commit 9b77ae5cbe866c39e3ae2437e6c32961620c6341 Author: feie9454 Date: Wed Sep 24 11:35:48 2025 +0800 first commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..22da39c --- /dev/null +++ b/.gitignore @@ -0,0 +1,12 @@ +# Python-generated files +__pycache__/ +*.py[oc] +build/ +dist/ +wheels/ +*.egg-info + +# Virtual environments +.venv + +*.png \ No newline at end of file diff --git a/.python-version b/.python-version new file mode 100644 index 0000000..e4fba21 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.12 diff --git a/README.md b/README.md new file mode 100644 index 0000000..e69de29 diff --git a/chaos_pdl/PingFang SC.ttf b/chaos_pdl/PingFang SC.ttf new file mode 100644 index 0000000..8790adb Binary files /dev/null and b/chaos_pdl/PingFang SC.ttf differ diff --git a/chaos_pdl/bench_latency.py b/chaos_pdl/bench_latency.py new file mode 100644 index 0000000..7cd88a1 --- /dev/null +++ b/chaos_pdl/bench_latency.py @@ -0,0 +1,147 @@ +# -*- coding: utf-8 -*- +""" +bench_latency.py +- 加载训练好的 Transformer 模型（best_model.pt）与 scaler.npz（用于确定列与F） +- 构造单次前向输入（从指定 CSV 取最后 L 行并标准化，或随机生成） +- 多次重复前向，统计耗时（均值/最佳/p50/p90/p99），支持 CUDA 同步与 autocast + +用法示例： +uv run chaos_pdl/bench_latency.py \ + --model_path outputs/chaos/best_model.pt \ + --scaler_path outputs/chaos/scaler.npz \ + --csv_path chaos_pdl/data/metrics-20250920-000328_angles.csv \ + --seq_len 180 --iters 200 --warmup 50 --dtype fp32 + +如导入问题，可用模块方式： +uv run -m chaos_pdl.bench_latency ... +""" + +import argparse +import time +from typing import List + +import numpy as np +import pandas as pd +import torch + +try: + from chaos_pdl.pendulum_transformer import TimeSeriesTransformer +except ModuleNotFoundError: + from pendulum_transformer import TimeSeriesTransformer + + +def read_last_window(csv_path: str, expect_columns: List[str], seq_len: int): + df = pd.read_csv(csv_path) + if "frame_index" in df.columns: + df = df.sort_values("frame_index").drop(columns=["frame_index"]) # 与训练一致 + df_num = df.select_dtypes(include=[np.number]).copy() + has = list(df_num.columns) + if set(has) != set(expect_columns): + raise ValueError( + f"CSV 数值列与训练不一致\n 期望: {expect_columns}\n 实际: {has}\n" + ) + df_num = df_num[expect_columns].reset_index(drop=True) + if len(df_num) < seq_len: + raise ValueError(f"数据行不足：需要至少 {seq_len} 行，实际 {len(df_num)}") + arr = df_num.values.astype(np.float32) + return arr[-seq_len:, :] + + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("--model_path", type=str, default="./outputs/chaos/best_model.pt") + ap.add_argument("--scaler_path", type=str, default="./outputs/chaos/scaler.npz") + ap.add_argument("--csv_path", type=str, default="", help="用于构造输入的 CSV（可选）") + ap.add_argument("--seq_len", type=int, default=180) + ap.add_argument("--iters", type=int, default=200) + ap.add_argument("--warmup", type=int, default=50) + ap.add_argument("--batch", type=int, default=1) + ap.add_argument("--dtype", type=str, default="fp32", choices=["fp32", "bf16", "fp16"]) + ap.add_argument("--use_autocast", action="store_true", help="使用 autocast 进行混合精度（GPU 推荐）") + args = ap.parse_args() + + device = torch.device("cuda" if torch.cuda.is_available() else "cpu") + if device.type == "cuda": + print(f"Device: cuda | {torch.cuda.get_device_name(0)}") + else: + print("Device: cpu") + + sc = np.load(args.scaler_path, allow_pickle=True) + mean = sc["mean"].astype(np.float32) + std = sc["std"].astype(np.float32) + columns = list(sc["columns"].tolist()) + F = len(columns) + + # 加载模型 + ckpt = torch.load(args.model_path, map_location=device) + cfg = ckpt["config"] + horizon = int(cfg["horizon"]) + model = TimeSeriesTransformer( + in_features=F, + d_model=cfg["d_model"], + nhead=cfg["nhead"], + num_layers=cfg["num_layers"], + dim_feedforward=cfg["dim_ff"], + dropout=cfg["dropout"], + horizon=horizon, + ).to(device) + model.load_state_dict(ckpt["model_state"]) + model.eval() + + # 构造输入（标准化后） + if args.csv_path: + arr = read_last_window(args.csv_path, columns, args.seq_len) + else: + # 随机输入（标准化空间） + arr = np.random.randn(args.seq_len, F).astype(np.float32) + + # 标准化 + arr_norm = (arr - mean) / std + xb_np = np.repeat(arr_norm[None, :, :], args.batch, axis=0) # [B,L,F] + xb = torch.from_numpy(xb_np).to(device) + + # dtype/autocast + dtype_map = {"fp32": torch.float32, "bf16": torch.bfloat16, "fp16": torch.float16} + amp_dtype = dtype_map[args.dtype] + use_amp = args.use_autocast and (device.type == "cuda") and (amp_dtype != torch.float32) + + # 预热 + with torch.no_grad(): + for _ in range(max(0, args.warmup)): + if use_amp: + with torch.autocast(device_type="cuda", dtype=amp_dtype): + _ = model(xb) + else: + _ = model(xb) + if device.type == "cuda": + torch.cuda.synchronize() + + # 正式测时 + times = [] + with torch.no_grad(): + for _ in range(args.iters): + if device.type == "cuda": + torch.cuda.synchronize() + t0 = time.perf_counter() + if use_amp: + with torch.autocast(device_type="cuda", dtype=amp_dtype): + _ = model(xb) + else: + _ = model(xb) + if device.type == "cuda": + torch.cuda.synchronize() + t1 = time.perf_counter() + times.append((t1 - t0) * 1000.0) # ms + + times = np.array(times, dtype=np.float64) + def pct(p): + return float(np.percentile(times, p)) + + print("Latency (ms) for single forward:") + print(f" batch={args.batch}, L={args.seq_len}, F={F}, H={horizon}, dtype={args.dtype}, autocast={use_amp}") + print(f" mean={times.mean():.3f} | std={times.std():.3f} | min={times.min():.3f}") + print(f" p50={pct(50):.3f} | p90={pct(90):.3f} | p99={pct(99):.3f}") + + +if __name__ == "__main__": + main() diff --git a/chaos_pdl/cmd b/chaos_pdl/cmd new file mode 100644 index 0000000..456704c --- /dev/null +++ b/chaos_pdl/cmd @@ -0,0 +1,3 @@ +uv run ./chaos_pdl/normalize_csv_batch_2.py ./chaos_pdl/data/raw/*.csv -o ./chaos_pdl/data/ --font "chaos_pdl/PingFang SC.ttf" + +uv run chaos_pdl/pendulum_transformer.py --csv_paths chaos_pdl/data/*.csv \ No newline at end of file diff --git a/chaos_pdl/data/raw/metrics-20250919-232212.csv b/chaos_pdl/data/raw/metrics-20250919-232212.csv new file mode 100644 index 0000000..465c7bf --- /dev/null +++ b/chaos_pdl/data/raw/metrics-20250919-232212.csv @@ -0,0 +1,3738 @@ +frameIndex,time,redRectCenterX,redRectCenterY,greenRectCenterX,greenRectCenterY,blueRectCenterX,blueRectCenterY,redRectRotation,greenRectRotation,blueRectRotation,redRectLength,greenRectLength,blueRectLength,redRectWidth,greenRectWidth,blueRectWidth +0,0.001,185.164,429.732,354.176,501.794,190.887,432.164,23.025,77.471,23.025,342.593,317.044,355.031,27.725,18.222,27.725 +1,0.023,179.193,442.782,355.966,486.998,183.990,443.995,14.196,93.945,14.196,344.646,314.632,354.540,27.156,17.957,27.156 +2,0.043,179.193,442.782,355.966,486.998,183.990,443.995,14.196,93.945,14.196,344.646,314.632,354.540,27.156,17.957,27.156 +3,0.062,175.419,457.544,357.384,470.639,180.185,457.915,4.450,109.916,4.450,345.745,312.620,355.305,21.061,19.063,21.061 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+10253,322.234,208.500,425.000,332.971,558.346,215.579,432.079,45.000,84.043,45.000,324.562,323.314,344.585,24.749,19.399,24.749 +10254,322.265,211.420,421.904,330.367,561.532,218.947,430.217,47.842,76.417,47.842,321.824,324.273,344.253,24.333,18.977,24.333 \ No newline at end of file diff --git a/chaos_pdl/eval_model.py b/chaos_pdl/eval_model.py new file mode 100644 index 0000000..85e79e6 --- /dev/null +++ b/chaos_pdl/eval_model.py @@ -0,0 +1,335 @@ +# -*- coding: utf-8 -*- +""" +eval_model.py +- 加载训练好的 Transformer 模型（best_model.pt）和标准化参数（scaler.npz） +- 对单个 CSV 进行标准化、滑窗切片并评测：wRMSE / MSE / MAE(original) +- 可选输出最后一个窗口的预测与真值（反标准化）到 CSV + +使用示例： +uv run chaos_pdl/eval_model.py \ + --csv_path chaos_pdl/data/achieve2/raw/IMG_1119_out_metrics.csv \ + --model_path outputs/chaos/best_model.pt \ + --scaler_path outputs/chaos/scaler.npz \ + --seq_len 180 --stride 1 \ + --save_dir outputs/chaos +""" + +import argparse +import os +from typing import List + +import numpy as np +import pandas as pd +import torch + +# 复用训练脚本中的模块与评测函数 +# 兼容两种导入方式： +try: + # 优先按包路径导入（若将项目安装为包或以工作区根为 sys.path） + from chaos_pdl.pendulum_transformer import ( + TimeSeriesTransformer, + WeightedRMSELoss, + WindowedTSDataset, + ) +except ModuleNotFoundError: + # 退化为同目录导入（直接运行本脚本时更稳） + from pendulum_transformer import ( + TimeSeriesTransformer, + WeightedRMSELoss, + WindowedTSDataset, + ) + + +def build_windows_indices(T: int, seq_len: int, horizon: int, stride: int) -> np.ndarray: + """与训练一致：生成起点索引，确保 s+seq_len+horizon 不越界。""" + max_start = T - seq_len - horizon + if max_start < 0: + return np.array([], dtype=np.int64) + return np.arange(0, max_start + 1, stride, dtype=np.int64) + + +@torch.no_grad() +def evaluate_losses(model, loader, device, weighted_rmse: WeightedRMSELoss): + model.eval() + total_wrmse, total_mse = 0.0, 0.0 + count = 0 + mse_fn = torch.nn.MSELoss() + for xb, yb in loader: + xb = xb.to(device) + yb = yb.to(device) + pred = model(xb) + total_wrmse += weighted_rmse(pred, yb).item() * xb.size(0) + total_mse += mse_fn(pred, yb).item() * xb.size(0) + count += xb.size(0) + return total_wrmse / max(1, count), total_mse / max(1, count) + + +@torch.no_grad() +def mae_in_original_scale(model, loader, device, mean: np.ndarray, std: np.ndarray): + model.eval() + total_mae, count = 0.0, 0 + mean_t = torch.from_numpy(mean).to(device).view(1, 1, -1) + std_t = torch.from_numpy(std).to(device).view(1, 1, -1) + for xb, yb in loader: + xb = xb.to(device) + yb = yb.to(device) + pred = model(xb) + pred_denorm = pred * std_t + mean_t + yb_denorm = yb * std_t + mean_t + mae = torch.abs(pred_denorm - yb_denorm).mean() + total_mae += mae.item() * xb.size(0) + count += xb.size(0) + return total_mae / max(1, count) + + +def read_single_csv_align(path: str, expect_columns: List[str]) -> pd.DataFrame: + """ + 读取单个 CSV： + - 若含 frame_index，则按其排序并移除； + - 仅保留数值列； + - 校验列集合与 scaler 中记录的列一致，并按预期顺序重排。 + """ + df = pd.read_csv(path) + if "frame_index" in df.columns: + df = df.sort_values("frame_index").drop(columns=["frame_index"]) # 对齐训练逻辑 + df_num = df.select_dtypes(include=[np.number]).copy() + has = list(df_num.columns) + if set(has) != set(expect_columns): + raise ValueError( + f"CSV 数值列与训练时不一致\n 期望: {expect_columns}\n 实际: {has}\n" + "请确保列集合一致（名称与类型），且来源一致。" + ) + # 按 scaler 的列顺序重排 + df_num = df_num[expect_columns] + return df_num.reset_index(drop=True) + + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("--csv_path", type=str, required=True, help="待评测的 CSV 文件路径") + ap.add_argument("--model_path", type=str, default="./outputs/chaos/best_model.pt") + ap.add_argument("--scaler_path", type=str, default="./outputs/chaos/scaler.npz") + ap.add_argument("--seq_len", type=int, default=180, help="历史窗口长度 L（需与训练一致）") + ap.add_argument("--stride", type=int, default=1, help="评测滑窗步长") + ap.add_argument("--batch_size", type=int, default=1024) + ap.add_argument("--save_dir", type=str, default="", help="若提供，则保存最后一个窗口的预测/真值 CSV") + ap.add_argument( + "--plot_path", + type=str, + default="", + help="每步RMSE(原尺度)曲线图的保存路径（.png）。