可以二阶段训练，但是二阶段并行能力很差

brep2sdf/networks/encoder.py

@@ -109,7 +109,7 @@ class Encoder(nn.Module):
         background_features = self.background.forward(query_points)  # (B, D)
         return background_features
       
-    @torch.jit.export
+    @torch.jit.ignore
     def forward_training_volumes(self, surf_points: torch.Tensor, patch_id: int) -> torch.Tensor:
         """
         处理表面采样点的特征提取
@@ -119,18 +119,9 @@ class Encoder(nn.Module):
             特征张量 (S, D)
         """
         # 获取 patch 特征
-        patch_features = torch.zeros(surf_points.shape[0], self.feature_dim, device=surf_points.device)
+        patch_features = self.feature_volumes[patch_id].forward(surf_points)
-        for idx, volume in enumerate(self.feature_volumes):
-            if idx == patch_id:
-                patch_features = volume.forward(surf_points)
         
-        # 获取背景场特征
+        return patch_features
-        background_features = self.background.forward(surf_points)
-        
-        # 叠加 patch 和背景场特征
-        combined_features = 0.7 * patch_features + 0.3 * background_features
-        
-        return combined_features
 
     def _optimized_trilinear(self, points, bboxes, features)-> torch.Tensor:
         """优化后的向量化三线性插值"""

brep2sdf/networks/loss.py

@@ -182,6 +182,59 @@ class LossManager:
         
         return total_loss, loss_details
 
+    def compute_loss_volume(self, 
+                mnfld_pnts,
+                nonmnfld_pnts,
+                normals,
+                gt_sdfs,
+                mnfld_pred,
+                nonmnfld_pred,
+                ):
+        """
+        计算流型损失的逻辑
+
+        :param outputs: 模型的输出
+        :return: 计算得到的流型损失值     
+        """
+        # 强制类型转换确保一致性
+        normals = normals.to(torch.float32)
+        mnfld_pred = mnfld_pred.to(torch.float32)
+        gt_sdfs = gt_sdfs.to(torch.float32)
+    
+        # 计算流形损失 
+        manifold_loss = self.position_loss(mnfld_pred, gt_sdfs)
+        
+        # 计算法线损失
+        normals_loss = self.normals_loss(normals, mnfld_pnts, mnfld_pred)
+        #logger.gpu_memory_stats("计算法线损失后")
+
+        # 计算Eikonal损失
+        eikonal_loss = self.eikonal_loss(nonmnfld_pnts, nonmnfld_pred)
+
+        # 计算离表面损失
+        offsurface_loss = self.offsurface_loss(nonmnfld_pnts, nonmnfld_pred)
+
+        # 计算一致性损失
+        #onsistency_loss = self.consistency_loss(mnfld_pnts, mnfld_pred, all_fi)
+
+        # 计算修正损失
+        #correction_loss = self.correction_loss(mnfld_pnts, mnfld_pred, all_fi)
+
+
+
+        # 汇总损失
+        loss_details = {
+            "manifold": self.weights["manifold"] * manifold_loss,
+            "normals": self.weights["normals"] * normals_loss,
+            "eikonal": self.weights["eikonal"] * eikonal_loss,
+            "offsurface": self.weights["offsurface"] * offsurface_loss,
+        }
+        
+        # 计算总损失
+        total_loss = sum(loss_details.values())
+        
+        return total_loss, loss_details
+
     def _compute_loss(self, mnfld_pnts, normals, mnfld_pred_all, nonmnfld_pnts, nonmnfld_pred_all, n_batchsize, n_branch, n_patch_batch, n_patch_last):
         """
         计算流型损失的逻辑

