Visualize views along the path

2021-12-06 10:23:15 +01:00
parent eca61e7297
commit 7d2530b8f6
1 changed files with 1 additions and 0 deletions
--- a/src/active_grasp/policy.py
+++ b/src/active_grasp/policy.py
@@ -136,6 +136,7 @@ class MultiViewPolicy(Policy):
    def integrate(self, img, x, q):
        self.views.append(x)
        self.vis.path(self.base_frame, self.views)
+        self.vis.views(self.base_frame, self.intrinsic, self.views[::4])

        with Timer("tsdf_integration"):
            self.tsdf.integrate(img, self.intrinsic, x.inv() * self.T_base_task)