update modules and pipeline

core/pipeline.py

@@ -0,0 +1,29 @@
+
+from torch import nn
+import PytorchBoot.namespace as namespace
+import PytorchBoot.stereotype as stereotype
+from PytorchBoot.factory.component_factory import ComponentFactory
+
+@stereotype.pipeline("nbv_reconstruction_pipeline")
+class ViewFinderPipeline(nn.Module):
+    def __init__(self, config):
+        super(ViewFinderPipeline, self).__init__()
+        self.config = config
+        self.pts_encoder = ComponentFactory.create(namespace.Stereotype.MODULE, config["pts_encoder"])
+        self.pose_encoder = ComponentFactory.create(namespace.Stereotype.MODULE, config["pose_encoder"])
+        self.seq_encoder = ComponentFactory.create(namespace.Stereotype.MODULE, config["seq_encoder"])
+        self.view_finder = ComponentFactory.create(namespace.Stereotype.MODULE, config["view_finder"])
+        
+    def forward(self, data):
+        output = {}
+        pts_list = data['pts_list']
+        pose_list = data['pose_list']
+        pts_feat_list = []
+        pose_feat_list = []
+        for pts,pose in zip(pts_list,pose_list):
+            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)
+        output['next_best_view'] = self.view_finder.next_best_view(seq_feat)
+    
+        return output