_i, debug=False)
+                
+                total_mse += mse
+                total_ssim += ssim_value
+                total_psnr += psnr_value
+                total_samples += 1
+                sample_count += 1
+                
+                # 构建样本数据字典
+                input_denorm = denormalize(input_frames[i])  # [num_frames, H, W]
+                # 分离输入帧
+                input_frames_list = []
+                for j in range(args.num_frames):
+                    input_frame_j = input_denorm[j].squeeze(0)  # [H, W]
+                    input_frames_list.append(input_frame_j.cpu().numpy())
+                
+                sample_data = {
+                    'input_frames': input_frames_list,
+                    'target_frame': target_i.squeeze(0).cpu().numpy(),
+                    'pred_frame': pred_i.squeeze(0).cpu().numpy(),
+                    'metrics': {
+                        'mse': mse,
+                        'ssim': ssim_value,
+                        'psnr': psnr_value
+                    },
+                    'batch_idx': batch_idx,
+                    'sample_idx': i
+                }
+                
+                # 蓄水池抽样 (Reservoir Sampling)
+                if sample_count <= max_samples_to_save:
+                    # 蓄水池未满，直接加入
+                    sample_results.append(sample_data)
+                else:
+                    # 以 max_samples_to_save / sample_count 的概率替换蓄水池中的一个随机位置
+                    r = random.randint(0, sample_count - 1)
+                    if r < max_samples_to_save:
+                        sample_results[r] = sample_data
+            
+            # 检查是否达到最大样本数限制
+            if max_samples is not None and total_samples >= max_samples:
+                print(f"达到最大样本数限制: {max_samples}")
+                break
+            
+            # 进度打印
+            if (batch_idx + 1) % 10 == 0:
+                print(f'Processed {batch_idx + 1} batches, {total_samples} samples')
+    
+    # 计算平均指标
+    if total_samples > 0:
+        avg_mse = float(total_mse / total_samples)
+        avg_ssim = float(total_ssim / total_samples)
+        avg_psnr = float(total_psnr / total_samples)
+    else:
+        avg_mse = avg_ssim = avg_psnr = 0.0
+    
+    metrics_dict = {
+        'mse': avg_mse,
+        'ssim': avg_ssim,
+        'psnr': avg_psnr,
+        'num_samples': total_samples
+    }
+    
+    return metrics_dict, sample_results
+
+
+def main(args):
+    print("评估参数:", args)
+    
+    device = torch.device(args.device)
+    
+    # 设置随机种子
+    torch.manual_seed(args.seed)
+    np.random.seed(args.seed)
+    random.seed(args.seed)
+    
+    cudnn.benchmark = True
+    
+    # 构建数据集
+    print("构建数据集...")
+    dataset_val = VideoFrameDataset(
+        root_dir=args.data_path,
+        num_frames=args.num_frames,
+        frame_size=args.frame_size,
+        is_train=False,
+        max_interval=args.max_interval
+    )
+    
+    data_loader_val = torch.utils.data.DataLoader(
+        dataset_val,
+        batch_size=args.batch_size,
+        num_workers=args.num_workers,
+        pin_memory=args.pin_mem,
+        shuffle=False,
+        drop_last=False
+    )
+    
+    # 创建模型
+    print(f"创建模型: {args.model}")
+    model_kwargs = {
+        'num_frames': args.num_frames,
+    }
+    
+    if args.model == 'SwiftFormerTemporal_XS':
+        model = SwiftFormerTemporal_XS(**model_kwargs)
+    elif args.model == 'SwiftFormerTemporal_S':
+        model = SwiftFormerTemporal_S(**model_kwargs)
+    elif args.model == 'SwiftFormerTemporal_L1':
+        model = SwiftFormerTemporal_L1(**model_kwargs)
+    elif args.model == 'SwiftFormerTemporal_L3':
+        model = SwiftFormerTemporal_L3(**model_kwargs)
+    else:
+        raise ValueError(f"未知模型: {args.model}")
+    
+    model.to(device)
+    
+    # 加载检查点
+    if args.resume:
+        print(f"加载检查点: {args.resume}")
+        try:
+            # 尝试使用weights_only=False加载（PyTorch 2.6+需要）
+            checkpoint = torch.load(args.resume, map_location='cpu', weights_only=False)
+        except (pickle.UnpicklingError, TypeError) as e:
+            print(f"使用weights_only=False加载失败: {e}")
+            print("尝试使用torch.serialization.add_safe_globals...")
+        
+        # 处理状态字典（可能包含'module.'前缀）
+        if 'model' in checkpoint:
+            state_dict = checkpoint['model']
+        elif 'state_dict' in checkpoint:
+            state_dict = checkpoint['state_dict']
+        else:
+            state_dict = checkpoint
+        
+        # 移除'module.'前缀（如果存在）
+        if hasattr(model, 'module'):
+            model.module.load_state_dict(state_dict)
+        else:
+            # 如果状态字典有'module.'前缀但模型没有，需要移除前缀
+            if any(key.startswith('module.') for key in state_dict.keys()):
+                from collections import OrderedDict
+                new_state_dict = OrderedDict()
+                for k, v in state_dict.items():
+                    if k.startswith('module.'):
+                        new_state_dict[k[7:]] = v
+                    else:
+                        new_state_dict[k] = v
+                state_dict = new_state_dict
+            model.load_state_dict(state_dict)
+        
+        print(f"检查点加载成功，epoch: {checkpoint.get('epoch', 'unknown')}")
+    else:
+        print("警告: 未提供检查点路径，使用随机初始化的模型")
+    
+    # 创建输出目录
+    output_dir = Path(args.output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+    
+    # 评估模型
+    print("开始评估...")
+    metrics, sample_results = evaluate_model(model, data_loader_val, device, args)
+    
+    # 打印指标
+    print("\n" + "="*50)
+    print("评估结果:")
+    print(f"MSE: {metrics['mse']:.6f}")
+    print(f"SSIM: {metrics['ssim']:.6f}")
+    print(f"PSNR: {metrics['psnr']:.6f} dB")
+    print(f"样本数量: {metrics['num_samples']}")
+    print("="*50)
+    
+    # 保存指标到JSON文件
+    metrics_file = output_dir / 'evaluation_metrics.json'
+    with open(metrics_file, 'w') as f:
+        json.dump(metrics, f, indent=4)
+    print(f"指标已保存到: {metrics_file}")
+    
+    # 保存示例可视化
+    if sample_results:
+        print(f"\n保存 {len(sample_results)} 个示例可视化...")
+        samples_dir = output_dir / 'sample_predictions'
+        samples_dir.mkdir(exist_ok=True)
+        
+        for i, sample in enumerate(sample_results):
+            save_path = samples_dir / f'sample_{i:03d}.png'
+            
+            # 生成输入帧索引（假设连续）
+            input_frame_indices = list(range(1, args.num_frames + 1))
+            target_frame_index = args.num_frames + 1
+            
+            save_comparison_figure(
+                sample['input_frames'],
+                sample['target_frame'],
+                sample['pred_frame'],
+                save_path,
+                input_frame_indices=input_frame_indices,
+                target_frame_index=target_frame_index
+            )
+            
+            # 保存该样本的指标
+            sample_metrics_file = samples_dir / f'sample_{i:03d}_metrics.txt'
+            with open(sample_metrics_file, 'w') as f:
+                f.write(f"Sample {i} (batch {sample['batch_idx']}, idx {sample['sample_idx']})\n")
+                f.write(f"MSE: {sample['metrics']['mse']:.6f}\n")
+                f.write(f"SSIM: {sample['metrics']['ssim']:.6f}\n")
+                f.write(f"PSNR: {sample['metrics']['psnr']:.6f} dB\n")
+        
+        print(f"示例可视化已保存到: {samples_dir}")
+    
+    # 生成汇总报告
+    report_file = output_dir / 'evaluation_report.txt'
+    with open(report_file, 'w') as f:
+        f.write("SwiftFormerTemporal 帧预测评估报告\n")
+        f.write("="*50 + "\n")
+        f.write(f"模型: {args.model}\n")
+        f.write(f"检查点: {args.resume}\n")
+        f.write(f"数据集: {args.data_path}\n")
+        f.write(f"输入帧数: {args.num_frames}\n")
+        f.write(f"帧大小: {args.frame_size}\n")
+        f.write(f"批次大小: {args.batch_size}\n")
+        f.write(f"样本总数: {metrics['num_samples']}\n\n")
+        
+        f.write("评估指标:\n")
+        f.write(f"  MSE:  {metrics['mse']:.6f}\n")
+        f.write(f"  SSIM: {metrics['ssim']:.6f}\n")
+        f.write(f"  PSNR: {metrics['psnr']:.6f} dB\n")
+    
+    print(f"评估报告已保存到: {report_file}")
+    print("\n评估完成！")
+
+
+def get_args_parser():
+    parser = argparse.ArgumentParser(
+        'SwiftFormerTemporal 评估脚本', add_help=False)
+    
+    # 数据集参数
+    parser.add_argument('--data-path', default='./videos', type=str,
+                        help='视频数据集路径')
+    parser.add_argument('--num-frames', default=3, type=int,
+                        help='输入帧数 (T)')
+    parser.add_argument('--frame-size', default=224, type=int,
+                        help='输入帧大小')
+    parser.add_argument('--max-interval', default=4, type=int,
+                        help='连续帧之间的最大间隔')
+    
+    # 模型参数
+    parser.add_argument('--model', default='SwiftFormerTemporal_XS', type=str, metavar='MODEL',
+                        help='要评估的模型名称')
+    
+    # 评估参数
+    parser.add_argument('--batch-size', default=16, type=int,
+                        help='评估批次大小')
+    parser.add_argument('--num-samples-to-save', default=10, type=int,
+                        help='保存可视化的样本数量')
+    parser.add_argument('--max-samples', default=None, type=int,
+                        help='最大评估样本数（None表示全部）')
+    
+    # 系统参数
+    parser.add_argument('--output-dir', default='./evaluation_results',
+                        help='保存结果的路径')
+    parser.add_argument('--device', default='cuda' if torch.cuda.is_available() else 'cpu',
+                        help='使用的设备')
+    parser.add_argument('--seed', default=0, type=int)
+    parser.add_argument('--resume', default='', help='检查点路径')
+    parser.add_argument('--num-workers', default=4, type=int)
+    parser.add_argument('--pin-mem', action='store_true',
+                        help='在DataLoader中固定CPU内存')
+    parser.add_argument('--no-pin-mem', action='store_false', dest='pin_mem')
+    parser.set_defaults(pin_mem=True)
+    
+    return parser
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        'SwiftFormerTemporal 评估', parents=[get_args_parser()])
+    args = parser.parse_args()
+    
+    # 确保输出目录存在
+    if args.output_dir:
+        Path(args.output_dir).mkdir(parents=True, exist_ok=True)
+    
+    main(args)

