define display table as world space origin
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@@ -98,7 +98,7 @@ class Inferencer(Runner):
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''' data for inference '''
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input_data = {}
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input_data["scanned_pts"] = [data["first_pts"][0].to(self.device)]
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input_data["scanned_n_to_1_pose_9d"] = [data["first_to_first_9d"][0].to(self.device)]
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input_data["scanned_n_to_world_pose_9d"] = [data["first_to_first_9d"][0].to(self.device)]
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input_data["mode"] = namespace.Mode.TEST
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input_pts_N = input_data["scanned_pts"][0].shape[1]
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@@ -141,7 +141,7 @@ class Inferencer(Runner):
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new_pts_tensor = torch.tensor(new_pts, dtype=torch.float32).unsqueeze(0).to(self.device)
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input_data["scanned_pts"] = [torch.cat([input_data["scanned_pts"][0] , new_pts_tensor], dim=0)]
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input_data["scanned_n_to_1_pose_9d"] = [torch.cat([input_data["scanned_n_to_1_pose_9d"][0], next_pose_9d], dim=0)]
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input_data["scanned_n_to_world_pose_9d"] = [torch.cat([input_data["scanned_n_to_world_pose_9d"][0], next_pose_9d], dim=0)]
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last_pred_cr = pred_cr
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# ------ Debug Start ------
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@@ -150,9 +150,9 @@ class Inferencer(Runner):
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input_data["scanned_pts"] = input_data["scanned_pts"][0].cpu().numpy().tolist()
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input_data["scanned_n_to_1_pose_9d"] = input_data["scanned_n_to_1_pose_9d"][0].cpu().numpy().tolist()
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input_data["scanned_n_to_world_pose_9d"] = input_data["scanned_n_to_world_pose_9d"][0].cpu().numpy().tolist()
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result = {
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"pred_pose_9d_seq": input_data["scanned_n_to_1_pose_9d"],
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"pred_pose_9d_seq": input_data["scanned_n_to_world_pose_9d"],
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"pts_seq": input_data["scanned_pts"],
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"target_pts_seq": scanned_view_pts,
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"coverage_rate_seq": pred_cr_seq,
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