mirror of
https://github.com/unanmed/ginka-generator.git
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99 lines
3.3 KiB
Python
99 lines
3.3 KiB
Python
import torch
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from torch_geometric.data import Data, Batch
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def differentiable_convert_to_data(map_probs: torch.Tensor) -> Data:
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"""
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可导的图结构转换（返回 PyG Data 对象）
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map_probs: [C, H, W]
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返回：
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Data(x=[N, C], edge_index=[2, E], edge_attr=[E, C])
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"""
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C, H, W = map_probs.shape
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device = map_probs.device
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N = H * W
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# 1. 节点特征
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node_features = map_probs.view(C, -1).T # [N, C]
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# 2. 构建所有可能的边连接
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node_indices = torch.arange(N, device=device).view(H, W)
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# 水平连接（右邻居）
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right_src = node_indices[:, :-1].flatten()
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right_dst = node_indices[:, 1:].flatten()
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# 垂直连接（下邻居）
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down_src = node_indices[:-1, :].flatten()
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down_dst = node_indices[1:, :].flatten()
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# 合并边列表（双向）
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edge_src = torch.cat([right_src, down_src])
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edge_dst = torch.cat([right_dst, down_dst])
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edge_index = torch.cat([
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torch.stack([edge_src, edge_dst], dim=0),
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torch.stack([edge_dst, edge_src], dim=0) # 反向连接
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], dim=1).to(device, dtype=torch.long)
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# 3. 计算可导的边权重
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wall_class_idx = 1 # 假设类别 1 是墙
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src_probs = torch.sigmoid(-map_probs[wall_class_idx].flatten()[edge_src])
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dst_probs = torch.sigmoid(-map_probs[wall_class_idx].flatten()[edge_dst])
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edge_mask = torch.nn.functional.softplus(src_probs * dst_probs).unsqueeze(1) # [E, 1]
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# 4. 计算边特征
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src_feat = map_probs[:, edge_src // W, edge_src % W].T # [E, C]
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dst_feat = map_probs[:, edge_dst // W, edge_dst % W].T # [E, C]
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edge_attr = (src_feat + dst_feat) / 2 * edge_mask # [E, C]
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return Data(
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x=node_features,
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edge_index=edge_index,
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edge_attr=edge_attr,
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num_nodes=N
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)
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def convert_soft_map_to_graph(map_probs: torch.Tensor):
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"""
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直接使用 Softmax 概率构建 soft 图结构
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"""
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C, H, W = map_probs.shape # [32, H, W]
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N = H * W
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device = map_probs.device
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# 计算 soft 节点特征
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node_features = map_probs.view(C, N).T # [N, C]
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# 计算 soft 邻接边（基于 soft 权重）
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edge_list = []
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for r in range(H):
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for c in range(W):
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node = r * W + c
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if c + 1 < W:
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right = node + 1
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edge_list.append([node, right])
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if r + 1 < H:
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down = node + W
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edge_list.append([node, down])
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edge_index = torch.tensor(edge_list).t().to(device)
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# 计算 soft 边权重（基于 Softmax 概率）
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soft_edge_weight = (map_probs[:, edge_index[0] // W, edge_index[0] % W] +
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map_probs[:, edge_index[1] // W, edge_index[1] % W]) / 2
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return Data(x=node_features, edge_index=edge_index, edge_attr=soft_edge_weight)
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def batch_convert_soft_map_to_graph(batch_map_probs):
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"""
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处理 batch 维度，将 [B, C, H, W] 转换为批量图结构 Batch
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"""
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B, C, H, W = batch_map_probs.shape # 获取 batch 维度
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batch_graphs = []
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for i in range(B):
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graph = differentiable_convert_to_data(batch_map_probs[i]) # 处理单个样本
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batch_graphs.append(graph)
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# 合并所有图为批量 Batch
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return Batch.from_data_list(batch_graphs)
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