brep2sdf/train.py

@@ -5,9 +5,11 @@ import os
 import numpy as np
 import argparse
 
+
 from brep2sdf.config.default_config import get_default_config
 from brep2sdf.data.data import load_brep_file,prepare_sdf_data, print_data_distribution, check_tensor
 from brep2sdf.data.pre_process_by_mesh import process_single_step
+from brep2sdf.data.utils import points_in_box
 from brep2sdf.networks.network import Net
 from brep2sdf.networks.octree import OctreeNode
 from brep2sdf.networks.loss import LossManager
@@ -203,97 +205,7 @@ class Trainer:
         # # 返回合并后的边界框
         # return torch.cat([global_min, global_max])
         # return [-0.5,] # 这个是错误的
-    def train_epoch_stage1_(self, epoch: int):
-        total_loss = 0.0
-        total_loss_details = {
-            "manifold": 0.0,
-            "normals": 0.0,
-            "eikonal": 0.0,
-            "offsurface": 0.0
-        }
-        accumulated_loss = 0.0  # 新增：用于累积多个step的loss
-        
-        # 新增：在每个epoch开始时清零梯度
-        self.optimizer.zero_grad()
-        
-        for step, surf_points in enumerate(self.data['surf_ncs']):
-            mnfld_points = torch.tensor(surf_points, device=self.device)
-            nonmnfld_pnts = self.sampler.get_points(mnfld_points.unsqueeze(0)).squeeze(0)  # 生成非流形点
-            gt_sdf = torch.zeros(mnfld_points.shape[0], device=self.device)
-            normals = None
-            if args.use_normal:
-                normals = torch.tensor(self.data["surf_pnt_normals"][step], device=self.device)
-                logger.debug(normals)
-
-            # --- 准备模型输入，启用梯度 ---
-            mnfld_points.requires_grad_(True)  # 在检查之后启用梯度
-            nonmnfld_pnts.requires_grad_(True)  # 在检查之后启用梯度
-
-            # --- 前向传播 ---
-            self.optimizer.zero_grad()
-            mnfld_pred = self.model.forward_training_volumes(mnfld_points, step)
-            nonmnfld_pred = self.model.forward_training_volumes(nonmnfld_pnts, step)
-            
-            if self.debug_mode:
-                # --- 检查前向传播的输出 ---
-                logger.print_tensor_stats("mnfld_pred",mnfld_pred)
-                logger.print_tensor_stats("nonmnfld_pred",nonmnfld_pred)
-                logger.gpu_memory_stats("前向传播后")
-
-            # --- 计算损失 ---
-            try:
-                if args.use_normal:
-                    loss, loss_details = self.loss_manager.compute_loss(
-                        mnfld_points,
-                        nonmnfld_pnts,
-                        normals,
-                        gt_sdf,
-                        mnfld_pred,
-                        nonmnfld_pred
-                    )
-                else:
-                    loss = torch.nn.functional.mse_loss(pred_sdf, gt_sdf)
-                    loss_details = {}  # 确保变量初始化
     
-                # 修改：累积loss而不是立即backward
-                accumulated_loss += loss / self.config.train.accumulation_steps  # 假设配置中有accumulation_steps
-                current_loss = loss.item()
-                total_loss += current_loss
-                for key in total_loss_details:
-                    if key in loss_details:
-                        total_loss_details[key] += loss_details[key].item()
-            
-                # 新增：达到累积步数时执行反向传播
-                if (step + 1) % self.config.train.accumulation_steps == 0:
-                    # 反向传播
-                    self.scheduler.optimizer.zero_grad()  # 清空梯度
-                    loss.backward()  # 反向传播
-                    self.scheduler.optimizer.step()  # 更新参数
-                    self.scheduler.step(accumulated_loss,epoch)
-                    
-                # 记录日志保持不变 ...
-                
-            except Exception as loss_e:
-                logger.error(f"Error in step {step}: {loss_e}")
-                continue
-
-            # --- 内存管理 ---
-            del loss
-            torch.cuda.empty_cache()
-
-        # 新增：处理最后未达到累积步数的剩余loss
-        if accumulated_loss != 0:
-            # 反向传播
-            self.scheduler.optimizer.zero_grad()  # 清空梯度
-            loss.backward()  # 反向传播
-            self.scheduler.optimizer.step()  # 更新参数
-            self.scheduler.step(accumulated_loss,epoch)
-            
-        # 计算并记录epoch损失
-        logger.info(f'Train Epoch: {epoch:4d}]\t'
-                    f'Loss: {total_loss:.6f}')
-        logger.info(f"Loss Details: {total_loss_details}")
-        return total_loss  # 返回平均损失而非累计值
     
