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finish register

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hofee
2024-10-08 00:24:22 +08:00
parent 2209acce1b
commit 825f8652d5
4 changed files with 116 additions and 63 deletions
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11
runners/inference.py
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@@ -23,6 +23,7 @@ class Inferencer(Runner):
self.load_experiment("inferencer")
self.reconstruct_config = ConfigManager.get("runner", "reconstruct")
self.voxel_size = self.reconstruct_config["voxel_size"]
self.max_iter = self.reconstruct_config["max_iter"]
def create_experiment(self, backup_name=None):
super().create_experiment(backup_name)
@@ -45,6 +46,7 @@ class Inferencer(Runner):
"combined_scanned_pts": combined_pts
}
''' enter loop '''
iter = 0
while True:
''' inference '''
inference_result = CommunicateUtil.get_inference_data(input_data)
@@ -58,9 +60,14 @@ class Inferencer(Runner):
''' update combined pts '''
combined_pts = np.concatenate([combined_pts, curr_cam_pts], axis=0)
combined_pts = PtsUtil.voxel_downsample_point_cloud(combined_pts, voxel_size=self.voxel_size)
''' update input data '''
input_data["combined_scanned_pts"] = combined_pts
input_data["scanned_target_points_num"].append(curr_cam_pts.shape[0])
input_data["scanned_n_to_world_pose_9d"].append(curr_cam_pose)
''' check stop condition '''
if iter >= self.max_iter:
break
def run(self):