libcom 0.1.8__py3-none-any.whl

libcom/reflection_generation/source/PostProcessModel.py

@@ -0,0 +1,513 @@
+from torch import nn
+import torch
+import pytorch_lightning as pl
+import os
+import numpy as np
+from PIL import Image
+
+from .cldm.cldm import ControlLDM
+from .cldm.model import create_model, load_state_dict
+from .ldm.modules.diffusionmodules.openaimodel import (ResBlock, TimestepEmbedSequential, AttentionBlock, 
+                                                      Upsample, SpatialTransformer, Downsample)
+from .ldm.modules.diffusionmodules.util import (
+    checkpoint,
+    conv_nd,
+    linear,
+    avg_pool_nd,
+    zero_module,
+    normalization,
+    timestep_embedding,
+)
+from .ldm.util import exists
+
+class Post_Process_Net(nn.Module):
+    def __init__(
+        self,
+        image_size,
+        in_channels,
+        model_channels,
+        out_channels,
+        num_res_blocks,
+        attention_resolutions,
+        dropout=0,
+        channel_mult=(1, 2, 4, 8),
+        conv_resample=True,
+        dims=2,
+        num_classes=None,
+        use_checkpoint=False,
+        use_fp16=False,
+        num_heads=-1,
+        num_head_channels=-1,
+        num_heads_upsample=-1,
+        use_scale_shift_norm=False,
+        resblock_updown=False,
+        use_new_attention_order=False,
+        use_spatial_transformer=False,    # custom transformer support
+        transformer_depth=1,              # custom transformer support
+        context_dim=None,                 # custom transformer support
+        n_embed=None,                     # custom support for prediction of discrete ids into codebook of first stage vq model
+        legacy=True,
+        disable_self_attentions=None,
+        num_attention_blocks=None,
+        disable_middle_self_attn=False,
+        use_linear_in_transformer=False,
+    ):
+        super().__init__()
+        self.image_size = image_size
+        self.in_channels = in_channels
+        self.model_channels = model_channels
+        self.out_channels = out_channels
+        if isinstance(num_res_blocks, int):
+            self.num_res_blocks = len(channel_mult) * [num_res_blocks]
+        else:
+            if len(num_res_blocks) != len(channel_mult):
+                raise ValueError("provide num_res_blocks either as an int (globally constant) or "
+                                 "as a list/tuple (per-level) with the same length as channel_mult")
+            self.num_res_blocks = num_res_blocks
+        if disable_self_attentions is not None:
+            # should be a list of booleans, indicating whether to disable self-attention in TransformerBlocks or not
+            assert len(disable_self_attentions) == len(channel_mult)
+        if num_attention_blocks is not None:
+            assert len(num_attention_blocks) == len(self.num_res_blocks)
+            assert all(map(lambda i: self.num_res_blocks[i] >= num_attention_blocks[i], range(len(num_attention_blocks))))
+            print(f"Constructor of UNetModel received num_attention_blocks={num_attention_blocks}. "
+                  f"This option has LESS priority than attention_resolutions {attention_resolutions}, "
+                  f"i.e., in cases where num_attention_blocks[i] > 0 but 2**i not in attention_resolutions, "
+                  f"attention will still not be set.")
