初步可跑通，但loss计算有问题，不收敛

.gitignore

@@ -1,2 +1,4 @@
+.vscode/
 __pycache__/
 venv/
+runs/

dist_temporal_train.sh

@@ -0,0 +1,57 @@
+#!/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=${BATCH_SIZE:-32}
+EPOCHS=${EPOCHS:-100}
+LR=${LR:-1e-3}
+OUTPUT_DIR=${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"

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
@@ -20,6 +22,17 @@ from models.swiftformer_temporal import SwiftFormerTemporal_XS, SwiftFormerTempo
 from util.video_dataset import VideoFrameDataset, SyntheticVideoDataset
 from util.frame_losses import MultiTaskLoss
 
+# Try to import TensorBoard
+try:
+    from torch.utils.tensorboard import SummaryWriter
+    TENSORBOARD_AVAILABLE = True
+except ImportError:
+    try:
+        from tensorboardX import SummaryWriter
+        TENSORBOARD_AVAILABLE = True
+    except ImportError:
+        TENSORBOARD_AVAILABLE = False
+
 
 def get_args_parser():
     parser = argparse.ArgumentParser(
@@ -48,10 +61,48 @@ def get_args_parser():
     # 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=1e-3, 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-6, 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,
@@ -90,19 +141,19 @@ 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,
@@ -203,14 +254,18 @@ 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, representations=None, 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)
@@ -231,6 +286,21 @@ 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}")
@@ -239,14 +309,18 @@ 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
+            model_ema=model_ema, writer=writer,
+            global_step=global_step, args=args
         )
 
         lr_scheduler.step(epoch)
@@ -266,10 +340,10 @@ 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()},
@@ -285,17 +359,23 @@ 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, 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):
+    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)
@@ -322,19 +402,51 @@ def train_one_epoch(model, criterion, data_loader, optimizer, device, epoch, los
         if model_ema is not None:
             model_ema.update(model)
 
+        # 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 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:'
@@ -359,6 +471,12 @@ 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

@@ -7,7 +7,7 @@ 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):
@@ -31,7 +31,7 @@ class DecoderBlock(nn.Module):
 
 class FramePredictionDecoder(nn.Module):
     """Lightweight decoder for frame prediction with optional skip connections"""
-    def __init__(self, embed_dims, output_channels=3, use_skip=False):
+    def __init__(self, embed_dims, output_channels=1, use_skip=False):
         super().__init__()
         self.use_skip = use_skip
         # Reverse the embed_dims for decoder
@@ -53,11 +53,11 @@ class FramePredictionDecoder(nn.Module):
             decoder_dims[2], decoder_dims[3],
             kernel_size=3, stride=2, padding=1, output_padding=1
         ))
-        # stage2 to original resolution (4x upsampling total)
+        # stage2 to original resolution (now 8x upsampling total with stride 4)
         self.blocks.append(nn.Sequential(
             nn.ConvTranspose2d(
                 decoder_dims[3], 32,
-                kernel_size=3, stride=2, padding=1, output_padding=1
+                kernel_size=3, stride=4, padding=1, output_padding=3
             ),
             nn.BatchNorm2d(32),
             nn.ReLU(inplace=True),
@@ -104,7 +104,7 @@ 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',
@@ -155,7 +155,7 @@ class SwiftFormerTemporal(nn.Module):
         
         # Frame prediction decoder
         if use_decoder:
-            self.decoder = FramePredictionDecoder(embed_dims, output_channels=3)
+            self.decoder = FramePredictionDecoder(embed_dims, output_channels=1)
         
         # Representation head for pose/velocity prediction
         if use_representation_head:
@@ -201,7 +201,7 @@ class SwiftFormerTemporal(nn.Module):
             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)
+                pred_frame: predicted frame [B, 1, 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)

multi_gpu_temporal_train.sh

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+
+# Simple multi-GPU training script for SwiftFormerTemporal
+# Usage: ./multi_gpu_temporal_train.sh <NUM_GPUS> [OPTIONS]
+
+NUM_GPUS=${1:-2}
+shift
+
+echo "Starting multi-GPU training with $NUM_GPUS GPUs"
+
+# Set environment variables for distributed training
+export MASTER_PORT=12345
+export MASTER_ADDR=localhost
+export WORLD_SIZE=$NUM_GPUS
+
+# Launch training
+torchrun --nproc_per_node=$NUM_GPUS --master_port=$MASTER_PORT main_temporal.py \
+    --data-path "./videos" \
+    --model SwiftFormerTemporal_XS \
+    --batch-size 32 \
+    --epochs 100 \
+    --lr 1e-3 \
+    --output-dir "./temporal_output_multi" \
+    --num-workers 8 \
+    --pin-mem \
+    "$@"

