当前模型中：import torch
import torch.nn as nn
from functools import partial
from torch import Tensor
from typing import Optional

from timm.models.vision_transformer import VisionTransformer, _cfg
from timm.models.registry import register_model
from timm.models.layers import trunc_normal_, lecun_normal_

from timm.models.layers import DropPath, to_2tuple
from timm.models.vision_transformer import _load_weights

import math

from collections import namedtuple

from mamba_ssm.modules.mamba_simple import Mamba
from mamba_ssm.utils.generation import GenerationMixin
from mamba_ssm.utils.hf import load_config_hf, load_state_dict_hf

from lib.models.mamba_fetrack.rope import *
import random
from lib.models.layers.head import build_box_head
import importlib
import lib.train.admin.settings as ws_settings
from .utils import combine_tokens, recover_tokens

# 
from .HinBlock import HinResBlock
from .ResGLU import ResGLUAdapter, ModelArgs

try:
    from mamba_ssm.ops.triton.layernorm import RMSNorm, layer_norm_fn, rms_norm_fn
except ImportError:
    RMSNorm, layer_norm_fn, rms_norm_fn = None, None, None

__all__ = [
    'vim_tiny_patch16_224', 'vim_small_patch16_224', 'vim_base_patch16_224',
    'vim_tiny_patch16_384', 'vim_small_patch16_384', 'vim_base_patch16_384',
]


class PatchEmbed(nn.Module):
    """ 2D Image to Patch Embedding
    """
    def __init__(self, img_size=224, patch_size=16, stride=16, in_chans=3, embed_dim=768, norm_layer=None, flatten=True):
        super().__init__()
        img_size = to_2tuple(img_size)
        patch_size = to_2tuple(patch_size)
        self.img_size = img_size
        self.patch_size = patch_size
        self.grid_size = ((img_size[0] - patch_size[0]) // stride + 1, (img_size[1] - patch_size[1]) // stride + 1)
        self.num_patches = self.grid_size[0] * self.grid_size[1]
        self.flatten = flatten

        self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=stride)
        self.norm = norm_layer(embed_dim) if norm_layer else nn.Identity()

    def forward(self, x):
        B, C, H, W = x.shape
        x = self.proj(x)
        if self.flatten:
            x = x.flatten(2).transpose(1, 2)  # BCHW -> BNC
        x = self.norm(x)
        return x
    

class Block(nn.Module):
    def __init__(
        self, dim, mixer_cls, norm_cls=nn.LayerNorm, fused_add_norm=False, residual_in_fp32=False,drop_path=0., integrate_glu=False
    ):
        """
        Simple block wrapping a mixer class with LayerNorm/RMSNorm and residual connection"

        This Block has a slightly different structure compared to a regular
        prenorm Transformer block.
        The standard block is: LN -> MHA/MLP -> Add.
        [Ref: https://arxiv.org/abs/2002.04745]
        Here we have: Add -> LN -> Mixer, returning both
        the hidden_states (output of the mixer) and the residual.
        This is purely for performance reasons, as we can fuse add and LayerNorm.
        The residual needs to be provided (except for the very first block).
        """
        super().__init__()
        self.residual_in_fp32 = residual_in_fp32
        self.fused_add_norm = fused_add_norm
        self.mixer = mixer_cls(dim)
        self.norm = norm_cls(dim)
        self.drop_path = DropPath(drop_path) if drop_path > 0. else nn.Identity()
        if self.fused_add_norm:
            assert RMSNorm is not None, "RMSNorm import fails"
            assert isinstance(
                self.norm, (nn.LayerNorm, RMSNorm)
            ), "Only LayerNorm and RMSNorm are supported for fused_add_norm"
        # 引入门控机制
        model_args = ModelArgs()
        if integrate_glu:
            model_args = ModelArgs()
            self.glu_adapter = ResGLUAdapter(model_args)
        else:
            self.glu_adapter = None 

    def forward(
        self, hidden_states: Tensor, residual: Optional[Tensor] = None, inference_params=None
    ):
        r"""Pass the input through the encoder layer.

