update

lingbot_map/models/gct_stream_window.py

@@ -166,6 +166,8 @@ class GCTStream(GCTBase):
         use_sdpa: bool = False,  # If True, use SDPA (no flashinfer needed); default: FlashInfer
         # Gradient checkpointing
         use_gradient_checkpoint: bool = True,
+        # Camera head iterative refinement (lower = faster inference; default 4)
+        camera_num_iterations: int = 4,
     ):
         """
         Initialize GCTStream.
@@ -214,6 +216,7 @@ class GCTStream(GCTBase):
         self.kv_cache_include_scale_frames = kv_cache_include_scale_frames
         self.kv_cache_camera_only = kv_cache_camera_only
         self.use_sdpa = use_sdpa
+        self.camera_num_iterations = camera_num_iterations
 
         # Call base class __init__ (will call _build_aggregator)
         super().__init__(
@@ -277,6 +280,7 @@ class GCTStream(GCTBase):
             dim_in=2 * self.embed_dim,
             sliding_window_size=self.sliding_window_size,
             attend_to_scale_frames=self.attend_to_scale_frames,
+            num_iterations=self.camera_num_iterations,
             # KV cache parameters
             kv_cache_sliding_window=self.kv_cache_sliding_window,
             kv_cache_scale_frames=self.kv_cache_scale_frames,