main_temporal.py

@@ -6,8 +6,10 @@ import datetime
 import numpy as np
 import time
 import torch
+import torch.nn as nn
 import torch.backends.cudnn as cudnn
 import json
+import os
 from pathlib import Path
 
 from timm.scheduler import create_scheduler
@@ -17,8 +19,15 @@ from timm.utils import NativeScaler, get_state_dict, ModelEma
 from util import *
 from models import *
 from models.swiftformer_temporal import SwiftFormerTemporal_XS, SwiftFormerTemporal_S, SwiftFormerTemporal_L1, SwiftFormerTemporal_L3
-from util.video_dataset import VideoFrameDataset, SyntheticVideoDataset
-from util.frame_losses import MultiTaskLoss
+from util.video_dataset import VideoFrameDataset
+# from util.frame_losses import MultiTaskLoss
+
+# Try to import TensorBoard
+try:
+    from torch.utils.tensorboard import SummaryWriter
+    TENSORBOARD_AVAILABLE = True
+except ImportError:
+    TENSORBOARD_AVAILABLE = False
 
 
 def get_args_parser():
@@ -34,34 +43,68 @@ def get_args_parser():
                         help='Number of input frames (T)')
     parser.add_argument('--frame-size', default=224, type=int,
                         help='Input frame size')
-    parser.add_argument('--max-interval', default=1, type=int,
+    parser.add_argument('--max-interval', default=10, type=int,
                         help='Maximum interval between consecutive frames')
     
     # Model parameters
     parser.add_argument('--model', default='SwiftFormerTemporal_XS', type=str, metavar='MODEL',
                         help='Name of model to train')
-    parser.add_argument('--use-representation-head', action='store_true',
-                        help='Use representation head for pose/velocity prediction')
-    parser.add_argument('--representation-dim', default=128, type=int,
-                        help='Dimension of representation vector')
     
     # Training parameters
     parser.add_argument('--batch-size', default=32, type=int)
     parser.add_argument('--epochs', default=100, type=int)
-    parser.add_argument('--lr', type=float, default=1e-3, metavar='LR',
-                        help='learning rate (default: 1e-3)')
+    
+    # Optimizer parameters (required by timm's create_optimizer)
+    parser.add_argument('--opt', default='adamw', type=str, metavar='OPTIMIZER',
+                        help='Optimizer (default: "adamw"')
+    parser.add_argument('--opt-eps', default=1e-8, type=float, metavar='EPSILON',
+                        help='Optimizer Epsilon (default: 1e-8)')
+    parser.add_argument('--opt-betas', default=None, type=float, nargs='+', metavar='BETA',
+                        help='Optimizer Betas (default: None, use opt default)')
+    parser.add_argument('--clip-grad', type=float, default=0.01, metavar='NORM',
+                        help='Clip gradient norm (default: None, no clipping)')
+    parser.add_argument('--clip-mode', type=str, default='agc',
+                        help='Gradient clipping mode. One of ("norm", "value", "agc")')
+    parser.add_argument('--momentum', type=float, default=0.9, metavar='M',
+                        help='SGD momentum (default: 0.9)')
     parser.add_argument('--weight-decay', type=float, default=0.05,
                         help='weight decay (default: 0.05)')
+    parser.add_argument('--lr', type=float, default=0.1, metavar='LR',
+                        help='learning rate (default: 1e-3)')
+    
+    # Learning rate schedule parameters (required by timm's create_scheduler)
+    parser.add_argument('--sched', default='cosine', type=str, metavar='SCHEDULER',
+                        help='LR scheduler (default: "cosine"')
+    parser.add_argument('--lr-noise', type=float, nargs='+', default=None, metavar='pct, pct',
+                        help='learning rate noise on/off epoch percentages')
+    parser.add_argument('--lr-noise-pct', type=float, default=0.67, metavar='PERCENT',
+                        help='learning rate noise limit percent (default: 0.67)')
+    parser.add_argument('--lr-noise-std', type=float, default=1.0, metavar='STDDEV',
+                        help='learning rate noise std-dev (default: 1.0)')
+    parser.add_argument('--warmup-lr', type=float, default=1e-3, metavar='LR',
+                        help='warmup learning rate (default: 1e-6)')
+    parser.add_argument('--min-lr', type=float, default=1e-5, metavar='LR',
+                        help='lower lr bound for cyclic schedulers that hit 0 (1e-5)')
+    parser.add_argument('--decay-epochs', type=float, default=30, metavar='N',
+                        help='epoch interval to decay LR')
+    parser.add_argument('--warmup-epochs', type=int, default=5, metavar='N',
+                        help='epochs to warmup LR, if scheduler supports')
+    parser.add_argument('--cooldown-epochs', type=int, default=10, metavar='N',
+                        help='epochs to cooldown LR at min_lr, after cyclic schedule ends')
+    parser.add_argument('--patience-epochs', type=int, default=10, metavar='N',
+                        help='patience epochs for Plateau LR scheduler (default: 10')
+    parser.add_argument('--decay-rate', '--dr', type=float, default=0.1, metavar='RATE',
+                        help='LR decay rate (default: 0.1)')
     
     # Loss parameters
     parser.add_argument('--frame-weight', type=float, default=1.0,
                         help='Weight for frame prediction loss')
     parser.add_argument('--contrastive-weight', type=float, default=0.1,
                         help='Weight for contrastive loss')
-    parser.add_argument('--l1-weight', type=float, default=1.0,
-                        help='Weight for L1 loss')
-    parser.add_argument('--ssim-weight', type=float, default=0.1,
-                        help='Weight for SSIM loss')
+    # parser.add_argument('--l1-weight', type=float, default=1.0,
+    #                     help='Weight for L1 loss')
+    # parser.add_argument('--ssim-weight', type=float, default=0.1,
+    #                     help='Weight for SSIM loss')
     parser.add_argument('--no-contrastive', action='store_true',
                         help='Disable contrastive loss')
     parser.add_argument('--no-ssim', action='store_true',
@@ -78,7 +121,7 @@ def get_args_parser():
                         help='start epoch')
     parser.add_argument('--eval', action='store_true',
                         help='Perform evaluation only')
-    parser.add_argument('--num-workers', default=4, type=int)
+    parser.add_argument('--num-workers', default=16, type=int)
     parser.add_argument('--pin-mem', action='store_true',
                         help='Pin CPU memory in DataLoader')
     parser.add_argument('--no-pin-mem', action='store_false', dest='pin_mem')
@@ -90,26 +133,26 @@ def get_args_parser():
     parser.add_argument('--dist-url', default='env://',
                         help='url used to set up distributed training')
     
+    # TensorBoard logging
+    parser.add_argument('--tensorboard-logdir', default='./runs',
+                        type=str, help='TensorBoard log directory')
+    parser.add_argument('--log-images', action='store_true',
+                        help='Log sample images to TensorBoard')
+    parser.add_argument('--image-log-freq', default=100, type=int,
+                        help='Frequency of logging images (in iterations)')
+    
     return parser
 
 
 def build_dataset(is_train, args):
     """Build video frame dataset"""
-    if args.dataset_type == 'synthetic':
-        dataset = SyntheticVideoDataset(
-            num_samples=1000 if is_train else 200,
-            num_frames=args.num_frames,
-            frame_size=args.frame_size,
-            is_train=is_train
-        )
-    else:
-        dataset = VideoFrameDataset(
-            root_dir=args.data_path,
-            num_frames=args.num_frames,
-            frame_size=args.frame_size,
-            is_train=is_train,
-            max_interval=args.max_interval
-        )
+    dataset = VideoFrameDataset(
+        root_dir=args.data_path,
+        num_frames=args.num_frames,
+        frame_size=args.frame_size,
+        is_train=is_train,
+        max_interval=args.max_interval
+    )
     
     return dataset
 
@@ -159,8 +202,6 @@ def main(args):
     print(f"Creating model: {args.model}")
     model_kwargs = {
         'num_frames': args.num_frames,
-        'use_representation_head': args.use_representation_head,
-        'representation_dim': args.representation_dim,
     }
     
     if args.model == 'SwiftFormerTemporal_XS':
@@ -203,14 +244,18 @@ def main(args):
     # Create scheduler
     lr_scheduler, _ = create_scheduler(args, optimizer)
 
