define display table as world space origin

This commit is contained in:
2024-09-19 11:29:43 +00:00
parent 8d5d6d5df4
commit bb75372f7e
4 changed files with 34 additions and 17 deletions

View File

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