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add seg_id interface for policy update() function

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0nhc
2024-10-13 01:13:42 -05:00
parent 60e327b8fb
commit 52cb65dee8
5 changed files with 13 additions and 11 deletions
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6
src/active_grasp/active_perception_policy.py
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@@ -18,8 +18,8 @@ class ActivePerceptionPolicy(MultiViewPolicy):
def activate(self, bbox, view_sphere):
super().activate(bbox, view_sphere)
def update(self, img, seg, x, q):
self.depth_image_to_ap_input(img, seg)
def update(self, img, seg, target_id, x, q):
self.depth_image_to_ap_input(img, seg, target_id)
# if len(self.views) > self.max_views or self.best_grasp_prediction_is_stable():
# self.done = True
# else:
@@ -41,7 +41,7 @@ class ActivePerceptionPolicy(MultiViewPolicy):
# self.x_d = nbv
def depth_image_to_ap_input(self, depth_img, seg_img):
def depth_image_to_ap_input(self, depth_img, seg_img, target_id):
K = self.intrinsic.K
depth_shape = depth_img.shape
seg_shape = seg_img.shape