hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix initial view baseline

Browse Source
This commit is contained in:
Michel Breyer 2021-09-04 17:17:29 +02:00
parent 9751b51f33
commit 1d00ed0f02
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
active_grasp/baselines.py
View File

@ -9,7 +9,8 @@ from vgn.utils import look_at
class InitialView(SingleViewPolicy): class InitialView(SingleViewPolicy):
def update(self, img, pose): def update(self, img, pose):
self.x_d = pose self.x_d = pose
super().update(img, pose) cmd = super().update(img, pose)
return cmd
class TopView(SingleViewPolicy): class TopView(SingleViewPolicy):
@ -40,9 +41,9 @@ class TopTrajectory(MultiViewPolicy):
class CircularTrajectory(MultiViewPolicy): class CircularTrajectory(MultiViewPolicy):
def __init__(self, rate): def __init__(self, rate):
super().__init__(rate) super().__init__(rate)
self.r = 0.1 self.r = 0.12
self.h = self.min_z_dist self.h = self.min_z_dist
self.duration = 2.0 * np.pi * self.r / self.linear_vel + 2.0 self.duration = 2.0 * np.pi * self.r / self.linear_vel
self.m = scipy.interpolate.interp1d([0.0, self.duration], [np.pi, 3.0 * np.pi]) self.m = scipy.interpolate.interp1d([0.0, self.duration], [np.pi, 3.0 * np.pi])
def activate(self, bbox): def activate(self, bbox):