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

configs/server/server_inference_config.yaml

@@ -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

configs/server/server_train_config.yaml

@@ -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
+    ratio: 0.005
-    batch_size: 1
+    batch_size: 160
     num_workers: 12
     pts_num: 4096
     load_from_preprocess: True

core/evaluation.py

@@ -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)
             
 

core/nbv_dataset.py

@@ -34,7 +34,7 @@ class NBVReconstructionDataset(BaseDataset):
             self.model_dir = config["model_dir"]
             self.filter_degree = config["filter_degree"]
         if self.type == namespace.Mode.TRAIN:
-            scale_ratio = 100
+            scale_ratio = 1
             self.datalist = self.datalist*scale_ratio
         if self.cache:
             expr_root = ConfigManager.get("runner", "experiment", "root_dir")

core/seq_dataset.py

@@ -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",
+        "root_dir": "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy",
-        "split_file": "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/OmniObject3d_train.txt",
+        "split_file": "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt",
-        "model_dir": "/media/hofee/data/data/scaled_object_meshes",
+        "model_dir": "/home/data/hofee/project/nbv_rec/data/scaled_object_meshes",
-        "ratio": 0.5,
+        "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))