debug pose_diff

configs/server/server_train_config.yaml

@@ -3,11 +3,11 @@ runner:
   general:
     seed: 0
     device: cuda
-    cuda_visible_devices: "0"
+    cuda_visible_devices: "1"
     parallel: False
     
   experiment:
-    name: overfit_w_global_feat_wo_local_pts_feat_small
+    name: full_w_global_feat_wo_local_pts_feat
     root_dir: "experiments"
     use_checkpoint: False
     epoch: -1 # -1 stands for last epoch
@@ -25,7 +25,7 @@ runner:
   test:
     frequency: 3 # test frequency
     dataset_list:
-      #- OmniObject3d_test
+      - OmniObject3d_test
       - OmniObject3d_val
 
   pipeline: nbv_reconstruction_global_pts_pipeline
@@ -35,7 +35,7 @@ dataset:
     root_dir: "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy"
     model_dir: "../data/scaled_object_meshes"
     source: nbv_reconstruction_dataset
-    split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_sample.txt"
+    split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt"
     type: train
     cache: True
     ratio: 1
@@ -55,7 +55,7 @@ dataset:
     eval_list:
       - pose_diff
     ratio: 0.05
-    batch_size: 1
+    batch_size: 160
     num_workers: 12
     pts_num: 4096
     load_from_preprocess: True
@@ -64,14 +64,14 @@ dataset:
     root_dir: "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy"
     model_dir: "../data/scaled_object_meshes"
     source: nbv_reconstruction_dataset
-    split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_sample.txt"
+    split_file: "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt"
     type: test
     cache: True
     filter_degree: 75
     eval_list:
       - pose_diff
-    ratio: 1
-    batch_size: 1
+    ratio: 0.005
+    batch_size: 160
     num_workers: 12
     pts_num: 4096
     load_from_preprocess: True

core/evaluation.py

@@ -29,8 +29,9 @@ class PoseDiff:
             gt_rot_mat = PoseUtil.rotation_6d_to_matrix_tensor_batch(gt_rot_6d)
             pred_rot_mat = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_rot_6d)
             rotation_angles = PoseUtil.rotation_angle_distance(gt_rot_mat, pred_rot_mat)
+            
             rot_angle_list.extend(list(rotation_angles))
-            trans_dist = torch.norm(gt_trans-pred_trans)
+            trans_dist = torch.norm(gt_trans-pred_trans, dim=1).mean().item()
             trans_dist_list.append(trans_dist)
             
 

core/nbv_dataset.py

@@ -34,7 +34,7 @@ class NBVReconstructionDataset(BaseDataset):
             self.model_dir = config["model_dir"]
             self.filter_degree = config["filter_degree"]
         if self.type == namespace.Mode.TRAIN:
-            scale_ratio = 100
+            scale_ratio = 1
             self.datalist = self.datalist*scale_ratio
         if self.cache:
             expr_root = ConfigManager.get("runner", "experiment", "root_dir")
@@ -83,7 +83,6 @@ class NBVReconstructionDataset(BaseDataset):
                             "label_idx": seq_idx,
                             "scene_max_coverage_rate": scene_max_coverage_rate
                         })
-                    break # TODO: for small version debug
         return datalist
 
     def preprocess_cache(self):