+
+        self.attention_resolutions = attention_resolutions
+        self.dropout = dropout
+        self.channel_mult = channel_mult
+        self.conv_resample = conv_resample
+        self.num_classes = num_classes
+        self.use_checkpoint = use_checkpoint
+        self.dtype = torch.float16 if use_fp16 else torch.float32
+        self.num_heads = num_heads
+        self.num_head_channels = num_head_channels
+        self.num_heads_upsample = num_heads_upsample
+        self.predict_codebook_ids = n_embed is not None
+
+        time_embed_dim = model_channels * 4
+        self.time_embed = nn.Sequential(
+            linear(model_channels, time_embed_dim),
+            nn.SiLU(),
+            linear(time_embed_dim, time_embed_dim),
+        )
+
+        if self.num_classes is not None:
+            if isinstance(self.num_classes, int):
+                self.label_emb = nn.Embedding(num_classes, time_embed_dim)
+            elif self.num_classes == "continuous":
+                print("setting up linear c_adm embedding layer")
+                self.label_emb = nn.Linear(1, time_embed_dim)
+            else:
+                raise ValueError()
+
+        self.input_blocks = nn.ModuleList(
+            [
+                TimestepEmbedSequential(
+                    conv_nd(dims, in_channels, model_channels, 3, padding=1)
+                )
+            ]
+        )
+        self._feature_size = model_channels
+        input_block_chans = [model_channels]
+        ch = model_channels
+        ds = 1
+        for level, mult in enumerate(channel_mult):
+            for nr in range(self.num_res_blocks[level]):
+                layers = [
+                    ResBlock(
+                        ch,
+                        time_embed_dim,
+                        dropout,
+                        out_channels=mult * model_channels,
+                        dims=dims,
+                        use_checkpoint=use_checkpoint,
+                        use_scale_shift_norm=use_scale_shift_norm,
+                    )
+                ]
+                ch = mult * model_channels
+                if ds in attention_resolutions:
+                    if num_head_channels == -1:
+                        dim_head = ch // num_heads
+                    else:
+                        num_heads = ch // num_head_channels
+                        dim_head = num_head_channels
+                    if legacy:
+                        #num_heads = 1
+                        dim_head = ch // num_heads if use_spatial_transformer else num_head_channels
+                    if exists(disable_self_attentions):
+                        disabled_sa = disable_self_attentions[level]
+                    else:
+                        disabled_sa = False
+
+                    if not exists(num_attention_blocks) or nr < num_attention_blocks[level]:
+                        layers.append(
+                            AttentionBlock(
+                                ch,
+                                use_checkpoint=use_checkpoint,
+                                num_heads=num_heads,
+                                num_head_channels=dim_head,
+                                use_new_attention_order=use_new_attention_order,
+                            ) if not use_spatial_transformer else SpatialTransformer(
+                                ch, num_heads, dim_head, depth=transformer_depth, context_dim=context_dim,
+                                disable_self_attn=disabled_sa, use_linear=use_linear_in_transformer,
+                                use_checkpoint=use_checkpoint
+                            )
+                        )
+                self.input_blocks.append(TimestepEmbedSequential(*layers))
+                self._feature_size += ch
+                input_block_chans.append(ch)
+            if level != len(channel_mult) - 1:
+                out_ch = ch
+                if resblock_updown:
+                    stage_last_block = ResBlock(
+                                            ch,
+                                            time_embed_dim,
+                                            dropout,
+                                            out_channels=out_ch,
+                                            dims=dims,
+                                            use_checkpoint=use_checkpoint,
+                                            use_scale_shift_norm=use_scale_shift_norm,
+                                            down=True,
+                                        )
+                else:
+                    stage_last_block = Downsample(
+                                            ch, conv_resample, dims=dims, out_channels=out_ch
+                                        )
+                self.input_blocks.append(
+                    TimestepEmbedSequential(stage_last_block)
+                )
+                ch = out_ch
+                input_block_chans.append(ch)
+                ds *= 2
+                self._feature_size += ch
+
+        if num_head_channels == -1:
+            dim_head = ch // num_heads
+        else:
+            num_heads = ch // num_head_channels
+            dim_head = num_head_channels
+        if legacy:
+            #num_heads = 1
+            dim_head = ch // num_heads if use_spatial_transformer else num_head_channels
+        self.middle_block = TimestepEmbedSequential(
+            ResBlock(
+                ch,
+                time_embed_dim,
+                dropout,
+                dims=dims,
+                use_checkpoint=use_checkpoint,
+                use_scale_shift_norm=use_scale_shift_norm,
+            ),
+            AttentionBlock(
+                ch,
+                use_checkpoint=use_checkpoint,
+                num_heads=num_heads,
+                num_head_channels=dim_head,
+                use_new_attention_order=use_new_attention_order,
+            ) if not use_spatial_transformer else SpatialTransformer(  # always uses a self-attn
+                            ch, num_heads, dim_head, depth=transformer_depth, context_dim=context_dim,
+                            disable_self_attn=disable_middle_self_attn, use_linear=use_linear_in_transformer,
+                            use_checkpoint=use_checkpoint
+                        ),