若未提供且有save_dir，则保存到 save_dir/per_step_rmse.png", + ) + ap.add_argument( + "--plot_heatmap", + action="store_true", + help="输出每步×每特征的RMSE热力图（原尺度），保存到 save_dir/per_step_feature_rmse.png 与 CSV", + ) + ap.add_argument( + "--plot_feature", + type=str, + default="", + help="指定一个特征名，对最后一个窗口画出预测与真值曲线；默认取第一个列名", + ) + + args = ap.parse_args() + + device = torch.device("cuda" if torch.cuda.is_available() else "cpu") + print(f"Device: {device}") + + # 读取 scaler（包含列顺序） + sc = np.load(args.scaler_path, allow_pickle=True) + mean = sc["mean"] + std = sc["std"] + columns = list(sc["columns"].tolist()) + print(f"Scaler loaded. Columns={columns}") + + # 读取并对齐 CSV + df = read_single_csv_align(args.csv_path, columns) + values = df.values.astype(np.float32) + T, F = values.shape + print(f"Data loaded. T={T}, F={F}") + + # 加载模型 + ckpt = torch.load(args.model_path, map_location=device) + cfg = ckpt["config"] + loss_cfg = ckpt.get("loss_cfg", {"mode": "exp", "gamma": 0.99, "alpha": 0.02, "min_w": 0.05}) + horizon = int(cfg["horizon"]) # 评测时以 ckpt 中的 horizon 为准 + model = TimeSeriesTransformer( + in_features=F, + d_model=cfg["d_model"], + nhead=cfg["nhead"], + num_layers=cfg["num_layers"], + dim_feedforward=cfg["dim_ff"], + dropout=cfg["dropout"], + horizon=horizon, + ).to(device) + model.load_state_dict(ckpt["model_state"]) + model.eval() + + # 构造评测窗口 + starts = build_windows_indices(T, args.seq_len, horizon, args.stride) + if len(starts) == 0: + raise ValueError( + f"数据不足：T={T}，需要至少 seq_len({args.seq_len})+horizon({horizon}) 帧。" + ) + print(f"Eval windows: {len(starts)} (L={args.seq_len}, H={horizon}, stride={args.stride})") + + # 标准化（使用训练好的 mean/std） + values_norm = (values - mean) / std + + # DataLoader + ds = WindowedTSDataset(values_norm, starts, args.seq_len, horizon) + loader = torch.utils.data.DataLoader(ds, batch_size=args.batch_size, shuffle=False) + + # 构造损失 + weighted_rmse = WeightedRMSELoss( + horizon=horizon, + mode=loss_cfg.get("mode", "exp"), + gamma=loss_cfg.get("gamma", 0.99), + alpha=loss_cfg.get("alpha", 0.02), + min_w=loss_cfg.get("min_w", 0.05), + ).to(device) + + # 评测 + val_wrmse, val_mse = evaluate_losses(model, loader, device, weighted_rmse) + val_mae_orig = mae_in_original_scale(model, loader, device, mean, std) + print( + f"[Eval] wRMSE={val_wrmse:.6f} | MSE={val_mse:.6f} | MAE(original)={val_mae_orig:.6f}" + ) + + # 统计每个预测步 t 的原尺度 RMSE，并可视化；可选统计每步×每特征的RMSE热力图 + try: + import matplotlib.pyplot as plt + model.eval() + H = horizon + # 累积每步的 MSE（原尺度） + step_sse = np.zeros(H, dtype=np.float64) + step_count = 0 # 累积的样本数（B*F）按 batch 聚合 + # 若需要热力图：累积 [H,F] 的平方误差和，以及样本计数（按窗口计数） + per_feat_sse = None # shape [H,F] + window_count = 0 + mean_t = torch.from_numpy(mean).to(device).view(1, 1, -1) + std_t = torch.from_numpy(std).to(device).view(1, 1, -1) + with torch.no_grad(): + for xb, yb in loader: + xb = xb.to(device) + yb = yb.to(device) + pred = model(xb) + pred_den = pred * std_t + mean_t + yb_den = yb * std_t + mean_t + err = pred_den - yb_den # [B,H,F] + # 对 batch 和 feature 求均方，先累加平方和，最后再除以总数 + sse_h = (err ** 2).sum(dim=(0, 2)).detach().cpu().numpy() # [H] + step_sse += sse_h + step_count += (xb.size(0) * xb.size(2)) + + if args.plot_heatmap: + sse_hf = (err ** 2).sum(dim=0).detach().cpu().numpy() # [H,F] 按 batch 合并 + if per_feat_sse is None: + per_feat_sse = sse_hf.astype(np.float64) + else: + per_feat_sse += sse_hf + window_count += xb.size(0) + + step_mse = step_sse / max(1, step_count) + step_rmse = np.sqrt(np.maximum(step_mse, 1e-12)) + + # 保存数据到 CSV（若 save_dir 提供） + if args.save_dir: + os.makedirs(args.save_dir, exist_ok=True) + csv_path = os.path.join(args.save_dir, "per_step_rmse.csv") + pd.DataFrame({ + "step": np.arange(1, H + 1), + "rmse": step_rmse, + "mse": step_mse, + }).to_csv(csv_path, index=False) + print(f"Saved: {csv_path}") + + # 绘图路径 + plot_path = args.plot_path + if not plot_path and args.save_dir: + plot_path = os.path.join(args.save_dir, "per_step_rmse.png") + if plot_path: + plt.figure(figsize=(8, 4.5)) + plt.plot(np.arange(1, H + 1), step_rmse, marker="o", lw=1.5) + plt.xlabel("Prediction step (t)") + plt.ylabel("RMSE (original scale)") + plt.title("Per-step RMSE vs prediction step") + plt.grid(True, alpha=0.3) + plt.tight_layout() + plt.savefig(plot_path, dpi=150) + print(f"Saved: {plot_path}") + + # 输出热力图与CSV + if args.plot_heatmap and per_feat_sse is not None and args.save_dir: + os.makedirs(args.save_dir, exist_ok=True) + per_feat_mse = per_feat_sse / max(1, window_count) # [H,F] 每步每特征 MSE（按窗口平均） + per_feat_rmse = np.sqrt(np.maximum(per_feat_mse, 1e-12)) + # CSV：行为 step，列为各特征 + csv_hm = os.path.join(args.save_dir, "per_step_feature_rmse.csv") + pd.DataFrame(per_feat_rmse, columns=columns, index=np.arange(1, H + 1)).to_csv(csv_hm) + print(f"Saved: {csv_hm}") + # 热力图 + plt.figure(figsize=(min(12, 1.5 + 0.35 * len(columns) + 6), 5)) + im = plt.imshow(per_feat_rmse, aspect="auto", origin="lower", cmap="viridis") + plt.colorbar(im, label="RMSE") + plt.yticks(ticks=np.arange(0, H, max(1, H // 10)), labels=(np.arange(1, H + 1)[::max(1, H // 10)])) + plt.xticks(ticks=np.arange(len(columns)), labels=columns, rotation=45, ha="right") + plt.xlabel("Feature") + plt.ylabel("Prediction step (t)") + plt.title("Per-step per-feature RMSE (original scale)") + plt.tight_layout() + hm_path = os.path.join(args.save_dir, "per_step_feature_rmse.png") + plt.savefig(hm_path, dpi=150) + print(f"Saved: {hm_path}") + except Exception as e: + print(f"[warn] 每步RMSE绘图失败：{e}") + + # 可选：保存最后一个窗口的预测与真值（反标准化） + if args.save_dir: + os.makedirs(args.save_dir, exist_ok=True) + last_start = int(starts[-1]) + x_last = values_norm[last_start : last_start + args.seq_len] + y_true = values[last_start + args.seq_len : last_start + args.seq_len + horizon] + with torch.no_grad(): + pred = ( + model(torch.from_numpy(x_last).unsqueeze(0).to(device)) + .cpu() + .numpy()[0] + ) + pred_denorm = pred * std + mean + # 保存为两份 CSV：pred 和 true，行是步长 t=1..H，列为各特征名 + pred_df = pd.DataFrame(pred_denorm, columns=columns) + true_df = pd.DataFrame(y_true, columns=columns) + pred_path = os.path.join(args.save_dir, "last_window_pred.csv") + true_path = os.path.join(args.save_dir, "last_window_true.csv") + pred_df.to_csv(pred_path, index=False) + true_df.to_csv(true_path, index=False) + print(f"Saved: {pred_path}\nSaved: {true_path}") + + # 可选：对某个特征画最后一个窗口的预测-真值曲线 + try: + import matplotlib.pyplot as plt + feat = args.plot_feature or columns[0] + if feat not in columns: + print(f"[warn] plot_feature='{feat}' 不在列中，使用默认 {columns[0]}") + feat = columns[0] + fi = columns.index(feat) + plt.figure(figsize=(7, 4)) + plt.plot(np.arange(1, horizon + 1), pred_denorm[:, fi], label="pred", marker="o", lw=1.5) + plt.plot(np.arange(1, horizon + 1), y_true[:, fi], label="true", marker="o", lw=1.5) + plt.xlabel("Prediction step (t)") + plt.ylabel(feat) + plt.title(f"Last window prediction vs truth: {feat}") + plt.grid(True, alpha=0.3) + plt.legend() + plt.tight_layout() + line_path = os.path.join(args.save_dir, f"last_window_{feat}_pred_vs_true.png") + plt.savefig(line_path, dpi=150) + print(f"Saved: {line_path}") + except Exception as e: + print(f"[warn] 最后窗口曲线绘图失败：{e}") + + +if __name__ == "__main__": + main() diff --git a/chaos_pdl/make_demo_video.py b/chaos_pdl/make_demo_video.py new file mode 100644 index 0000000..94ff468 --- /dev/null +++ b/chaos_pdl/make_demo_video.py @@ -0,0 +1,249 @@ +# -*- coding: utf-8 -*- +""" +make_demo_video.py +- 读取单个 CSV + 模型与标准化，进行滚动 1-step 预测，生成 10 秒预测示意视频 +- 画面：展示绿色/红色摆的真实位置（实线）与上一步预测到当前帧的预测位置（虚线） + +使用示例： +uv run -m chaos_pdl.make_demo_video \ + --csv_path chaos_pdl/data/metrics-20250920-000328_angles.csv \ + --model_path outputs/chaos/best_model.pt \ + --scaler_path outputs/chaos/scaler.npz \ + --seq_len 180 \ + --duration 10 \ + --fps 30 \ + --out_path outputs/chaos/demo.mp4 + +若系统未安装 ffmpeg，会自动回退为 GIF：outputs/chaos/demo.gif +""" + +import argparse +import os +from typing import List, Tuple + +import numpy as np +import pandas as pd +import torch +import matplotlib.pyplot as plt +from matplotlib.animation import FuncAnimation, FFMpegWriter, PillowWriter + +try: + from chaos_pdl.pendulum_transformer import TimeSeriesTransformer, WindowedTSDataset +except ModuleNotFoundError: + from pendulum_transformer import TimeSeriesTransformer, WindowedTSDataset + + +def read_align_csv(path: str, expect_columns: List[str]) -> pd.DataFrame: + df = pd.read_csv(path) + if "frame_index" in df.columns: + df = df.sort_values("frame_index").drop(columns=["frame_index"]) # 对齐训练逻辑 + df_num = df.select_dtypes(include=[np.number]).copy() + has = list(df_num.columns) + if set(has) != set(expect_columns): + raise ValueError( + f"CSV 数值列与训练不一致\n 期望: {expect_columns}\n 实际: {has}\n" + ) + return df_num[expect_columns].reset_index(drop=True) + + +def build_one_step_pred_sequence(values_norm: np.ndarray, model: TimeSeriesTransformer, device: torch.device, + seq_len: int, frame_idx_list: np.ndarray, batch_size: int = 512) -> np.ndarray: + """ + 对于每个目标帧 t，使用窗口 [t-L, t)（即以 t-1 为最后一帧）做前向，取 1-step 预测（pred[:, 0, :]）。 + 返回形状 [N, F] 的反标准化前的预测（在外部再去反标准化）。 + 这里直接返回标准化空间预测（保留与训练一致的数值），由外层负责反标准化。 + """ + model.eval() + starts = frame_idx_list - seq_len # 每个 t 对应窗口起点（最后一帧是 t-1） + assert np.all(starts >= 0) + # 构造批量窗口 + preds_list = [] + with torch.no_grad(): + for i in range(0, len(starts), batch_size): + bs = starts[i:i + batch_size] + # 堆叠为 [B,L,F] + batch = np.stack([values_norm[s:s + seq_len] for s in bs], axis=0).astype(np.float32) + xb = torch.from_numpy(batch).to(device) + out = model(xb) # [B,H,F] + preds_list.append(out[:, 0, :].cpu().numpy()) # 取 t+1 的第一步 + return np.concatenate(preds_list, axis=0) # [N,F] + + +def angle_from_sin_cos(sin_v: float, cos_v: float) -> float: + return float(np.arctan2(sin_v, cos_v)) + + +def endpoint_from_angle(theta: float, length: float = 1.0) -> Tuple[float, float]: + # 以 (0,0) 为锚点，x=sin(theta), y=-cos(theta)（让角度0指向正下） + return (length * np.sin(theta), -length * np.cos(theta)) + + +def draw_frame(ax, true_row: np.ndarray, pred_row: np.ndarray, col_idx: dict, title: str): + ax.clear() + ax.set_aspect('equal', 'box') + ax.set_xlim(-1.2, 1.2) + ax.set_ylim(-1.2, 1.2) + ax.grid(True, alpha=0.2) + + # 真实角度 + g_theta = angle_from_sin_cos(true_row[col_idx['green_angle_sin']], true_row[col_idx['green_angle_cos']]) + r_theta = angle_from_sin_cos(true_row[col_idx['red_angle_sin']], true_row[col_idx['red_angle_cos']]) + gx, gy = endpoint_from_angle(g_theta) + rx, ry = endpoint_from_angle(r_theta) + + # 预测角度（上一步预测到当前帧） + pg_theta = angle_from_sin_cos(pred_row[col_idx['green_angle_sin']], pred_row[col_idx['green_angle_cos']]) + pr_theta = angle_from_sin_cos(pred_row[col_idx['red_angle_sin']], pred_row[col_idx['red_angle_cos']]) + pgx, pgy = endpoint_from_angle(pg_theta) + prx, pry = endpoint_from_angle(pr_theta) + + # 真实（实线） + ax.plot([0, gx], [0, gy], color='tab:green', lw=3, label='green-true') + ax.plot([0, rx], [0, ry], color='tab:red', lw=3, label='red-true') + ax.scatter([gx, rx], [gy, ry], color=['tab:green', 'tab:red'], s=40) + + # 预测（虚线半透明） + ax.plot([0, pgx], [0, pgy], color='tab:green', lw=2, ls='--', alpha=0.7, label='green-pred') + ax.plot([0, prx], [0, pry], color='tab:red', lw=2, ls='--', alpha=0.7, label='red-pred') + ax.scatter([pgx, prx], [pgy, pry], color=['tab:green', 'tab:red'], s=30, alpha=0.7) + + ax.legend(loc='upper