        Args:
            hidden_states: the sequence to the encoder layer (required).
            residual: hidden_states = Mixer(LN(residual))
        """
        if not self.fused_add_norm:
            if residual is None:
                residual = hidden_states
            else:
                residual = residual + self.drop_path(hidden_states)
            
            hidden_states = self.norm(residual.to(dtype=self.norm.weight.dtype))
            if self.residual_in_fp32:
                residual = residual.to(torch.float32)
        else:
            fused_add_norm_fn = rms_norm_fn if isinstance(self.norm, RMSNorm) else layer_norm_fn
            if residual is None:
                hidden_states, residual = fused_add_norm_fn(
                    hidden_states,
                    self.norm.weight,
                    self.norm.bias,
                    residual=residual,
                    prenorm=True,
                    residual_in_fp32=self.residual_in_fp32,
                    eps=self.norm.eps,
                )
            else:
                hidden_states, residual = fused_add_norm_fn(
                    self.drop_path(hidden_states),
                    self.norm.weight,
                    self.norm.bias,
                    residual=residual,
                    prenorm=True,
                    residual_in_fp32=self.residual_in_fp32,
                    eps=self.norm.eps,
                )    
        hidden_states = self.mixer(hidden_states, inference_params=inference_params)
        if self.glu_adapter is not None:
            hidden_states = self.glu_adapter(hidden_states)
        return hidden_states, residual

    def allocate_inference_cache(self, batch_size, max_seqlen, dtype=None, **kwargs):
        return self.mixer.allocate_inference_cache(batch_size, max_seqlen, dtype=dtype, **kwargs)


def create_block(
    d_model,
    ssm_cfg=None,
    norm_epsilon=1e-5,
    drop_path=0.,
    rms_norm=False,
    residual_in_fp32=False,
    fused_add_norm=False,
    layer_idx=None,
    integrate_glu=False,  # 新增参数
    device=None,
    dtype=None,
    if_bimamba=False,
    bimamba_type="none",
    if_devide_out=False,
    init_layer_scale=None,
):
    if if_bimamba:
        bimamba_type = "v1"
    if ssm_cfg is None:
        ssm_cfg = {}
    factory_kwargs = {"device": device, "dtype": dtype}
    mixer_cls = partial(Mamba, layer_idx=layer_idx, bimamba_type=bimamba_type, if_devide_out=if_devide_out, init_layer_scale=init_layer_scale, **ssm_cfg, **factory_kwargs)
    norm_cls = partial(
        nn.LayerNorm if not rms_norm else RMSNorm, eps=norm_epsilon, **factory_kwargs
    )
    block = Block(
        d_model,
        mixer_cls,
        norm_cls=norm_cls,
        drop_path=drop_path,
        fused_add_norm=fused_add_norm,
        residual_in_fp32=residual_in_fp32,
        integrate_glu=integrate_glu,  # 传递参数
    )
    block.layer_idx = layer_idx
    return block

def _init_weights(
    module,
    n_layer,
    initializer_range=0.02,  # Now only used for embedding layer.
    rescale_prenorm_residual=True,
    n_residuals_per_layer=1,  # Change to 2 if we have MLP
):
    if isinstance(module, nn.Linear):
        if module.bias is not None:
            if not getattr(module.bias, "_no_reinit", False):
                nn.init.zeros_(module.bias)
    elif isinstance(module, nn.Embedding):
        nn.init.normal_(module.weight, std=initializer_range)

    if rescale_prenorm_residual:
        for name, p in module.named_parameters():
            if name in ["out_proj.weight", "fc2.weight"]:
                nn.init.kaiming_uniform_(p, a=math.sqrt(5))
                with torch.no_grad():
                    p /= math.sqrt(n_residuals_per_layer * n_layer)


def segm_init_weights(m):
    if isinstance(m, nn.Linear):
        trunc_normal_(m.weight, std=0.02)
        if isinstance(m, nn.Linear) and m.bias is not None:
            nn.init.constant_(m.bias, 0)
    elif isinstance(m, nn.Conv2d):
        # NOTE conv was left to pytorch default in my original init
        lecun_normal_(m.weight)
        if m.bias is not None:
            nn.init.zeros_(m.bias)
    elif isinstance(m, (nn.LayerNorm, nn.GroupNorm, nn.BatchNorm2d)):
        nn.init.zeros_(m.bias)
        nn.init.ones_(m.weight)