-    # Create loss function
-    criterion = MultiTaskLoss(
-        frame_weight=args.frame_weight,
-        contrastive_weight=args.contrastive_weight,
-        l1_weight=args.l1_weight,
-        ssim_weight=args.ssim_weight,
-        use_contrastive=not args.no_contrastive
-    )
+    # Create loss function - simple MSE for Y channel prediction
+    class MSELossWrapper(nn.Module):
+        def __init__(self):
+            super().__init__()
+            self.mse = nn.MSELoss()
+        
+        def forward(self, pred_frame, target_frame, temporal_indices=None):
+            loss = self.mse(pred_frame, target_frame)
+            loss_dict = {'mse': loss}
+            return loss, loss_dict
+    
+    criterion = MSELossWrapper()
 
     # Resume from checkpoint
     output_dir = Path(args.output_dir)
@@ -219,7 +264,7 @@ def main(args):
             checkpoint = torch.hub.load_state_dict_from_url(
                 args.resume, map_location='cpu', check_hash=True)
         else:
-            checkpoint = torch.load(args.resume, map_location='cpu')
+            checkpoint = torch.load(args.resume, map_location='cpu', weights_only=False)
         
         model_without_ddp.load_state_dict(checkpoint['model'])
         if not args.eval and 'optimizer' in checkpoint and 'lr_scheduler' in checkpoint and 'epoch' in checkpoint:
@@ -231,6 +276,21 @@ def main(args):
             if 'scaler' in checkpoint:
                 loss_scaler.load_state_dict(checkpoint['scaler'])
 
+    # Initialize TensorBoard writer
+    writer = None
+    if TENSORBOARD_AVAILABLE and utils.is_main_process():
+        from datetime import datetime
+        # Create log directory with timestamp
+        timestamp = datetime.now().strftime('%Y%m%d_%H%M%S')
+        log_dir = os.path.join(args.tensorboard_logdir, f"exp_{timestamp}")
+        os.makedirs(log_dir, exist_ok=True)
+        writer = SummaryWriter(log_dir=log_dir)
+        print(f"TensorBoard logs will be saved to: {log_dir}")
+        print(f"To view logs, run: tensorboard --logdir={log_dir}")
+    elif not TENSORBOARD_AVAILABLE and utils.is_main_process():
+        print("Warning: TensorBoard not available. Install tensorboard or tensorboardX.")
+        print("Training will continue without TensorBoard logging.")
+
     if args.eval:
         test_stats = evaluate(data_loader_val, model, criterion, device)
         print(f"Test stats: {test_stats}")
@@ -239,20 +299,24 @@ def main(args):
     print(f"Start training for {args.epochs} epochs")
     start_time = time.time()
     
+    # Global step counter for TensorBoard
+    global_step = 0
+    
     for epoch in range(args.start_epoch, args.epochs):
         if args.distributed:
             data_loader_train.sampler.set_epoch(epoch)
 
-        train_stats = train_one_epoch(
+        train_stats, global_step = train_one_epoch(
             model, criterion, data_loader_train,
-            optimizer, device, epoch, loss_scaler,
-            model_ema=model_ema
+            optimizer, device, epoch, loss_scaler, args.clip_grad, args.clip_mode,
+            model_ema=model_ema, writer=writer,
+            global_step=global_step, args=args
         )
 
         lr_scheduler.step(epoch)
         
         # Save checkpoint
-        if args.output_dir and (epoch % 10 == 0 or epoch == args.epochs - 1):
+        if args.output_dir and (epoch % 1 == 0 or epoch == args.epochs - 1):
             checkpoint_path = output_dir / f'checkpoint_epoch{epoch}.pth'
             utils.save_on_master({
                 'model': model_without_ddp.state_dict(),
@@ -266,10 +330,10 @@ def main(args):
 
         # Evaluate
         if epoch % 5 == 0 or epoch == args.epochs - 1:
-            test_stats = evaluate(data_loader_val, model, criterion, device)
+            test_stats = evaluate(data_loader_val, model, criterion, device, writer=writer, epoch=epoch)
             print(f"Epoch {epoch}: Test stats: {test_stats}")
             
-            # Log stats
+            # Log stats to text file
             log_stats = {
                 **{f'train_{k}': v for k, v in train_stats.items()},
                 **{f'test_{k}': v for k, v in test_stats.items()},
@@ -285,28 +349,39 @@ def main(args):
     total_time_str = str(datetime.timedelta(seconds=int(total_time)))
     print(f'Training time {total_time_str}')
     
+    # Close TensorBoard writer
+    if writer is not None:
+        writer.close()
+        print(f"TensorBoard logs saved to: {writer.log_dir}")
+
 
 def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, loss_scaler,
-                    clip_grad=0, clip_mode='norm', model_ema=None, **kwargs):
+                    clip_grad=0.01, clip_mode='norm', model_ema=None, writer=None,
+                    global_step=0, args=None, **kwargs):
     model.train()
     metric_logger = utils.MetricLogger(delimiter="  ")
     metric_logger.add_meter('lr', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
     header = f'Epoch: [{epoch}]'
     print_freq = 10
     
-    for input_frames, target_frames, temporal_indices in metric_logger.log_every(
-            data_loader, print_freq, header):
+    # 添加诊断指标
+    metric_logger.add_meter('pred_mean', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+    metric_logger.add_meter('pred_std', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+    metric_logger.add_meter('grad_norm', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+
+    for batch_idx, (input_frames, target_frames, temporal_indices) in enumerate(
+            metric_logger.log_every(data_loader, print_freq, header)):
         
         input_frames = input_frames.to(device, non_blocking=True)
         target_frames = target_frames.to(device, non_blocking=True)
         temporal_indices = temporal_indices.to(device, non_blocking=True)
 
         # Forward pass
-        with torch.cuda.amp.autocast():
-            pred_frames, representations = model(input_frames)
+        with torch.amp.autocast(device_type='cuda'):
+            pred_frames = model(input_frames)
             loss, loss_dict = criterion(
                 pred_frames, target_frames,
-                representations, temporal_indices
+                temporal_indices
             )
 
         loss_value = loss.item()
@@ -315,6 +390,7 @@ def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, los
             raise ValueError(f"Loss is {loss_value}")
 
         optimizer.zero_grad()
+        
         loss_scaler(loss, optimizer, clip_grad=clip_grad, clip_mode=clip_mode,
                     parameters=model.parameters())
 
@@ -322,36 +398,131 @@ def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, los
         if model_ema is not None:
             model_ema.update(model)
 
+        # 计算诊断指标
+        pred_mean = pred_frames.mean().item()
+        pred_std = pred_frames.std().item()
+        
+        # 计算梯度范数
+        total_grad_norm = 0.0
+        for param in model.parameters():
+            if param.grad is not None:
+                total_grad_norm += param.grad.norm().item()
+        
+        # 记录诊断指标
+        metric_logger.update(pred_mean=pred_mean)
+        metric_logger.update(pred_std=pred_std)
+        metric_logger.update(grad_norm=total_grad_norm)
+        
+        # # 每50个批次打印一次BatchNorm统计
+        if batch_idx % 50 == 0:
+            print(f"[诊断] 批次 {batch_idx}: 预测均值={pred_mean:.4f}, 预测标准差={pred_std:.4f}, 梯度范数={total_grad_norm:.4f}")
+        #     # 检查一个BatchNorm层的运行统计
+        #     for name, module in model.named_modules():
+        #         if isinstance(module, torch.nn.BatchNorm2d) and 'decoder.blocks.0.bn' in name:
+        #             print(f"[诊断] {name}: 运行均值={module.running_mean[0].item():.6f}, 运行方差={module.running_var[0].item():.6f}")
+        #             break
+
+        # Log to TensorBoard
+        if writer is not None:
+            # Log scalar metrics every iteration
+            writer.add_scalar('train/loss', loss_value, global_step)
+            writer.add_scalar('train/lr', optimizer.param_groups[0]["lr"], global_step)
+            
+            # Log individual loss components
+            for k, v in loss_dict.items():
+                if torch.is_tensor(v):
+                    writer.add_scalar(f'train/{k}', v.item(), global_step)
+                else:
+                    writer.add_scalar(f'train/{k}', v, global_step)
+            
+            # Log diagnostic metrics
+            writer.add_scalar('train/pred_mean', pred_mean, global_step)
+            writer.add_scalar('train/pred_std', pred_std, global_step)
+            writer.add_scalar('train/grad_norm', total_grad_norm, global_step)
+            
+            # Log images periodically
+            if args is not None and getattr(args, 'log_images', False) and global_step % getattr(args, 'image_log_freq', 100) == 0:
+                with torch.no_grad():
+                    # Take first sample from batch for visualization
+                    pred_vis = model(input_frames[:1])
+                    # Convert to appropriate format for TensorBoard
+                    # Assuming frames are in [B, C, H, W] format
+                    writer.add_images('train/input', input_frames[:1], global_step)
+                    writer.add_images('train/target', target_frames[:1], global_step)
+                    writer.add_images('train/predicted', pred_vis[:1], global_step)
+
         # Update metrics
         metric_logger.update(loss=loss_value)
         metric_logger.update(lr=optimizer.param_groups[0]["lr"])
         for k, v in loss_dict.items():
             metric_logger.update(**{k: v.item() if torch.is_tensor(v) else v})
         
