Pass frame explicitly to each visualization method

2021-08-17 16:24:23 +02:00
parent 69e6acf00b
commit 26f7103237
4 changed files with 53 additions and 36 deletions
--- a/active_grasp/nbv.py
+++ b/active_grasp/nbv.py
@@ -37,7 +37,7 @@ class NextBestView(BasePolicy):
        utilities = gains / np.sum(gains) - costs / np.sum(costs)

        # Visualize
-        self.visualizer.views(self.intrinsic, views, utilities)
+        self.visualizer.views(self.base_frame, self.intrinsic, views, utilities)

        # Determine next-best-view
        nbv = views[np.argmax(utilities)]