 
     def train_epoch_stage1(self, epoch: int) -> float:
@@ -437,7 +349,202 @@ class Trainer:
 
             return total_loss # 对于单批次训练，直接返回当前损失
 
-    def train_epoch_stage2(self, epoch: int) -> float:
+    def train_stage2(self, num_epoch):
+        self.model.freeze_stage2()
+        self.cached_train_data = None
+
+        num_volumes = self.data['surf_bbox_ncs'].shape[0]
+        surf_bbox=torch.tensor(
+            self.data['surf_bbox_ncs'], 
+            dtype=torch.float32,
+            device=self.device
+        )
+        logger.info(f"Start Stage 2 Training: {num_epoch} epochs")
+        total_loss = 0.0 
+        for patch_id in range(num_volumes):
+            points = points_in_box(self.train_surf_ncs, surf_bbox[patch_id])
+            loss = self.train_stage2_by_volume(num_epoch, patch_id, points)
+            logger.debug(f"Patch [{patch_id:2d}] | Loss: {loss:.6f}")
+            total_loss += loss
+
+        return total_loss
+
+
+    def train_stage2_by_volume(self, num_epoch, patch_id, points):
+        logger.debug(f"Patch [{patch_id:2d}] | train pnt number {points.shape[0]}")
+        points.to(self.device)
+        mnfld_pnts = points[:,0:3]
+        logger.debug(mnfld_pnts)
+        gt_sdf = torch.zeros(mnfld_pnts.shape[0], device=self.device)
+        if not args.use_normal:
+            logger.warning(f"need args.use_normal,skip stage2")
+            return float('inf')
+        normals = points[:,3:6]
+        logger.debug(normals)
+        nonmnfld_pnts, psdf = self.sampler.get_norm_points(mnfld_pnts, normals)  # 生成非流形点
+
+        # --- 准备模型输入，启用梯度 ---
+        mnfld_pnts.requires_grad_(True) # 在检查之后启用梯度
+        nonmnfld_pnts.requires_grad_(True) # 在检查之后启用梯度
+
+        for epoch in range(num_epoch):
+            # --- 前向传播 ---
+            mnfld_pred = self.model.forward_training_volumes(mnfld_pnts, patch_id)
+            nonmnfld_pred = self.model.forward_training_volumes(nonmnfld_pnts, patch_id)
+
+
+            # --- 计算损失 ---
+            loss = torch.tensor(float('nan'), device=self.device) # 初始化为 NaN 以防计算失败
+            loss_details = {}
+            try:
+                logger.gpu_memory_stats("计算损失前")
+                loss, loss_details = self.loss_manager.compute_loss(
+                    mnfld_pnts,
+                    nonmnfld_pnts,
+                    normals, # 传递检查过的 normals
+                    gt_sdf,
+                    mnfld_pred,
+                    nonmnfld_pred,
+                    psdf
+                )
+
+                # --- 4. 检查损失计算结果 ---
+                if self.debug_mode:
+                    logger.print_tensor_stats("psdf",psdf)
+                    logger.print_tensor_stats("nonmnfld_pred",nonmnfld_pred)
+                    if check_tensor(loss, "Calculated Loss", epoch, step):
+                        logger.error(f"Epoch {epoch} Step {step}: Loss calculation resulted in inf/nan.")
+                        if loss_details: logger.error(f"Loss Details: {loss_details}")
+                        return float('inf') # 如果损失无效，停止这个epoch
+
+            except Exception as loss_e:
+                logger.error(f"Epoch {epoch} Step {step}: Error during loss calculation: {loss_e}", exc_info=True)
+                return float('inf') # 如果计算出错，停止这个epoch
+            logger.gpu_memory_stats("损失计算后")
+
+            # --- 反向传播和优化 ---
+            try:
+                # 反向传播
+                self.scheduler.optimizer.zero_grad()  # 清空梯度
+                loss.backward()  # 反向传播
+                self.scheduler.optimizer.step()  # 更新参数
+                self.scheduler.step(loss,epoch)
+            except Exception as backward_e:
+                logger.error(f"Epoch {epoch} Step {step}: Error during backward pass or optimizer step: {backward_e}", exc_info=True)
+                # 如果你想看是哪个操作导致的，可以启用 anomaly detection
+                # torch.autograd.set_detect_anomaly(True) # 放在训练开始前
+                return float('inf') # 如果反向传播或优化出错，停止这个epoch
+
+
+
+            torch.cuda.empty_cache()
+            
+            if epoch % 100 == 0:
+                # 记录训练进度 (只记录有效的损失)
+                logger.info(f'Train Epoch: {epoch:4d}]\t'
+                            f'Loss: {loss:.6f}')