+            ResBlock(
+                ch,
+                time_embed_dim,
+                dropout,
+                dims=dims,
+                use_checkpoint=use_checkpoint,
+                use_scale_shift_norm=use_scale_shift_norm,
+            ),
+        )
+        self._feature_size += ch
+
+        self.output_blocks1 = nn.ModuleList([])
+        self.output_blocks2 = nn.ModuleList([])
+        for level, mult in list(enumerate(channel_mult))[::-1]:
+            for i in range(self.num_res_blocks[level] + 1):
+                ich = input_block_chans.pop()
+                layers1 = [
+                    ResBlock(
+                        ch + ich,
+                        time_embed_dim,
+                        dropout,
+                        out_channels=model_channels * mult,
+                        dims=dims,
+                        use_checkpoint=use_checkpoint,
+                        use_scale_shift_norm=use_scale_shift_norm,
+                    )
+                ]
+                layers2 = [
+                    ResBlock(
+                        ch + ich,
+                        time_embed_dim,
+                        dropout,
+                        out_channels=model_channels * mult,
+                        dims=dims,
+                        use_checkpoint=use_checkpoint,
+                        use_scale_shift_norm=use_scale_shift_norm,
+                    )
+                ]
+                ch = model_channels * mult
+                if ds in attention_resolutions:
+                    if num_head_channels == -1:
+                        dim_head = ch // num_heads
+                    else:
+                        num_heads = ch // num_head_channels
+                        dim_head = num_head_channels
+                    if legacy:
+                        #num_heads = 1
+                        dim_head = ch // num_heads if use_spatial_transformer else num_head_channels
+                    if exists(disable_self_attentions):
+                        disabled_sa = disable_self_attentions[level]
+                    else:
+                        disabled_sa = False
+
+                    if not exists(num_attention_blocks) or i < num_attention_blocks[level]:
+                        layers1.append(
+                            AttentionBlock(
+                                ch,
+                                use_checkpoint=use_checkpoint,
+                                num_heads=num_heads_upsample,
+                                num_head_channels=dim_head,
+                                use_new_attention_order=use_new_attention_order,
+                            ) if not use_spatial_transformer else SpatialTransformer(
+                                ch, num_heads, dim_head, depth=transformer_depth, context_dim=context_dim,
+                                disable_self_attn=disabled_sa, use_linear=use_linear_in_transformer,
+                                use_checkpoint=use_checkpoint
+                            )
+                        )
+                        layers2.append(
+                            AttentionBlock(
+                                ch,
+                                use_checkpoint=use_checkpoint,
+                                num_heads=num_heads_upsample,
+                                num_head_channels=dim_head,
+                                use_new_attention_order=use_new_attention_order,
+                            ) if not use_spatial_transformer else SpatialTransformer(
+                                ch, num_heads, dim_head, depth=transformer_depth, context_dim=context_dim,
+                                disable_self_attn=disabled_sa, use_linear=use_linear_in_transformer,
+                                use_checkpoint=use_checkpoint
+                            )
+                        )
+                if level and i == self.num_res_blocks[level]:
+                    out_ch = ch
+                    layers1.append(ResBlock(ch,
+                                            time_embed_dim,
+                                            dropout,
+                                            out_channels=out_ch,
+                                            dims=dims,
+                                            use_checkpoint=use_checkpoint,
+                                            use_scale_shift_norm=use_scale_shift_norm,
+                                            up=True,
+                                            ) if resblock_updown else
+                                    Upsample(ch, conv_resample, dims=dims, out_channels=out_ch))
+                    layers2.append(ResBlock(ch,
+                                            time_embed_dim,
+                                            dropout,
+                                            out_channels=out_ch,
+                                            dims=dims,
+                                            use_checkpoint=use_checkpoint,
+                                            use_scale_shift_norm=use_scale_shift_norm,
+                                            up=True,
+                                            ) if resblock_updown else
+                                    Upsample(ch, conv_resample, dims=dims, out_channels=out_ch))
+                    ds //= 2
+                self.output_blocks1.append(TimestepEmbedSequential(*layers1))
+                self.output_blocks2.append(TimestepEmbedSequential(*layers2))
+                self._feature_size += ch
+
+        self.out1 = nn.Sequential(
+            normalization(ch),
+            nn.SiLU(),
+            zero_module(conv_nd(dims, model_channels, 3, 3, padding=1)),
+        )
+        self.out2 = nn.Sequential(
+            normalization(ch),
+            nn.SiLU(),
+            zero_module(conv_nd(dims, model_channels, 1, 3, padding=1)),
+        )
+        if self.predict_codebook_ids:
+            self.id_predictor = nn.Sequential(
+            normalization(ch),
+            conv_nd(dims, model_channels, n_embed, 1),
+            #nn.LogSoftmax(dim=1)  # change to cross_entropy and produce non-normalized logits
+        )
+
+    def forward(self, x, timesteps=None, context=None, y=None,**kwargs):
+        """
+        Apply the model to an input batch.