test_cuda.py

@@ -0,0 +1,45 @@
+import torch
+
+def test_cuda_availability():
+    """全面测试CUDA可用性"""
+    
+    print("="*50)
+    print("PyTorch CUDA 测试")
+    print("="*50)
+    
+    # 基本信息
+    print(f"PyTorch版本: {torch.__version__}")
+    print(f"CUDA可用: {torch.cuda.is_available()}")
+    
+    if not torch.cuda.is_available():
+        print("CUDA不可用，可能原因：")
+        print("1. 未安装CUDA驱动")
+        print("2. 安装的是CPU版本的PyTorch")
+        print("3. CUDA版本与PyTorch不匹配")
+        return False
+    
+    # 设备信息
+    device_count = torch.cuda.device_count()
+    print(f"发现 {device_count} 个CUDA设备")
+    
+    for i in range(device_count):
+        print(f"\n设备 {i}:")
+        print(f"  名称: {torch.cuda.get_device_name(i)}")
+        print(f"  内存总量: {torch.cuda.get_device_properties(i).total_memory / 1e9:.2f} GB")
+        print(f"  计算能力: {torch.cuda.get_device_properties(i).major}.{torch.cuda.get_device_properties(i).minor}")
+    
+    # 简单张量测试
+    print("\n运行CUDA测试...")
+    try:
+        x = torch.randn(3, 3).cuda()
+        y = torch.randn(3, 3).cuda()
+        z = x + y
+        print("CUDA计算测试: 成功!")
+        print(f"设备上的张量形状: {z.shape}")
+        return True
+    except Exception as e:
+        print(f"CUDA计算测试失败: {e}")
+        return False
+
+if __name__ == "__main__":
+    test_cuda_availability()

test_import.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+"""
+测试 timm 导入是否正常工作
+"""
+import sys
+print("Python version:", sys.version)
+
+try:
+    from timm.layers import to_2tuple, DropPath, trunc_normal_
+    from timm.models import register_model
+    print("✓ 成功导入 timm.layers.to_2tuple")
+    print("✓ 成功导入 timm.layers.DropPath")
+    print("✓ 成功导入 timm.layers.trunc_normal_")
+    print("✓ 成功导入 timm.models.register_model")
+except ImportError as e:
+    print(f"✗ 导入失败: {e}")
+    sys.exit(1)
+
+try:
+    from models.swiftformer import SwiftFormer_XS
+    print("✓ 成功导入 SwiftFormer_XS")
+except ImportError as e:
+    print(f"✗ 导入 SwiftFormer_XS 失败: {e}")
+    sys.exit(1)
+
+try:
+    from models.swiftformer_temporal import SwiftFormerTemporal_XS
+    print("✓ 成功导入 SwiftFormerTemporal_XS")
+except ImportError as e:
+    print(f"✗ 导入 SwiftFormerTemporal_XS 失败: {e}")
+    sys.exit(1)
+
+print("\n✅ 所有导入测试通过！")

util/video_dataset.py

@@ -80,10 +80,13 @@ class VideoFrameDataset(Dataset):
         else:
             self.transform = transform
             
-        # Normalization (ImageNet stats)
+        # Normalization for Y channel (single channel)
+        # Compute average of ImageNet RGB means and stds
+        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=[0.485, 0.456, 0.406],
-            std=[0.229, 0.224, 0.225]
+            mean=[y_mean],
+            std=[y_std]
         )
     
     def _default_transform(self):
@@ -114,8 +117,8 @@ 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]
@@ -141,23 +144,27 @@ class VideoFrameDataset(Dataset):
         if self.transform:
             target_frame = self.transform(target_frame)
         
-        # Convert to tensors and normalize
+        # Convert to tensors, normalize, 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]
+            # 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]
+            gray = self.normalize(gray)  # normalize with single-channel stats (mean/std broadcast)
+            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]
+        target_gray = (0.2989 * target_tensor[0] + 0.5870 * target_tensor[1] + 0.1140 * target_tensor[2]).unsqueeze(0)
+        target_gray = self.normalize(target_gray)
         
         # 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):
@@ -174,10 +181,12 @@ class SyntheticVideoDataset(Dataset):
         self.frame_size = frame_size
         self.is_train = is_train
         
-        # Normalization
+        # 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=[0.485, 0.456, 0.406],
-            std=[0.229, 0.224, 0.225]
+            mean=[y_mean],
+            std=[y_std]
         )
     
     def __len__(self):

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()