obs_img_num:  2
obs_img_pose:
 [[-0.9950835   0.0659944   0.07384812  0.06335015]
 [ 0.01923215 -0.6026908   0.79774296  3.18375   ]
 [ 0.09715416  0.7952412   0.5984585   2.400439  ]
 [ 0.          0.          0.          1.        ]]
start_pose:
 [[-0.99794453  0.05920431 -0.02452688 -0.32890949]
 [-0.05734461 -0.65415953  0.75417958  2.99289527]
 [ 0.0286062   0.75403592  0.65621002  2.61472383]
 [ 0.          0.          0.          1.        ]]
POI: (1071, 2)
Found checkpoints ./checkpoints/PROPS-NeRF.tar
Reloading from ./checkpoints/PROPS-NeRF.tar
Not ndc!
/home/guo/anaconda3/envs/se3/lib/python3.8/site-packages/torch/functional.py:478: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at  ../aten/src/ATen/native/TensorShape.cpp:2894.)
  return _VF.meshgrid(tensors, **kwargs)  # type: ignore[attr-defined]
Step:  0
Loss:  0.0394575297832489
Rotation error:  12.400644689168868
Translation error:  1.293660973900046e-07
-----------------------------------
Step:  19
Loss:  0.0255327969789505
Rotation error:  6.2667513943550635
Translation error:  0.021251030362478662
-----------------------------------
Step:  39
Loss:  0.009165230207145214
Rotation error:  1.1328142331533062
Translation error:  0.01751259076381695
-----------------------------------
Step:  59
Loss:  0.005951219704002142
Rotation error:  0.5213753798306664
Translation error:  0.004334495472370303
-----------------------------------
Step:  79
Loss:  0.005214746575802565
Rotation error:  0.196551091810929
Translation error:  0.000942399919625192
-----------------------------------
Step:  99
Loss:  0.005450050812214613
Rotation error:  0.09040505271894439
Translation error:  0.00034808639536620944
-----------------------------------
Step:  119
Loss:  0.004927856381982565
Rotation error:  0.08742885752189533
Translation error:  0.0014830762002051578
-----------------------------------
Step:  139
Loss:  0.006669073365628719
Rotation error:  0.12238074647378738
Translation error:  0.00040683068604341344
-----------------------------------
Step:  159
Loss:  0.005862131714820862
Rotation error:  0.17126251079416388
Translation error:  0.0008038773718164194
-----------------------------------
Step:  179
Loss:  0.00649390509352088
Rotation error:  0.1672558941197213
Translation error:  0.0006322566081493619
-----------------------------------
Step:  199
Loss:  0.0049311076290905476
Rotation error:  0.05863620876238773
Translation error:  0.0010694895710985364