update inferencer: success rate

configs/local/inference_config.yaml

@@ -6,24 +6,24 @@ runner:
     cuda_visible_devices: "0,1,2,3,4,5,6,7"
     
   experiment:
-    name: local_full_eval
+    name: w_gf_wo_lf_full
     root_dir: "experiments"
-    epoch: 20 # -1 stands for last epoch
+    epoch: 1 # -1 stands for last epoch
 
   test:
     dataset_list:
       - OmniObject3d_train
 
   blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
-  output_dir: "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/inference_result_full"
-  pipeline: nbv_reconstruction_pipeline
+  output_dir: "/media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction/test/inference_global_full_on_testset"
+  pipeline: nbv_reconstruction_global_pts_pipeline
   
 dataset:
   OmniObject3d_train:
     root_dir: "/media/hofee/repository/nbv_reconstruction_data_512"
     model_dir: "/media/hofee/data/data/scaled_object_meshes"
     source: seq_nbv_reconstruction_dataset
-    split_file: "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/OmniObject3d_train.txt"
+    split_file: "/media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction/test/test_set_list.txt"
     type: test
     filter_degree: 75
     ratio: 1
@@ -33,11 +33,25 @@ dataset:
     load_from_preprocess: False
 
 pipeline:
-  nbv_reconstruction_pipeline:
-    pts_encoder: pointnet_encoder
-    seq_encoder: transformer_seq_encoder
-    pose_encoder: pose_encoder
-    view_finder: gf_view_finder
+  nbv_reconstruction_local_pts_pipeline:
+    modules:
+      pts_encoder: pointnet_encoder
+      seq_encoder: transformer_seq_encoder
+      pose_encoder: pose_encoder
+      view_finder: gf_view_finder
+    eps: 1e-5
+    global_scanned_feat: False
+
+  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:
 
@@ -55,6 +69,13 @@ 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