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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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19
core/local_pts_pipeline.py
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@@ -5,7 +5,7 @@ import PytorchBoot.stereotype as stereotype
from PytorchBoot.factory.component_factory import ComponentFactory
from PytorchBoot.utils import Log
@stereotype.pipeline("nbv_reconstruction_local_pts_pipeline")
@stereotype.pipeline("nbv_reconstruction_pipeline_local")
class NBVReconstructionLocalPointsPipeline(nn.Module):
def __init__(self, config):
super(NBVReconstructionLocalPointsPipeline, self).__init__()
@@ -70,23 +70,18 @@ class NBVReconstructionLocalPointsPipeline(nn.Module):
def get_main_feat(self, data):
scanned_pts_batch = data['scanned_pts']
scanned_n_to_world_pose_9d_batch = data['scanned_n_to_world_pose_9d']
device = next(self.parameters()).device
pts_feat_seq_list = []
pose_feat_seq_list = []
feat_seq_list = []
for scanned_pts,scanned_n_to_world_pose_9d in zip(scanned_pts_batch,scanned_n_to_world_pose_9d_batch):
scanned_pts = scanned_pts.to(device)
scanned_n_to_world_pose_9d = scanned_n_to_world_pose_9d.to(device)
pts_feat_seq_list.append(self.pts_encoder.encode_points(scanned_pts))
pose_feat_seq_list.append(self.pose_encoder.encode_pose(scanned_n_to_world_pose_9d))
main_feat = self.seq_encoder.encode_sequence(pts_feat_seq_list, pose_feat_seq_list)
pts_feat = self.pts_encoder.encode_points(scanned_pts)
pose_feat = self.pose_encoder.encode_pose(scanned_n_to_world_pose_9d)
seq_feat = torch.cat([pts_feat, pose_feat], dim=-1)
feat_seq_list.append(seq_feat)
main_feat = self.seq_encoder.encode_sequence(feat_seq_list)
if self.enable_global_scanned_feat:
combined_scanned_pts_batch = data['combined_scanned_pts']