+        global_step += 1
+
     metric_logger.synchronize_between_processes()
     print("Averaged stats:", metric_logger)
-    return {k: meter.global_avg for k, meter in metric_logger.meters.items()}
+    
+    # Log epoch-level metrics
+    if writer is not None:
+        for k, meter in metric_logger.meters.items():
+            writer.add_scalar(f'train_epoch/{k}', meter.global_avg, epoch)
+    
+    return {k: meter.global_avg for k, meter in metric_logger.meters.items()}, global_step
 
 
 @torch.no_grad()
-def evaluate(data_loader, model, criterion, device):
+def evaluate(data_loader, model, criterion, device, writer=None, epoch=0):
     model.eval()
     metric_logger = utils.MetricLogger(delimiter="  ")
     header = 'Test:'
     
-    for input_frames, target_frames, temporal_indices in metric_logger.log_every(data_loader, 10, header):
+    # 添加诊断指标
+    metric_logger.add_meter('pred_mean', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+    metric_logger.add_meter('pred_std', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+    metric_logger.add_meter('target_mean', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+    metric_logger.add_meter('target_std', utils.SmoothedValue(window_size=1, fmt='{value:.6f}'))
+
+    for batch_idx, (input_frames, target_frames, temporal_indices) in enumerate(metric_logger.log_every(data_loader, 10, header)):
         input_frames = input_frames.to(device, non_blocking=True)
         target_frames = target_frames.to(device, non_blocking=True)
         temporal_indices = temporal_indices.to(device, non_blocking=True)
 
         # Compute output
-        with torch.cuda.amp.autocast():
-            pred_frames, representations = model(input_frames)
+        with torch.amp.autocast(device_type='cuda'):
+            pred_frames = model(input_frames)
             loss, loss_dict = criterion(
                 pred_frames, target_frames,
-                representations, temporal_indices
+                temporal_indices
             )
 
+        # 计算诊断指标
+        pred_mean = pred_frames.mean().item()
+        pred_std = pred_frames.std().item()
+        target_mean = target_frames.mean().item()
+        target_std = target_frames.std().item()
+        
+        # 更新诊断指标
+        metric_logger.update(pred_mean=pred_mean)
+        metric_logger.update(pred_std=pred_std)
+        metric_logger.update(target_mean=target_mean)
+        metric_logger.update(target_std=target_std)
+        
+        # # 第一个批次打印详细诊断信息
+        # if batch_idx == 0:
+        #     print(f"[评估诊断] 批次 0:")
+        #     print(f"  预测范围: [{pred_frames.min().item():.4f}, {pred_frames.max().item():.4f}]")
+        #     print(f"  预测均值: {pred_mean:.4f}, 预测标准差: {pred_std:.4f}")
+        #     print(f"  目标范围: [{target_frames.min().item():.4f}, {target_frames.max().item():.4f}]")
+        #     print(f"  目标均值: {target_mean:.4f}, 目标标准差: {target_std:.4f}")
+            
+        #     # 检查BatchNorm运行统计
+        #     for name, module in model.named_modules():
+        #         if isinstance(module, torch.nn.BatchNorm2d) and 'decoder.blocks.0.bn' in name:
+        #             print(f"  {name}: 运行均值={module.running_mean[0].item():.6f}, 运行方差={module.running_var[0].item():.6f}")
+        #             if module.running_var[0].item() < 1e-6:
+        #                 print(f"  警告: BatchNorm运行方差接近零!")
+        #             break
+
         # Update metrics
         metric_logger.update(loss=loss.item())
         for k, v in loss_dict.items():
@@ -359,6 +530,12 @@ def evaluate(data_loader, model, criterion, device):
 
     metric_logger.synchronize_between_processes()
     print('* Test stats:', metric_logger)
+    
+    # Log validation metrics to TensorBoard
+    if writer is not None:
+        for k, meter in metric_logger.meters.items():
+            writer.add_scalar(f'val/{k}', meter.global_avg, epoch)
+    
     return {k: meter.global_avg for k, meter in metric_logger.meters.items()}
 
 

models/swiftformer.py

@@ -6,9 +6,9 @@ import copy
 import torch
 import torch.nn as nn
 from timm.data import IMAGENET_DEFAULT_MEAN, IMAGENET_DEFAULT_STD
-from timm.models.layers import DropPath, trunc_normal_
-from timm.models.registry import register_model
-from timm.models.layers.helpers import to_2tuple
+from timm.layers import DropPath, trunc_normal_
+from timm.models import register_model
+from timm.layers import to_2tuple
 import einops
 
 SwiftFormer_width = {

models/swiftformer_temporal.py

@@ -7,96 +7,117 @@ from .swiftformer import (
     SwiftFormer, SwiftFormer_depth, SwiftFormer_width,
     stem, Embedding, Stage
 )
-from timm.models.layers import DropPath, trunc_normal_
+from timm.layers import DropPath, trunc_normal_
 
 
 class DecoderBlock(nn.Module):
-    """Upsampling block for frame prediction decoder"""
+    """Upsampling block for frame prediction decoder without residual connections"""
     def __init__(self, in_channels, out_channels, kernel_size=3, stride=2, padding=1, output_padding=1):
         super().__init__()
-        self.conv = nn.ConvTranspose2d(
+        # 主路径：反卷积 + 两个卷积层
+        self.conv_transpose = nn.ConvTranspose2d(
             in_channels, out_channels,
             kernel_size=kernel_size,
             stride=stride,
             padding=padding,
             output_padding=output_padding,
-            bias=False
+            bias=False  # 禁用bias，因为使用BN
         )
-        self.bn = nn.BatchNorm2d(out_channels)
-        self.relu = nn.ReLU(inplace=True)
+        self.bn1 = nn.BatchNorm2d(out_channels)
+        self.conv1 = nn.Conv2d(out_channels, out_channels,
+                              kernel_size=3, padding=1, bias=False)
+        self.bn2 = nn.BatchNorm2d(out_channels)
+        self.conv2 = nn.Conv2d(out_channels, out_channels,
+                              kernel_size=3, padding=1, bias=False)
+        self.bn3 = nn.BatchNorm2d(out_channels)
+        
+        # 使用ReLU激活函数
+        self.activation = nn.ReLU(inplace=True)
+        
+        # 初始化权重
+        self._init_weights()
+        
+    def _init_weights(self):
+        # 初始化反卷积层
+        nn.init.kaiming_normal_(self.conv_transpose.weight, mode='fan_out', nonlinearity='relu')
+        
+        # 初始化卷积层
+        nn.init.kaiming_normal_(self.conv1.weight, mode='fan_out', nonlinearity='relu')
+        nn.init.kaiming_normal_(self.conv2.weight, mode='fan_out', nonlinearity='relu')
+        
+        # 初始化BN层（使用默认初始化）
+        for m in self.modules():
+            if isinstance(m, nn.BatchNorm2d):
+                nn.init.constant_(m.weight, 1)
+                nn.init.constant_(m.bias, 0)
         
     def forward(self, x):
-        return self.relu(self.bn(self.conv(x)))
+        # 主路径
+        x = self.conv_transpose(x)
+        x = self.bn1(x)
+        x = self.activation(x)
+        
+        x = self.conv1(x)
+        x = self.bn2(x)
+        x = self.activation(x)
+        
+        x = self.conv2(x)
+        x = self.bn3(x)
+        x = self.activation(x)
+        return x
 
 
 class FramePredictionDecoder(nn.Module):
-    """Lightweight decoder for frame prediction with optional skip connections"""
-    def __init__(self, embed_dims, output_channels=3, use_skip=False):
+    """Improved decoder for frame prediction"""
+    def __init__(self, embed_dims, output_channels=1):
         super().__init__()
-        self.use_skip = use_skip
-        # Reverse the embed_dims for decoder
-        decoder_dims = embed_dims[::-1]
+        # Define decoder dimensions independently (no skip connections)
+        start_dim = embed_dims[-1]
+        decoder_dims = [start_dim // (2 ** i) for i in range(4)]  # e.g., [220, 110, 55, 27] for XS
         
