INNER CODE UNIT · Python

run_semantic_query_loop

MIT-SPARK/VGGT-SLAM · main_realtime.py:103

def run_semantic_query_loop(args, solver, clip_model, clip_tokenizer, processor):
    """Interactive open-set semantic query loop, run after capture ends."""
    while True:
        query = input("\nEnter text query or q to quit: ").strip()
        if len(query) == 0:
            print("Empty query. Exiting.")
            return
        if query == "q":
            print("Exiting.")
            return

        text_emb = utils.compute_text_embeddings(clip_model, clip_tokenizer, query)
        overall_best_score, overall_best_submap_id, overall_best_frame_index = \
            solver.map.retrieve_best_semantic_frame(text_emb)

        found_submap = solver.map.get_submap(overall_best_submap_id)

        best_img = found_submap.get_frame_at_index(overall_best_frame_index)

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