class CrossAttention(nn.Module):
    def __init__(self, dim):
        super(CrossAttention, self).__init__()
        self.query = nn.Linear(dim, dim)
        self.key = nn.Linear(dim, dim)
        self.value = nn.Linear(dim, dim)
        self.softmax = nn.Softmax(dim=-1)

    def forward(self, x_rgb, x_event):
        q = self.query(x_rgb)
        k = self.key(x_event)
        v = self.value(x_event)

        scores = torch.matmul(q, k.transpose(-2, -1)) / math.sqrt(k.size(-1))
        attention = self.softmax(scores)
        x_rgb = torch.matmul(attention, v)
        return x_rgb
    
class VisionMamba(nn.Module):
    def __init__(self, 
                 img_size=224, 
                 patch_size=16, 
                 stride=16,
                 depth=24, 
                 embed_dim=192, 
                 channels=3, 
                 num_classes=1000,
                 ssm_cfg=None, 
                 drop_rate=0.,
                 drop_path_rate=0.1,
                 norm_epsilon: float = 1e-5, 
                 rms_norm: bool = False, 
                 initializer_cfg=None,
                 fused_add_norm=False,
                 residual_in_fp32=False,
                 device=None,
                 dtype=None,
                 ft_seq_len=None,
                 pt_hw_seq_len=14,
                 if_bidirectional=False,
                 final_pool_type='none',
                 if_abs_pos_embed=False,
                 if_rope=False,
                 if_rope_residual=False,
                 flip_img_sequences_ratio=-1.,
                 if_bimamba=False,
                 bimamba_type="none",
                 if_cls_token=False,
                 if_devide_out=False,
                 init_layer_scale=None,
                 use_double_cls_token=False,
                 use_middle_cls_token=False,
                 **kwargs):
        factory_kwargs = {"device": device, "dtype": dtype}
        # add factory_kwargs into kwargs
        kwargs.update(factory_kwargs) 
        super().__init__()
        self.residual_in_fp32 = residual_in_fp32
        self.fused_add_norm = fused_add_norm
        self.if_bidirectional = if_bidirectional
        self.final_pool_type = final_pool_type
        self.if_abs_pos_embed = if_abs_pos_embed
        self.if_rope = if_rope
        self.if_rope_residual = if_rope_residual
        self.flip_img_sequences_ratio = flip_img_sequences_ratio
        # self.if_cls_token = if_cls_token
        self.if_cls_token = False
        self.use_double_cls_token = use_double_cls_token
        self.use_middle_cls_token = use_middle_cls_token
        self.num_tokens = 1 if if_cls_token else 0

        # pretrain parameters
        self.num_classes = num_classes
        self.d_model = self.num_features = self.embed_dim = embed_dim  # num_features for consistency with other models
        base_filter=32
        self.hin_block = nn.Sequential(
            nn.Conv2d(channels, base_filter, kernel_size=3, stride=1, padding=1),
            HinResBlock(base_filter, base_filter),  # 第一个 HinResBlock
            HinResBlock(base_filter, base_filter),  # 第二个 HinResBlock
            HinResBlock(base_filter, base_filter),  # 第三个 HinResBlock
            nn.Conv2d(base_filter, channels, kernel_size=1)  # 将通道数从32转换为3
        )
        self.cross_attention = CrossAttention(embed_dim)  # 初始化交叉注意模块
        ##############################
        self.patch_embed = PatchEmbed(
            img_size=img_size, patch_size=patch_size, stride=stride, in_chans=channels, embed_dim=embed_dim)
        num_patches = self.patch_embed.num_patches

        if if_cls_token:
            if use_double_cls_token:
                self.cls_token_head = nn.Parameter(torch.zeros(1, 1, self.embed_dim))
                self.cls_token_tail = nn.Parameter(torch.zeros(1, 1, self.embed_dim))
                self.num_tokens = 2
            else:
                self.cls_token = nn.Parameter(torch.zeros(1, 1, self.embed_dim))
                # self.num_tokens = 1
            
        if if_abs_pos_embed:
            # self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + self.num_tokens, self.embed_dim))
            self.pos_embed_x = nn.Parameter(torch.zeros(1, 256, self.embed_dim))
            self.pos_embed_z = nn.Parameter(torch.zeros(1, 64, self.embed_dim))
            self.pos_drop = nn.Dropout(p=drop_rate)

        if if_rope:
            half_head_dim = embed_dim // 2
            hw_seq_len = img_size // patch_size
            self.rope = VisionRotaryEmbeddingFast(
                dim=half_head_dim,
                pt_seq_len=pt_hw_seq_len,
                ft_seq_len=hw_seq_len
            )
            