         self.blocks = nn.ModuleList()
-        # First upsampling from bottleneck to stage4 resolution
+        
+        # 第一个block：stride=2 (decoder_dims[0] -> decoder_dims[1])
         self.blocks.append(DecoderBlock(
             decoder_dims[0], decoder_dims[1],
             kernel_size=3, stride=2, padding=1, output_padding=1
         ))
-        # stage4 to stage3
+        # 第二个block：stride=2 (decoder_dims[1] -> decoder_dims[2])
         self.blocks.append(DecoderBlock(
             decoder_dims[1], decoder_dims[2],
             kernel_size=3, stride=2, padding=1, output_padding=1
         ))
-        # stage3 to stage2
+        # 第三个block：stride=2 (decoder_dims[2] -> decoder_dims[3])
         self.blocks.append(DecoderBlock(
             decoder_dims[2], decoder_dims[3],
             kernel_size=3, stride=2, padding=1, output_padding=1
         ))
-        # stage2 to original resolution (4x upsampling total)
-        self.blocks.append(nn.Sequential(
-            nn.ConvTranspose2d(
-                decoder_dims[3], 32,
-                kernel_size=3, stride=2, padding=1, output_padding=1
-            ),
-            nn.BatchNorm2d(32),
-            nn.ReLU(inplace=True),
-            nn.Conv2d(32, output_channels, kernel_size=3, padding=1),
-            nn.Tanh()  # Output in [-1, 1] range
+        # 第四个block：stride=4 (decoder_dims[3] -> 64)，放在倒数第二的位置
+        self.blocks.append(DecoderBlock(
+            decoder_dims[3], 64,
+            kernel_size=3, stride=4, padding=1, output_padding=3  # stride=4放在这里
         ))
         
-        # If using skip connections, we need to adjust input channels for each block
-        if use_skip:
-            # We'll modify the first three blocks to accept concatenated features
-            # Instead of modifying existing blocks, we'll replace them with custom blocks
-            # For simplicity, we'll keep the same architecture but forward will handle concatenation
-            pass
+        self.final_block = nn.Sequential(
+            nn.Conv2d(64, 64, kernel_size=3, padding=1, bias=True),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(64, 32, kernel_size=3, padding=1, bias=True),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(32, output_channels, kernel_size=3, padding=1, bias=True),
+            nn.Tanh()
+        )
         
-    def forward(self, x, skip_features=None):
+    def forward(self, x):
         """
         Args:
             x: input tensor of shape [B, embed_dims[-1], H/32, W/32]
-            skip_features: list of encoder features from stages [stage2, stage1, stage0]
-                each of shape [B, C, H', W'] where C matches decoder dims?
         """
-        if self.use_skip and skip_features is not None:
-            # Ensure we have exactly 3 skip features (for the first three blocks)
-            assert len(skip_features) == 3, "Need 3 skip features for skip connections"
-            # Reverse skip_features to match decoder order: stage2, stage1, stage0
-            # skip_features[0] should be stage2 (H/16), [1] stage1 (H/8), [2] stage0 (H/4)
-            skip_features = skip_features[::-1]  # Now index 0: stage2, 1: stage1, 2: stage0
+        # 不使用skip connections
+        for i in range(4):
+            x = self.blocks[i](x)
         
-        for i, block in enumerate(self.blocks):
-            if self.use_skip and skip_features is not None and i < 3:
-                # Concatenate skip feature along channel dimension
-                # Ensure spatial dimensions match (they should because of upsampling)
-                x = torch.cat([x, skip_features[i]], dim=1)
-                # Need to adjust block to accept extra channels? We'll create a separate block.
-                # For now, we'll just pass through, but this will cause channel mismatch.
-                # Instead, we should have created custom blocks with appropriate in_channels.
-                # This is a placeholder; we need to implement properly.
-                pass
-            x = block(x)
+        # 最终输出层：只进行特征精炼，不上采样
+        x = self.final_block(x)
         return x
 
 
@@ -104,15 +125,12 @@ class SwiftFormerTemporal(nn.Module):
     """
     SwiftFormer with temporal input for frame prediction.
     Input: [B, num_frames, H, W] (Y channel only)
-    Output: predicted frame [B, 3, H, W] and optional representation
+    Output: predicted frame [B, 1, H, W] and optional representation
     """
     def __init__(self,
                  model_name='XS',
                  num_frames=3,
                  use_decoder=True,
-                 use_representation_head=False,
-                 representation_dim=128,
-                 return_features=False,
                  **kwargs):
         super().__init__()
         
@@ -123,8 +141,6 @@ class SwiftFormerTemporal(nn.Module):
         # Store configuration
         self.num_frames = num_frames
         self.use_decoder = use_decoder
-        self.use_representation_head = use_representation_head
-        self.return_features = return_features
         
         # Modify stem to accept multiple frames (only Y channel)
         in_channels = num_frames
@@ -155,79 +171,51 @@ class SwiftFormerTemporal(nn.Module):
         
         # Frame prediction decoder
         if use_decoder:
-            self.decoder = FramePredictionDecoder(embed_dims, output_channels=3)
-        
-        # Representation head for pose/velocity prediction
-        if use_representation_head:
-            self.representation_head = nn.Sequential(
-                nn.AdaptiveAvgPool2d(1),
-                nn.Flatten(),
-                nn.Linear(embed_dims[-1], representation_dim),
-                nn.ReLU(),
-                nn.Linear(representation_dim, representation_dim)
+            self.decoder = FramePredictionDecoder(
+                embed_dims,
+                output_channels=1
             )
-        else:
-            self.representation_head = None
         
         self.apply(self._init_weights)
         
     def _init_weights(self, m):
         if isinstance(m, (nn.Conv2d, nn.Linear)):
-            trunc_normal_(m.weight, std=.02)
+            # 使用Kaiming初始化，适合ReLU
+            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.LayerNorm)):
+        elif isinstance(m, nn.ConvTranspose2d):
+            # 反卷积层使用特定的初始化
+            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.LayerNorm, nn.BatchNorm2d)):
             nn.init.constant_(m.bias, 0)
             nn.init.constant_(m.weight, 1.0)
     
     def forward_tokens(self, x):
-        """Forward through encoder network, return list of stage features if return_features else final output"""
-        if self.return_features:
-            features = []
-            for idx, block in enumerate(self.network):
-                x = block(x)
-                # Collect output after each stage (indices 0,2,4,6 correspond to stages)
-                if idx in [0, 2, 4, 6]:
-                    features.append(x)
-            return x, features
-        else:
-            for block in self.network:
-                x = block(x)
-            return x
+        for block in self.network:
+            x = block(x)
+        return x
     
     def forward(self, x):
         """
         Args:
             x: input frames of shape [B, num_frames, H, W]
         Returns:
-            If return_features is False:
-                pred_frame: predicted frame [B, 3, H, W] (or None)
-                representation: optional representation vector [B, representation_dim] (or None)
-            If return_features is True:
-                pred_frame, representation, features (list of stage features)
+            pred_frame: predicted frame [B, 1, H, W] (or None)
         """
         # Encode
         x = self.patch_embed(x)
-        if self.return_features:
-            x, features = self.forward_tokens(x)
-        else:
-            x = self.forward_tokens(x)
+        x = self.forward_tokens(x)
         x = self.norm(x)
         
-        # Get representation if needed
-        representation = None
-        if self.representation_head is not None:
-            representation = self.representation_head(x)
-        
         # Decode to frame
         pred_frame = None
         if self.use_decoder:
             pred_frame = self.decoder(x)
         
-        if self.return_features:
-            return pred_frame, representation, features
-        else:
-            return pred_frame, representation
+        return pred_frame
 
 
 # Factory functions for different model sizes

test_model.py

@@ -1,60 +0,0 @@
-#!/usr/bin/env python3
-"""
-Test script for SwiftFormerTemporal model
-"""
-import torch
-import sys
-import os
-
-# Add current directory to path
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
-
-from models.swiftformer_temporal import SwiftFormerTemporal_XS
-
-def test_model():
-    print("Testing SwiftFormerTemporal model...")
-    
-    # Create model
-    model = SwiftFormerTemporal_XS(num_frames=3, use_representation_head=True)
-    print(f'Model created: {model.__class__.__name__}')
-    print(f'Number of parameters: {sum(p.numel() for p in model.parameters()):,}')
-    
-    # Test forward pass
-    batch_size = 2
-    num_frames = 3
-    height = width = 224
-    x = torch.randn(batch_size, 3 * num_frames, height, width)
-    
-    print(f'\nInput shape: {x.shape}')
-    
-    with torch.no_grad():
-        pred_frame, representation = model(x)
-    
-    print(f'Predicted frame shape: {pred_frame.shape}')
-    print(f'Representation shape: {representation.shape if representation is not None else "None"}')
-    
-    # Check output ranges
-    print(f'\nPredicted frame range: [{pred_frame.min():.3f}, {pred_frame.max():.3f}]')
-    
-    # Test loss function
-    from util.frame_losses import MultiTaskLoss
-    criterion = MultiTaskLoss()
-    target = torch.randn_like(pred_frame)
-    temporal_indices = torch.tensor([3, 3], dtype=torch.long)
-    
-    loss, loss_dict = criterion(pred_frame, target, representation, temporal_indices)
-    print(f'\nLoss test:')
-    for k, v in loss_dict.items():
-        print(f'  {k}: {v:.4f}')
-    
-    print('\nAll tests passed!')
-    return True
-
-if __name__ == '__main__':
-    try:
-        test_model()
-    except Exception as e:
-        print(f'Test failed with error: {e}')
-        import traceback
-        traceback.print_exc()
-        sys.exit(1)

