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update viser

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LinZhuoChen
2026-04-16 12:27:39 +08:00
parent 422600cf85
commit 42de2badd2
5 changed files with 84 additions and 12 deletions
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16
demo.py
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@@ -138,9 +138,8 @@ _BATCHED_NDIMS = {
"world_points_conf": 4,
"extrinsic": 4,
"intrinsic": 4,
"chunk_sim3_scales": 2,
"chunk_sim3_poses": 4,
"chunk_se3_poses": 4,
"chunk_scales": 2,
"chunk_transforms": 4,
"images": 5,
}
@@ -256,14 +255,13 @@ def main():
# Windowed options
parser.add_argument("--window_size", type=int, default=64, help="Frames per window (windowed mode)")
parser.add_argument("--overlap_size", type=int, default=16, help="Overlap between windows")
parser.add_argument("--sim3", action="store_true", default=True, help="Use Sim(3) alignment between windows")
parser.add_argument("--no_sim3", dest="sim3", action="store_false", help="Disable Sim(3), use SE(3) instead")
# Visualization
parser.add_argument("--port", type=int, default=8080)
parser.add_argument("--conf_threshold", type=float, default=1.0)
parser.add_argument("--conf_threshold", type=float, default=1.5)
parser.add_argument("--downsample_factor", type=int, default=10)
parser.add_argument("--point_size", type=float, default=0.005)
parser.add_argument("--point_size", type=float, default=0.0007)
parser.add_argument("--mask_sky", action="store_true", help="Apply sky segmentation to filter out sky points")
args = parser.parse_args()
@@ -314,8 +312,6 @@ def main():
window_size=args.window_size,
overlap_size=args.overlap_size,
num_scale_frames=args.num_scale_frames,
sim3=args.sim3,
se3=not args.sim3,
)
t_infer = time.time() - t0
@@ -330,7 +326,7 @@ def main():
viewer = PointCloudViewer(
pred_dict=prepare_for_visualization(predictions, images_cpu),
port=args.port,
init_conf_threshold=args.conf_threshold,
vis_threshold=args.conf_threshold,
downsample_factor=args.downsample_factor,
point_size=args.point_size,
mask_sky=args.mask_sky,