update

runners/cad_strategy.py

@@ -91,8 +91,6 @@ class CADStrategyRunner(Runner):
         cad_model_real_world.export(os.path.join(temp_dir, f"real_world_{temp_name}.obj"))
         cad_model_blender_world:trimesh.Trimesh = cad_model.apply_transform(real_world_to_blender_world)
         
-        
-        
         with tempfile.TemporaryDirectory() as temp_dir:
             temp_dir = "/home/yan20/nbv_rec/project/franka_control/temp_output"
             cad_model_blender_world.export(os.path.join(temp_dir, f"{temp_name}.obj"))
@@ -173,7 +171,7 @@ class CADStrategyRunner(Runner):
             try:
                 ControlUtil.move_to(cam_to_world)
                 ''' get world pts '''
-                time.sleep(1)
+                time.sleep(0.5)
                 view_data = CommunicateUtil.get_view_data()
                 if view_data is None:
                     Log.error("Failed to get view data")
@@ -223,24 +221,4 @@ if __name__ == "__main__":
     
     model_path = r"C:\Users\hofee\Downloads\mesh.obj"
     model = trimesh.load(model_path)
-    
-    ''' test register '''
-    # test_pts_L = np.load(r"C:\Users\hofee\Downloads\0.npy")
-    
-    # import open3d as o3d
-    # def add_noise(points, translation, rotation):
-    #     R = o3d.geometry.get_rotation_matrix_from_axis_angle(rotation)
-    #     noisy_points = points @ R.T + translation
-    #     return noisy_points
-    
-    # translation_noise = np.random.uniform(-0.5, 0.5, size=3)
-    # rotation_noise = np.random.uniform(-np.pi/4, np.pi/4, size=3) 
-    # noisy_pts_L = add_noise(test_pts_L, translation_noise, rotation_noise)
-    
-    # cad_to_cam_L = PtsUtil.register(noisy_pts_L, model)
-    
-    # cad_pts_L = PtsUtil.transform_point_cloud(noisy_pts_L, cad_to_cam_L)
-    # np.savetxt(r"test.txt", cad_pts_L)
-    # np.savetxt(r"src.txt", noisy_pts_L)
-