update

app.py

@@ -908,6 +908,13 @@ class DynamicsVisualizer:
         assert device_count == 1
         self.wp_device = wp_devices[0]
         self.torch_device = torch_devices[0]
+        
+        in_dir = root / 'log/gs/ckpts/rope_scene_1'
+        batch_size = 1
+        num_steps = 1
+        num_particles = self.cfg.sim.n_particles
+        self.load_scaniverse(in_dir)
+        self.init_model(batch_size, num_steps, num_particles, ckpt_path=None)
 
         params = self.preprocess_gs(self.params)
         if self.with_bg:
@@ -1108,36 +1115,6 @@ class DynamicsVisualizer:
         return self.run_command([0, 0, -5.0])
 
     def launch(self, share=False):
-        in_dir = root / 'log/gs/ckpts/rope_scene_1'
-        batch_size = 1
-        num_steps = 1
-        num_particles = self.cfg.sim.n_particles
-        self.load_scaniverse(in_dir)
-        self.init_model(batch_size, num_steps, num_particles, ckpt_path=None)
-
-        params = self.preprocess_gs(self.params)
-        if self.with_bg:
-            self.preprocess_bg_gs()
-        rendervar = self.reset_state(params, visualize_image=False, init=True)
-        rendervar, rendervar_full = self.update_rendervar(rendervar)
-        self.rendervar = rendervar
-
-        im, depth = self.render(rendervar_full, 0, bg=[0.0, 0.0, 0.0])
-        im_show = (im.permute(1, 2, 0) * 255.0).cpu().numpy().astype(np.uint8).copy()
-
-        cv2.imwrite(str(root / 'log/temp_init/0000.png'), cv2.cvtColor(im_show, cv2.COLOR_RGB2BGR))
-
-        make_video(root / 'log/temp_init', root / f'log/gs/temp/form_video_init.mp4', '%04d.png', 1)
-
-        gs_pred = save_to_splat(
-            rendervar_full['means3D'].cpu().numpy(),
-            rendervar_full['colors_precomp'].cpu().numpy(),
-            rendervar_full['scales'].cpu().numpy(),
-            rendervar_full['rotations'].cpu().numpy(),
-            rendervar_full['opacities'].cpu().numpy(),
-            root / 'log/gs/temp/gs_pred.splat',
-            rot_rev=True,
-        )
 
         with gr.Blocks() as app:
 
@@ -1158,7 +1135,7 @@ class DynamicsVisualizer:
                 with gr.Column(scale=2):
                     form_video = gr.Video(
                         label='Predicted video',
-                        value=root / f'log/gs/temp/form_video_init.mp4',
+                        value=None,
                         format='mp4',
                         width=self.width,
                         height=self.height,
@@ -1168,7 +1145,7 @@ class DynamicsVisualizer:
                     form_3dgs_pred = gr.Model3D(
                         label='Predicted Gaussians',
                         height=self.height,
-                        value=root / 'log/gs/temp/gs_pred.splat',
+                        value=None,
                         clear_color=[0, 0, 0, 0],
                     )