        # TODO: release this comment
        dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)]  # stochastic depth decay rule
        # import ipdb;ipdb.set_trace()
        inter_dpr = [0.0] + dpr
        self.drop_path = DropPath(drop_path_rate) if drop_path_rate > 0. else nn.Identity()
                # transformer blocks
        self.layers = nn.ModuleList(
            [
                create_block(
                    embed_dim,
                    ssm_cfg=ssm_cfg,
                    norm_epsilon=norm_epsilon,
                    rms_norm=rms_norm,
                    residual_in_fp32=residual_in_fp32,
                    fused_add_norm=fused_add_norm,
                    layer_idx=i,
                    integrate_glu=(i == 0),  # 仅在第一个块中集成 ResGLUAdapter
                    if_bimamba=if_bimamba,
                    bimamba_type=bimamba_type,
                    drop_path=inter_dpr[i],
                    if_devide_out=if_devide_out,
                    init_layer_scale=init_layer_scale,
                    **factory_kwargs,
                )
                for i in range(depth)
            ]
        )
        
        # output head
        self.norm_f = (nn.LayerNorm if not rms_norm else RMSNorm)(
            embed_dim, eps=norm_epsilon, **factory_kwargs
        )

        # self.pre_logits = nn.Identity()

        # original init
        self.patch_embed.apply(segm_init_weights)
        # self.head.apply(segm_init_weights)
        if if_abs_pos_embed:
            trunc_normal_(self.pos_embed_x, std=.02)
            trunc_normal_(self.pos_embed_z, std=.02)
            
        if if_cls_token:
            if use_double_cls_token:
                trunc_normal_(self.cls_token_head, std=.02)
                trunc_normal_(self.cls_token_tail, std=.02)
            else:
                trunc_normal_(self.cls_token, std=.02)

        # mamba init
        self.apply(
            partial(
                _init_weights,
                n_layer=depth,
                **(initializer_cfg if initializer_cfg is not None else {}),
            )
        )


    def allocate_inference_cache(self, batch_size, max_seqlen, dtype=None, **kwargs):
        return {
            i: layer.allocate_inference_cache(batch_size, max_seqlen, dtype=dtype, **kwargs)
            for i, layer in enumerate(self.layers)
        }

    @torch.jit.ignore
    def no_weight_decay(self):
        return {"pos_embed", "cls_token", "dist_token", "cls_token_head", "cls_token_tail"}

    @torch.jit.ignore()
    def load_pretrained(self, checkpoint_path, prefix=""):
        _load_weights(self, checkpoint_path, prefix)

    def forward_features(self, z, x, inference_params=None, if_random_cls_token_position=False, if_random_token_rank=False):
        x = self.hin_block(x)
        z = self.hin_block(z)

        x = self.patch_embed(x)                  #x.shape = torch.Size([B, 3, 256, 256])  -> torch.Size([2, 256, 384])
        z = self.patch_embed(z)                  #z.shape = torch.Size([B, 3, 128, 128])  -> torch.Size([2, 64, 384])
        B, M, _ = x.shape
       