+        :param x: an [N x C x ...] Tensor of inputs.
+        :param timesteps: a 1-D batch of timesteps.
+        :param context: conditioning plugged in via crossattn
+        :param y: an [N] Tensor of labels, if class-conditional.
+        :return: an [N x C x ...] Tensor of outputs.
+        """
+        assert (y is not None) == (
+            self.num_classes is not None
+        ), "must specify y if and only if the model is class-conditional"
+        hs = []
+        t_emb = timestep_embedding(timesteps, self.model_channels, repeat_only=False)
+        emb = self.time_embed(t_emb)
+
+        if self.num_classes is not None:
+            assert y.shape[0] == x.shape[0]
+            emb = emb + self.label_emb(y)
+
+        h = x.type(self.dtype)
+        for module in self.input_blocks:
+            h = module(h, emb, context)
+            hs.append(h)
+        h = self.middle_block(h, emb, context)
+        h1 = h2 = h
+        for module1, module2 in zip(self.output_blocks1, self.output_blocks2):
+            pre_h = hs.pop()
+            h1 = torch.cat([h1, pre_h], dim=1)
+            h1 = module1(h1, emb, context)   
+            h2 = torch.cat([h2, pre_h], dim=1)
+            h2 = module2(h2, emb, context)
+        h1 = h1.type(x.dtype)
+        h2 = h2.type(x.dtype)
+        return torch.cat([self.out1(h1), self.out2(h2)], dim=1)
+    
+
+class PostProcess(pl.LightningModule):
+    def __init__(self, model_path, control_net_path, infe_steps=50, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.post_process_net = Post_Process_Net(image_size=256, 
+                                                 in_channels=7, 
+                                                 out_channels=4, 
+                                                 model_channels=96,
+                                                 attention_resolutions=[],
+                                                 num_res_blocks=2,
+                                                 channel_mult=[ 1, 2, 2, 4 ],
+                                                 num_head_channels=64,
+                                                 use_spatial_transformer=False,
+                                                 use_linear_in_transformer=True,
+                                                 transformer_depth=1,
+                                                 context_dim=320,
+                                                 legacy=False,
+                                                 use_checkpoint=True)
+        self.model = create_model(model_path).cpu()
+        self.model.load_state_dict(load_state_dict(control_net_path, location='cuda'), strict=False)
+        self.learning_rate = 1e-5
+        self.infe_steps = infe_steps
+
+    def training_step(self, batch, batch_idx):
+        self.post_process_net.train()
+        # b,h,w,c
+        comp_img_scaled = batch['hint'][:, :, :, :3]
+        gt_mask_scaled = batch["gt_mask"]
+        gt_img_scaled = batch['jpg']
+        obj_mask = batch['hint'][:, :, :, 3:]
+        comp_img, gt_mask, gt_img = restore_img(comp_img_scaled, gt_mask_scaled, gt_img_scaled)
+        batch_size = gt_mask.shape[0]
+
+        with torch.no_grad():
+            if os.path.exists(os.path.join(self.generated_image_path, batch['name'][0])):
+                images = []
+                for name in batch['name']:
+                    img_path = os.path.join(self.generated_image_path, name)
+                    image = Image.open(img_path).convert('RGB').resize((256, 256),Image.NEAREST)
+                    image = np.array(image)
+                    images.append(torch.tensor(image[None, :, : ,:]))
+                image = torch.clamp(torch.concat(images, dim=0).to(comp_img.device) + 10, 0, 255)
+                image_scaled = (image / 127.5) - 1
+            else:
+                images = self.model.log_images(batch, mode='pndm', input=(comp_img_scaled*2-1).permute(0,3,1,2), 
+                                               ddim_steps=self.infe_steps, add_noise_strength=1)
+                image_scaled = images['samples_cfg_scale_9.00'].permute(0,2,3,1)
+                image = torch.clamp(image_scaled, -1., 1.)