right') + ax.set_title(title) + + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument('--csv_path', type=str, required=True, help='输入 CSV（需要包含训练使用的列）') + ap.add_argument('--model_path', type=str, default='outputs/chaos/best_model.pt') + ap.add_argument('--scaler_path', type=str, default='outputs/chaos/scaler.npz') + ap.add_argument('--seq_len', type=int, default=180) + ap.add_argument('--duration', type=int, default=10, help='视频秒数') + ap.add_argument('--fps', type=int, default=30) + ap.add_argument('--out_path', type=str, default='outputs/chaos/demo.mp4') + ap.add_argument('--start_from_end', action='store_true', help='从序列末尾倒推所需时长；不设则从 seq_len 处开始') + ap.add_argument('--batch_size', type=int, default=512) + ap.add_argument('--orient', type=str, default='down', choices=['down', 'right'], + help='坐标映射：down -> (x=sin(theta), y=-cos(theta)); right -> (x=cos(theta), y=sin(theta))') + ap.add_argument('--debug_stats', action='store_true', help='打印窗口内若干关键列的最小/最大值，排查坐标恒正等问题') + + args = ap.parse_args() + + device = torch.device('cuda' if torch.cuda.is_available() else 'cpu') + + sc = np.load(args.scaler_path, allow_pickle=True) + mean = sc['mean'].astype(np.float32) + std = sc['std'].astype(np.float32) + columns = list(sc['columns'].tolist()) + col_idx = {c: i for i, c in enumerate(columns)} + + # 加载模型 + ckpt = torch.load(args.model_path, map_location=device) + cfg = ckpt['config'] + H = int(cfg['horizon']) + model = TimeSeriesTransformer( + in_features=len(columns), + d_model=cfg['d_model'], + nhead=cfg['nhead'], + num_layers=cfg['num_layers'], + dim_feedforward=cfg['dim_ff'], + dropout=cfg['dropout'], + horizon=H, + ).to(device) + model.load_state_dict(ckpt['model_state']) + model.eval() + + # 数据 + df = read_align_csv(args.csv_path, columns) + values = df.values.astype(np.float32) + T = len(values) + if T < args.seq_len + 2: + raise ValueError(f'数据太短：需要至少 {args.seq_len + 2} 行，当前 {T}') + + # 选择时间范围 + N_frames = args.duration * args.fps + if args.start_from_end: # 从末尾倒推 + end_t = T - 1 + start_t = max(args.seq_len, end_t - N_frames + 1) + else: + start_t = args.seq_len + end_t = min(T - 1, start_t + N_frames - 1) + frame_ts = np.arange(start_t, end_t + 1, dtype=np.int64) + N_frames = len(frame_ts) + + # 标准化 + values_norm = (values - mean) / std + + # 为每个 t 进行 1-step 预测：窗口是 [t-L, t)，目标是 t + preds_norm = build_one_step_pred_sequence(values_norm, model, device, args.seq_len, frame_ts, args.batch_size) + preds = preds_norm * std + mean # 反标准化 + + # 真实对应行 + truths = values[frame_ts] + + # 可选调试：打印该时段关键列范围 + if args.debug_stats: + def rng(name): + i = col_idx[name] + return float(truths[:, i].min()), float(truths[:, i].max()) + keys = [ + 'green_angle_sin','green_angle_cos','red_angle_sin','red_angle_cos' + ] + avail = [k for k in keys if k in col_idx] + for k in avail: + lo, hi = rng(k) + print(f"[debug] {k}: min={lo:.4f}, max={hi:.4f}") + + # 准备动画 + fig, ax = plt.subplots(figsize=(5, 5)) + + def update(i): + t = frame_ts[i] + title = f't={int(t)} (frame {i+1}/{N_frames})' + # 根据 orient 选择坐标映射 + if args.orient == 'down': + draw_frame(ax, truths[i], preds[i], col_idx, title) + else: # 'right' + def angle_from_sc(row, which): + return float(np.arctan2(row[col_idx[f'{which}_angle_sin']], row[col_idx[f'{which}_angle_cos']])) + def xy_from_theta(theta): + return (np.cos(theta), np.sin(theta)) + ax.clear() + ax.set_aspect('equal', 'box') + ax.set_xlim(-1.2, 1.2) + ax.set_ylim(-1.2, 1.2) + ax.grid(True, alpha=0.2) + # 真实 + g_t = angle_from_sc(truths[i], 'green'); r_t = angle_from_sc(truths[i], 'red') + gx, gy = xy_from_theta(g_t); rx, ry = xy_from_theta(r_t) + # 预测 + pg_t = angle_from_sc(preds[i], 'green'); pr_t = angle_from_sc(preds[i], 'red') + pgx, pgy = xy_from_theta(pg_t); prx, pry = xy_from_theta(pr_t) + ax.plot([0, gx],[0, gy], color='tab:green', lw=3, label='green-true') + ax.plot([0, rx],[0, ry], color='tab:red', lw=3, label='red-true') + ax.scatter([gx, rx],[gy, ry], color=['tab:green','tab:red'], s=40) + ax.plot([0, pgx],[0, pgy], color='tab:green', lw=2, ls='--', alpha=0.7, label='green-pred') + ax.plot([0, prx],[0, pry], color='tab:red', lw=2, ls='--', alpha=0.7, label='red-pred') + ax.scatter([pgx, prx],[pgy, pry], color=['tab:green','tab:red'], s=30, alpha=0.7) + ax.legend(loc='upper right') + ax.set_title(title) + return [] + + anim = FuncAnimation(fig, update, frames=N_frames, interval=1000.0 / args.fps, blit=False) + + # 存储 + os.makedirs(os.path.dirname(args.out_path), exist_ok=True) + try: + writer = FFMpegWriter(fps=args.fps, bitrate=1800) + anim.save(args.out_path, writer=writer) + print(f'Saved video: {args.out_path}') + except Exception as e: + # 回退为 GIF + gif_path = os.path.splitext(args.out_path)[0] + '.gif' + print(f'[warn] 写入 mp4 失败（可能缺少 ffmpeg）：{e}\n回退为 GIF -> {gif_path}') + writer = PillowWriter(fps=args.fps) + anim.save(gif_path, writer=writer) + print(f'Saved GIF: {gif_path}') + + +if __name__ == '__main__': + main() diff --git a/chaos_pdl/normalize_csv_batch.py b/chaos_pdl/normalize_csv_batch.py new file mode 100644 index 0000000..4dd4a9c --- /dev/null +++ b/chaos_pdl/normalize_csv_batch.py @@ -0,0 +1,220 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +""" +批量处理 CSV： +- 从 CSV（支持多个路径或通配符）读取中国语系 GB2312 编码数据； +- 对黄色/红色圆心序列分别做最小二乘圆拟合； +- 计算角度的 sin/cos 以及按拟合圆归一化后的坐标（pos_sin/pos_cos）； +- 导出 UTF-8 CSV 到指定输出目录； +- 可选保存拟合示意图 PNG。 + +用法示例： + 1) 处理一个/多个文件： + python circle_fit_batch.py data/3.csv data/4.csv -o outputs + + 2) 使用通配符批量处理： + python circle_fit_batch.py "data/*.csv" -o outputs + + 3) 指定不同编码或禁用绘图： + python circle_fit_batch.py "data/*.csv" -o outputs --encoding gb2312 --no-plot + + 4) 指定中文字体文件用于图例（可选）： + python circle_fit_batch.py "data/*.csv" -o outputs --font "/path/to/PingFang Regular.ttf" +""" +import argparse +import glob +import math +import os +import sys +from typing import Tuple, List + +import numpy as np +import pandas as pd + +# 后端设为无界面，以便在服务器/批处理环境下保存图像 +import matplotlib +matplotlib.use("Agg") +import matplotlib.pyplot as plt +from matplotlib import font_manager + +REQUIRED_COLS = [ + "帧序号", + "黄色与水平线夹角(度)", + "红色与水平线夹角(度)", + "黄色外接圆圆心X", + "黄色外接圆圆心Y", + "红色相关外接圆圆心X", + "红色相关外接圆圆心Y", +] + + +def fit_circle_lstsq(x: np.ndarray, y: np.ndarray) -> Tuple[float, float, float]: + """最小二乘拟合圆：解 x^2 + y^2 = 2 a x + 2 b y + c + 返回 (cx, cy, r) + """ + x = np.asarray(x, dtype=np.float64) + y = np.asarray(y, dtype=np.float64) + A = np.c_[2 * x, 2 * y, np.ones_like(x)] + b = x * x + y * y + sol, *_ = np.linalg.lstsq(A, b, rcond=None) + a, b_, c = sol + cx, cy = a, b_ + r = math.sqrt(max(cx * cx + cy * cy + c, 0.0)) + return float(cx), float(cy), float(r) + + +def deg_to_cos_sin(deg: np.ndarray) -> Tuple[np.ndarray, np.ndarray]: + """角度(度) -> (cos, sin)""" + rad = np.radians(deg.astype(np.float64)) + return np.cos(rad), np.sin(rad) + + +def expand_inputs(inputs: List[str]) -> List[str]: + files: List[str] = [] + for pat in inputs: + matched = glob.glob(pat) + if matched: + files.extend(matched) + else: + # 若未匹配到且参数本身是一个存在的文件，也加入 + if os.path.isfile(pat): + files.append(pat) + # 去重并排序，便于稳定输出 + files = sorted(set(files)) + return files + + +def ensure_output_dir(out_dir: str) -> None: + if not os.path.isdir(out_dir): + os.makedirs(out_dir, exist_ok=True) + + +def process_one_csv(csv_path: str, out_dir: str, encoding: str, plot: bool, font_path: str = None, overwrite: bool = False) -> None: + base = os.path.splitext(os.path.basename(csv_path))[0] + out_csv = os.path.join(out_dir, f"{base}_angles.csv") + out_png = os.path.join(out_dir, f"{base}_circle_fit.png") + + if not overwrite and os.path.exists(out_csv): + print(f"[SKIP] 输出已存在（使用 --overwrite 覆盖）：{out_csv}") + return + + try: + df = pd.read_csv(csv_path, encoding=encoding) + except Exception as e: + print(f"[ERROR] 读取失败：{csv_path} ({e})") + return + + missing = [c for c in REQUIRED_COLS if c not in df.columns] + if missing: + print(f"[ERROR] 列缺失：{csv_path} 缺少 {missing}") + return + + # 提取列 + yellow_x = df["黄色外接圆圆心X"].astype(float).to_numpy() + yellow_y = df["黄色外接圆圆心Y"].astype(float).to_numpy() + red_x = df["红色相关外接圆圆心X"].astype(float).to_numpy() + red_y = df["红色相关外接圆圆心Y"].astype(float).to_numpy() + + # 圆拟合 + ycx, ycy, yr = fit_circle_lstsq(yellow_x, yellow_y) + rcx, rcy, rr = fit_circle_lstsq(red_x, red_y) + + if yr <= 0 or rr <= 0 or not np.isfinite([yr, rr]).all(): + print(f"[ERROR] 拟合半径非法（<=0 或 非数），文件：{csv_path}") + return + + # 角度 -> cos/sin + yellow_angle_deg = pd.to_numeric(df["黄色与水平线夹角(度)"], errors="coerce").to_numpy() + red_angle_deg = pd.to_numeric(df["红色与水平线夹角(度)"], errors="coerce").to_numpy() + yellow_angle_cos, yellow_angle_sin = deg_to_cos_sin(yellow_angle_deg) + red_angle_cos, red_angle_sin = deg_to_cos_sin(red_angle_deg) + + # 位置按拟合圆归一化（cosx=沿X方向的归一化偏移；cosy=沿Y方向的归一化偏移） + yellow_cosx = (yellow_x - ycx) / yr + yellow_cosy = (yellow_y - ycy) / yr + red_cosx = (red_x - rcx) / rr + red_cosy = (red_y - rcy) / rr + + out_df = pd.DataFrame({ + "frame_index": df["帧序号"], + "yellow_angle_sin": yellow_angle_sin, + "yellow_angle_cos": yellow_angle_cos, + "red_angle_sin": red_angle_sin, + "red_angle_cos": red_angle_cos, + "yellow_pos_sin": yellow_cosy, + "yellow_pos_cos": yellow_cosx, + "red_pos_sin": red_cosy, + "red_pos_cos": red_cosx, + }) + + try: + out_df.to_csv(out_csv, index=False, encoding="utf-8") + print(f"[OK] 导出：{out_csv} | 黄圆 (cx,cy,r)=({ycx:.6g},{ycy:.6g},{yr:.6g}) 红圆 (cx,cy,r)=({rcx:.6g},{rcy:.6g},{rr:.6g})") + except Exception as e: + print(f"[ERROR] 写出 CSV 失败：{out_csv} ({e})") + + if plot: + # 字体（可选） + if font_path: + try: + font_manager.fontManager.addfont(font_path) + # 若传入中文字体，则优先用它显示中文 + font_name = os.path.splitext(os.path.basename(font_path))[0] + plt.rcParams["font.sans-serif"] = [font_name] + except Exception as e: + print(f"[WARN] 字体加载失败：{font_path} ({e})") + + fig, ax = plt.subplots() + ax.set_aspect("equal", "box") + ax.scatter(yellow_x, yellow_y, s=1, label="黄色") + ax.scatter(red_x, red_y, s=1, label="红色") + + circle1 = plt.Circle((ycx, ycy), yr, color="orange", fill=False, label="拟合黄色圆") + circle2 = plt.Circle((rcx, rcy), rr, color="red", fill=False, label="拟合红色圆") + ax.add_artist(circle1) + ax.add_artist(circle2) + ax.legend() + + try: + fig.savefig(out_png, dpi=150, bbox_inches="tight") + print(f"[OK] 拟合图：{out_png}") + finally: + plt.close(fig) + + +def parse_args(): + p = argparse.ArgumentParser(description="批量对 CSV 进行圆拟合与角度/位置归一化导出") + p.add_argument("inputs", nargs="+", help="输入 CSV 路径或通配符（可多个），例如 data/3.csv 或 \"data/*.csv\"") + p.add_argument("-o", "--output-dir", required=True, help="输出目录，将在其中生成 *_angles.csv 与 *_circle_fit.png") + p.add_argument("--encoding", default="gb2312", help="输入 CSV 编码（默认 gb2312）") + p.add_argument("--no-plot", action="store_true", help="不保存拟合示意图 PNG") + p.add_argument("--font", default=None, help="可选：中文字体文件路径（用于图例/标签显示中文）") + p.add_argument("--overwrite", action="store_true", help="若输出文件存在则覆盖") + return p.parse_args() + + +def main(): + args = parse_args() + files = expand_inputs(args.inputs) + if not files: + print("[ERROR] 未找到任何输入文件。