add global_pts_pipeline and pose_seq_encooder

configs/server/server_train_config.yaml

@@ -3,11 +3,11 @@ runner:
   general:
     seed: 0
     device: cuda
-    cuda_visible_devices: "1"
+    cuda_visible_devices: "0"
     parallel: False
     
   experiment:
-    name: overfit_w_global_feat
+    name: overfit_w_global_feat_wo_local_pts_feat_small
     root_dir: "experiments"
     use_checkpoint: False
     epoch: -1 # -1 stands for last epoch
@@ -28,7 +28,7 @@ runner:
       #- OmniObject3d_test
       - OmniObject3d_val
 
-  pipeline: nbv_reconstruction_pipeline
+  pipeline: nbv_reconstruction_global_pts_pipeline
   
 dataset:
   OmniObject3d_train:
@@ -70,7 +70,7 @@ dataset:
     filter_degree: 75
     eval_list:
       - pose_diff
-    ratio: 0.005
+    ratio: 1
     batch_size: 1
     num_workers: 12
     pts_num: 4096
@@ -78,7 +78,7 @@ dataset:
 
 
 pipeline:
-  nbv_reconstruction_pipeline:
+  nbv_reconstruction_local_pts_pipeline:
     modules:
       pts_encoder: pointnet_encoder
       seq_encoder: transformer_seq_encoder
@@ -87,6 +87,15 @@ pipeline:
     eps: 1e-5
     global_scanned_feat: True
 
+  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:
@@ -105,10 +114,17 @@ module:
     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: 3072
+    main_feat_dim: 2048
     regression_head: Rx_Ry_and_T
     pose_mode: rot_matrix
     per_point_feature: False