solve merge

configs/local/inference_config.yaml

@@ -6,16 +6,16 @@ runner:
     cuda_visible_devices: "0,1,2,3,4,5,6,7"
     
   experiment:
-    name: train_ab_partial
+    name: train_ab_global_only_p++_wp
     root_dir: "experiments"
-    epoch: -1 # -1 stands for last epoch
+    epoch: 922 # -1 stands for last epoch
 
   test:
     dataset_list:
       - OmniObject3d_test
 
   blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
-  output_dir: "/media/hofee/data/data/new_partial_inference_test_output"
+  output_dir: "/media/hofee/data/data/p++_wp"
   pipeline: nbv_reconstruction_pipeline
   voxel_size: 0.003
   min_new_area: 1.0
@@ -52,7 +52,7 @@ dataset:
 pipeline:
   nbv_reconstruction_pipeline:
     modules:
-      pts_encoder: pointnet_encoder
+      pts_encoder: pointnet++_encoder
       seq_encoder: transformer_seq_encoder
       pose_encoder: pose_encoder
       view_finder: gf_view_finder
@@ -60,6 +60,10 @@ pipeline:
     global_scanned_feat: True
 
 module:
+  pointnet++_encoder:
+    in_dim: 3
+    params_name: light
+
   pointnet_encoder:
     in_dim: 3
     out_dim: 1024

configs/local/simulation_config.yaml

@@ -0,0 +1,36 @@
+runner:
+  general:
+    seed: 0
+    device: cuda
+    cuda_visible_devices: "0,1,2,3,4,5,6,7"
+    
+  experiment:
+    name: simulation_debug
+    root_dir: "experiments"
+
+simulation:
+  robot:
+    urdf_path: "assets/franka_panda/panda.urdf"
+    initial_position: [0, 0, 0]  # 机械臂基座位置
+    initial_orientation: [0, 0, 0]  # 机械臂基座朝向(欧拉角)
+  
+  turntable:
+    radius: 0.3  # 转盘半径(米)
+    height: 0.1  # 转盘高度
+    center_position: [0.8, 0, 0.4]  
+  
+  target:
+    obj_dir: /media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction/assets/object_meshes
+    obj_name: "google_scan-box_0185"        
+    scale: 1.0  # 缩放系数
+    mass: 0.1   # 质量(kg)
+    rgba_color: [0.8, 0.8, 0.8, 1.0]  # 目标物体颜色
+  
+  camera:
+    width: 640
+    height: 480
+    fov: 40
+    near: 0.01
+    far: 5.0
+
+displaytable:

configs/local/strategy_generate_config.yaml

@@ -15,13 +15,13 @@ runner:
     overlap_area_threshold: 30
     compute_with_normal: False
     scan_points_threshold: 10
-    overwrite: False
+    overwrite: False  
     seq_num: 10
     dataset_list:
       - OmniObject3d
   
 datasets:
     OmniObject3d:
-      root_dir: /data/hofee/nbv_rec_part2_preprocessed
-      from: 155
-      to: 165 # ..-1 means end
+      root_dir: /media/hofee/data/data/test_bottle/view 
+      from: 0
+      to: -1 # ..-1 means end

configs/local/view_generate_config.yaml

@@ -8,16 +8,16 @@ runner:
     root_dir: experiments
   generate:
     port: 5002
-    from: 1
+    from: 0
     to: 50 # -1 means all
-    object_dir: C:\\Document\\Datasets\\scaled_object_meshes
-    table_model_path: C:\\Document\\Datasets\\table.obj
-    output_dir: C:\\Document\\Datasets\\debug_generate_view
+    object_dir: /media/hofee/data/data/test_bottle/bottle_mesh
+    table_model_path: /media/hofee/data/data/others/table.obj
+    output_dir: /media/hofee/data/data/test_bottle/view
     binocular_vision: true
     plane_size: 10
     max_views: 512
     min_views: 128
-    random_view_ratio: 0.02
+    random_view_ratio: 0.002
     min_cam_table_included_degree: 20
     max_diag: 0.7
     min_diag: 0.01
@@ -34,7 +34,7 @@ runner:
         max_y: 0.05
         min_z: 0.01
         max_z: 0.01
-        random_rotation_ratio: 0.3
+        random_rotation_ratio: 0.0
       random_objects:
         num: 4
         cluster: 0.9

configs/server/server_train_config.yaml

@@ -7,19 +7,19 @@ runner:
     parallel: False
     
   experiment:
-    name: train_ab_global_only
+    name: train_ab_global_only_with_wp_p++_strong
     root_dir: "experiments"
-    use_checkpoint: True
+    use_checkpoint: False
     epoch: -1 # -1 stands for last epoch
     max_epochs: 5000
     save_checkpoint_interval: 1
-    test_first: True  
+    test_first: False  
 
   train:
     optimizer:
       type: Adam
       lr: 0.0001
-    losses: 
+    losses:   
       - gf_loss
     dataset: OmniObject3d_train
   test:
@@ -39,7 +39,7 @@ dataset:
     type: train
     cache: True
     ratio: 1
-    batch_size: 80
+    batch_size: 64
     num_workers: 128
     pts_num: 8192
     load_from_preprocess: True
@@ -80,7 +80,7 @@ dataset:
 pipeline:
   nbv_reconstruction_pipeline:
     modules:
-      pts_encoder: pointnet_encoder
+      pts_encoder: pointnet++_encoder
       seq_encoder: transformer_seq_encoder
       pose_encoder: pose_encoder
       view_finder: gf_view_finder
@@ -96,6 +96,10 @@ module:
     global_feat: True
     feature_transform: False
 
+  pointnet++_encoder:
+    in_dim: 3
+    params_name: strong
+
   transformer_seq_encoder:
     embed_dim: 256
     num_heads: 4
@@ -106,7 +110,7 @@ module:
   gf_view_finder:
     t_feat_dim: 128
     pose_feat_dim: 256
-    main_feat_dim: 2048
+    main_feat_dim: 5120
     regression_head: Rx_Ry_and_T
     pose_mode: rot_matrix
     per_point_feature: False