+                image = (image + 1.0) / 2.0
+                image = (image * 255).int() # bchw -> bhwc
+                for i in range(batch_size):
+                    image_to_save = np.array(image[i].detach().cpu(), dtype=np.uint8)
+                    img_path = os.path.join(self.generated_image_path, batch['name'][i])
+                    image_to_save = Image.fromarray(image_to_save)
+                    image_to_save.save(img_path)
+                image.to(comp_img.device)
+
+        input = torch.concat([image_scaled, comp_img_scaled * 2 - 1, obj_mask], dim=-1)
+        null_timeteps = torch.zeros(batch_size, device=input.device)
+        output = self.post_process_net(input.permute(0,3,1,2), timesteps=null_timeteps)
+        output = output.permute(0,2,3,1)
+        
+        pred_mask = output[:, :, :, 3]
+        adjusted_img = output[:, :, :, :3]
+        
+        loss1 = nn.functional.l1_loss(pred_mask, gt_mask_scaled * 2 - 1) 
+        loss2 = nn.functional.l1_loss(adjusted_img, gt_img_scaled, reduction='none')
+        loss = loss1 + loss2.mean()
+
+        return loss
+
+    def configure_optimizers(self):
+        lr = self.learning_rate
+        params = list(self.post_process_net.parameters())
+        opt = torch.optim.AdamW(params, lr=lr)
+        return opt
+    
+    # get pred_mask, adjusted img and new composite img for logging sake
+    def get_log(self, batch, batch_idx, log_num=1):
+        comp_img_scaled = batch['hint'][:, :, :, :3][:log_num]
+        gt_mask_scaled = batch["gt_mask"][:log_num]
+        gt_img_scaled = batch['jpg'][:log_num]
+        obj_mask = batch['hint'][:, :, :, 3:][:log_num]
+        comp_img, gt_mask, gt_img = restore_img(comp_img_scaled, gt_mask_scaled, gt_img_scaled)
+        trimed_batch = {}
+        for key, dataset in batch.items():
+            trimed_batch[key] = dataset[:log_num]
+        self.post_process_net.eval()
+
+        with torch.no_grad():
+            if os.path.exists(os.path.join(self.generated_image_path, trimed_batch['name'][0])):
+                images = []
+                for name in trimed_batch['name']:
+                    img_path = os.path.join(self.generated_image_path, name)
+                    image = Image.open(img_path).convert('RGB').resize((256, 256),Image.NEAREST)
+                    image = np.array(image)
+                    images.append(torch.tensor(image[None, :, : ,:]))
+                image = torch.clamp(torch.concat(images, dim=0).to(comp_img.device) + 10, 0, 255)
+                image_scaled = (image / 127.5) - 1
+            else:
+                images = self.model.log_images(trimed_batch, mode='pndm', input=(comp_img_scaled*2-1).permute(0,3,1,2), 
+                                               ddim_steps=self.infe_steps, add_noise_strength=1)
+                image_scaled = images['samples_cfg_scale_9.00'].permute(0,2,3,1)
+                image = torch.clamp(image_scaled, -1., 1.)
+                image = (image + 1.0) / 2.0
+                image = (image * 255).int()
+
+        input = torch.concat([image_scaled, comp_img_scaled * 2 - 1, obj_mask], dim=-1)
+        null_timeteps = torch.zeros(log_num, device=input.device)
+        output = self.post_process_net(input.permute(0,3,1,2), timesteps=null_timeteps)
+        output = output.permute(0,2,3,1)
+
+        pred_mask = torch.greater_equal(output[:, :, :, 3], -0.1).int()
+        adjusted_img = output[:, :, :, :3]
+        adjusted_img = torch.clamp(adjusted_img, -1., 1.)
