update viz save

Jianxff · May 3, 2024 · 735c1bf · 735c1bf
1 parent 91e628d
commit 735c1bf
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/modules/droid_core/droid.py b/modules/droid_core/droid.py
@@ -82,7 +82,7 @@ def terminate(self, stream=None):
 
         torch.cuda.empty_cache()
         print("#" * 32)
-        self.backend(12)
+        self.backend(20)
 
         camera_trajectory = self.traj_filler(stream)
         camera_trajectory = camera_trajectory.inv().data.cpu().numpy()

diff --git a/modules/droid_core/visualization.py b/modules/droid_core/visualization.py
@@ -156,12 +156,16 @@ def animation_callback(vis):
     vis.run()
 
     # save traj ply for visualization
-    if vis_save is None:
+    if vis_save is not None:
+        print('saving visualization scene')
         vis_save = Path(vis_save)
+        import os
+        os.makedirs(vis_save, exist_ok=True)
+
         pcd = o3d.geometry.PointCloud()
         for actor in droid_visualization.points.values():
             pcd += actor
-        o3d.io.write_point_cloud(str(vis_save / 'scene.plt'), pcd)
+        o3d.io.write_point_cloud(str(vis_save / 'scene.ply'), pcd)
 
         # save traj
         lineset = o3d.geometry.LineSet()