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update

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0nhc
2024-10-18 13:37:02 -05:00
parent fc7513082c
commit 539ec2161a
5 changed files with 23 additions and 10 deletions
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7
src/active_grasp/active_perception_policy.py
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@@ -162,7 +162,7 @@ class ActivePerceptionMultiViewPolicy(MultiViewPolicy):
target_points = np.asarray(target_points)
target_points = target_points.reshape(1, target_points.shape[0], 3)
self.pcdvis.update_points(target_points)
# self.pcdvis.update_points(target_points)
target_points = torch.from_numpy(target_points).float().to("cuda:0")
scene_points = np.asarray(scene_points)
scene_points = scene_points.reshape(1, scene_points.shape[0], 3)
@@ -212,8 +212,9 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
target_points_np = target_points.cpu().numpy()[0,:,:]
central_point_of_target = np.mean(target_points_np, axis=0)
look_at_center = torch.from_numpy(central_point_of_target).float().to("cuda:0")
print(f"Central Point of Target: {central_point_of_target}, length: {np.linalg.norm(central_point_of_target)}")
print(f"camera position: {current_cam_pose[:3, 3]}")
nbv_tensor = self.get_transformed_mat(current_cam_pose,
est_delta_rot_mat,
look_at_center)
@@ -320,7 +321,7 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
target_points = np.asarray(target_points)
target_points = target_points.reshape(1, target_points.shape[0], 3)
self.pcdvis.update_points(target_points)
# self.pcdvis.update_points(target_points)
target_points = torch.from_numpy(target_points).float().to("cuda:0")
scene_points = np.asarray(scene_points)
scene_points = scene_points.reshape(1, scene_points.shape[0], 3)