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ablation study

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hofee
2025-04-28 06:16:03 +00:00
parent ad7a1c9cdf
commit 81bf2678ac
7 changed files with 232 additions and 50 deletions
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10
core/global_pts_pipeline.py
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@@ -6,7 +6,7 @@ from PytorchBoot.factory.component_factory import ComponentFactory
from PytorchBoot.utils import Log
@stereotype.pipeline("nbv_reconstruction_global_pts_pipeline")
@stereotype.pipeline("nbv_reconstruction_pipeline_global")
class NBVReconstructionGlobalPointsPipeline(nn.Module):
def __init__(self, config):
super(NBVReconstructionGlobalPointsPipeline, self).__init__()
@@ -14,7 +14,7 @@ class NBVReconstructionGlobalPointsPipeline(nn.Module):
self.module_config = config["modules"]
self.pts_encoder = ComponentFactory.create(namespace.Stereotype.MODULE, self.module_config["pts_encoder"])
self.pose_encoder = ComponentFactory.create(namespace.Stereotype.MODULE, self.module_config["pose_encoder"])
self.pose_seq_encoder = ComponentFactory.create(namespace.Stereotype.MODULE, self.module_config["pose_seq_encoder"])
self.seq_encoder = ComponentFactory.create(namespace.Stereotype.MODULE, self.module_config["seq_encoder"])
self.view_finder = ComponentFactory.create(namespace.Stereotype.MODULE, self.module_config["view_finder"])
self.eps = float(self.config["eps"])
self.enable_global_scanned_feat = self.config["global_scanned_feat"]
@@ -73,13 +73,13 @@ class NBVReconstructionGlobalPointsPipeline(nn.Module):
device = next(self.parameters()).device
pose_feat_seq_list = []
feat_seq_list = []
for scanned_n_to_world_pose_9d in scanned_n_to_world_pose_9d_batch:
scanned_n_to_world_pose_9d = scanned_n_to_world_pose_9d.to(device)
pose_feat_seq_list.append(self.pose_encoder.encode_pose(scanned_n_to_world_pose_9d))
feat_seq_list.append(self.pose_encoder.encode_pose(scanned_n_to_world_pose_9d))
main_feat = self.pose_seq_encoder.encode_sequence(pose_feat_seq_list)
main_feat = self.seq_encoder.encode_sequence(feat_seq_list)
combined_scanned_pts_batch = data['combined_scanned_pts']