+                if loss_details: logger.info(f"Loss Details: {loss_details}")
+
+        return loss # last loss
+
+
+
+
+
+    def train_epoch_stage2_(self, epoch: int):
+        total_loss = 0.0
+        total_loss_details = {
+            "manifold": 0.0,
+            "normals": 0.0,
+            "eikonal": 0.0,
+            "offsurface": 0.0
+        }
+        accumulated_loss = 0.0  # 新增：用于累积多个step的loss
+        
+        # 新增：在每个epoch开始时清零梯度
+        self.scheduler.optimizer.zero_grad()
+        
+        for step, surf_points in enumerate(self.data['surf_ncs']):
+            mnfld_points = torch.tensor(surf_points, device=self.device)
+            nonmnfld_pnts = self.sampler.get_points(mnfld_points.unsqueeze(0)).squeeze(0)  # 生成非流形点
+            gt_sdf = torch.zeros(mnfld_points.shape[0], device=self.device)
+            normals = None
+            if args.use_normal:
+                normals = torch.tensor(self.data["surf_pnt_normals"][step], device=self.device)
+                logger.debug(normals)
+
+            # --- 准备模型输入，启用梯度 ---
+            mnfld_points.requires_grad_(True)  # 在检查之后启用梯度
+            nonmnfld_pnts.requires_grad_(True)  # 在检查之后启用梯度
+
+            # --- 前向传播 ---
+            self.scheduler.optimizer.zero_grad()
+            mnfld_pred = self.model.forward_training_volumes(mnfld_points, step)
+            nonmnfld_pred = self.model.forward_training_volumes(nonmnfld_pnts, step)
+            
+            if self.debug_mode:
+                # --- 检查前向传播的输出 ---
+                logger.print_tensor_stats("mnfld_pred",mnfld_pred)
+                logger.print_tensor_stats("nonmnfld_pred",nonmnfld_pred)
+                logger.gpu_memory_stats("前向传播后")
+
+            # --- 计算损失 ---
+            try:
+                if args.use_normal:
+                    loss, loss_details = self.loss_manager.compute_loss_volume(
+                        mnfld_points,
+                        nonmnfld_pnts,
+                        normals,
+                        gt_sdf,
+                        mnfld_pred,
+                        nonmnfld_pred
+                    )
+                else:
+                    loss = torch.nn.functional.mse_loss(pred_sdf, gt_sdf)
+                    loss_details = {}  # 确保变量初始化
+                    
+                # 修改：累积loss而不是立即backward
+                accumulated_loss += loss / self.config.train.accumulation_steps  # 假设配置中有accumulation_steps
+                current_loss = loss.item()
+                total_loss += current_loss
+                for key in total_loss_details:
+                    if key in loss_details:
+                        total_loss_details[key] += loss_details[key].item()
+            
+                # 新增：达到累积步数时执行反向传播
+                if (step + 1) % self.config.train.accumulation_steps == 0:
+                    # 反向传播
+                    self.scheduler.optimizer.zero_grad()  # 清空梯度
+                    accumulated_loss.backward()  # 反向传播
+                    self.scheduler.optimizer.step()  # 更新参数
+                    self.scheduler.step(accumulated_loss,epoch)
+                    accumulated_loss = 0.0
+                    
+                # 记录日志保持不变 ...
+                
+            except Exception as loss_e:
+                logger.error(f"Error in step {step}: {loss_e}")
+                continue
+
+            # --- 内存管理 ---
+            del loss
+            torch.cuda.empty_cache()
+
+        # 新增：处理最后未达到累积步数的剩余loss
+        if accumulated_loss != 0:
+            # 反向传播
+            self.scheduler.optimizer.zero_grad()  # 清空梯度
+            accumulated_loss.backward()  # 反向传播
+            self.scheduler.optimizer.step()  # 更新参数
+            self.scheduler.step(accumulated_loss,epoch)
+            
+        # 计算并记录epoch损失
+        logger.info(f'Train Epoch: {epoch:4d}]\t'
+                    f'Loss: {total_loss:.6f}')
+        logger.info(f"Loss Details: {total_loss_details}")
+        return total_loss  # 返回平均损失而非累计值
+
+    def train_epoch_stage3(self, epoch: int) -> float:
         # --- 1. 检查输入数据 ---
         # 注意：假设 self.sdf_data 包含 [x, y, z, nx, ny, nz, sdf] (7列) 或 [x, y, z, sdf] (4列)
         # 并且 SDF 值总是在最后一列
@@ -521,6 +628,7 @@ class Trainer:
             )
 
