From 6a608ea74bc1b177dea2b3f7f7cea97ac821cbad Mon Sep 17 00:00:00 2001 From: hofee Date: Wed, 6 Nov 2024 20:07:33 +0800 Subject: [PATCH] upd inference_server --- runners/inference_server.py | 17 ++++++----------- 1 file changed, 6 insertions(+), 11 deletions(-) diff --git a/runners/inference_server.py b/runners/inference_server.py index e71b28b..ac62fc9 100644 --- a/runners/inference_server.py +++ b/runners/inference_server.py @@ -25,6 +25,7 @@ class InferencerServer(Runner): self.pipeline:torch.nn.Module = ComponentFactory.create(namespace.Stereotype.PIPELINE, self.pipeline_name) self.pipeline = self.pipeline.to(self.device) self.pts_num = 8192 + self.voxel_size = 0.002 ''' Experiment ''' self.load_experiment("inferencer_server") @@ -34,20 +35,14 @@ class InferencerServer(Runner): scanned_pts = data["scanned_pts"] scanned_n_to_world_pose_9d = data["scanned_n_to_world_pose_9d"] combined_scanned_views_pts = np.concatenate(scanned_pts, axis=0) - fps_downsampled_combined_scanned_pts, fps_idx = PtsUtil.fps_downsample_point_cloud( - combined_scanned_views_pts, self.pts_num, require_idx=True + voxel_downsampled_combined_scanned_pts = PtsUtil.voxel_downsample_point_cloud( + combined_scanned_views_pts, self.voxel_size + ) + fps_downsampled_combined_scanned_pts, fps_idx = PtsUtil.fps_downsample_point_cloud( + voxel_downsampled_combined_scanned_pts, self.pts_num, require_idx=True ) - # combined_scanned_views_pts_mask = np.zeros(len(scanned_pts), dtype=np.uint8) - # start_idx = 0 - # for i in range(len(scanned_pts)): - # end_idx = start_idx + len(scanned_pts[i]) - # combined_scanned_views_pts_mask[start_idx:end_idx] = i - # start_idx = end_idx - - # fps_downsampled_combined_scanned_pts_mask = combined_scanned_views_pts_mask[fps_idx] input_data["scanned_pts"] = scanned_pts - # input_data["scanned_pts_mask"] = np.asarray(fps_downsampled_combined_scanned_pts_mask, dtype=np.uint8) input_data["scanned_n_to_world_pose_9d"] = np.asarray(scanned_n_to_world_pose_9d, dtype=np.float32) input_data["combined_scanned_pts"] = np.asarray(fps_downsampled_combined_scanned_pts, dtype=np.float32) return input_data