remove forgotten breakpoints

Author: MedericFourmy

happypose/pose_estimators/cosypose/cosypose/integrated/pose_estimator.py

@@ -167,7 +167,6 @@ def run_inference_pipeline(
             )
             if detections is None and run_detector:
                 start_time = time.time()
-                breakpoint()
                 detections = self.forward_detection_model(
                     observation,
                     detection_th,

happypose/pose_estimators/cosypose/cosypose/training/detector_models_cfg.py

@@ -11,7 +11,6 @@ def check_update_config(cfg):
 
 
 def create_model_detector(cfg, n_classes):
-    breakpoint()
     model = DetectorMaskRCNN(
         input_resize=cfg.input_resize,
         n_classes=n_classes,

happypose/pose_estimators/cosypose/cosypose/utils/cosypose_wrapper.py

@@ -150,7 +150,7 @@ def get_model(
         depth_refiner = get_depth_refiner(depth_refiner_type, mesh_db_batched, renderer)
         return detector, pose_estimator, depth_refiner
 
-    def inference(self, observation: ObservationTensor):
+    def inference(self, observation: ObservationTensor, use_depth_refinement):
         """Example of how to use inference with the loaded models.
 
         Args:
@@ -165,8 +165,10 @@ def inference(self, observation: ObservationTensor):
             n_coarse_iterations=1,
             n_refiner_iterations=4,
         )
-        if self.depth_refiner is not None:
-            breakpoint()
+        if use_depth_refinement and self.depth_refiner is not None:
+            final_preds, _ = self.depth_refiner.refine_poses(
+                predictions=final_preds, depth=observation.depth, K=observation.K
+            )
         return final_preds.cpu()