             #logger.print_tensor_stats("psdf",psdf)
+            #logger.print_tensor_stats("nonmnfld_pnts",nonmnfld_pnts)
             #logger.print_tensor_stats("nonmnfld_pred",nonmnfld_pred)
 
             # --- 计算损失 ---
@@ -752,31 +860,27 @@ class Trainer:
             start_epoch = self._load_checkpoint(args.resume_checkpoint_path)
             logger.info(f"Loaded model from {args.resume_checkpoint_path}")
         
+        # stage1
         self.model.encoder.freeze_stage1()
-        for epoch in range(start_epoch, self.config.train.num_epochs + 1):
+        for epoch in range(start_epoch, self.config.train.num_epochs1 + 1):
             # 训练一个epoch
             train_loss = self.train_epoch_stage1(epoch)
             #train_loss = self.train_epoch_stage2(epoch)
             #train_loss = self.train_epoch(epoch)
 
-            # 验证
-            '''
-            if epoch % self.config.train.val_freq == 0:
-                val_loss = self.validate(epoch)
-                logger.info(f'Epoch {epoch}: Train Loss = {train_loss:.6f}, Val Loss = {val_loss:.6f}')
-                
-                # 保存最佳模型
-                if val_loss < best_val_loss:
-                    best_val_loss = val_loss
-                    self._save_model(epoch, val_loss)
-                    logger.info(f'New best model saved at epoch {epoch} with val loss {val_loss:.6f}')
-            else:
-                logger.info(f'Epoch {epoch}: Train Loss = {train_loss:.6f}')
-            '''
             # 保存检查点
             if epoch % self.config.train.save_freq == 0:
                 self._save_checkpoint(epoch, train_loss)
                 logger.info(f'Checkpoint saved at epoch {epoch}')
+        
+        # stage2 freeze_stage2
+        
+
+        self.train_stage2(self.config.train.num_epochs2)
+        epoch = self.config.train.num_epochs1+self.config.train.num_epochs2
+        logger.info(f'Checkpoint saved at epoch {epoch}')
+        self._save_checkpoint(epoch, 0.0)
+
         self.model.encoder.unfreeze()
         # 训练完成
         total_time = time.time() - start_time
@@ -848,7 +952,7 @@ class Trainer:
     def _load_checkpoint(self, checkpoint_path):
         """从检查点恢复训练状态"""
         try:
-            checkpoint = torch.load(checkpoint_path)
+            checkpoint = torch.load(checkpoint_path, map_location='cpu', weights_only=False)
             self.model.load_state_dict(checkpoint['model_state_dict'])
             self.scheduler.optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
             return checkpoint['epoch'] + 1