From 33e49b29db08583ed82b41af650f17d3d8ea4739 Mon Sep 17 00:00:00 2001
From: Admin <ruida.zhang@163.com>
Date: Sun, 16 Oct 2022 15:51:47 +0800
Subject: [PATCH] update readme
---
README.md | 10 +++++++-
core/gdrn_modeling/test_gdrn_depth_refine.sh | 26 ++++++++++++++++++++
2 files changed, 35 insertions(+), 1 deletion(-)
create mode 100644 core/gdrn_modeling/test_gdrn_depth_refine.sh
diff --git a/README.md b/README.md
index 1e7687f..59dc84d 100644
--- a/README.md
+++ b/README.md
@@ -74,4 +74,12 @@ The difference between this repo and gdrn conference version mainly including:
`./core/gdrn_modeling/test_gdrn.sh <config_path> <gpu_ids> <ckpt_path> (other args)`
## Pose Refinement
-TODO: rudy
\ No newline at end of file
+We utilize depth information to further refine the estimated pose.
+We provide two types of refinement: fast refinement and iterative refinement.
+
+For fast refinement, we compare the rendered object depth and the observed depth to refine translation.
+Run
+
+`./core/gdrn_modeling/test_gdrn_depth_refine.sh <config_path> <gpu_ids> <ckpt_path> (other args)`
+
+For iterative refinement, please checkout to the pose_refine branch for details.
diff --git a/core/gdrn_modeling/test_gdrn_depth_refine.sh b/core/gdrn_modeling/test_gdrn_depth_refine.sh
new file mode 100644
index 0000000..e242c6b
--- /dev/null
+++ b/core/gdrn_modeling/test_gdrn_depth_refine.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+# test
+set -x
+this_dir=$(dirname "$0")
+# commonly used opts:
+
+# MODEL.WEIGHTS: resume or pretrained, or test checkpoint
+CFG=$1
+CUDA_VISIBLE_DEVICES=$2
+IFS=',' read -ra GPUS <<< "$CUDA_VISIBLE_DEVICES"
+# GPUS=($(echo "$CUDA_VISIBLE_DEVICES" | tr ',' '\n'))
+NGPU=${#GPUS[@]} # echo "${GPUS[0]}"
+echo "use gpu ids: $CUDA_VISIBLE_DEVICES num gpus: $NGPU"
+CKPT=$3
+if [ ! -f "$CKPT" ]; then
+ echo "$CKPT does not exist."
+ exit 1
+fi
+NCCL_DEBUG=INFO
+OMP_NUM_THREADS=1
+MKL_NUM_THREADS=1
+PYTHONPATH="$this_dir/../..":$PYTHONPATH \
+CUDA_VISIBLE_DEVICES=$2 python $this_dir/main_gdrn.py \
+ --config-file $CFG --num-gpus $NGPU --eval-only \
+ --opts MODEL.WEIGHTS=$CKPT INPUT.WITH_DEPTH=True TEST.USE_DEPTH_REFINE=True \
+ ${@:4}
--
GitLab