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upd inference_server

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This commit is contained in:
hofee 2024-11-06 20:07:33 +08:00
parent 6f427785b3
commit 6a608ea74b
1 changed files with 6 additions and 11 deletions
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17
runners/inference_server.py
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@ -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