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Merge branch 'master' of http://git.hofee.top/hofee/nbv_reconstruction

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hofee 2024-10-05 13:16:49 +08:00
commit 4e170445dd
5 changed files with 110 additions and 16 deletions
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92
configs/server/server_inference_config.yaml Normal file
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@ -0,0 +1,92 @@
runner:
general:
seed: 1
device: cuda
cuda_visible_devices: "0,1,2,3,4,5,6,7"
experiment:
name: w_gf_wo_lf_full_debug
root_dir: "experiments"
epoch: 1 # -1 stands for last epoch
test:
dataset_list:
- OmniObject3d_train
blender_script_path: ""
output_dir: ""
pipeline: nbv_reconstruction_global_pts_pipeline
dataset:
OmniObject3d_train:
root_dir: "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy"
model_dir: "/home/data/hofee/project/nbv_rec/data/scaled_object_meshes"
source: seq_nbv_reconstruction_dataset
split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt"
type: test
filter_degree: 75
ratio: 1
batch_size: 1
num_workers: 12
pts_num: 4096
load_from_preprocess: True
pipeline:
nbv_reconstruction_local_pts_pipeline:
modules:
pts_encoder: pointnet_encoder
seq_encoder: transformer_seq_encoder
pose_encoder: pose_encoder
view_finder: gf_view_finder
eps: 1e-5
global_scanned_feat: False
nbv_reconstruction_global_pts_pipeline:
modules:
pts_encoder: pointnet_encoder
pose_seq_encoder: transformer_pose_seq_encoder
pose_encoder: pose_encoder
view_finder: gf_view_finder
eps: 1e-5
global_scanned_feat: True
module:
pointnet_encoder:
in_dim: 3
out_dim: 1024
global_feat: True
feature_transform: False
transformer_seq_encoder:
pts_embed_dim: 1024
pose_embed_dim: 256
num_heads: 4
ffn_dim: 256
num_layers: 3
output_dim: 2048
transformer_pose_seq_encoder:
pose_embed_dim: 256
num_heads: 4
ffn_dim: 256
num_layers: 3
output_dim: 1024
gf_view_finder:
t_feat_dim: 128
pose_feat_dim: 256
main_feat_dim: 2048
regression_head: Rx_Ry_and_T
pose_mode: rot_matrix
per_point_feature: False
sample_mode: ode
sampling_steps: 500
sde_mode: ve
pose_encoder:
pose_dim: 9
out_dim: 256

16
configs/server/server_train_config.yaml
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@ -3,11 +3,11 @@ runner:
general:
seed: 0
device: cuda
cuda_visible_devices: "0"
cuda_visible_devices: "1"
parallel: False
experiment:
name: overfit_w_global_feat_wo_local_pts_feat_small
name: full_w_global_feat_wo_local_pts_feat
root_dir: "experiments"
use_checkpoint: False
epoch: -1 # -1 stands for last epoch
@ -25,7 +25,7 @@ runner:
test:
frequency: 3 # test frequency
dataset_list:
#- OmniObject3d_test
- OmniObject3d_test
- OmniObject3d_val
pipeline: nbv_reconstruction_global_pts_pipeline
@ -35,7 +35,7 @@ dataset:
root_dir: "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy"
model_dir: "../data/scaled_object_meshes"
source: nbv_reconstruction_dataset
split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_sample.txt"
split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt"
type: train
cache: True
ratio: 1
@ -55,7 +55,7 @@ dataset:
eval_list:
- pose_diff
ratio: 0.05
batch_size: 1
batch_size: 160
num_workers: 12
pts_num: 4096
load_from_preprocess: True
@ -64,14 +64,14 @@ dataset:
root_dir: "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy"
model_dir: "../data/scaled_object_meshes"
source: nbv_reconstruction_dataset
split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_sample.txt"
split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt"
type: test
cache: True
filter_degree: 75
eval_list:
- pose_diff
ratio: 1
batch_size: 1
ratio: 0.005
batch_size: 160
num_workers: 12
pts_num: 4096
load_from_preprocess: True

3
core/evaluation.py
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@ -29,8 +29,9 @@ class PoseDiff:
gt_rot_mat = PoseUtil.rotation_6d_to_matrix_tensor_batch(gt_rot_6d)
pred_rot_mat = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_rot_6d)
rotation_angles = PoseUtil.rotation_angle_distance(gt_rot_mat, pred_rot_mat)
rot_angle_list.extend(list(rotation_angles))
trans_dist = torch.norm(gt_trans-pred_trans)
trans_dist = torch.norm(gt_trans-pred_trans, dim=1).mean().item()
trans_dist_list.append(trans_dist)

4
core/nbv_dataset.py
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@ -34,8 +34,8 @@ class NBVReconstructionDataset(BaseDataset):
self.model_dir = config["model_dir"]
self.filter_degree = config["filter_degree"]
if self.type == namespace.Mode.TRAIN:
scale_ratio = 100
self.datalist = self.datalist * scale_ratio
scale_ratio = 1
self.datalist = self.datalist*scale_ratio
if self.cache:
expr_root = ConfigManager.get("runner", "experiment", "root_dir")
expr_name = ConfigManager.get("runner", "experiment", "name")

11
core/seq_dataset.py
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@ -6,7 +6,7 @@ from PytorchBoot.utils.log_util import Log
import torch
import os
import sys
sys.path.append(r"/media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction")
sys.path.append(r"/home/data/hofee/project/nbv_rec/nbv_reconstruction")
from utils.data_load import DataLoadUtil
from utils.pose import PoseUtil
@ -140,15 +140,16 @@ if __name__ == "__main__":
torch.manual_seed(seed)
np.random.seed(seed)
config = {
"root_dir": "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/scenes",
"split_file": "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/OmniObject3d_train.txt",
"model_dir": "/media/hofee/data/data/scaled_object_meshes",
"ratio": 0.5,
"root_dir": "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy",
"split_file": "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt",
"model_dir": "/home/data/hofee/project/nbv_rec/data/scaled_object_meshes",
"ratio": 0.005,
"batch_size": 2,
"filter_degree": 75,
"num_workers": 0,
"pts_num": 32684,
"type": namespace.Mode.TEST,
"load_from_preprocess": True
}
ds = SeqNBVReconstructionDataset(config)
print(len(ds))