util/frame_losses.py

@@ -1,182 +0,0 @@
-"""
-Loss functions for frame prediction and representation learning
-"""
-import torch
-import torch.nn as nn
-import torch.nn.functional as F
-import math
-
-
-class SSIMLoss(nn.Module):
-    """
-    Structural Similarity Index Measure Loss
-    Based on: https://github.com/Po-Hsun-Su/pytorch-ssim
-    """
-    def __init__(self, window_size=11, size_average=True):
-        super().__init__()
-        self.window_size = window_size
-        self.size_average = size_average
-        self.channel = 3
-        self.window = self.create_window(window_size, self.channel)
-
-    def create_window(self, window_size, channel):
-        def gaussian(window_size, sigma):
-            gauss = torch.Tensor([math.exp(-(x - window_size//2)**2/float(2*sigma**2)) for x in range(window_size)])
-            return gauss/gauss.sum()
-        
-        _1D_window = gaussian(window_size, 1.5).unsqueeze(1)
-        _2D_window = _1D_window.mm(_1D_window.t()).float().unsqueeze(0).unsqueeze(0)
-        window = _2D_window.expand(channel, 1, window_size, window_size).contiguous()
-        return window
-
-    def forward(self, img1, img2):
-        # Ensure window is on correct device
-        if self.window.device != img1.device:
-            self.window = self.window.to(img1.device)
-        
-        mu1 = F.conv2d(img1, self.window, padding=self.window_size//2, groups=self.channel)
-        mu2 = F.conv2d(img2, self.window, padding=self.window_size//2, groups=self.channel)
-        
-        mu1_sq = mu1.pow(2)
-        mu2_sq = mu2.pow(2)
-        mu1_mu2 = mu1 * mu2
-
-        sigma1_sq = F.conv2d(img1*img1, self.window, padding=self.window_size//2, groups=self.channel) - mu1_sq
-        sigma2_sq = F.conv2d(img2*img2, self.window, padding=self.window_size//2, groups=self.channel) - mu2_sq
-        sigma12 = F.conv2d(img1*img2, self.window, padding=self.window_size//2, groups=self.channel) - mu1_mu2
-
-        C1 = 0.01**2
-        C2 = 0.03**2
-
-        ssim_map = ((2*mu1_mu2 + C1)*(2*sigma12 + C2)) / ((mu1_sq + mu2_sq + C1)*(sigma1_sq + sigma2_sq + C2))
-        
-        if self.size_average:
-            return 1 - ssim_map.mean()
-        else:
-            return 1 - ssim_map.mean(1).mean(1).mean(1)
-
-
-class FramePredictionLoss(nn.Module):
-    """
-    Combined loss for frame prediction
-    """
-    def __init__(self, l1_weight=1.0, ssim_weight=0.1, use_ssim=True):
-        super().__init__()
-        self.l1_weight = l1_weight
-        self.ssim_weight = ssim_weight
-        self.use_ssim = use_ssim
-        
-        self.l1_loss = nn.L1Loss()
-        if use_ssim:
-            self.ssim_loss = SSIMLoss()
-        
-    def forward(self, pred, target):
-        """
-        Args:
-            pred: predicted frame [B, 3, H, W] in range [-1, 1]
-            target: target frame [B, 3, H, W] in range [-1, 1]
-        Returns:
-            total_loss, loss_dict
-        """
-        loss_dict = {}
-        
-        # L1 loss
-        l1_loss = self.l1_loss(pred, target)
-        loss_dict['l1'] = l1_loss
-        total_loss = self.l1_weight * l1_loss
-        
-        # SSIM loss
-        if self.use_ssim:
-            ssim_loss = self.ssim_loss(pred, target)
-            loss_dict['ssim'] = ssim_loss
-            total_loss += self.ssim_weight * ssim_loss
-        
-        loss_dict['total'] = total_loss
-        return total_loss, loss_dict
-
-
-class ContrastiveLoss(nn.Module):
-    """
-    Contrastive loss for representation learning
-    Positive pairs: representations from adjacent frames
-    Negative pairs: representations from distant frames
-    """
-    def __init__(self, temperature=0.1, margin=1.0):
-        super().__init__()
-        self.temperature = temperature
-        self.margin = margin
-        self.cosine_similarity = nn.CosineSimilarity(dim=-1)
-        
-    def forward(self, representations, temporal_indices):
-        """
-        Args:
-            representations: [B, D] representation vectors
-            temporal_indices: [B] temporal indices of each sample
-        Returns:
-            contrastive_loss
-        """
-        batch_size = representations.size(0)
-        
-        # Compute similarity matrix
-        sim_matrix = torch.matmul(representations, representations.T) / self.temperature
-        
-        # Create positive mask (adjacent frames)
-        indices_expanded = temporal_indices.unsqueeze(0)
-        diff = torch.abs(indices_expanded - indices_expanded.T)
-        positive_mask = (diff == 1).float()
-        
-        # Create negative mask (distant frames)
-        negative_mask = (diff > 2).float()
-        
-        # Positive loss
-        pos_sim = sim_matrix * positive_mask
-        pos_loss = -torch.log(torch.exp(pos_sim) / torch.exp(sim_matrix).sum(dim=-1, keepdim=True) + 1e-8)
-        pos_loss = (pos_loss * positive_mask).sum() / (positive_mask.sum() + 1e-8)
-        
-        # Negative loss (push apart)
-        neg_sim = sim_matrix * negative_mask
-        neg_loss = torch.relu(neg_sim - self.margin).mean()
-        
-        return pos_loss + 0.1 * neg_loss
-
-
-class MultiTaskLoss(nn.Module):
-    """
-    Multi-task loss combining frame prediction and representation learning
-    """
-    def __init__(self, frame_weight=1.0, contrastive_weight=0.1, 
-                 l1_weight=1.0, ssim_weight=0.1, use_contrastive=True):
-        super().__init__()
-        self.frame_weight = frame_weight
-        self.contrastive_weight = contrastive_weight
-        self.use_contrastive = use_contrastive
-        
-        self.frame_loss = FramePredictionLoss(l1_weight=l1_weight, ssim_weight=ssim_weight)
-        if use_contrastive:
-            self.contrastive_loss = ContrastiveLoss()
-        
-    def forward(self, pred_frame, target_frame, representations=None, temporal_indices=None):
-        """
-        Args:
-            pred_frame: predicted frame [B, 3, H, W]
-            target_frame: target frame [B, 3, H, W]
-            representations: [B, D] representation vectors (optional)
-            temporal_indices: [B] temporal indices (optional)
-        Returns:
-            total_loss, loss_dict
-        """
-        loss_dict = {}
-        
-        # Frame prediction loss
-        frame_loss, frame_loss_dict = self.frame_loss(pred_frame, target_frame)
-        loss_dict.update({f'frame_{k}': v for k, v in frame_loss_dict.items()})
-        total_loss = self.frame_weight * frame_loss
-        
-        # Contrastive loss (if representations provided)
-        if self.use_contrastive and representations is not None and temporal_indices is not None:
-            contrastive_loss = self.contrastive_loss(representations, temporal_indices)
-            loss_dict['contrastive'] = contrastive_loss
-            total_loss += self.contrastive_weight * contrastive_loss
-        
-        loss_dict['total'] = total_loss
-        return total_loss, loss_dict

util/video_dataset.py

@@ -48,27 +48,39 @@ class VideoFrameDataset(Dataset):
         self.is_train = is_train
         self.max_interval = max_interval
 
-        # Collect all video folders
+        # if num_frames < 1:
+        #     raise ValueError("num_frames must be >= 1")
+        # if frame_size < 1:
+        #     raise ValueError("frame_size must be >= 1")
+        # if max_interval < 1:
+        #     raise ValueError("max_interval must be >= 1")
+        
+        # Collect all video folders and their frame files
         self.video_folders = []
+        self.video_frame_files = []  # list of list of Path objects
         for item in self.root_dir.iterdir():
             if item.is_dir():
                 self.video_folders.append(item)
+                # Get all frame files
+                frame_files = sorted([f for f in item.iterdir()
+                                     if f.suffix.lower() in ['.jpg', '.jpeg', '.png', '.bmp']])
+                self.video_frame_files.append(frame_files)
         
         if len(self.video_folders) == 0:
             raise ValueError(f"No video folders found in {root_dir}")
         
         # Build frame index: list of (video_idx, start_frame_idx)
         self.frame_indices = []
-        for video_idx, video_folder in enumerate(self.video_folders):
-            # Get all frame files
-            frame_files = sorted([f for f in video_folder.iterdir() 
-                                 if f.suffix.lower() in ['.jpg', '.jpeg', '.png', '.bmp']])
-            
-            if len(frame_files) < num_frames + 1:
+        for video_idx, frame_files in enumerate(self.video_frame_files):
+            # Minimum frames needed considering max interval
+            min_frames_needed = num_frames * max_interval + 1
+            if len(frame_files) < min_frames_needed:
                 continue  # Skip videos with insufficient frames
             
