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update inference server

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hofee
2025-01-07 19:32:02 +08:00
parent fca984e76b
commit 5a03659112
3 changed files with 12 additions and 4 deletions
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2
runners/inference_server.py
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@@ -12,6 +12,7 @@ from PytorchBoot.runners.runner import Runner
from PytorchBoot.utils import Log
from utils.pts import PtsUtil
from beans.predict_result import PredictResult
@stereotype.runner("inferencer_server")
class InferencerServer(Runner):
@@ -50,6 +51,7 @@ class InferencerServer(Runner):
def get_result(self, output_data):
pred_pose_9d = output_data["pred_pose_9d"]
pred_pose_9d = np.asarray(PredictResult(pred_pose_9d.cpu().numpy(), None, cluster_params=dict(eps=0.25, min_samples=3)).candidate_9d_poses, dtype=np.float32)
result = {
"pred_pose_9d": pred_pose_9d.tolist()
}

7
runners/inferencer.py
View File

@@ -156,7 +156,12 @@ class Inferencer(Runner):
# np.save(pred_9d_path, pred_pose_9d.cpu().numpy())
# np.savetxt(pts_path, np_combined_scanned_pts)
# # ----- ----- -----
pred_pose_9d_candidates = PredictResult(pred_pose_9d.cpu().numpy(), input_pts=input_data["combined_scanned_pts"][0].cpu().numpy(), cluster_params=dict(eps=0.25, min_samples=3)).candidate_9d_poses
predict_result = PredictResult(pred_pose_9d.cpu().numpy(), input_pts=input_data["combined_scanned_pts"][0].cpu().numpy(), cluster_params=dict(eps=0.25, min_samples=3))
# -----------------------
# import ipdb; ipdb.set_trace()
# predict_result.visualize()
# -----------------------
pred_pose_9d_candidates = predict_result.candidate_9d_poses
for pred_pose_9d in pred_pose_9d_candidates:
#import ipdb; ipdb.set_trace()
pred_pose_9d = torch.tensor(pred_pose_9d, dtype=torch.float32).to(self.device).unsqueeze(0)