请检查路径/通配符。", file=sys.stderr) + sys.exit(2) + + ensure_output_dir(args.output_dir) + + print(f"共 {len(files)} 个文件，将输出到：{args.output_dir}") + for fp in files: + print(f"==> 处理：{fp}") + process_one_csv( + csv_path=fp, + out_dir=args.output_dir, + encoding=args.encoding, + plot=(not args.no_plot), + font_path=args.font, + overwrite=args.overwrite, + ) + + +if __name__ == "__main__": + main() diff --git a/chaos_pdl/normalize_csv_batch_2.py b/chaos_pdl/normalize_csv_batch_2.py new file mode 100644 index 0000000..6d29546 --- /dev/null +++ b/chaos_pdl/normalize_csv_batch_2.py @@ -0,0 +1,241 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +""" +批量处理 CSV： +- 从 CSV（支持多个路径或通配符）读取中国语系 GB2312 编码数据； +- 对黄色/红色圆心序列分别做最小二乘圆拟合； +- 计算角度的 sin/cos 以及按拟合圆归一化后的坐标（pos_sin/pos_cos）； +- 导出 UTF-8 CSV 到指定输出目录； +- 可选保存拟合示意图 PNG。 + +用法示例： + 1) 处理一个/多个文件： + python circle_fit_batch.py data/3.csv data/4.csv -o outputs + + 2) 使用通配符批量处理： + python circle_fit_batch.py "data/*.csv" -o outputs + + 3) 指定不同编码或禁用绘图： + python circle_fit_batch.py "data/*.csv" -o outputs --encoding gb2312 --no-plot + + 4) 指定中文字体文件用于图例（可选）： + python circle_fit_batch.py "data/*.csv" -o outputs --font "/path/to/PingFang Regular.ttf" +""" +import argparse +import glob +import math +import os +import sys +from typing import Tuple, List + +import numpy as np +import pandas as pd + +# 后端设为无界面，以便在服务器/批处理环境下保存图像 +import matplotlib +matplotlib.use("Agg") +import matplotlib.pyplot as plt +from matplotlib import font_manager + +REQUIRED_COLS = [ + "frameIndex", + "time", + "greenRectRotation", + "blueRectRotation", + "greenRectCenterX", + "greenRectCenterY", + "blueRectCenterX", + "blueRectCenterY", +] + + +def fit_circle_lstsq(x: np.ndarray, y: np.ndarray) -> Tuple[float, float, float]: + """最小二乘拟合圆：解 x^2 + y^2 = 2 a x + 2 b y + c + 返回 (cx, cy, r) + """ + x = np.asarray(x, dtype=np.float64) + y = np.asarray(y, dtype=np.float64) + A = np.c_[2 * x, 2 * y, np.ones_like(x)] + b = x * x + y * y + sol, *_ = np.linalg.lstsq(A, b, rcond=None) + a, b_, c = sol + cx, cy = a, b_ + r = math.sqrt(max(cx * cx + cy * cy + c, 0.0)) + return float(cx), float(cy), float(r) + + +def deg_to_cos_sin(deg: np.ndarray) -> Tuple[np.ndarray, np.ndarray]: + """角度(度) -> (cos, sin)""" + rad = np.radians(deg.astype(np.float64)) + return np.cos(rad), np.sin(rad) + + +def expand_inputs(inputs: List[str]) -> List[str]: + files: List[str] = [] + for pat in inputs: + matched = glob.glob(pat) + if matched: + files.extend(matched) + else: + # 若未匹配到且参数本身是一个存在的文件，也加入 + if os.path.isfile(pat): + files.append(pat) + # 去重并排序，便于稳定输出 + files = sorted(set(files)) + return files + +def ensure_output_dir(out_dir: str) -> None: + if not os.path.isdir(out_dir): + os.makedirs(out_dir, exist_ok=True) + + +def process_one_csv(csv_path: str, out_dir: str, encoding: str, plot: bool, font_path: str = None, overwrite: bool = False) -> None: + base = os.path.splitext(os.path.basename(csv_path))[0] + out_csv = os.path.join(out_dir, f"{base}_angles.csv") + out_png = os.path.join(out_dir, f"{base}_circle_fit.png") + + if not overwrite and os.path.exists(out_csv): + print(f"[SKIP] 输出已存在（使用 --overwrite 覆盖）：{out_csv}") + return + + try: + df = pd.read_csv(csv_path, encoding=encoding) + except Exception as e: + print(f"[ERROR] 读取失败：{csv_path} ({e})") + return + + missing = [c for c in REQUIRED_COLS if c not in df.columns] + if missing: + print(f"[ERROR] 列缺失：{csv_path} 缺少 {missing}") + return + + # 将必要列转为数值，无法解析的置为 NaN + for c in REQUIRED_COLS: + df[c] = pd.to_numeric(df[c], errors="coerce") + + # 逐帧过滤：若任一必要列缺失/非数，则剔除该帧 + valid_mask = df[REQUIRED_COLS].notna().all(axis=1) + dropped = int(len(df) - valid_mask.sum()) + df_valid = df.loc[valid_mask].reset_index(drop=True) + if dropped > 0: + print(f"[INFO] 已过滤 {dropped} 帧（必要列缺失），保留 {len(df_valid)} 帧：{csv_path}") + + # 至少需要 2 帧来计算 deltaTime + if len(df_valid) < 2: + print(f"[ERROR] 有效帧不足2帧，无法计算deltaTime：{csv_path}") + return + + # 基于过滤后的时间序列计算 deltaTime；输出与其它列对齐（从第2帧开始） + time = df_valid["time"].to_numpy(dtype=float) + delta_time = np.diff(time) + + # 从第2帧开始提取所有数据（与 delta_time 对齐） + green_x = df_valid["greenRectCenterX"].to_numpy(dtype=float)[1:] + green_y = df_valid["greenRectCenterY"].to_numpy(dtype=float)[1:] + red_x = df_valid["blueRectCenterX"].to_numpy(dtype=float)[1:] + red_y = df_valid["blueRectCenterY"].to_numpy(dtype=float)[1:] + + # 圆拟合 + ycx, ycy, yr = fit_circle_lstsq(green_x, green_y) + rcx, rcy, rr = fit_circle_lstsq(red_x, red_y) + + if yr <= 0 or rr <= 0 or not np.isfinite([yr, rr]).all(): + print(f"[ERROR] 拟合半径非法（<=0 或 非数），文件：{csv_path}") + return + + # 角度 -> cos/sin (从第2帧开始) + green_angle_deg = df_valid["greenRectRotation"].to_numpy(dtype=float)[1:] + red_angle_deg = df_valid["blueRectRotation"].to_numpy(dtype=float)[1:] + green_angle_cos, green_angle_sin = deg_to_cos_sin(green_angle_deg) + red_angle_cos, red_angle_sin = deg_to_cos_sin(red_angle_deg) + + # 位置按拟合圆归一化（cosx=沿X方向的归一化偏移；cosy=沿Y方向的归一化偏移） + green_cosx = (green_x - ycx) / yr + green_cosy = (green_y - ycy) / yr + red_cosx = (red_x - rcx) / rr + red_cosy = (red_y - rcy) / rr + + out_df = pd.DataFrame({ + "frame_index": df_valid["frameIndex"].to_numpy()[1:], # 从第2帧开始 + "delta_time": delta_time, + "green_angle_sin": green_angle_sin, + "green_angle_cos": green_angle_cos, + "red_angle_sin": red_angle_sin, + "red_angle_cos": red_angle_cos, + "green_pos_sin": green_cosy, + "green_pos_cos": green_cosx, + "red_pos_sin": red_cosy, + "red_pos_cos": red_cosx, + }) + + try: + out_df.to_csv(out_csv, index=False, encoding="utf-8") + print(f"[OK] 导出：{out_csv} | 黄圆 (cx,cy,r)=({ycx:.6g},{ycy:.6g},{yr:.6g}) 红圆 (cx,cy,r)=({rcx:.6g},{rcy:.6g},{rr:.6g})") + except Exception as e: + print(f"[ERROR] 写出 CSV 失败：{out_csv} ({e})") + + if plot: + # 字体（可选） + if font_path: + try: + font_manager.fontManager.addfont(font_path) + # 若传入中文字体，则优先用它显示中文 + font_name = os.path.splitext(os.path.basename(font_path))[0] + plt.rcParams["font.sans-serif"] = [font_name] + except Exception as e: + print(f"[WARN] 字体加载失败：{font_path} ({e})") + + fig, ax = plt.subplots() + ax.set_aspect("equal", "box") + ax.scatter(green_x, green_y, s=1, label="黄色") + ax.scatter(red_x, red_y, s=1, label="红色") + + circle1 = plt.Circle((ycx, ycy), yr, color="orange", fill=False, label="拟合黄色圆") + circle2 = plt.Circle((rcx, rcy), rr, color="red", fill=False, label="拟合红色圆") + ax.add_artist(circle1) + ax.add_artist(circle2) + ax.legend() + + try: + fig.savefig(out_png, dpi=150, bbox_inches="tight") + print(f"[OK] 拟合图：{out_png}") + finally: + plt.close(fig) + + +def parse_args(): + p = argparse.ArgumentParser(description="批量对 CSV 进行圆拟合与角度/位置归一化导出") + p.add_argument("inputs", nargs="+", help="输入 CSV 路径或通配符（可多个），例如 data/3.csv 或 \"data/*.csv\"") + p.add_argument("-o", "--output-dir", required=True, help="输出目录，将在其中生成 *_angles.csv 与 *_circle_fit.png") + p.add_argument("--encoding", default="utf-8", help="输入 CSV 编码（默认 utf-8）") + p.add_argument("--no-plot", action="store_true", help="不保存拟合示意图 PNG") + p.add_argument("--font", default=None, help="可选：中文字体文件路径（用于图例/标签显示中文）") + p.add_argument("--overwrite", action="store_true", help="若输出文件存在则覆盖") + return p.parse_args() + + +def main(): + args = parse_args() + files = expand_inputs(args.inputs) + if not files: + print("[ERROR] 未找到任何输入文件。请检查路径/通配符。", file=sys.stderr) + sys.exit(2) + + ensure_output_dir(args.output_dir) + + print(f"共 {len(files)} 个文件，将输出到：{args.output_dir}") + for fp in files: + print(f"==> 处理：{fp}") + process_one_csv( + csv_path=fp, + out_dir=args.output_dir, + encoding=args.encoding, + plot=(not args.no_plot), + font_path=args.font, + overwrite=args.overwrite, + ) + + +if __name__ == "__main__": + main() diff --git a/chaos_pdl/pendulum_transformer.py b/chaos_pdl/pendulum_transformer.py new file mode 100644 index 0000000..d1de026 --- /dev/null +++ b/chaos_pdl/pendulum_transformer.py @@ -0,0 +1,448 @@ +# -*- coding: utf-8 -*- +""" +train_ts_transformer_multi.py +- 同时读取多个 CSV（列名需一致；若存在 frame_index 会按其排序并移除） +- Transformer Encoder 进行多步预测（默认输入 240 帧，预测 30 帧） +- 训练/验证集“均匀交错抽样”划分，可设置 val_gap 减少邻近泄漏 +- 标准化仅用训练窗口拟合，避免验证泄漏 +- 损失：按预测步 t 递减权重的加权 RMSE（支持指数/线性衰减） +- 保存 best_model.pt 与 scaler.npz +""" + +import argparse +import os +import math +import random +from typing import List, Tuple + +import numpy as np +import pandas as pd +import torch +from torch import nn +from torch.utils.data import Dataset, DataLoader + + +def set_seed(seed: int = 42): + random.seed(seed) + np.random.seed(seed) + torch.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + + +class WindowedTSDataset(Dataset): + def __init__(self, X_norm: np.ndarray, starts: np.ndarray, seq_len: int, horizon: int): + self.X = X_norm.astype(np.float32) # [T_total, F] + self.starts = starts.astype(np.int64) # 全局起点索引（已处理多文件偏移） + self.seq_len = seq_len + self.horizon = horizon + + def __len__(self): + return len(self.starts) + + def __getitem__(self, idx): + s = int(self.starts[idx]) + x = self.X[s: s + self.seq_len] # [L, F] + y = self.X[s + self.seq_len: s + self.seq_len + self.horizon] # [H, F] + return torch.from_numpy(x), torch.from_numpy(y) + + +class PositionalEncoding(nn.Module): + def __init__(self, d_model: int, dropout: float = 0.1, max_len: int = 10000): + super().__init__() + self.dropout = nn.Dropout(p=dropout) + pe = torch.zeros(max_len, d_model) + position = torch.arange(0, max_len, dtype=torch.float32).unsqueeze(1) + div_term = torch.exp( + torch.arange(0, d_model, 2, dtype=torch.float32) * (-math.log(10000.0) / d_model) + ) + pe[:, 0::2] = torch.sin(position * div_term) + pe[:, 1::2] = torch.cos(position * div_term) + self.register_buffer("pe", pe.unsqueeze(1)) # [max_len, 1, d_model] + + def forward(self, x: torch.Tensor): + # x: [S, N, E] + x = x + self.pe[: x.size(0)] + return self.dropout(x) + + +class TimeSeriesTransformer(nn.Module): + def __init__(self, in_features: int, d_model: int, nhead: int, num_layers: int, + dim_feedforward: int, dropout: float, horizon: int): + super().__init__() + self.in_features = in_features + self.horizon = horizon + self.input_proj = nn.Linear(in_features, d_model) + self.pos_enc = PositionalEncoding(d_model, dropout=dropout) + enc_layer = nn.TransformerEncoderLayer( + d_model=d_model, nhead=nhead, dim_feedforward=dim_feedforward, + dropout=dropout, batch_first=False, norm_first=True + ) + self.encoder = nn.TransformerEncoder(enc_layer, num_layers=num_layers) + self.head = nn.Sequential( + nn.LayerNorm(d_model), + nn.Linear(d_model, horizon * in_features), + ) + + def forward(self, x: torch.Tensor): + # x: [B, L, F] + B, L, F = x.shape + h = self.input_proj(x).transpose(0, 1) # [L, B, d] + h = self.pos_enc(h) + h = self.encoder(h) # [L, B, d] + h_last = h[-1] # [B, d] + y = self.head(h_last).view(B, self.horizon, self.in_features) # [B, H, F] + return y + + +def build_windows_indices(T: int, seq_len: int, horizon: int, stride: int) -> np.ndarray: + max_start = T - seq_len - horizon + if max_start < 0: + return np.array([], dtype=np.int64) + return np.arange(0, max_start + 1, stride, dtype=np.int64) + + +def interleaved_split(starts: np.ndarray, val_ratio: float, val_gap: int = 0) -> Tuple[np.ndarray, np.ndarray]: + assert 0.0 < val_ratio < 1.0 + total = len(starts) + if total == 0: + return np.array([], dtype=np.int64), np.array([], dtype=np.int64) + every = max(int(round(1.0 / val_ratio)), 2) + # 安全裁剪 val_gap：若 2*val_gap+1 >= every，会把所有索引都覆盖掉 + safe_gap = int(min(max((every - 2) // 2, 0), val_gap)) + if safe_gap != val_gap: + print(f"[warn] val_gap={val_gap} 过大，按交错周期 every={every} 自动裁剪为 {safe_gap}，以避免训练集为空。") + idx_all = np.arange(total, dtype=np.int64) + val_mask = (idx_all % every) == 0 + val_idx = idx_all[val_mask] + train_mask = ~val_mask + if safe_gap > 0: + drop = set() + for v in val_idx: + lo = max(0, v - safe_gap) + hi = min(total - 1, v + safe_gap) + for t in range(lo, hi + 1): + drop.add(t) + if drop: + train_mask[list(drop)] = False + train_idx = idx_all[train_mask] + return starts[train_idx], starts[val_idx] + + +def fit_scaler_from_windows(X: np.ndarray, train_starts: np.ndarray, seq_len: int) -> Tuple[np.ndarray, np.ndarray]: + chunks = [X[s:s + seq_len] for s in train_starts] + if not chunks: + raise ValueError("训练窗口为空，无法拟合标准化。") + arr = np.concatenate(chunks, axis=0) # [N_train*L, F] + mean = arr.mean(axis=0) + std = arr.std(axis=0) + std[std < 1e-6] = 1e-6 + return mean, std + + +class WeightedRMSELoss(nn.Module): + """ + 对预测步 t 使用递减权重 w_t；支持: + - 指数衰减: w_t = gamma^t + - 线性衰减: w_t = 1 - alpha * t, 直到 >= min_w + 返回整体 RMSE 标量（可反传） + """ + def __init__(self, horizon: int, mode: str = "exp", + gamma: float = 0.97, alpha: float = 0.0, min_w: float = 0.05): + super().