        if self.if_cls_token:                 # False
            if self.use_double_cls_token:
                cls_token_head = self.cls_token_head.expand(B, -1, -1)
                cls_token_tail = self.cls_token_tail.expand(B, -1, -1)
                token_position = [0, M + 1]
                x = torch.cat((cls_token_head, x, cls_token_tail), dim=1)
                M = x.shape[1]
            else:
                if self.use_middle_cls_token:
                    cls_token = self.cls_token.expand(B, -1, -1)
                    token_position = M // 2
                    # add cls token in the middle
                    x = torch.cat((x[:, :token_position, :], cls_token, x[:, token_position:, :]), dim=1)       
                elif if_random_cls_token_position:
                    cls_token = self.cls_token.expand(B, -1, -1)
                    token_position = random.randint(0, M)
                    x = torch.cat((x[:, :token_position, :], cls_token, x[:, token_position:, :]), dim=1)
                    print("token_position: ", token_position)
                else:
                    cls_token = self.cls_token.expand(B, -1, -1)  # stole cls_tokens impl from Phil Wang, thanks
                    token_position = 0
                    x = torch.cat((cls_token, x), dim=1)
                M = x.shape[1]                 
       
        if self.if_abs_pos_embed:                  # True 
            x = x + self.pos_embed_x               # x = x + positon_embemding =torch.Size([B, 256, 384]) + torch.Size([1, 256, 384]) = torch.Size([B, 256, 384])
            z = z + self.pos_embed_z               # z = z + positon_embemding =torch.Size([B, 64, 384]) + torch.Size([1, 64, 384]) = torch.Size([B, 64, 384])
            x = torch.cat((z, x), dim=1)           # torch.Size([B, 320, 384])
            x = self.pos_drop(x)                   # x.shape = torch.Size([B, 320, 384])
            
        if if_random_token_rank:                   #False
            # 生成随机 shuffle 索引
            shuffle_indices = torch.randperm(M)

            if isinstance(token_position, list):
                print("original value: ", x[0, token_position[0], 0], x[0, token_position[1], 0])
            else:
                print("original value: ", x[0, token_position, 0])
            print("original token_position: ", token_position)

            # 执行 shuffle
            x = x[:, shuffle_indices, :]

            if isinstance(token_position, list):
                # 找到 cls token 在 shuffle 之后的新位置
                new_token_position = [torch.where(shuffle_indices == token_position[i])[0].item() for i in range(len(token_position))]
                token_position = new_token_position
            else:
                # 找到 cls token 在 shuffle 之后的新位置
                token_position = torch.where(shuffle_indices == token_position)[0].item()

            if isinstance(token_position, list):
                print("new value: ", x[0, token_position[0], 0], x[0, token_position[1], 0])
            else:
                print("new value: ", x[0, token_position, 0])
            print("new token_position: ", token_position)


        if_flip_img_sequences = False
        if self.flip_img_sequences_ratio > 0 and (self.flip_img_sequences_ratio - random.random()) > 1e-5:        # False
            x = x.flip([1])
            if_flip_img_sequences = True

        # mamba impl
        residual = None
        hidden_states = x
        if not self.if_bidirectional:                                 # True
            for layer_idx, layer in self.layers:
                if if_flip_img_sequences and self.if_rope:            # False
                    hidden_states = hidden_states.flip([1])
                    if residual is not None:
                        residual = residual.flip([1])

                # rope about
                if self.if_rope:                                       # False
                    hidden_states = self.rope(hidden_states)
                    if residual is not None and self.if_rope_residual:
                        residual = self.rope(residual)

                if if_flip_img_sequences and self.if_rope:             # False
                    hidden_states = hidden_states.flip([1])
                    if residual is not None:
                        residual = residual.flip([1])
                hidden_states, residual = layer(
                    hidden_states, residual, inference_params=inference_params
                )
        
        else:             # False
            # get two layers in a single for-loop
            for i in range(len(self.layers) // 2):
                if self.if_rope:
                    hidden_states = self.rope(hidden_states)
                    if residual is not None and self.if_rope_residual:
                        residual = self.rope(residual)

                hidden_states_f, residual_f = self.layers[i * 2](
                    hidden_states, residual, inference_params=inference_params
                )
                hidden_states_b, residual_b = self.layers[i * 2 + 1](
                    hidden_states.flip([1]), None if residual == None else residual.flip([1]), inference_params=inference_params
                )
                hidden_states = hidden_states_f + hidden_states_b.flip([1])
                residual = residual_f + residual_b.flip([1])
      
