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fix overlap

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hofee
2024-12-02 19:15:48 +08:00
parent 2c8ef20321
commit 501975457f
2 changed files with 4 additions and 2 deletions
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4
runners/inferencer.py
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@@ -138,6 +138,8 @@ class Inferencer(Runner):
import time
while len(pred_cr_seq) < max_iter and retry < max_retry and success < max_success:
Log.green(f"iter: {len(pred_cr_seq)}, retry: {retry}/{max_retry}, success: {success}/{max_success}")
combined_scanned_pts = np.vstack(scanned_view_pts)
voxel_downsampled_combined_scanned_pts_np, inverse = self.voxel_downsample_with_mapping(combined_scanned_pts, voxel_threshold)
output = self.pipeline(input_data)
pred_pose_9d = output["pred_pose_9d"]
pred_pose = torch.eye(4, device=pred_pose_9d.device)
@@ -154,7 +156,7 @@ class Inferencer(Runner):
curr_overlap_area_threshold = overlap_area_threshold * 0.5
downsampled_new_target_pts = PtsUtil.voxel_downsample_point_cloud(new_target_pts, voxel_threshold)
overlap, _ = ReconstructionUtil.check_overlap(downsampled_new_target_pts, down_sampled_model_pts, overlap_area_threshold = curr_overlap_area_threshold, voxel_size=voxel_threshold, require_new_added_pts_num = True)
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