__init__() + self.horizon = horizon + self.mode = mode + self.gamma = gamma + self.alpha = alpha + self.min_w = min_w + self.register_buffer("w", self._make_weights()) + + def _make_weights(self) -> torch.Tensor: + if self.mode == "exp": + w = torch.tensor([self.gamma ** t for t in range(self.horizon)], dtype=torch.float32) + elif self.mode == "linear": + w = torch.tensor([max(1.0 - self.alpha * t, self.min_w) for t in range(self.horizon)], dtype=torch.float32) + else: + raise ValueError("mode 必须是 'exp' 或 'linear'") + # 归一化到均值为 1（或 sum==H），让数值尺度稳定 + w = w * (self.horizon / (w.sum() + 1e-12)) + return w # [H] + + def forward(self, pred: torch.Tensor, target: torch.Tensor): + # pred,target: [B,H,F] + if pred.shape != target.shape: + raise ValueError("pred/target 形状不一致") + B, H, F = pred.shape + if H != self.horizon: + raise ValueError("horizon 不匹配") + err2 = (pred - target) ** 2 # [B,H,F] + w = self.w.view(1, H, 1) # [1,H,1] + w_err = err2 * w + mse = w_err.sum() / (w.sum() * B * F) # 加权 MSE + rmse = torch.sqrt(mse + 1e-12) # RMSE + return rmse + + +@torch.no_grad() +def evaluate_losses(model, loader, device, weighted_rmse: WeightedRMSELoss): + model.eval() + total_wrmse, total_mse = 0.0, 0.0 + count = 0 + mse_fn = nn.MSELoss() + for xb, yb in loader: + xb = xb.to(device) + yb = yb.to(device) + pred = model(xb) + total_wrmse += weighted_rmse(pred, yb).item() * xb.size(0) + total_mse += mse_fn(pred, yb).item() * xb.size(0) + count += xb.size(0) + return total_wrmse / max(1, count), total_mse / max(1, count) + + +@torch.no_grad() +def mae_in_original_scale(model, loader, device, mean: np.ndarray, std: np.ndarray): + model.eval() + total_mae, count = 0.0, 0 + mean_t = torch.from_numpy(mean).to(device).view(1, 1, -1) + std_t = torch.from_numpy(std).to(device).view(1, 1, -1) + for xb, yb in loader: + xb = xb.to(device); yb = yb.to(device) + pred = model(xb) + pred_denorm = pred * std_t + mean_t + yb_denorm = yb * std_t + mean_t + mae = torch.abs(pred_denorm - yb_denorm).mean() + total_mae += mae.item() * xb.size(0) + count += xb.size(0) + return total_mae / max(1, count) + + +def read_and_align_csvs(paths: List[str]) -> pd.DataFrame: + """ + 读取多个 CSV，确保数值列集合与顺序一致；若存在 frame_index 列按其排序并移除。 + 将各文件按行拼接，返回对齐后的整表（仅数值列）。 + 同时返回每个段落的起止行以备切片（通过 offsets）。 + """ + numeric_cols_ref = None + dfs = [] + for p in paths: + df = pd.read_csv(p) + if "frame_index" in df.columns: + df = df.sort_values("frame_index").drop(columns=["frame_index"]) + df_num = df.select_dtypes(include=[np.number]).copy() + if df_num.shape[1] == 0: + raise ValueError(f"{p} 中没有数值列。") + cols = list(df_num.columns) + if numeric_cols_ref is None: + numeric_cols_ref = cols + else: + if cols != numeric_cols_ref: + raise ValueError( + f"列不一致：\n 参考列: {numeric_cols_ref}\n {p} 列: {cols}\n" + "请确保所有 CSV 的数值列名与顺序一致。" + ) + dfs.append(df_num.reset_index(drop=True)) + big = pd.concat(dfs, axis=0, ignore_index=True) + return big + + +def build_multi_file_starts(lengths: List[int], seq_len: int, horizon: int, stride: int) -> np.ndarray: + """ + 对多个段（各自长度 T_i）分别生成窗口起点，再加上段偏移并合并。 + 确保窗口不跨段。 + """ + starts_all = [] + offset = 0 + for T in lengths: + local = build_windows_indices(T, seq_len, horizon, stride) + if len(local) > 0: + starts_all.append(local + offset) + offset += T + if not starts_all: + return np.array([], dtype=np.int64) + return np.concatenate(starts_all, axis=0) + + +def main(): + ap = argparse.ArgumentParser() + # === 关键默认：输入 240、预测 30 === + ap.add_argument("--csv_paths", type=str, nargs="+", help="多个 CSV 路径（空格分隔）") + ap.add_argument("--csv_path", type=str, default="", help="兼容单文件旧参数；若提供也会被加入") + ap.add_argument("--seq_len", type=int, default=180, help="输入窗口长度 L") + ap.add_argument("--pred_horizon", type=int, default=45, help="预测步数 H（输出 30 帧）") + ap.add_argument("--stride", type=int, default=1, help="窗口步长") + ap.add_argument("--val_ratio", type=float, default=0.2, help="验证集比例（交错采样）") + ap.add_argument("--val_gap", type=int, default=1, help="从训练中剔除与验证窗口相邻的窗口数量") + ap.add_argument("--batch_size", type=int, default=512) + ap.add_argument("--epochs", type=int, default=70) + ap.add_argument("--lr", type=float, default=3e-4) + ap.add_argument("--d_model", type=int, default=256) + ap.add_argument("--nhead", type=int, default=8) + ap.add_argument("--num_layers", type=int, default=4) + ap.add_argument("--dim_ff", type=int, default=1024) + ap.add_argument("--dropout", type=float, default=0.1) + ap.add_argument("--grad_clip", type=float, default=1.0) + ap.add_argument("--patience", type=int, default=20) + ap.add_argument("--seed", type=int, default=42) + ap.add_argument("--save_dir", type=str, default="./outputs/chaos") + + # 加权 RMSE 配置 + ap.add_argument("--horizon_weight_mode", type=str, default="exp", choices=["exp", "linear"], + help="预测步权重模式：exp=指数衰减；linear=线性衰减") + ap.add_argument("--horizon_gamma", type=float, default=0.99, + help="指数衰减系数 gamma (0 train: {len(train_starts)}, val: {len(val_starts)}") + + # ====== 用训练窗口拟合标准化 ====== + mean, std = fit_scaler_from_windows(values, train_starts, args.seq_len) + values_norm = (values - mean) / std + + # ====== DataLoader ====== + train_ds = WindowedTSDataset(values_norm, train_starts, args.seq_len, args.pred_horizon) + val_ds = WindowedTSDataset(values_norm, val_starts, args.seq_len, args.pred_horizon) + train_loader = DataLoader(train_ds, batch_size=args.batch_size, shuffle=True) + val_loader = DataLoader(val_ds, batch_size=args.batch_size, shuffle=False) + + # ====== 模型/优化器/损失 ====== + model = TimeSeriesTransformer( + in_features=F, d_model=args.d_model, nhead=args.nhead, + num_layers=args.num_layers, dim_feedforward=args.dim_ff, + dropout=args.dropout, horizon=args.pred_horizon + ).to(device) + + weighted_rmse = WeightedRMSELoss( + horizon=args.pred_horizon, + mode=args.horizon_weight_mode, + gamma=args.horizon_gamma, + alpha=args.horizon_alpha, + min_w=args.horizon_min_w + ).to(device) + + optimizer = torch.optim.AdamW(model.parameters(), lr=args.lr, weight_decay=1e-4) + scheduler = torch.optim.lr_scheduler.ReduceLROnPlateau(optimizer, mode='min', factor=0.5, patience=3) + + # ====== 训练（以加权 RMSE 为主损失，早停监控验证加权 RMSE） ====== + best_val = float("inf") + best_path = os.path.join(args.save_dir, "best_model.pt") + no_improve = 0 + + for epoch in range(1, args.epochs + 1): + # 训练 + model.train() + total_train_loss = 0.0 + n_train = 0 + for xb, yb in train_loader: + xb = xb.to(device); yb = yb.to(device) + optimizer.zero_grad(set_to_none=True) + pred = model(xb) # [B,H,F] + loss = weighted_rmse(pred, yb) # 加权 RMSE + loss.backward() + if args.grad_clip is not None: + nn.utils.clip_grad_norm_(model.parameters(), args.grad_clip) + optimizer.step() + total_train_loss += loss.item() * xb.size(0) + n_train += xb.size(0) + + # 验证 + val_wrmse, val_mse = evaluate_losses(model, val_loader, device, weighted_rmse) + train_wrmse = total_train_loss / max(1, n_train) + scheduler.step(val_wrmse) + + print(f"Epoch {epoch:03d}/{args.epochs} | train wRMSE={train_wrmse:.6f} | " + f"val wRMSE={val_wrmse:.6f} | val MSE={val_mse:.6f}") + + if val_wrmse < best_val - 1e-8: + best_val = val_wrmse + no_improve = 0 + torch.save( + { + "model_state": model.state_dict(), + "config": { + "in_features": F, "d_model": args.d_model, "nhead": args.nhead, + "num_layers": args.num_layers, "dim_ff": args.dim_ff, + "dropout": args.dropout, "horizon": args.pred_horizon + }, + "loss_cfg": { + "mode": args.horizon_weight_mode, + "gamma": args.horizon_gamma, + "alpha": args.horizon_alpha, + "min_w": args.horizon_min_w + } + }, + best_path + ) + else: + no_improve += 1 + if no_improve >= args.patience: + print(f"Early stopping at epoch {epoch}. Best val wRMSE={best_val:.6f}") + break + + # 保存标准化 + np.savez(os.path.join(args.save_dir, "scaler.npz"), + mean=mean, std=std, columns=np.array(big_df.columns)) + + # 评估（最佳模型）与原尺度 MAE + ckpt = torch.load(best_path, map_location=device) + model.load_state_dict(ckpt["model_state"]) + val_wrmse, val_mse = evaluate_losses(model, val_loader, device, weighted_rmse) + val_mae_orig = mae_in_original_scale(model, val_loader, device, mean, std) + print(f"[Best] Val wRMSE={val_wrmse:.6f} | Val MSE={val_mse:.6f} | Val MAE(original)={val_mae_orig:.6f}") + + # 示例推理：取最后一个窗口打印 30 步预测（反标准化） + with torch.no_grad(): + last_start = int(starts_all[-1]) + x_last = values_norm[last_start: last_start + args.seq_len] + y_true = values[last_start + args.seq_len: last_start + args.seq_len + args.pred_horizon] + pred = model(torch.from_numpy(x_last).unsqueeze(0).to(device)).cpu().numpy()[0] + pred_denorm = pred * std + mean + print("\n=== 示例（最后一个窗口） ===") + for h in range(args.pred_horizon): + line = f"+{h+1:02d}: pred={np.round(pred_denorm[h], 6)}" + if h < y_true.shape[0]: + line += f" | true={np.round(y_true[h], 6)}" + print(line) + + print(f"\n保存：\n- 模型: {best_path}\n- 标准化: {os.path.join(args.save_dir, 'scaler.npz')}") + + +if __name__ == "__main__": + main() diff --git a/chaos_pdl/serve_api.py b/chaos_pdl/serve_api.py new file mode 100644 index 0000000..6d1a79f --- /dev/null +++ b/chaos_pdl/serve_api.py @@ -0,0 +1,132 @@ +# -*- coding: utf-8 -*- +""" +serve_api.py +- FastAPI 推理服务：加载 best_model.pt 与 scaler.npz +- /predict：接收最近 L=180 帧（按训练列顺序），返回未来 H 帧预测（原尺度） +- /health：健康检查；/meta：返回模型与列信息 + +运行示例： +uv run -m uvicorn chaos_pdl.serve_api:app --host 0.0.0.0 --port 8000 --workers 1 + +请求示例： +POST /predict +{ + "frames": [[...F个数值...], ..., 共180行] +} + +可选：若你以对象形式传参（带列名），也支持： +{ + "frame_objects": [ + {"delta_time": 0.02, "green_angle_sin": 0.1, ...}, + ... 共180个对象 ... + ] +} +""" + +from typing import List, Optional, Dict, Any +import os +import numpy as np +import torch +from fastapi import FastAPI, HTTPException +from pydantic import BaseModel, Field + +try: + from chaos_pdl.pendulum_transformer import TimeSeriesTransformer +except ModuleNotFoundError: + from pendulum_transformer import TimeSeriesTransformer + + +class PredictRequest(BaseModel): + frames: Optional[List[List[float]]] = Field( + default=None, description="最近L帧，形状 [L,F]，按 scaler.npz 的列顺序提供" + ) + frame_objects: Optional[List[Dict[str, float]]] = Field( + default=None, description="最近L帧，形状 [L]，每项是 {列名: 数值} 对象" + ) + + +class PredictResponse(BaseModel): + horizon: int + columns: List[str] + predictions: List[List[float]] # [H,F] 原尺度 + + +def load_artifacts(model_path: str, scaler_path: str, device: torch.device): + sc = np.load(scaler_path, allow_pickle=True) + mean = sc["mean"].astype(np.float32) + std = sc["std"].astype(np.float32) + columns = list(sc["columns"].tolist()) + + ckpt = torch.load(model_path, map_location=device) + cfg = ckpt["config"] + H = int(cfg["horizon"]) + F = len(columns) + + model = TimeSeriesTransformer( + in_features=F, + d_model=cfg["d_model"], + nhead=cfg["nhead"], + num_layers=cfg["num_layers"], + dim_feedforward=cfg["dim_ff"], + dropout=cfg["dropout"], + horizon=H, + ).to(device) + model.load_state_dict(ckpt["model_state"]) + model.eval() + return model, mean, std, columns, H + + +MODEL_PATH = os.environ.get("MODEL_PATH", "./outputs/chaos/best_model.pt") +SCALER_PATH = os.environ.get("SCALER_PATH", "./outputs/chaos/scaler.npz") +SEQ_LEN = int(os.environ.get("SEQ_LEN", 180)) + +device = torch.device("cuda" if torch.cuda.is_available() else "cpu") +model, mean, std, columns, H = load_artifacts(MODEL_PATH, SCALER_PATH, device) + +app = FastAPI(title="Pendulum Transformer Inference API", version="0.1.0") + + +@app.get("/health") +def health(): + return {"status": "ok", "device": str(device), "horizon": H, "seq_len": SEQ_LEN} + + +@app.get("/meta") +def meta(): + return {"columns": columns, "horizon": H, "seq_len": SEQ_LEN} + + +def frames_from_objects(objs: List[Dict[str, Any]], cols: List[str]) -> np.ndarray: + try: + arr = np.array([[float(o[c]) for c in cols] for o in objs], dtype=np.float32) + except Exception as e: + raise HTTPException(status_code=400, detail=f"frame_objects 解析失败: {e}") + return arr + + +@app.post("/predict", response_model=PredictResponse) +def predict(req: PredictRequest): + # 取输入 + if (req.frames is None) == (req.frame_objects is None): + raise HTTPException(status_code=400, detail="需要提供 frames 或 frame_objects 二选一") + + if req.frames is not None: + x = np.asarray(req.frames, dtype=np.float32) + if x.ndim != 2: + raise HTTPException(status_code=400, detail="frames 必须是二维数组 [L,F]") + if x.shape[1] != len(columns): + raise HTTPException(status_code=400, detail=f"列数不匹配，期望F={len(columns)}") + else: + x = frames_from_objects(req.frame_objects, columns) + + if x.shape[0] != SEQ_LEN: + raise HTTPException(status_code=400, detail=f"帧数不匹配，期望L={SEQ_LEN}") + + # 标准化 + x_norm = (x - mean) / std + xb = torch.from_numpy(x_norm).unsqueeze(0).to(device) # [1,L,F] + + with torch.no_grad(): + pred = model(xb).cpu().numpy()[0] # [H,F] 标准化空间 + pred_denorm = pred * std + mean + return PredictResponse(horizon=H, columns=columns, predictions=pred_denorm.tolist()) diff --git a/outputs/chaos/best_model.pt b/outputs/chaos/best_model.pt new file mode 100644 index 0000000..a63c4f8 Binary files /dev/null and b/outputs/chaos/best_model.pt differ diff --git a/outputs/chaos/scaler.npz b/outputs/chaos/scaler.npz new file mode 100644 index 0000000..2ed6d32 Binary files /dev/null and b/outputs/chaos/scaler.npz differ diff --git a/outputs/single/ckpt/pendulum_tf_base.pt b/outputs/single/ckpt/pendulum_tf_base.pt new file mode 100644 index 0000000..57f8eb6 Binary files /dev/null and b/outputs/single/ckpt/pendulum_tf_base.pt differ diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..a39a83f --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,14 @@ +[project] +name = "pendulum-transformer" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.12" +dependencies = [ + "fastapi>=0.116.1", + "matplotlib>=3.10.6", + "numpy>=2.3.2", + "pandas>=2.3.2", + "torch>=2.8.0", + "uvicorn>=0.35.0", +] diff --git a/single_pdl/cmd b/single_pdl/cmd new file mode 100644 index 0000000..ab857d4 --- /dev/null +++ b/single_pdl/cmd @@ -0,0 +1,4 @@ +uv run pendulum_transformer.py --csv data/448.csv data/618.csv data/548.csv \ + --epochs 10 --batch 64 --eval_all\ + --s_in 120 --s_out 30 --stride 5 \ + --ckpt ckpt/pendulum_tf_base.pt \ No newline at end of file diff --git a/single_pdl/data/404.csv b/single_pdl/data/404.csv new file mode 100644 index 0000000..4484f48 --- /dev/null +++ b/single_pdl/data/404.csv @@ -0,0 +1,10811 @@ +frame,time,x,y +0,0.0,931,257 +1,0.03333333333333333,883,251 +2,0.06666666666666667,883,251 +3,0.1,866,248 +4,0.13333333333333333,849,246 +5,0.16666666666666666,837,246 +6,0.2,837,246 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cos = cos(theta) = (cy - y) / r = -(y - cy) / r + +因此，反变换： + x = cx + r * sin + y = cy - r * cos +""" +from __future__ import annotations + +import math +import numpy as np +from typing import Tuple + + +def fit_circle_lstsq(x: np.ndarray, y: np.ndarray) -> Tuple[float, float, float]: + """最小二乘拟合圆：解 x^2 + y^2 = 2 a x + 2 b y + c + + 返回 (cx, cy, r) + """ + x = np.asarray(x, dtype=np.float64) + y = np.asarray(y, dtype=np.float64) + A = np.c_[2 * x, 2 * y, np.ones_like(x)] + b = x * x + y * y + sol, *_ = np.linalg.lstsq(A, b, rcond=None) + a, b_, c = sol + cx, cy = a, b_ + r = math.sqrt(max(cx * cx + cy * cy + c, 0.0)) + return float(cx), float(cy), float(r) + + +def _estimate_center_radius(seq_xy: np.ndarray) -> Tuple[float, float, float]: + """对单条序列估计 (cx, cy, r)。 + - 当样本点 >=3 时使用最小二乘拟合 + - 否则使用均值点作为中心、均距为半径；若半径过小，则回退为 1.0 + """ + seq_xy = np.asarray(seq_xy, dtype=np.float64) + S = seq_xy.shape[0] + if S >= 3: + cx, cy, r = fit_circle_lstsq(seq_xy[:, 0], seq_xy[:, 1]) + else: + cx, cy = np.mean(seq_xy, axis=0) + d = np.linalg.norm(seq_xy - np.array([cx, cy], dtype=np.float64), axis=1) + r = float(np.median(d) if d.size else 1.0) + r = float(max(r, 1e-6)) + return float(cx), float(cy), r + + +def pixels_to_unit_sincos(seq_xy: np.ndarray) -> Tuple[np.ndarray, Tuple[float, float, float]]: + """将单条像素轨迹 [S,2] 转为单位 (sin,cos) [S,2]，并返回 (cx,cy,r)。""" + seq_xy = np.asarray(seq_xy, dtype=np.float64) + cx, cy, r = _estimate_center_radius(seq_xy) + x = seq_xy[:, 0] + y = seq_xy[:, 1] + # 与训练一致的角度定义 + theta = np.arctan2(x - cx, cy - y) + sc = np.stack([np.sin(theta), np.cos(theta)], axis=-1).astype(np.float32) + return sc, (float(cx), float(cy), float(r)) + + +def batch_pixels_to_unit_sincos(batch_xy: np.ndarray) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """批量像素 -> 单位 (sin,cos)。 + + 参数： + batch_xy: [B,S,2] 像素坐标 + 返回： + sc: [B,S,2] 单位 (sin,cos) + centers: [B,2] (cx,cy) + radii: [B] r + """ + batch_xy = np.asarray(batch_xy, dtype=np.float64) + B, S, _ = batch_xy.shape + sc = np.empty((B, S, 2), dtype=np.float32) + centers = np.empty((B, 2), dtype=np.float32) + radii = np.empty((B,), dtype=np.float32) + for i in range(B): + seq = batch_xy[i] + sc_i, (cx, cy, r) = pixels_to_unit_sincos(seq) + sc[i] = sc_i + centers[i] = (cx, cy) + radii[i] = r + return sc, centers, radii + + +def unit_sincos_to_pixels(sc: np.ndarray, centers: np.ndarray, radii: np.ndarray) -> np.ndarray: + """单位 (sin,cos) -> 像素坐标。 + + 支持广播： + sc: [B,S,2] + centers: [B,2] + radii: [B] or [B,1] + 返回： + pix: [B,S,2] + """ + sc = np.asarray(sc, dtype=np.float64) + centers = np.asarray(centers, dtype=np.float64) + radii = np.asarray(radii, dtype=np.float64).reshape(-1, 1, 1) # [B,1,1] + + sin = sc[..., 0] + cos = sc[..., 1] + cx = centers[:, 0].reshape(-1, 1) + cy = centers[:, 1].reshape(-1, 1) + + x = cx + radii[:, 0, 0:1] * sin # 广播 [B,1] * [B,S] + y = cy - radii[:, 0, 0:1] * cos + + pix = np.stack([x, y], axis=-1) + return pix.astype(np.float32) diff --git a/single_pdl/pendulum_transformer.py b/single_pdl/pendulum_transformer.py new file mode 100644 index 0000000..f933add --- /dev/null +++ b/single_pdl/pendulum_transformer.py @@ -0,0 +1,479 @@ +# pendulum_transformer.py +import argparse, math, os +import numpy as np +import pandas as pd +import torch +import torch.nn as nn +from torch.utils.data import Dataset, DataLoader +import matplotlib.pyplot as plt + +# ============ 工具函数 ============ +def moving_average(a, w=5): + if w <= 1: return a + pad = np.pad(a, (w//2, w-1-w//2), mode='edge') + k = np.ones(w)/w + return np.convolve(pad, k, mode='valid') + +def fit_circle_lstsq(x, y): + # 解: x^2 + y^2 = 2 a x + 2 b y + c + A = np.c_[2*x, 2*y, np.ones_like(x)] + b = x**2 + y**2 + sol, *_ = np.linalg.lstsq(A, b, rcond=None) + a, b_, c = sol + cx, cy = a, b_ + r = math.sqrt(max(cx*cx + cy*cy + c, 0.0)) + return cx, cy, r + +def wrap_to_pi(a): + return (a + np.pi) % (2*np.pi) - np.pi + +def build_windows(arr, s_in=120, s_out=30, stride=10): + # arr: [T, F] + T, F = arr.shape + X, Y, t_idx = [], [], [] + for t in range(0, T - s_in - s_out + 1, stride): + X.append(arr[t:t+s_in]) + Y.append(arr[t+s_in:t+s_in+s_out]) + t_idx.append(t) + return np.array(X), np.array(Y), np.array(t_idx) # [N, S, F], [N, S, F], [N] + +def sincos_to_angle(s, c): + return np.arctan2(s, c) + +def angle_rmse(pred_sc, true_sc): + # pred_sc, true_sc: [..., 2] -> (sin, cos) + ps, pc = pred_sc[...,0], pred_sc[...,1] + ts, tc = true_sc[...,0], true_sc[...,1] + pa = np.arctan2(ps, pc) + ta = np.arctan2(ts, tc) + diff = wrap_to_pi(pa - ta) + return np.sqrt(np.mean(diff**2)) + +def split_even_indices(n, ratios=(0.7, 0.15, 0.15), block=50, seed=123): + """将 [0..n-1] 均匀地分成三部分（train/val/test）""" + if n <= 0: + return np.array([], dtype=int), np.array([], dtype=int), np.array([], dtype=int) + probs = np.array(ratios, dtype=np.float64) + s = probs.sum() + probs = probs / (s if s > 0 else 1.0) + rng = np.random.default_rng(seed) + idxs = np.arange(n) + tr, va, te = [], [], [] + for start in range(0, n, block): + end = min(start + block, n) + m = end - start + target = probs * m + base = np.floor(target).astype(int) + rem = m - int(base.sum()) + if rem > 0: + frac = target - base + order = np.argsort(-(frac + 1e-9 * rng.random(frac.shape))) + for k in order[:rem]: + base[k] += 1 + local = idxs[start:end].copy() + rng.shuffle(local) + a, b, c = int(base[0]), int(base[1]), int(base[2]) + tr.extend(local[:a]); va.extend(local[a:a+b]); te.extend(local[a+b:a+b+c]) + return np.array(tr, dtype=int), np.array(va, dtype=int), np.array(te, dtype=int) + +# ============ 数据集 ============ +class SeqDataset(Dataset): + def __init__(self, X, Y, mu=None, std=None): + self.X = X.astype(np.float32) + self.Y = Y.astype(np.float32) + if mu is None or std is None: + mu = self.X.reshape(-1, self.X.shape[-1]).mean(0, keepdims=True) + std = self.X.reshape(-1, self.X.shape[-1]).std(0, keepdims=True) + 1e-8 + self.mu = mu.astype(np.float32) + self.std = std.astype(np.float32) + + def __len__(self): return self.X.shape[0] + def __getitem__(self, i): + x = (self.X[i] - self.mu) / self.std + y = (self.Y[i] - self.mu) / self.std + return torch.from_numpy(x), torch.from_numpy(y) + +# ============ 位置编码 ============ +class PositionalEncoding(nn.Module): + def __init__(self, d_model, max_len=4096): + super().