From 234c8bccc36f62ff63c81aba11411c1ca47b7243 Mon Sep 17 00:00:00 2001 From: hofee Date: Tue, 29 Oct 2024 12:39:06 +0000 Subject: [PATCH] local_only: pipeline --- core/pipeline.py | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/core/pipeline.py b/core/pipeline.py index ec05e32..4789414 100644 --- a/core/pipeline.py +++ b/core/pipeline.py @@ -99,11 +99,6 @@ class NBVReconstructionPipeline(nn.Module): embedding_list_batch = [] - combined_scanned_pts_batch = data["combined_scanned_pts"] # Tensor(B x N x 3) - global_scanned_feat = self.pts_encoder.encode_points( - combined_scanned_pts_batch, require_per_point_feat=False - ) # global_scanned_feat: Tensor(B x Dg) - for scanned_n_to_world_pose_9d, scanned_pts in zip(scanned_n_to_world_pose_9d_batch, scanned_pts_batch): scanned_n_to_world_pose_9d = scanned_n_to_world_pose_9d.to(device) # Tensor(S x 9) scanned_pts = scanned_pts.to(device) # Tensor(S x N x 3) @@ -113,7 +108,7 @@ class NBVReconstructionPipeline(nn.Module): embedding_list_batch.append(seq_embedding) # List(B): Tensor(S x (Dp+Dl)) seq_feat = self.transformer_seq_encoder.encode_sequence(embedding_list_batch) # Tensor(B x Ds) - main_feat = torch.cat([seq_feat, global_scanned_feat], dim=-1) # Tensor(B x (Ds+Dg)) + main_feat = seq_feat # Tensor(B x Ds) if torch.isnan(main_feat).any(): Log.error("nan in main_feat", True)