             # Add all possible starting positions
-            for start_idx in range(len(frame_files) - num_frames):
+            # Ensure that for any interval up to max_interval, all frames are within bounds
+            max_start = len(frame_files) - num_frames * max_interval
+            for start_idx in range(max_start):
                 self.frame_indices.append((video_idx, start_idx))
         
         if len(self.frame_indices) == 0:
@@ -80,11 +92,12 @@ class VideoFrameDataset(Dataset):
         else:
             self.transform = transform
             
-        # Normalization (ImageNet stats)
-        self.normalize = transforms.Normalize(
-            mean=[0.485, 0.456, 0.406],
-            std=[0.229, 0.224, 0.225]
-        )
+        # Simple normalization to [-1, 1] range (不使用ImageNet标准化)
+        # Convert pixel values [0, 255] to [-1, 1]
+        # This matches the model's tanh output range
+        self.normalize = None  # We'll handle normalization manually
+        
+        # print(f"[数据集初始化] 使用简单归一化: 像素值[0,255] -> [-1,1]")
     
     def _default_transform(self):
         """Default transform with augmentation for training"""
@@ -102,9 +115,12 @@ class VideoFrameDataset(Dataset):
     
     def _load_frame(self, video_idx: int, frame_idx: int) -> Image.Image:
         """Load a single frame as PIL Image"""
-        video_folder = self.video_folders[video_idx]
-        frame_files = sorted([f for f in video_folder.iterdir() 
-                             if f.suffix.lower() in ['.jpg', '.jpeg', '.png', '.bmp']])
+        frame_files = self.video_frame_files[video_idx]
+        if frame_idx < 0 or frame_idx >= len(frame_files):
+            raise IndexError(
+                f"Frame index {frame_idx} out of range for video {video_idx} "
+                f"(0-{len(frame_files)-1})"
+            )
         frame_path = frame_files[frame_idx]
         return Image.open(frame_path).convert('RGB')
     
@@ -114,8 +130,8 @@ class VideoFrameDataset(Dataset):
     def __getitem__(self, idx: int) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
         """
         Returns:
-            input_frames: [3 * num_frames, H, W] concatenated input frames
-            target_frame: [3, H, W] target frame to predict
+            input_frames: [num_frames, H, W] concatenated input frames (Y channel only)
+            target_frame: [1, H, W] target frame to predict (Y channel only)
             temporal_idx: temporal index of target frame (for contrastive loss)
         """
         video_idx, start_idx = self.frame_indices[idx]
@@ -141,69 +157,77 @@ class VideoFrameDataset(Dataset):
         if self.transform:
             target_frame = self.transform(target_frame)
         
-        # Convert to tensors and normalize
+        # Convert to tensors and convert to grayscale (Y channel)
         input_tensors = []
         for frame in input_frames:
-            tensor = transforms.ToTensor()(frame)
-            tensor = self.normalize(tensor)
-            input_tensors.append(tensor)
+            tensor = transforms.ToTensor()(frame)  # [3, H, W], range [0, 1]
+            # Convert RGB to grayscale using weighted sum
+            # Y = 0.2989 * R + 0.5870 * G + 0.1140 * B (same as PIL)
+            gray = (0.2989 * tensor[0] + 0.5870 * tensor[1] + 0.1140 * tensor[2]).unsqueeze(0)  # [1, H, W], range [0, 1]
+            # Normalize from [0, 1] to [-1, 1]
+            gray = gray * 2 - 1  # [0,1] -> [-1,1]
+            input_tensors.append(gray)
         
-        target_tensor = transforms.ToTensor()(target_frame)
-        target_tensor = self.normalize(target_tensor)
+        target_tensor = transforms.ToTensor()(target_frame)  # [3, H, W], range [0, 1]
+        target_gray = (0.2989 * target_tensor[0] + 0.5870 * target_tensor[1] + 0.1140 * target_tensor[2]).unsqueeze(0)
+        # Normalize from [0, 1] to [-1, 1]
+        target_gray = target_gray * 2 - 1  # [0,1] -> [-1,1]
         
         # Concatenate input frames along channel dimension
-        input_concatenated = torch.cat(input_tensors, dim=0)
+        input_concatenated = torch.cat(input_tensors, dim=0)  # [num_frames, H, W]
         
         # Temporal index (for contrastive loss)
         temporal_idx = torch.tensor(self.num_frames, dtype=torch.long)
         
-        return input_concatenated, target_tensor, temporal_idx
+        return input_concatenated, target_gray, temporal_idx
 
 
-class SyntheticVideoDataset(Dataset):
-    """
-    Synthetic dataset for testing - generates random frames
-    """
-    def __init__(self, 
-                 num_samples: int = 1000,
-                 num_frames: int = 3,
-                 frame_size: int = 224,
-                 is_train: bool = True):
-        self.num_samples = num_samples
-        self.num_frames = num_frames
-        self.frame_size = frame_size
-        self.is_train = is_train
+# class SyntheticVideoDataset(Dataset):
+#     """
+#     Synthetic dataset for testing - generates random frames
+#     """
+#     def __init__(self, 
+#                  num_samples: int = 1000,
+#                  num_frames: int = 3,
+#                  frame_size: int = 224,
+#                  is_train: bool = True):
+#         self.num_samples = num_samples
+#         self.num_frames = num_frames
+#         self.frame_size = frame_size
+#         self.is_train = is_train
         
-        # Normalization
-        self.normalize = transforms.Normalize(
-            mean=[0.485, 0.456, 0.406],
-            std=[0.229, 0.224, 0.225]
-        )
+#         # Normalization for Y channel (single channel)
+#         y_mean = (0.485 + 0.456 + 0.406) / 3.0
+#         y_std = (0.229 + 0.224 + 0.225) / 3.0
+#         self.normalize = transforms.Normalize(
+#             mean=[y_mean],
+#             std=[y_std]
+#         )
     
-    def __len__(self):
-        return self.num_samples
+#     def __len__(self):
+#         return self.num_samples
     
-    def __getitem__(self, idx):
-        # Generate random "frames" (noise with temporal correlation)
-        input_frames = []
-        prev_frame = torch.randn(3, self.frame_size, self.frame_size) * 0.1
+#     def __getitem__(self, idx):
+#         # Generate random "frames" (noise with temporal correlation)
+#         input_frames = []
+#         prev_frame = torch.randn(3, self.frame_size, self.frame_size) * 0.1
         
-        for i in range(self.num_frames):
-            # Add some temporal correlation
-            frame = prev_frame + torch.randn(3, self.frame_size, self.frame_size) * 0.05
-            frame = torch.clamp(frame, -1, 1)
-            input_frames.append(self.normalize(frame))
-            prev_frame = frame
+#         for i in range(self.num_frames):
+#             # Add some temporal correlation
+#             frame = prev_frame + torch.randn(3, self.frame_size, self.frame_size) * 0.05
+#             frame = torch.clamp(frame, -1, 1)
+#             input_frames.append(self.normalize(frame))
+#             prev_frame = frame
         
-        # Target frame (next in sequence)
-        target_frame = prev_frame + torch.randn(3, self.frame_size, self.frame_size) * 0.05
-        target_frame = torch.clamp(target_frame, -1, 1)
-        target_tensor = self.normalize(target_frame)
+#         # Target frame (next in sequence)
+#         target_frame = prev_frame + torch.randn(3, self.frame_size, self.frame_size) * 0.05
+#         target_frame = torch.clamp(target_frame, -1, 1)
+#         target_tensor = self.normalize(target_frame)
         
-        # Concatenate inputs
-        input_concatenated = torch.cat(input_frames, dim=0)
+#         # Concatenate inputs
+#         input_concatenated = torch.cat(input_frames, dim=0)
         
-        # Temporal index
-        temporal_idx = torch.tensor(self.num_frames, dtype=torch.long)
+#         # Temporal index
+#         temporal_idx = torch.tensor(self.num_frames, dtype=torch.long)
         
