Clean up ray casting

2021-09-12 12:02:34 +02:00
parent 1416c25cc5
commit 54bd24ff75
2 changed files with 11 additions and 12 deletions
--- a/active_grasp/policy.py
+++ b/active_grasp/policy.py
@@ -115,7 +115,7 @@ class SingleViewPolicy(Policy):
 class MultiViewPolicy(Policy):
    def activate(self, bbox, view_sphere):
        super().activate(bbox, view_sphere)
-        self.T = 5  # Window size of grasp prediction history
+        self.T = 10  # Window size of grasp prediction history
        self.qual_hist = np.zeros((self.T,) + (40,) * 3, np.float32)

    def integrate(self, img, x):