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add get_real_cam_O_from_cam_L()

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hofee
2024-09-20 15:00:26 +08:00
parent 55684e86ba
commit fc700d0a5c
3 changed files with 21 additions and 13 deletions
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13
runners/inferencer.py
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@@ -75,7 +75,7 @@ class Inferencer(Runner):
status_manager.set_progress("inference", "inferencer", f"Batch[{test_set_name}]", i+1, total)
test_set.process_batch(data, self.device)
output = self.predict_sequence(data)
self.save_inference_result(output, data)
self.save_inference_result(test_set_name, data["scene_name"][0], output)
status_manager.set_progress("inference", "inferencer", f"dataset", len(self.test_set_list), len(self.test_set_list))
@@ -129,9 +129,10 @@ class Inferencer(Runner):
pred_cr = self.compute_coverage_rate(scanned_view_pts, new_target_pts_world, down_sampled_model_pts, threshold=voxel_threshold)
pred_cr_seq.append(pred_cr)
print(pred_cr, last_pred_cr)
if pred_cr >= data["max_coverage_rate"]:
break
if pred_cr < last_pred_cr + cr_increase_threshold:
if pred_cr <= last_pred_cr + cr_increase_threshold:
break
scanned_view_pts.append(new_target_pts_world)
down_sampled_new_pts_world = PtsUtil.random_downsample_point_cloud(new_pts_world, input_pts_N)
@@ -144,10 +145,7 @@ class Inferencer(Runner):
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 ------
import ipdb;ipdb.set_trace()
# ------ Debug End ------
print(last_pred_cr)
input_data["scanned_pts"] = input_data["scanned_pts"][0].cpu().numpy().tolist()
input_data["scanned_n_to_world_pose_9d"] = input_data["scanned_n_to_world_pose_9d"][0].cpu().numpy().tolist()
@@ -175,7 +173,8 @@ class Inferencer(Runner):
dataset_dir = os.path.join(self.output_dir, dataset_name)
if not os.path.exists(dataset_dir):
os.makedirs(dataset_dir)
pickle.dump(output, open(f"result_{scene_name}.pkl", "wb"))
output_path = os.path.join(dataset_dir, f"{scene_name}.pkl")
pickle.dump(output, open(output_path, "wb"))
def get_checkpoint_path(self, is_last=False):