        if not self.fused_add_norm:         #False
            if residual is None:
                residual = hidden_states
            else:
                residual = residual + self.drop_path(hidden_states)
            hidden_states = self.norm_f(residual.to(dtype=self.norm_f.weight.dtype))
        else:       #True
            fused_add_norm_fn = rms_norm_fn if isinstance(self.norm_f, RMSNorm) else layer_norm_fn
            hidden_states = fused_add_norm_fn(                                         # hidden_states.shape = torch.Size([B, 320, 384])
                self.drop_path(hidden_states),
                self.norm_f.weight,
                self.norm_f.bias,
                eps=self.norm_f.eps,
                residual=residual,
                prenorm=False,
                residual_in_fp32=self.residual_in_fp32,
            )
        if self.if_cls_token:          #False
            if self.use_double_cls_token:
                return (hidden_states[:, token_position[0], :] + hidden_states[:, token_position[1], :]) / 2
            else:
                if self.use_middle_cls_token:
                    return hidden_states[:, token_position, :]
                elif if_random_cls_token_position:
                    return hidden_states[:, token_position, :]
                else:
                    return hidden_states[:, token_position, :]

        if self.final_pool_type == 'none':
            return hidden_states[:, -1, :]
        elif self.final_pool_type == 'mean':         #True
            return hidden_states.mean(dim=1)         #hidden_states.shape = torch.Size([2, 384])
        elif self.final_pool_type == 'max':
            return hidden_states
        elif self.final_pool_type == 'all':
            return hidden_states
        else:
            raise NotImplementedError

    def forward(self, x, return_features=False, inference_params=None, if_random_cls_token_position=False, if_random_token_rank=False):
        x = self.forward_features(x, inference_params, if_random_cls_token_position=if_random_cls_token_position, if_random_token_rank=if_random_token_rank)
        if return_features:
            return x
        x = self.head(x)
        if self.final_pool_type == 'max':
            x = x.max(dim=1)[0]
        return x

@register_model
def vim_small_patch16_224_bimambav2_final_pool_mean_abs_pos_embed_with_midclstok_div2(pretrained=False, **kwargs):
    model = VisionMamba(
        patch_size=16, embed_dim=384, depth=24, rms_norm=True, residual_in_fp32=True, fused_add_norm=True, final_pool_type='all', if_abs_pos_embed=True, if_rope=False, if_rope_residual=False, bimamba_type="v2", if_cls_token=True, if_devide_out=True, use_middle_cls_token=True, **kwargs)
    model.default_cfg = _cfg()
    
    if pretrained:
        checkpoint = torch.load(pretrained, map_location="cpu")
        missing_keys, unexpected_keys = model.load_state_dict(checkpoint["model"], strict=False)
        print('Load pretrained model from: ' + pretrained)
    return model
和 """
Basic mamda_fetrack model.
"""
import math
import os
from typing import List

import torch
from torch import nn
from torch.nn.modules.transformer import _get_clones

from lib.models.layers.head import build_box_head
from lib.utils.box_ops import box_xyxy_to_cxcywh
from lib.models.mamba_fetrack.models_mamba import create_block
from timm.models import create_model
import torch.nn.functional as F
from lib.models.mamba_fetrack.mamba_cross import CrossMamba
from thop import profile
from .Fusion import FusionMod

class Mamba_FEtrack(nn.Module):
    """ This is the base class for mamda_fetrack """

    def __init__(self, visionmamba, cross_mamba, box_head, aux_loss=False, head_type="CORNER"):
        """ Initializes the model.
        Parameters:
            transformer: torch module of the transformer architecture.
            aux_loss: True if auxiliary decoding losses (loss at each decoder layer) are to be used.
        """
        super().__init__()
        self.backbone = visionmamba
        self.cross_mamba= cross_mamba
        self.box_head = box_head

        self.aux_loss = aux_loss
        self.head_type = head_type
        if head_type == "CORNER" or head_type == "CENTER":
            self.feat_sz_s = int(box_head.feat_sz)
            self.feat_len_s = int(box_head.feat_sz ** 2)

        if self.aux_loss:
            self.box_head = _get_clones(self.box_head, 6)
        
