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Prune nbv candidates using moveit

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This commit is contained in:
Michel Breyer 2021-09-11 13:35:49 +02:00
parent 839b6e4e1c
commit 3550b49669
1 changed files with 10 additions and 1 deletions
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9
active_grasp/nbv.py
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@ -16,6 +16,14 @@ class NextBestView(MultiViewPolicy):
def activate(self, bbox): def activate(self, bbox):
super().activate(bbox) super().activate(bbox)
self.generate_view_candidates() self.generate_view_candidates()
# self.vis.views(
# self.base_frame,
# self.intrinsic,
# self.view_candidates,
# np.ones(len(self.view_candidates)),
# )
# rospy.sleep(1.0)
# return
def update(self, img, x): def update(self, img, x):
if len(self.views) > self.max_views: if len(self.views) > self.max_views:
@ -55,6 +63,7 @@ class NextBestView(MultiViewPolicy):
target = self.center target = self.center
up = np.r_[1.0, 0.0, 0.0] up = np.r_[1.0, 0.0, 0.0]
view = look_at(eye, target, up) view = look_at(eye, target, up)
if self.is_view_feasible(view):
self.view_candidates.append(view) self.view_candidates.append(view)
def compute_expected_information_gains(self, views): def compute_expected_information_gains(self, views):