hofee/nbv_reconstruction
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

change DataLoadUtil and Dataset to blender version

Browse Source
This commit is contained in:
hofee
2024-08-29 13:54:13 -05:00
parent eceedd5c15
commit 80cd4aba9d
6 changed files with 135 additions and 129 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
core/pipeline.py
View File

@@ -38,7 +38,7 @@ class NBVReconstructionPipeline(nn.Module):
def forward_train(self, data):
pts_list = data['pts_list']
pose_list = data['pose_list']
gt_delta_rot_6d = data["delta_rot_6d"]
gt_rot_6d = data["nbv_cam_pose"]
pts_feat_list = []
pose_feat_list = []
for pts,pose in zip(pts_list,pose_list):
@@ -46,7 +46,7 @@ class NBVReconstructionPipeline(nn.Module):
pose_feat_list.append(self.pose_encoder.encode_pose(pose))
seq_feat = self.seq_encoder.encode_sequence(pts_feat_list, pose_feat_list)
''' get std '''
perturbed_x, random_t, target_score, std = self.pertube_data(gt_delta_rot_6d)
perturbed_x, random_t, target_score, std = self.pertube_data(gt_rot_6d)
input_data = {
"sampled_pose": perturbed_x,
"t": random_t,
@@ -69,9 +69,9 @@ class NBVReconstructionPipeline(nn.Module):
pts_feat_list.append(self.pts_encoder.encode_points(pts))
pose_feat_list.append(self.pose_encoder.encode_pose(pose))
seq_feat = self.seq_encoder.encode_sequence(pts_feat_list, pose_feat_list)
estimated_delta_rot_6d, in_process_sample = self.view_finder.next_best_view(seq_feat)
estimated_delta_rot_9d, in_process_sample = self.view_finder.next_best_view(seq_feat)
result = {
"estimated_delta_rot_6d": estimated_delta_rot_6d,
"pred_pose_9d": estimated_delta_rot_9d,
"in_process_sample": in_process_sample
}
return result