app_sim.py

@@ -1,9 +0,0 @@
-from PytorchBoot.application import PytorchBootApplication
-from runners.simulator import Simulator
-
-@PytorchBootApplication("sim")
-class SimulateApp:
-    @staticmethod
-    def start():
-        Simulator("configs/server/server_split_dataset_config.yaml").run()
-        

configs/local/inference_config.yaml

@@ -6,16 +6,16 @@ runner:
     cuda_visible_devices: "0,1,2,3,4,5,6,7"
     
   experiment:
-    name: train_ab_global_only_p++_wp
+    name: train_ab_global_only_dense
     root_dir: "experiments"
-    epoch: 922 # -1 stands for last epoch
+    epoch: 441 # -1 stands for last epoch
 
   test:
     dataset_list:
       - OmniObject3d_test
 
   blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
-  output_dir: "/media/hofee/data/data/p++_wp"
+  output_dir: "/media/hofee/data/data/p++_dense"
   pipeline: nbv_reconstruction_pipeline
   voxel_size: 0.003
   min_new_area: 1.0

configs/local/simulation_config.yaml

@@ -1,14 +0,0 @@
-
-runner:
-  general:
-    seed: 0
-    device: cuda
-    cuda_visible_devices: "0,1,2,3,4,5,6,7"
-    
-  experiment:
-    name: simulation_debug
-    root_dir: "experiments"
-
-simulation:
-  robot:
-  displaytable:

modules/pointnet++_encoder.py

@@ -45,16 +45,15 @@ ClsMSG_CFG_Light_2048 = {
 }
 
 ClsMSG_CFG_Strong = {
-    'NPOINTS': [512, 256, 128, 64, None],
-    'RADIUS': [[0.02, 0.04], [0.04, 0.08], [0.08, 0.16],[0.16, 0.32], [None, None]],
-    'NSAMPLE': [[16, 32], [16, 32], [16, 32], [16, 32], [None, None]],
-    'MLPS': [[[16, 16, 32], [32, 32, 64]],
-         [[64, 64, 128], [64, 96, 128]],
-         [[128, 196, 256], [128, 196, 256]],
-         [[256, 256, 512], [256, 512, 512]],
-         [[512, 512, 2048], [512, 1024, 2048]]
-         ],
-    'DP_RATIO': 0.5,
+    'NPOINTS': [1024, 512, 256, 128, None],  # 增加采样点，获取更多细节
+    'RADIUS': [[0.02, 0.05], [0.05, 0.1], [0.1, 0.2], [0.2, 0.4], [None, None]],  # 增大感受野
+    'NSAMPLE': [[32, 64], [32, 64], [32, 64], [32, 64], [None, None]],  # 提高每层的采样点数
+    'MLPS': [[[32, 32, 64], [64, 64, 128]],  # 增强 MLP 层，增加特征提取能力
+             [[128, 128, 256], [128, 128, 256]],
+             [[256, 256, 512], [256, 384, 512]],
+             [[512, 512, 1024], [512, 768, 1024]],
+             [[1024, 1024, 2048], [1024, 1024, 2048]]],  # 增加更深的特征层
+    'DP_RATIO': 0.4,  # Dropout 比率稍微降低，以保留更多信息
 }
 
 ClsMSG_CFG_Lighter = {

runners/inferencer.py

@@ -137,7 +137,7 @@ class Inferencer(Runner):
         pred_cr_seq = [last_pred_cr]
         success = 0
         last_pts_num = PtsUtil.voxel_downsample_point_cloud(data["first_scanned_pts"][0], voxel_threshold).shape[0]
-        #import time
+        import time
         while len(pred_cr_seq) < max_iter and retry < max_retry and success < max_success:
             Log.green(f"iter: {len(pred_cr_seq)}, retry: {retry}/{max_retry}, success: {success}/{max_success}")
             combined_scanned_pts = np.vstack(scanned_view_pts)
@@ -229,6 +229,7 @@ class Inferencer(Runner):
                     Log.success(f"delta pts num < {self.min_new_pts_num}:, {pts_num}, {last_pts_num}")
 
                 last_pts_num = pts_num
+                break
             
 
         input_data["scanned_n_to_world_pose_9d"] = input_data["scanned_n_to_world_pose_9d"][0].cpu().numpy().tolist()

runners/simulator.py

@@ -1,23 +0,0 @@
-from PytorchBoot.runners.runner import Runner
-import PytorchBoot.stereotype as stereotype
-
-@stereotype.runner("simulator")
-class Simulator(Runner):
-    def __init__(self, config_path):
-        super().__init__(config_path)
-        self.config_path = config_path
-        
-    def run(self):
-        print()
-
-    def prepare_env(self):
-        pass
-
-    def create_env(self):
-        pass
-
-    def create_experiment(self, backup_name=None):
-        return super().create_experiment(backup_name)
-    
-    def load_experiment(self, backup_name=None):
-        super().load_experiment(backup_name)