(self)
| 258 | print("******* mapping process died *******") |
| 259 | |
| 260 | def initfirst_onlymap(self): |
| 261 | init_pose = self.data_stream.get_init_pose(self.start_frame) |
| 262 | fid, rgb, depth, K, _ = self.data_stream[self.start_frame] |
| 263 | first_frame = RGBDFrame(fid, rgb, depth, K, offset=self.offset, ref_pose=init_pose) |
| 264 | first_frame.d_pose.requires_grad_(False) |
| 265 | |
| 266 | print("******* initializing first_frame: %d********" % first_frame.stamp) |
| 267 | self.last_frame = first_frame |
| 268 | self.start_frame += 1 |
| 269 | return first_frame |
| 270 | |
| 271 | def do_mapping(self, tracked_frame=None, update_pose=True): |
| 272 | self.decoder.train() |
no test coverage detected