update inferencer; add load_from_preprocessed_pts

utils/data_load.py

@@ -133,6 +133,12 @@ class DataLoadUtil:
         rgb_image = cv2.imread(rgb_path, cv2.IMREAD_COLOR)
         return rgb_image
     
+    @staticmethod
+    def load_from_preprocessed_pts(path):
+        npy_path = os.path.join(os.path.dirname(path), "points", os.path.basename(path) + ".npy")
+        pts = np.load(npy_path)
+        return pts
+
     @staticmethod
     def cam_pose_transformation(cam_pose_before):
         offset = np.asarray([