+        adjusted_img = (adjusted_img + 1.0) / 2.0
+        adjusted_img = (adjusted_img * 255).int()
+        new_composite_img = adjusted_img * pred_mask.unsqueeze(3) + (1-pred_mask.unsqueeze(3)) * comp_img
+
+        self.post_process_net.train()
+
+        log_info = {"gt_img": gt_img, "gt_mask":gt_mask, "original_pred_img":image, "adjusted_imgs":adjusted_img, 
+                    "new_comp_imgs": new_composite_img,  "pred_masks":pred_mask*255}
+        for key, k in log_info.items():
+            log_info[key] = k.detach().cpu()
+        
+        return log_info
+
+@torch.no_grad()
+def restore_img(comp_img, gt_mask, gt_img):
+    assert torch.all(torch.greater_equal(comp_img, 0)) and torch.all(torch.less_equal(comp_img, 1)), "wrong scale for comp_img"
+    assert torch.all(torch.greater_equal(gt_img, -1) ) and torch.all(torch.less_equal(gt_img, 1)), "wrong scale for gt_img"
+    assert torch.all(torch.greater_equal(gt_mask, 0) ) and torch.all(torch.less_equal(gt_mask, 1)), "wrong scale for gt_mask"
+    
+    comp_img = comp_img * 255
+    gt_mask = gt_mask * 255
+    gt_img = (gt_img + 1) * 127.5
+
+    return comp_img, gt_mask, gt_img

libcom/reflection_generation/source/cldm/base_network.py

@@ -0,0 +1,166 @@
+import torch
+import torch.nn as nn
+import torchvision.models as models
+
+class BaseNetwork(nn.Module):
+    def __init__(self):
+        super(BaseNetwork, self).__init__()
+
+    def init_weights(self, init_type='normal', gain=0.02):
+        def init_func(m):
+            classname = m.__class__.__name__
+            if hasattr(m, 'weight') and (classname.find('Conv') != -1 or classname.find('Linear') != -1):
+                if init_type == 'normal':
+                    nn.init.normal_(m.weight.data, 0.0, gain)
+                elif init_type == 'xavier':
+                    nn.init.xavier_normal_(m.weight.data, gain=gain)
+                elif init_type == 'kaiming':
+                    nn.init.kaiming_normal_(m.weight.data, a=0, mode='fan_in')
+                elif init_type == 'orthogonal':
+                    nn.init.orthogonal_(m.weight.data, gain=gain)
+
+                if hasattr(m, 'bias') and m.bias is not None:
+                    nn.init.constant_(m.bias.data, 0.0)
+
+            elif classname.find('BatchNorm2d') != -1:
+                nn.init.normal_(m.weight.data, 1.0, gain)
+                nn.init.constant_(m.bias.data, 0.0)
+
+        self.apply(init_func)
+
+class DoubleConv(BaseNetwork):
+    """(convolution => [BN] => ReLU) * 2"""
+    def __init__(self, in_channels, out_channels, mid_channels=None, norm_layer = nn.InstanceNorm2d):
+        super().__init__()
+        self.norm_layer = norm_layer
+        if not mid_channels:
+            mid_channels = out_channels
+        self.double_conv = nn.Sequential(
+            nn.Conv2d(in_channels, mid_channels, kernel_size=3, padding=1),
+            self.norm_layer(mid_channels),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(mid_channels, out_channels, kernel_size=3, padding=1),
+            self.norm_layer(out_channels),
+            nn.ReLU(inplace=True)
+        )
+
+    def forward(self, x):
+        return self.double_conv(x)
+
+class Bottleneck(BaseNetwork):
+    def __init__(self,in_places,out_places,stride=1,downsampling=False,expansion=4, norm_layer = nn.InstanceNorm2d):
+        super(Bottleneck,self).__init__()
+        self.expansion = expansion
+        self.downsampling = downsampling
+        self.norm_layer = norm_layer
+        self.bottleneck = nn.Sequential(
+            nn.Conv2d(in_channels=in_places,out_channels=out_places,kernel_size=1,stride=1),
+            self.norm_layer(out_places),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(in_channels=out_places,out_channels=out_places,kernel_size=3,stride=stride,padding=1),
+            self.norm_layer(out_places),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(in_channels=out_places,out_channels=out_places*self.expansion,kernel_size=1,stride=1),
+            self.norm_layer(out_places*self.expansion)
+        )
+
+        if self.downsampling :
