upd

runners/inferencer.py

@@ -146,7 +146,21 @@ class Inferencer(Runner):
 
             pred_pose[:3,:3] = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_pose_9d[:,:6])[0]
             pred_pose[:3,3] = pred_pose_9d[0,6:]
+            # ----- Debug -----
             
+            from utils.vis import visualizeUtil
+            import ipdb; ipdb.set_trace()
+            all_directions = []
+            np.savetxt("input_pts.txt", input_data["combined_scanned_pts"].cpu().numpy()[0])
+            for i in range(50):
+                output = self.pipeline(input_data)
+                pred_pose_9d = output["pred_pose_9d"]
+                cam_pos, sample_points = visualizeUtil.get_cam_pose_and_cam_axis(pred_pose_9d.cpu().numpy()[0], is_6d_pose=True)
+                all_directions.append(sample_points)
+            all_directions = np.array(all_directions)
+            reshape_all_directions = all_directions.reshape(-1, 3)
+            np.savetxt("all_directions.txt", reshape_all_directions)
+            # ----- ----- -----
             try:
                 new_target_pts, new_target_normals, new_scan_points_indices = RenderUtil.render_pts(pred_pose, scene_path, self.script_path, scan_points, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=O_to_L_pose)
                 #import ipdb; ipdb.set_trace()
@@ -157,11 +171,11 @@ class Inferencer(Runner):
 
                 downsampled_new_target_pts = PtsUtil.voxel_downsample_point_cloud(new_target_pts, voxel_threshold)
                 overlap, _ = ReconstructionUtil.check_overlap(downsampled_new_target_pts, voxel_downsampled_combined_scanned_pts_np, overlap_area_threshold = curr_overlap_area_threshold, voxel_size=voxel_threshold, require_new_added_pts_num = True)
-                if not overlap:
-                    Log.yellow("no overlap!")
-                    retry += 1
-                    retry_overlap_pose.append(pred_pose.cpu().numpy().tolist())
-                    continue
+                # if not overlap:
+                #     Log.yellow("no overlap!")
+                #     retry += 1
+                #     retry_overlap_pose.append(pred_pose.cpu().numpy().tolist())
+                #     continue
                 
                 history_indices.append(new_scan_points_indices)
             except Exception as e: