debug pose_diff

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):