+            self.downsample = nn.Sequential(
+                nn.Conv2d(in_channels=in_places,out_channels=out_places*self.expansion,kernel_size=1,stride=stride),
+                self.norm_layer(out_places*self.expansion)
+            )
+        self.relu = nn.ReLU(inplace=True)
+        
+    def forward(self,x):
+        residual = x
+        out = self.bottleneck(x)
+
+        if self.downsampling:
+            residual = self.downsample(x)
+        out += residual
+        out = self.relu(out)
+        return out
+    
+class ResNet(BaseNetwork):
+    def __init__(self, blocks, out_places=[64,16,32,64,64], input_nc = 4, expansion=4, norm_layer=nn.InstanceNorm2d):
+        super(ResNet, self).__init__()
+        self.expansion = expansion
+        self.norm_layer = norm_layer
+        self.bilinear = True 
+        self.conv = DoubleConv(input_nc, 64, norm_layer=nn.BatchNorm2d)  #TODO:
+        self.conv.eval()
+
+        self.layer1 = self.make_layer(in_places=out_places[0], out_places=out_places[1], block=blocks[0], stride=2,
+                                      norm_layer=self.norm_layer)
+        self.layer2 = self.make_layer(in_places=4*out_places[1], out_places=out_places[2], block=blocks[1], stride=2,
+                                      norm_layer=self.norm_layer)
+        self.layer3 = self.make_layer(in_places=4*out_places[2], out_places=out_places[3], block=blocks[2], stride=2,
+                                      norm_layer=self.norm_layer)
+        self.layer4 = self.make_layer(in_places=4*out_places[3], out_places=out_places[4], block=blocks[3], stride=2,
+                                      norm_layer=self.norm_layer)
+
+
+        for m in self.modules():
+            if isinstance(m, nn.Conv2d):
+                nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')
+
+    def make_layer(self, in_places, out_places, block, stride, norm_layer=nn.InstanceNorm2d):
+        layers = []
+        layers.append(
+            Bottleneck(in_places, out_places, stride, downsampling=True, norm_layer=norm_layer))
+        for i in range(1, block):
+            layers.append(
+                Bottleneck(out_places * self.expansion, out_places, norm_layer=norm_layer))
+
+        return nn.Sequential(*layers)
+
+    def forward(self, input):
+        f1 = self.conv(input)
+        f2 = self.layer1(f1)
+        f3 = self.layer2(f2)
+        f4 = self.layer3(f3)
+        f5 = self.layer4(f4)
+        return f5
+
+class RegNetwork(BaseNetwork):
+
+    def __init__(self,input_dim=256, norm_layer=nn.InstanceNorm2d):
+        super(RegNetwork,self).__init__()
+        self.norm_layer = norm_layer
+        self.FeatureEncoder = ResNet([3,4,6,3],input_nc=4,norm_layer=self.norm_layer)
+        self.net = nn.Sequential(
+            nn.Conv2d(input_dim,input_dim*2,kernel_size=3,padding=1,stride=2),
+            self.norm_layer(input_dim*2),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(input_dim*2,input_dim*2,kernel_size=3,padding=1,stride=1),
+            self.norm_layer(input_dim*2),
+            nn.ReLU(inplace=True),
+            nn.Conv2d(input_dim*2,input_dim*2,kernel_size=3,padding=1,stride=1),
+            self.norm_layer(input_dim*2),
+            nn.ReLU(inplace=True),
+            nn.AdaptiveAvgPool2d(1),
+            nn.Flatten(),
+        )
+        self.fc_bbx = nn.Linear(input_dim*2, 5)
+
+    def forward(self, x):
+        x = self.FeatureEncoder(x)
+        x = self.net(x)
+        pred_t = self.fc_bbx(x)
+        pred_t[:, 4] = torch.tanh(pred_t[:, 4]) * (torch.pi / 2)
+        return pred_t
+
+class MaskCls(BaseNetwork):
+
+    def __init__(self, num_classes=256):
+        super(MaskCls, self).__init__()
+        # 加载预训练的ResNet模型，这里选择ResNet50作为基础模型
+        self.resnet = models.resnet50(pretrained=True)
+        self.resnet.conv1 = nn.Conv2d(4, 64, kernel_size=7, stride=2, padding=3, bias=False)
+        # 替换最后一层全连接层
+        num_features = self.resnet.fc.in_features
+        self.resnet.fc = nn.Linear(num_features, num_classes)
+    
+    def forward(self, x):
+        x = self.resnet(x)
+        return x