-        return input_concatenated, target_tensor, temporal_idx
+#         return input_concatenated, target_tensor, temporal_idx

video_preprocessor.py

@@ -0,0 +1,303 @@
+#!/usr/bin/env python3
+"""
+视频预处理脚本 - 将MP4视频转换为224x224帧图像
+支持多线程并发处理、进度条显示和中断恢复功能
+"""
+
+import os
+import sys
+import json
+import argparse
+import subprocess
+import threading
+from pathlib import Path
+from concurrent.futures import ThreadPoolExecutor, as_completed
+from tqdm import tqdm
+import time
+from typing import List, Dict, Optional
+
+
+class VideoPreprocessor:
+    """视频预处理器，支持多线程和中断恢复"""
+    
+    def __init__(self, 
+                 input_dir: str,
+                 output_dir: str,
+                 frame_size: int = 224,
+                 fps: int = 30,
+                 num_workers: int = 4,
+                 quality: int = 2,
+                 resume: bool = True):
+        """
+        初始化预处理器
+        
+        Args:
+            input_dir: 输入视频目录
+            output_dir: 输出帧目录
+            frame_size: 帧大小（正方形）
+            fps: 提取帧率
+            num_workers: 并发工作线程数
+            quality: JPEG质量 (1-31, 数值越小质量越高)
+            resume: 是否启用中断恢复
+        """
+        self.input_dir = Path(input_dir)
+        self.output_dir = Path(output_dir)
+        self.frame_size = frame_size
+        self.fps = fps
+        self.num_workers = num_workers
+        self.quality = quality
+        self.resume = resume
+        
+        # 状态文件路径
+        self.state_file = self.output_dir / ".preprocessing_state.json"
+        
+        # 创建输出目录
+        self.output_dir.mkdir(parents=True, exist_ok=True)
+        
+        # 初始化状态
+        self.state = self._load_state()
+        
+        # 收集所有视频文件
+        self.video_files = self._collect_video_files()
+        
+    def _load_state(self) -> Dict:
+        """加载处理状态"""
+        if self.resume and self.state_file.exists():
+            try:
+                with open(self.state_file, 'r') as f:
+                    return json.load(f)
+            except (json.JSONDecodeError, IOError):
+                print(f"警告: 无法读取状态文件，将重新开始处理")
+        
+        return {
+            "completed": [],
+            "failed": [],
+            "total_processed": 0,
+            "start_time": None,
+            "last_update": None
+        }
+    
+    def _save_state(self):
+        """保存处理状态"""
+        self.state["last_update"] = time.time()
+        try:
+            with open(self.state_file, 'w') as f:
+                json.dump(self.state, f, indent=2)
+        except IOError as e:
+            print(f"警告: 无法保存状态文件: {e}")
+    
+    def _collect_video_files(self) -> List[Path]:
+        """收集所有需要处理的视频文件"""
+        video_files = []
+        for file_path in self.input_dir.glob("*.mp4"):
+            if file_path.name not in self.state["completed"]:
+                video_files.append(file_path)
+        
+        return sorted(video_files)
+    
+    def _parse_video_name(self, video_path: Path) -> Dict[str, str]:
+        """解析视频文件名，使用完整文件名作为ID"""
+        name_without_ext = video_path.stem
+        
+        # 直接使用完整文件名作为ID，确保每个mp4文件有独立的输出目录
+        return {
+            "video_id": name_without_ext,
+            "start_frame": "unknown",
+            "end_frame": "unknown",
+            "full_name": name_without_ext
+        }
+    
+    def _extract_frames(self, video_path: Path) -> bool:
+        """提取单个视频的帧"""
+        try:
+            # 解析视频名称
+            video_info = self._parse_video_name(video_path)
+            output_subdir = self.output_dir / video_info["video_id"]
+            output_subdir.mkdir(exist_ok=True)
+            
+            # 构建FFmpeg命令
+            output_pattern = output_subdir / "frame_%04d.jpg"
+            
+            cmd = [
+                "ffmpeg",
+                "-i", str(video_path),
+                "-vf", f"fps={self.fps},scale={self.frame_size}:{self.frame_size}",
+                "-q:v", str(self.quality),
+                "-y",  # 覆盖输出文件
+                str(output_pattern)
+            ]
+            
+            # 执行FFmpeg命令
+            result = subprocess.run(
+                cmd,
+                capture_output=True,
+                text=True,
+                timeout=300  # 5分钟超时
+            )
+            
+            if result.returncode != 0:
+                print(f"FFmpeg错误处理 {video_path.name}: {result.stderr}")
+                return False
+            
+            # 验证输出帧数量
+            output_frames = list(output_subdir.glob("frame_*.jpg"))
+            if len(output_frames) == 0:
+                print(f"警告: {video_path.name} 没有生成任何帧")
+                return False
+            
+            return True
+            
+        except subprocess.TimeoutExpired:
+            print(f"超时处理 {video_path.name}")
+            return False
+        except Exception as e:
+            print(f"处理 {video_path.name} 时发生错误: {e}")
+            return False
+    
+    def _process_video(self, video_path: Path) -> tuple[bool, str]:
+        """处理单个视频文件"""
+        video_name = video_path.name
+        
+        try:
+            success = self._extract_frames(video_path)
+            
+            if success:
+                self.state["completed"].append(video_name)
+                if video_name in self.state["failed"]:
+                    self.state["failed"].remove(video_name)
+                return True, video_name
+            else:
+                self.state["failed"].append(video_name)
+                return False, video_name
+                
+        except Exception as e:
+            print(f"处理 {video_name} 时发生异常: {e}")
+            self.state["failed"].append(video_name)
+            return False, video_name
+    
+    def process_all_videos(self):
+        """处理所有视频文件"""
+        if not self.video_files:
+            print("没有找到需要处理的视频文件")
+            return
+        
+        print(f"找到 {len(self.video_files)} 个待处理视频文件")
+        print(f"输出目录: {self.output_dir}")
+        print(f"帧大小: {self.frame_size}x{self.frame_size}")
+        print(f"帧率: {self.fps} fps")
+        print(f"并发线程数: {self.num_workers}")
+        
+        if self.state["completed"]:
+            print(f"跳过 {len(self.state['completed'])} 个已处理的视频")
+        
+        # 记录开始时间
+        if self.state["start_time"] is None:
+            self.state["start_time"] = time.time()
+        
+        # 创建进度条
+        with tqdm(total=len(self.video_files), desc="处理视频", unit="个") as pbar:
+            with ThreadPoolExecutor(max_workers=self.num_workers) as executor:
+                # 提交所有任务
+                future_to_video = {
+                    executor.submit(self._process_video, video_path): video_path
+                    for video_path in self.video_files
+                }
+                
+                # 处理完成的任务
+                for future in as_completed(future_to_video):
+                    video_path = future_to_video[future]
+                    try:
+                        success, video_name = future.result()
+                        if success:
+                            pbar.set_postfix({"状态": "成功", "文件": video_name[:20]})
+                        else:
+                            pbar.set_postfix({"状态": "失败", "文件": video_name[:20]})
+                    except Exception as e:
+                        print(f"处理 {video_path.name} 时发生异常: {e}")
+                        pbar.set_postfix({"状态": "异常", "文件": video_path.name[:20]})
+                    
+                    pbar.update(1)
+                    self.state["total_processed"] += 1
+                    
+                    # 定期保存状态
+                    if self.state["total_processed"] % 5 == 0:
+                        self._save_state()
+        
+        # 最终保存状态
+        self._save_state()
+        
+        # 打印处理结果
+        self._print_summary()
+    
+    def _print_summary(self):
+        """打印处理摘要"""
+        print("\n" + "="*50)
+        print("处理完成摘要:")
+        print(f"总处理视频数: {len(self.state['completed'])}")
+        print(f"失败视频数: {len(self.state['failed'])}")
+        
+        if self.state["failed"]:
+            print("\n失败的视频:")
+            for video_name in self.state["failed"]:
+                print(f"  - {video_name}")
+        
+        if self.state["start_time"]:
+            elapsed_time = time.time() - self.state["start_time"]
+            print(f"\n总耗时: {elapsed_time:.2f} 秒")
+            if self.state["total_processed"] > 0:
+                avg_time = elapsed_time / self.state["total_processed"]
+                print(f"平均每个视频: {avg_time:.2f} 秒")
+        
+        print("="*50)
+
+
+def main():
+    """主函数"""
+    parser = argparse.ArgumentParser(description="视频预处理脚本")
+    parser.add_argument("--input_dir", type=str, default="/home/hexone/Workplace/ws_asmo/vhead/sekai-real-drone/sekai-real-drone", help="输入视频目录")
+    parser.add_argument("--output_dir", type=str, default="/home/hexone/Workplace/ws_asmo/vhead/sekai-real-drone/processed", help="输出帧目录")
+    parser.add_argument("--size", type=int, default=224, help="帧大小 (默认: 224)")
+    parser.add_argument("--fps", type=int, default=10, help="提取帧率 (默认: 30)")
+    parser.add_argument("--workers", type=int, default=32, help="并发线程数 (默认: 4)")
+    parser.add_argument("--quality", type=int, default=2, help="JPEG质量 1-31 (默认: 2)")
+    parser.add_argument("--no-resume", action="store_true", help="不启用中断恢复")
+    
+    args = parser.parse_args()
+    
+    # 检查输入目录
+    if not Path(args.input_dir).exists():
+        print(f"错误: 输入目录不存在: {args.input_dir}")
+        sys.exit(1)
+    
+    # 检查FFmpeg是否可用
+    try:
+        subprocess.run(["ffmpeg", "-version"], capture_output=True, check=True)
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        print("错误: FFmpeg未安装或不在PATH中")
+        sys.exit(1)
+    
+    # 创建预处理器并开始处理
+    preprocessor = VideoPreprocessor(
+        input_dir=args.input_dir,
+        output_dir=args.output_dir,
+        frame_size=args.size,
+        fps=args.fps,
+        num_workers=args.workers,
+        quality=args.quality,
+        resume=not args.no_resume
+    )
+    
+    try:
+        preprocessor.process_all_videos()
+    except KeyboardInterrupt:
+        print("\n\n用户中断处理，状态已保存")
+        preprocessor._save_state()
+        print("可以使用相同命令恢复处理")
+    except Exception as e:
+        print(f"\n处理过程中发生错误: {e}")
+        preprocessor._save_state()
+        sys.exit(1)
+
+
+if __name__ == "__main__":
+    main()