        # 融合模块
        self.feature_fusion = FusionMod(feat_dim=384, hidden_dim=192)

    def forward(self, template: torch.Tensor,
                search: torch.Tensor,
                event_template: torch.Tensor,       
                event_search: torch.Tensor,          
                ce_template_mask=None,
                ce_keep_rate=None,
                return_last_attn=False,
                ):
        rgb_feature = self.backbone.forward_features( z=template, x=search,                                                                  
                                                inference_params=None, if_random_cls_token_position=False, if_random_token_rank=False)
        event_feature = self.backbone.forward_features(z=event_template, x=event_search,                                                    
                                                inference_params=None, if_random_cls_token_position=False, if_random_token_rank=False)
        residual_event_f = 0
        residual_rgb_f = 0
        event_f = self.cross_mamba(event_feature,residual_event_f,rgb_feature) + event_feature 
        rgb_f = self.cross_mamba(rgb_feature,residual_rgb_f,event_feature) + rgb_feature
        event_searh = event_f[:, -self.feat_len_s:]
        rgb_search = rgb_f[:, -self.feat_len_s:]
        x = torch.cat((event_searh,rgb_search),dim=-1) 
        
        # Forward head
        feat_last = x             
        if isinstance(x, list):
            feat_last = x[-1]
        out = self.forward_head(feat_last, None)
       
        out['backbone_feat'] = x
        return out

    def forward_head(self, cat_feature, gt_score_map=None):
        """
        cat_feature: output embeddings of the backbone, it can be (HW1+HW2, B, C) or (HW2, B, C)
        """
        search_feature = cat_feature
        opt = (search_feature.unsqueeze(-1)).permute((0, 3, 2, 1)).contiguous() 
        bs, Nq, C, HW = opt.size()
        opt_feat = opt.view(-1, C, self.feat_sz_s, self.feat_sz_s)  

        if self.head_type == "CORNER":
            # run the corner head
            pred_box, score_map = self.box_head(opt_feat, True)
            outputs_coord = box_xyxy_to_cxcywh(pred_box)
            outputs_coord_new = outputs_coord.view(bs, Nq, 4)
            out = {'pred_boxes': outputs_coord_new,
                   'score_map': score_map,
                   }
            return out

        elif self.head_type == "CENTER":
            # run the center head
           
            score_map_ctr, bbox, size_map, offset_map = self.box_head(opt_feat, gt_score_map)
            outputs_coord = bbox
            outputs_coord_new = outputs_coord.view(bs, Nq, 4)
            out = {'pred_boxes': outputs_coord_new,
                   'score_map': score_map_ctr,
                   'size_map': size_map,
                   'offset_map': offset_map}
            return out
        else:
            raise NotImplementedError


def build_mamba_fetrack(cfg, training=True):
    current_dir = os.path.dirname(os.path.abspath(__file__))  # This is your Project Root
    pretrained_path = os.path.join(current_dir, 'pretrained_models')
    # pretrained_path = os.path.join(current_dir, '../../../pretrained_models')
    if cfg.MODEL.PRETRAIN_FILE and ('Mamba_FETrack' not in cfg.MODEL.PRETRAIN_FILE) and training:
        pretrained = os.path.join(pretrained_path, cfg.MODEL.PRETRAIN_FILE)
    else:
        pretrained = ''
    
    backbone = create_model( model_name= cfg.MODEL.BACKBONE.TYPE, pretrained= pretrained, num_classes=1000,
            drop_rate=0.0, drop_path_rate=cfg.TRAIN.DROP_PATH_RATE, drop_block_rate=None, img_size=256
            )
    hidden_dim = 384
    cross_mamba = CrossMamba(hidden_dim)
    box_head = build_box_head(cfg, hidden_dim*2)
    model = Mamba_FEtrack(
        backbone,
        cross_mamba,
        box_head,
        aux_loss=False,
        head_type=cfg.MODEL.HEAD.TYPE,
    )
   
    if 'Mamba_FETrack' in cfg.MODEL.PRETRAIN_FILE and training:
        checkpoint = torch.load(cfg.MODEL.PRETRAIN_FILE, map_location="cpu")
        missing_keys, unexpected_keys = model.load_state_dict(checkpoint["net"], strict=False)
        print('Load pretrained model from: ' + cfg.MODEL.PRETRAIN_FILE)

    return model
RGB特征和事件特征是否是独立的？不考虑cross_mamba的话