update strong pointnet++

runners/inferencer.py

@@ -137,7 +137,7 @@ class Inferencer(Runner):
         pred_cr_seq = [last_pred_cr]
         success = 0
         last_pts_num = PtsUtil.voxel_downsample_point_cloud(data["first_scanned_pts"][0], voxel_threshold).shape[0]
-        import time
+        #import time
         while len(pred_cr_seq) < max_iter and retry < max_retry and success < max_success:
             Log.green(f"iter: {len(pred_cr_seq)}, retry: {retry}/{max_retry}, success: {success}/{max_success}")
             combined_scanned_pts = np.vstack(scanned_view_pts)
@@ -229,7 +229,6 @@ class Inferencer(Runner):
                     Log.success(f"delta pts num < {self.min_new_pts_num}:, {pts_num}, {last_pts_num}")
 
                 last_pts_num = pts_num
-                break
             
 
         input_data["scanned_n_to_world_pose_9d"] = input_data["scanned_n_to_world_pose_9d"][0].cpu().numpy().tolist()