fix plot stuck

app.py

@@ -151,7 +151,7 @@ def run_pose_exploration_a(cam_vis, image1, image2):
         matcher_ckpt_path=_matcher_ckpt_path_
     )
 
-    fig = cam_vis.update_figure(5, base_radius=-1.2, font_size=16, show_background=True, show_grid=True, show_ticklabels=True)
+    fig = None
 
     return elevs, elev_ranges, fig
 
@@ -170,8 +170,8 @@ def run_pose_exploration_b(cam_vis, image1, image2, elevs, elev_ranges, probe_bs
     result_poses, aux_data = estimate_poses(
         _model_, images,
         seed_cand_num=8,
-        init_type='triangular',
-        optm_type='triangular',
+        explore_type='triangular',
+        refine_type='triangular',
         probe_ts_range=[0.2, 0.21],
         ts_range=[0.2, 0.21],
         probe_bsz=probe_bsz,
@@ -392,4 +392,4 @@ def run_demo():
 
 if __name__ == '__main__':
 
-    run_demo()
+    run_demo()

src/pose_estimation.py

@@ -97,8 +97,8 @@ def estimate_elevs(model, images, est_type=None, matcher_ckpt_path=None):
 def estimate_poses(
         model, images, 
         seed_cand_num=8, 
-        init_type='pairwise', 
-        optm_type='pairwise', 
+        explore_type='pairwise', 
+        refine_type='pairwise', 
         probe_ts_range=[0.02, 0.98], ts_range=[0.02, 0.98], 
         probe_bsz=16, 
         adjust_factor=10., 
@@ -120,16 +120,15 @@ def estimate_poses(
         elev_ranges = {i: None for i in range(num)}
 
     if num <= 2:
-        init_type = 'pairwise'
+        explore_type = 'pairwise'
 
     cands = {}
     losses = {}
 
-    init_poses = {i: None for i in range(num)}
-    pairwise_init_poses = {i: None for i in range(num)}
-
-    print('Initialization: Probe', datetime.now())
+    ep_poses = {i: None for i in range(num)}
+    pairwise_ep_poses = {i: None for i in range(num)}
 
+    print('Start', datetime.now())
 
     images = [ img.permute(0, 2, 3, 1) for img in images ]
 
@@ -170,13 +169,13 @@ def estimate_poses(
             print(cand)
 
         cands[i] = [ cand[:2] for cand in adjusted_cands ]
-        losses[i] = [loss if (init_type == 'pairwise') else 0.0 for loss, _ in cands[i]]
+        losses[i] = [loss if (explore_type == 'pairwise') else 0.0 for loss, _ in cands[i]]
 
-        pairwise_init_poses[i] = min(cands[i])[1]
+        pairwise_ep_poses[i] = min(cands[i])[1]
 
     print('Selection', datetime.now())
 
-    if init_type == 'triangular':
+    if explore_type == 'triangular':
 
         for i in range(1, num):
 
@@ -219,15 +218,15 @@ def estimate_poses(
             print(cands[i][u], losses[i][u])
         print(i, 'SELECT', min_rank, losses[i][min_rank])
 
-        init_poses[i] = cands[i][min_rank][1]
+        ep_poses[i] = cands[i][min_rank][1]
 
     print('Refinement', datetime.now())
 
     combinations = None
-    if optm_type == 'pairwise':
+    if refine_type == 'pairwise':
         combinations = [ (0, i) for i in range(1, num) ] + [ (i, 0) for i in range(1, num) ]
 
-    elif optm_type == 'triangular':
+    elif refine_type == 'triangular':
         combinations = []
         for i in range(0, num):
             for j in range(i+1, num):
@@ -242,7 +241,7 @@ def estimate_poses(
         refine_factor, 
         bsz=refine_bsz,
         n_iter=(num-1)*refine_iters, 
-        init_poses=init_poses, 
+        init_poses=ep_poses, 
         ts_range=ts_range,
         combinations=combinations,
         avg_last_n=20,
@@ -252,8 +251,8 @@ def estimate_poses(
     print('Done', datetime.now())
 
     aux_data = {
-        'tri_init_sph': init_poses,
-        'pw_init_sph': pairwise_init_poses,
+        'tri_ep_sph': ep_poses,
+        'pw_ep_sph': pairwise_ep_poses,
         'elev': elevs
     }