Method LoadCheckpoint

src/lib/data/NeuralScene.cpp:261–322

}

void NeuralScene::LoadCheckpoint(const std::string& checkpoint_dir)
{
    std::string checkpoint_prefix = checkpoint_dir + "/scene_" + scene->scene_name + "_";

    if (point_cloud_cuda && std::filesystem::exists(checkpoint_prefix + "points.pth"))
    {
        torch::load(point_cloud_cuda, checkpoint_prefix + "points.pth");

        std::cout << "Load Checkpoint points " << point_cloud_cuda->t_position.size(0)
                  << " max uv: " << point_cloud_cuda->t_index.max().item().toInt() << std::endl;

        SAIGA_ASSERT(point_cloud_cuda->t_position.dtype() == torch::kFloat);
        SAIGA_ASSERT(point_cloud_cuda->t_index.dtype() == torch::kInt32);

        SAIGA_ASSERT(point_cloud_cuda->t_position.size(0) == point_cloud_cuda->t_index.size(0));
        SAIGA_ASSERT(point_cloud_cuda->t_position.size(0) == point_cloud_cuda->t_normal.size(0));
    }

    if (texture && std::filesystem::exists(checkpoint_prefix + "texture.pth"))
    {
        torch::load(texture, checkpoint_prefix + "texture.pth");
        std::cout << "Load Checkpoint texture. Texels: " << texture->NumPoints()
                  << " Channels: " << texture->TextureChannels() << std::endl;
        SAIGA_ASSERT(texture->NumPoints() == point_cloud_cuda->Size());
        SAIGA_ASSERT(texture->TextureChannels() == params->pipeline_params.num_texture_channels);
    }

    SAIGA_ASSERT(point_cloud_cuda->t_index.max().item().toInt() <= texture->NumPoints());

    if (std::filesystem::exists(checkpoint_prefix + "poses.pth"))
    {
        std::cout << "Load Checkpoint pose" << std::endl;

        std::cout << "First pose before " << poses->Download().front() << std::endl;

        torch::load(poses, checkpoint_prefix + "poses.pth");

        SAIGA_ASSERT(poses->poses_se3.size(0) == scene->frames.size());
        SAIGA_ASSERT(poses->poses_se3.dtype() == torch::kDouble);
        SAIGA_ASSERT(poses->tangent_poses.dtype() == torch::kDouble);

        std::cout << "First pose after " << poses->Download().front() << std::endl;

        DownloadPoses();
    }

    if (std::filesystem::exists(checkpoint_prefix + "intrinsics.pth"))
    {
        std::cout << "Load Checkpoint intrinsics" << std::endl;
        torch::load(intrinsics, checkpoint_prefix + "intrinsics.pth");
        DownloadIntrinsics();
    }


    if (environment_map && std::filesystem::exists(checkpoint_prefix + "env.pth"))
    {
        std::cout << "Load Checkpoint environment_map" << std::endl;
        torch::load(environment_map, checkpoint_prefix + "env.pth");