upd

runners/inferencer.py

@@ -142,6 +142,7 @@ class Inferencer(Runner):
             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"]
+            import ipdb; ipdb.set_trace()
             pred_pose = torch.eye(4, device=pred_pose_9d.device)
 
             pred_pose[:3,:3] = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_pose_9d[:,:6])[0]