__init__() + pe = torch.zeros(max_len, d_model) + pos = torch.arange(0, max_len, dtype=torch.float32).unsqueeze(1) + div = torch.exp(torch.arange(0, d_model, 2, dtype=torch.float32) * (-math.log(10000.0) / d_model)) + pe[:, 0::2] = torch.sin(pos * div) + pe[:, 1::2] = torch.cos(pos * div) + self.register_buffer('pe', pe.unsqueeze(0)) # [1, L, D] + def forward(self, x): + return x + self.pe[:, :x.size(1), :] + +# ============ 极简 Transformer ============ +class TimeSeriesTransformer(nn.Module): + def __init__(self, in_dim=2, d_model=256, nhead=4, enc_layers=3, dec_layers=3, d_ff=512, dropout=0.1, out_dim=2): + super().__init__() + self.in_proj = nn.Linear(in_dim, d_model) + self.out_proj = nn.Linear(d_model, out_dim) + self.tgt_proj = nn.Linear(out_dim, d_model) + self.pos_enc = PositionalEncoding(d_model) + self.tf = nn.Transformer( + d_model=d_model, nhead=nhead, + num_encoder_layers=enc_layers, num_decoder_layers=dec_layers, + dim_feedforward=d_ff, dropout=dropout, batch_first=True + ) + + def forward(self, src, tgt_in, tgt_mask=None): + src = self.pos_enc(self.in_proj(src)) + tgt = self.pos_enc(self.tgt_proj(tgt_in)) + out = self.tf(src, tgt, tgt_mask=tgt_mask) # [B, S_out, D] + return self.out_proj(out) + +# ============ 主流程 ============ +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("--csv", type=str, nargs='+', required=True, help="CSV files") + ap.add_argument("--split", type=float, nargs=3, default=[0.7, 0.15, 0.15]) + ap.add_argument("--s_in", type=int, default=180) + ap.add_argument("--s_out", type=int, default=30) + ap.add_argument("--stride", type=int, default=10) + ap.add_argument("--epochs", type=int, default=10) + ap.add_argument("--batch", type=int, default=64) + ap.add_argument("--lr", type=float, default=1e-3) + ap.add_argument("--ckpt", type=str, default="ckpt/pendulum_tf_base.pt") + ap.add_argument("--eval_only", action="store_true") + # 新增：评估相关 + ap.add_argument("--eval_all", action="store_true", help="Evaluate on the entire test set") + ap.add_argument("--eval_samples", type=int, default=6, help="How many random samples to plot from test set") + ap.add_argument("--seed", type=int, default=123, help="Random seed for eval sampling") + args = ap.parse_args() + + device = torch.device("cuda" if torch.cuda.is_available() else "cpu") + + # 规范化路径 + def _norm(p: str) -> str: + return os.path.abspath(os.path.expanduser(p)) + + csv_list = sorted(set(_norm(p) for p in (args.csv or []))) + if not csv_list: + raise ValueError("No CSV files provided.") + + ratios = np.array(args.split, dtype=np.float64) + s = ratios.sum() + ratios = ratios / (s if s > 0 else 1.0) + print(f"[Split] auto per-CSV even mode: files={len(csv_list)} | ratios train/val/test = {ratios.tolist()}") + + Xtr_list, Ytr_list, Xva_list, Yva_list, Xte_list, Yte_list = [], [], [], [], [], [] + + for i, csv_path in enumerate(csv_list): + df = pd.read_csv(csv_path) + x = df['x'].to_numpy(dtype=np.float64) + y = df['y'].to_numpy(dtype=np.float64) + + # 圆拟合 => 悬点 + cx, cy, r = fit_circle_lstsq(x, y) + print(f"[{i+1}/{len(csv_list)}] {os.path.basename(csv_path)} pivot=({cx:.2f},{cy:.2f}), r~{r:.2f}") + + # 像素 -> 角度；竖直向下为 0 + theta = np.arctan2(x - cx, cy - y) + theta = np.unwrap(theta) + sin_t, cos_t = np.sin(theta), np.cos(theta) + feats = np.stack([sin_t, cos_t], axis=1) # [T, 2] + + # 滑窗 + Xi, Yi, _ = build_windows(feats, s_in=args.s_in, s_out=args.s_out, stride=args.stride) + if Xi.size == 0: + continue + tr_idx, va_idx, te_idx = split_even_indices(Xi.shape[0], ratios) + if tr_idx.size: Xtr_list.append(Xi[tr_idx]); Ytr_list.append(Yi[tr_idx]) + if va_idx.size: Xva_list.append(Xi[va_idx]); Yva_list.append(Yi[va_idx]) + if te_idx.size: Xte_list.append(Xi[te_idx]); Yte_list.append(Yi[te_idx]) + + def _concat(lst, steps): + if not lst: + return np.zeros((0, steps, 2), dtype=np.float32) + return np.concatenate(lst, axis=0).astype(np.float32) + + Xtr = _concat(Xtr_list, args.s_in) + Ytr = _concat(Ytr_list, args.s_out) + Xva = _concat(Xva_list, args.s_in) + Yva = _concat(Yva_list, args.s_out) + Xte = _concat(Xte_list, args.s_in) + Yte = _concat(Yte_list, args.s_out) + + if Xtr.shape[0] == 0: raise ValueError("No training samples produced.") + if Xva.shape[0] == 0: raise ValueError("No validation samples produced.") + if Xte.shape[0] == 0: raise ValueError("No test samples produced.") + + # 标准化参数（仅基于训练集） + base = Xtr + mu = base.reshape(-1, base.shape[-1]).mean(0, keepdims=True).astype(np.float32) + std = base.reshape(-1, base.shape[-1]).std(0, keepdims=True).astype(np.float32) + 1e-8 + + dtr = SeqDataset(Xtr, Ytr, mu, std) + dva = SeqDataset(Xva, Yva, mu, std) + dte = SeqDataset(Xte, Yte, mu, std) + + nw = 2 + Ltr = DataLoader(dtr, batch_size=args.batch, shuffle=True, drop_last=True, pin_memory=True, num_workers=nw) + Lva = DataLoader(dva, batch_size=args.batch, shuffle=False, pin_memory=True, num_workers=nw) + Lte = DataLoader(dte, batch_size=args.batch, shuffle=False, pin_memory=True, num_workers=nw) + + cfg = dict(d_model=256, nhead=4, enc_layers=3, dec_layers=3, d_ff=512) + net = TimeSeriesTransformer(in_dim=2, out_dim=2, **cfg).to(device) + + mse = nn.MSELoss() + opt = torch.optim.AdamW(net.parameters(), lr=args.lr, weight_decay=1e-4) + + # ---- warmup + cosine 调度（按 step）---- + total_steps = max(1, args.epochs * len(Ltr)) + warmup = min(500, max(1, total_steps // 10)) + def lr_lambda(step): + if step < warmup: + return float(step + 1) / float(warmup) + progress = (step - warmup) / max(1, total_steps - warmup) + cosine = 0.5 * (1.0 + math.cos(math.pi * progress)) + min_factor = 0.01 + return min_factor + (1 - min_factor) * cosine + scheduler = torch.optim.lr_scheduler.LambdaLR(opt, lr_lambda=lr_lambda) + + # === 标准化 <-> 原始空间 转换 & 单位化 === + mu_t = torch.from_numpy(mu).to(device) # [1, 2] + std_t = torch.from_numpy(std).to(device) # [1, 2] + + def to_raw(z): return z * std_t + mu_t + def to_std(z): return (z - mu_t) / std_t + def unitize(z, eps=1e-6): + n = torch.clamp(torch.linalg.norm(z, dim=-1, keepdim=True), min=eps) + return z / n + + # === 预测一个 batch 的自回归函数（返回 raw 空间预测） === + def rollout_raw(xb_std, steps): + # xb_std: [B, S_in, 2] 标准化空间 + tgt_tokens = xb_std[:, -1:, :2].clone() # 起始 token（标准化空间） + for _ in range(steps): + mask = nn.Transformer.generate_square_subsequent_mask(tgt_tokens.size(1)).to(device) + out = net(xb_std, tgt_tokens, tgt_mask=mask) # 标准化 + next_std = out[:, -1:, :] + next_raw = to_raw(next_std) # -> 原始 + next_raw = unitize(next_raw) # 单位圆约束 + next_std = to_std(next_raw) # -> 标准化（与训练分布一致） + tgt_tokens = torch.cat([tgt_tokens, next_std], dim=1) + pred_std = tgt_tokens[:, 1:, :] # [B, steps, 2] 标准化 + return to_raw(pred_std) # -> 原始 + + # === 改动一：闭环 rollout 损失所需的角度/方向损失 === + def cosine_ang_loss(pred_sc_raw, true_sc_raw, eps=1e-6): + """ + pred_sc_raw/true_sc_raw: [B,S,2]，分别是 RAW 空间下的 (sin,cos) + 计算 1 - cos(Δθ) 的平均值，忽略向量长度，只关注方向（角度）差。 + """ + pu = pred_sc_raw / torch.clamp(torch.linalg.norm(pred_sc_raw, dim=-1, keepdim=True), min=eps) + tu = true_sc_raw / torch.clamp(torch.linalg.norm(true_sc_raw, dim=-1, keepdim=True), min=eps) + return (1.0 - (pu * tu).sum(dim=-1)).mean() + + # === 训练 or 加载 === + os.makedirs(os.path.dirname(args.ckpt) or ".", exist_ok=True) + if args.eval_only: + if not os.path.exists(args.ckpt): + raise FileNotFoundError(f"Checkpoint not found: {args.ckpt}. 请先训练一次或指定正确路径。") + # 关键修复：显式关闭 weights_only 的安全反序列化限制（你信任本地 ckpt） + payload = torch.load(args.ckpt, map_location=device, weights_only=False) + # 若 ckpt 中包含 cfg，用 ckpt 的配置重建网络，避免结构不一致 + ckpt_cfg = payload.get("cfg", None) + if ckpt_cfg is not None: + # 如果与当前构造的不同，则重建 + if ckpt_cfg != cfg: + net = TimeSeriesTransformer(in_dim=2, out_dim=2, **ckpt_cfg).to(device) + net.load_state_dict(payload["model"], strict=True) + + mu = payload["mu"]; std = payload["std"] + mu_t = torch.from_numpy(mu).to(device); std_t = torch.from_numpy(std).to(device) + print(f"Loaded checkpoint from {args.ckpt}") + else: + # Sanity：原始空间下 ||yb|| 应 ~1 + with torch.no_grad(): + xb0, yb0 = next(iter(Ltr)) + m_norm_raw = torch.linalg.norm(to_raw(yb0.to(device)), dim=-1).mean().item() + print(f"[Sanity] mean ||yb|| in RAW space ~= {m_norm_raw:.4f}") + + best_val = float("inf") + global_step = 0 + for ep in range(1, args.epochs+1): + net.train() + total = 0.0 + total_tf = 0.0 + total_roll = 0.0 + + # ρ：闭环损失权重（线性升到 1.0；如需更稳可改为升到 0.5） + rho = min(1.0, ep / max(1, args.epochs // 2)) + + for xb, yb in Ltr: + xb = xb.to(device, non_blocking=True); yb = yb.to(device, non_blocking=True) + B, S, F = yb.shape + + # ---------- (A) Teacher Forcing 分支（与原来一致） ---------- + x_last = xb[:, -1:, :F] + tgt_in = torch.cat([x_last, yb[:, :-1, :]], dim=1) + mask = nn.Transformer.generate_square_subsequent_mask(S).to(device) + + pred_tf = net(xb, tgt_in, tgt_mask=mask) # 标准化空间 + pred_tf_u = unitize(to_raw(pred_tf)) # 原始空间单位圆（只对方向约束） + yb_u = unitize(to_raw(yb)) + loss_tf = mse(pred_tf_u, yb_u) + + # ---------- (B) 闭环 rollout 分支（改动一的核心） ---------- + with torch.no_grad(): + y_true_raw = to_raw(yb) # RAW，用于对齐真值方向 + y_pred_raw = rollout_raw(xb, steps=S) # RAW，模型自回归滚动预测 + loss_roll = cosine_ang_loss(y_pred_raw, y_true_raw) + + # ---------- 合成总损失 ---------- + loss = (1.0 - rho) * loss_tf + rho * loss_roll + + opt.zero_grad(set_to_none=True) + loss.backward() + torch.nn.utils.clip_grad_norm_(net.parameters(), 1.0) + opt.step() + scheduler.step() + + total += loss.item() * xb.size(0) + total_tf += loss_tf.item() * xb.size(0) + total_roll += loss_roll.item() * xb.size(0) + global_step += 1 + + tr_loss = total / len(dtr) + tr_tf = total_tf / len(dtr) + tr_rl = total_roll / len(dtr) + + # 验证：保持原先的 TF-式度量（也可扩展加闭环验证，这里先不改动） + net.eval() + with torch.no_grad(): + total_v = 0.0 + for xb, yb in Lva: + xb = xb.to(device, non_blocking=True); yb = yb.to(device, non_blocking=True) + x_last = xb[:, -1:, :2] + tgt_in = torch.cat([x_last, yb[:, :-1, :]], dim=1) + mask = nn.Transformer.generate_square_subsequent_mask(yb.size(1)).to(device) + pred = net(xb, tgt_in, tgt_mask=mask) + pred_u = unitize(to_raw(pred)) + yb_u = unitize(to_raw(yb)) + total_v += mse(pred_u, yb_u).item() * xb.size(0) + va_loss = total_v / len(dva) + + cur_lr = scheduler.get_last_lr()[0] + print(f"[Epoch {ep:02d}] ρ={rho:.2f} | train TOTAL={tr_loss:.6f} (TF={tr_tf:.6f}, ROLL={tr_rl:.6f}) | val MSE(u_raw)={va_loss:.6f} | lr={cur_lr:.6e}") + + if not np.isnan(va_loss) and va_loss < best_val: + best_val = va_loss + payload = {"model": net.state_dict(), "mu": mu, "std": std, "cfg": cfg} + torch.save(payload, args.ckpt) + print(f"Saved checkpoint -> {args.ckpt}") + + # ===== 评估 ===== + net.eval() + rng = np.random.default_rng(args.seed) + + with torch.no_grad(): + # --- 1) 全量评估（可选） --- + if args.eval_all: + steps = args.s_out + sum_sq = 0.0 + n_total = 0 + per_step_sq = np.zeros(steps, dtype=np.float64) + total_samples = 0 + + for xb, yb in Lte: + xb = xb.to(device, non_blocking=True); yb = yb.to(device, non_blocking=True) + y_pred_raw = rollout_raw(xb, steps) # [B, steps, 2] raw + y_true_raw = to_raw(yb) # [B, steps, 2] raw + y_pred_np = y_pred_raw.cpu().numpy() + y_true_np = y_true_raw.cpu().numpy() + + # 单位圆 -> 角度误差 + n1 = np.clip(np.linalg.norm(y_pred_np, axis=-1, keepdims=True), 1e-6, None) + n2 = np.clip(np.linalg.norm(y_true_np, axis=-1, keepdims=True), 1e-6, None) + y_pred_u = y_pred_np / n1 + y_true_u = y_true_np / n2 + + pa = np.arctan2(y_pred_u[...,0], y_pred_u[...,1]) # 注意顺序 (sin,cos) + ta = np.arctan2(y_true_u[...,0], y_true_u[...,1]) + diff = wrap_to_pi(pa - ta) # [B, steps] + + sum_sq += np.sum(diff**2) + per_step_sq += np.sum(diff**2, axis=0) + n_total += diff.size + total_samples += diff.shape[0] + + overall_rmse = math.sqrt(sum_sq / n_total) + per_step_rmse = np.sqrt(per_step_sq / max(1, total_samples)) + + print(f"[Test:ALL] overall angle RMSE = {overall_rmse:.6f} rad ({overall_rmse*180/np.pi:.3f} deg)") + # 保存每步 RMSE 曲线 + ts = np.arange(1, steps+1) + plt.figure(figsize=(6,4)) + plt.plot(ts, per_step_rmse * 180/np.pi, marker='o') + plt.xlabel("horizon (step)"); plt.ylabel("RMSE (deg)") + plt.title("Per-step angle RMSE on test set") + plt.grid(True, linestyle="--", alpha=0.5) + plt.tight_layout() + plt.savefig("rmse_per_step.png", dpi=150) + print("Saved plot -> rmse_per_step.png") + + # --- 2) 随机抽样 K 个样本可视化 --- + X_list, Y_list = [], [] + for xb, yb in Lte: + X_list.append(xb); Y_list.append(yb) + X_all = torch.cat(X_list, dim=0).to(device, non_blocking=True) + Y_all = torch.cat(Y_list, dim=0).to(device, non_blocking=True) + + N = X_all.size(0) + K = min(max(0, args.eval_samples), N) + if K > 0: + idxs = rng.choice(N, size=K, replace=False) + steps = Y_all.size(1) + y_pred_raw_all = rollout_raw(X_all[idxs], steps) # [K, steps, 2] + y_true_raw_all = to_raw(Y_all[idxs]) # [K, steps, 2] + + def unit_np(z): + n = np.linalg.norm(z, axis=-1, keepdims=True) + n = np.clip(n, 1e-6, None) + return z / n + + y_pred_np = y_pred_raw_all.cpu().numpy() + y_true_np = y_true_raw_all.cpu().numpy() + y_pred_u = unit_np(y_pred_np) + y_true_u = unit_np(y_true_np) + + for j in range(K): + ya = np.arctan2(y_true_u[j,:,0], y_true_u[j,:,1]) + pa = np.arctan2(y_pred_u[j,:,0], y_pred_u[j,:,1]) + pa_aligned = pa + 2*np.pi * np.round((ya - pa)/(2*np.pi)) + + plt.figure(figsize=(8,4)) + plt.plot(np.arange(steps), ya, label="true θ") + plt.plot(np.arange(steps), pa_aligned, '--', label="pred θ (aligned)") + plt.xlabel("future step"); plt.ylabel("angle (rad)") + plt.title(f"{steps}-step forecast (test sample {j})") + plt.legend(); plt.tight_layout() + out_png = f"pred_plot_sample_{j}.png" + plt.savefig(out_png, dpi=150) + plt.close() + print(f"Saved plot -> {out_png}") + + # 如果没开 --eval_all，也输出一个“单 batch”对齐的整体 RMSE 以免落差太大 + if not args.eval_all: + steps = args.s_out + xb, yb = X_all[:args.batch], Y_all[:args.batch] + y_pred_raw = rollout_raw(xb, steps) + y_true_raw = to_raw(yb) + y_pred_np = y_pred_raw.cpu().numpy() + y_true_np = y_true_raw.cpu().numpy() + n1 = np.clip(np.linalg.norm(y_pred_np, axis=-1, keepdims=True), 1e-6, None) + n2 = np.clip(np.linalg.norm(y_true_np, axis=-1, keepdims=True), 1e-6, None) + y_pred_u = y_pred_np / n1; y_true_u = y_true_np / n2 + pa = np.arctan2(y_pred_u[...,0], y_pred_u[...,1]) + ta = np.arctan2(y_true_u[...,0], y_true_u[...,1]) + diff = wrap_to_pi(pa - ta) + rmse = math.sqrt(np.mean(diff**2)) + print(f"[Test:Mini] angle RMSE = {rmse:.6f} rad ({rmse*180/np.pi:.3f} deg)") + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/single_pdl/serve_pendulum.py b/single_pdl/serve_pendulum.py new file mode 100644 index 0000000..30f23d4 --- /dev/null +++ b/single_pdl/serve_pendulum.py @@ -0,0 +1,238 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +启动一个仅 CUDA 的 HTTP 推理服务，输入/输出均为像素坐标。 +内部将像素轨迹拟合圆并转换为单位 (sin,cos) 以适配训练空间， +并把预测结果再还原为像素坐标返回。 + + POST /predict + body: + { + "sequences": [ # 批量，每个序列为 [S_in, 2] 像素 [x,y] + [[x, y], [x, y], ...], + ... + ], + "steps": 30, # 预测步数 (>0) + "centers": [[cx,cy], ...], # 可选 [B,2]，若已标定则可传入 + "radii": [r, ...] # 可选 [B] + } + + 返回： + { + "pred_xy": [[[x,y], ...], ...], # [B, steps, 2] 像素 + "device": "cuda", + "centers": [[cx,cy], ...], # 用于本次变换的参数 + "radii": [r, ...] + } + +运行示例： + uv run serve_pendulum.py --ckpt ckpt/pendulum_tf_base.pt --host 0.0.0.0 --port 8000 +""" +import argparse +import math +import os +from typing import List, Optional + +import numpy as np +import torch +import torch.nn as nn +from fastapi import FastAPI, HTTPException +from fastapi.middleware.cors import CORSMiddleware +from pydantic import BaseModel, Field +import uvicorn +# 兼容直接脚本运行与包内相对导入 +try: + from .geom_utils import batch_pixels_to_unit_sincos, unit_sincos_to_pixels # type: ignore +except Exception: # noqa + from geom_utils import batch_pixels_to_unit_sincos, unit_sincos_to_pixels + +# ----------------- 与训练一致的模块 ----------------- +class PositionalEncoding(nn.Module): + def __init__(self, d_model: int, max_len: int = 4096): + super().__init__() + pe = torch.zeros(max_len, d_model) + pos = torch.arange(0, max_len, dtype=torch.float32).unsqueeze(1) + div = torch.exp(torch.arange(0, d_model, 2, dtype=torch.float32) * (-math.log(10000.0) / d_model)) + pe[:, 0::2] = torch.sin(pos * div) + pe[:, 1::2] = torch.cos(pos * div) + self.register_buffer("pe", pe.unsqueeze(0)) # [1, L, D] + + def forward(self, x): + return x + self.pe[:, : x.size(1), :] + +class TimeSeriesTransformer(nn.Module): + def __init__(self, in_dim=2, d_model=256, nhead=4, enc_layers=3, dec_layers=3, d_ff=512, dropout=0.1, out_dim=2): + super().__init__() + self.in_proj = nn.Linear(in_dim, d_model) + self.out_proj = nn.Linear(d_model, out_dim) + self.tgt_proj = nn.Linear(out_dim, d_model) + self.pos_enc = PositionalEncoding(d_model) + self.tf = nn.Transformer( + d_model=d_model, + nhead=nhead, + num_encoder_layers=enc_layers, + num_decoder_layers=dec_layers, + dim_feedforward=d_ff, + dropout=dropout, + batch_first=True, + ) + + def forward(self, src, tgt_in, tgt_mask=None): + src = self.pos_enc(self.in_proj(src)) + tgt = self.pos_enc(self.tgt_proj(tgt_in)) + out = self.tf(src, tgt, tgt_mask=tgt_mask) # [B, S_out, D] + return self.out_proj(out) + +# ----------------- 推理引擎（仅 CUDA） ----------------- +class InferenceEngine: + def __init__(self, ckpt_path: str): + if not torch.cuda.is_available(): + raise RuntimeError("CUDA 不可用：该服务仅支持 CUDA。") + self.device = torch.device("cuda") + + if not os.path.exists(ckpt_path): + raise FileNotFoundError(f"Checkpoint not found: {ckpt_path}") + + # 显式关闭 weights_only 的安全限制（信任本地 ckpt） + payload = torch.load(ckpt_path, map_location=self.device, weights_only=False) + + default_cfg = dict(d_model=256, nhead=4, enc_layers=3, dec_layers=3, d_ff=512) + ckpt_cfg = payload.get("cfg", default_cfg) + self.net = TimeSeriesTransformer(in_dim=2, out_dim=2, **ckpt_cfg).to(self.device) + self.net.load_state_dict(payload["model"], strict=True) + self.net.eval() + torch.set_grad_enabled(False) + + # 标准化参数 + self.mu = payload["mu"] # numpy + self.std = payload["std"] + self.mu_t = torch.from_numpy(self.mu).to(self.device) + self.std_t = torch.from_numpy(self.std).to(self.device) + + @staticmethod + def _unitize_t(t: torch.Tensor, eps: float = 1e-6) -> torch.Tensor: + n = torch.clamp(torch.linalg.norm(t, dim=-1, keepdim=True), min=eps) + return t / n + + def _to_raw(self, z: torch.Tensor) -> torch.Tensor: + return z * self.std_t + self.mu_t + + def _to_std(self, z: torch.Tensor) -> torch.Tensor: + return (z - self.mu_t) / self.std_t + + def rollout(self, xb_raw: torch.Tensor, steps: int) -> torch.Tensor: + """ + xb_raw: [B, S_in, 2]，raw 空间（即训练时用的 (sin, cos) 或等价的 [x,y] 单位向量） + 返回：raw 空间预测 [B, steps, 2] + """ + xb_raw = self._unitize_t(xb_raw) # 规整到单位圆 + xb_std = self._to_std(xb_raw) # -> 标准化 + + tgt_tokens = xb_std[:, -1:, :2].clone() # 起始 token + for _ in range(steps): + mask = nn.Transformer.generate_square_subsequent_mask(tgt_tokens.size(1)).to(self.device) + out = self.net(xb_std, tgt_tokens, tgt_mask=mask) # 标准化空间 + next_std = out[:, -1:, :] + next_raw = self._to_raw(next_std) # -> raw + next_raw = self._unitize_t(next_raw) # 单位圆约束 + next_std = self._to_std(next_raw) # -> 标准化 + tgt_tokens = torch.cat([tgt_tokens, next_std], dim=1) + + pred_std = tgt_tokens[:, 1:, :] + pred_raw = self._to_raw(pred_std) + pred_raw = self._unitize_t(pred_raw) # 返回前再规整 + return pred_raw + +# ----------------- HTTP 层（仅 /predict） ----------------- +class PredictRequest(BaseModel): + sequences: List[List[List[float]]] = Field( + ..., description="批量序列：每个为 [S_in,2] 的像素 [x,y] 轨迹（来自图像跟踪）" + ) + steps: int = Field(..., gt=0, description="预测步数 (>0)") + # 可选：若客户端已标定可传入，以避免重复拟合 + centers: Optional[List[List[float]]] = Field( + default=None, description="可选 [B,2]，每条序列的圆心 (cx,cy)" + ) + radii: Optional[List[float]] = Field( + default=None, description="可选 [B]，每条序列的半径 r" + ) + +class PredictResponse(BaseModel): + pred_xy: List[List[List[float]]] # 未来像素坐标 [B, steps, 2] + device: str + centers: Optional[List[List[float]]] = None + radii: Optional[List[float]] = None + +app = FastAPI(title="Pendulum Transformer Inference (CUDA Only)", version="1.0.0") + +# CORS: 允许任意来源 +app.add_middleware( + CORSMiddleware, + allow_origins=["*"], + allow_credentials=False, + allow_methods=["*"], + allow_headers=["*"], +) + +ENGINE: InferenceEngine | None = None # 运行时注入 + +@app.post("/predict", response_model=PredictResponse) +def predict(req: PredictRequest): + if ENGINE is None: + raise HTTPException(500, "Engine not initialized") + + try: + pix = np.array(req.sequences, dtype=np.float32) # [B, S_in, 2] + except Exception as e: + raise HTTPException(400, f"Invalid 'sequences': {e}") + + if pix.ndim != 3 or pix.shape[-1] != 2: + raise HTTPException(400, f"'sequences' must be [B, S_in, 2], got {pix.shape}") + if req.steps <= 0: + raise HTTPException(400, "'steps' must be > 0") + if pix.shape[1] < 1: + raise HTTPException(400, "Each sequence must have S_in >= 1") + + # 1) 像素 -> 单位 (sin,cos)，并获取每条序列的 (cx,cy,r) + if req.centers is not None and req.radii is not None: + # 使用来自拍端的标定参数 + centers = np.array(req.centers, dtype=np.float32) # [B,2] + radii = np.array(req.radii, dtype=np.float32) # [B] + if centers.shape[0] != pix.shape[0] or centers.shape[1] != 2 or radii.shape[0] != pix.shape[0]: + raise HTTPException(400, "centers 应为 [B,2] 且 radii 为 [B]") + radii = np.clip(radii, 1e-6, None) + # 根据训练时定义：sin=(x-cx)/r, cos=(cy-y)/r + sin = (pix[..., 0] - centers[:, 0:1]) / radii[:, None] + cos = (centers[:, 1:2] - pix[..., 1]) / radii[:, None] + sc = np.stack([sin, cos], axis=-1).astype(np.float32) # [B,S,2] + else: + sc, centers, radii = batch_pixels_to_unit_sincos(pix) + + # 2) 送入引擎：期望输入为 raw (即单位向量的 sin,cos) + x = torch.from_numpy(sc).to(ENGINE.device) + pred_sc = ENGINE.rollout(x, steps=req.steps) # [B, steps, 2] 单位 (sin,cos) + pred_sc_np = pred_sc.detach().cpu().numpy() + + # 3) 单位 (sin,cos) -> 像素 + pred_pix = unit_sincos_to_pixels(pred_sc_np, centers, radii) # [B, steps, 2] + + return PredictResponse( + pred_xy=pred_pix.tolist(), device="cuda", + centers=centers.tolist(), radii=radii.tolist() + ) + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--ckpt", type=str, required=True, help="Path to checkpoint (.pt)") + parser.add_argument("--host", type=str, default="0.0.0.0") + parser.add_argument("--port", type=int, default=8000) + args = parser.parse_args() + + global ENGINE + ENGINE = InferenceEngine(args.ckpt) + print(f"[serve] Loaded ckpt from {args.ckpt} on device=cuda") + + uvicorn.run(app, host=args.host, port=args.port, log_level="info") + +if __name__ == "__main__": + main() diff --git a/uv.lock b/uv.lock new file mode 100644 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