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Match HW interfaces

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This commit is contained in:
Michel Breyer
2022-07-14 16:29:43 +02:00
parent 2116877fc3
commit b4a114b48e
2 changed files with 74 additions and 11 deletions
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24
src/active_grasp/policy.py
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@@ -112,8 +112,16 @@ class SingleViewPolicy(Policy):
self.views.append(x)
self.tsdf.integrate(img, self.intrinsic, x.inv() * self.T_base_task)
tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
self.vis.scene_cloud(self.task_frame, self.tsdf.get_scene_cloud())
self.vis.map_cloud(self.task_frame, self.tsdf.get_map_cloud())
scene_cloud = self.tsdf.get_scene_cloud()
self.vis.scene_cloud(self.task_frame, np.asarray(scene_cloud.points))
map_cloud = self.tsdf.get_map_cloud()
self.vis.map_cloud(
self.task_frame,
np.asarray(map_cloud.points),
np.expand_dims(np.asarray(map_cloud.colors)[:, 0], 1),
)
out = self.vgn.predict(tsdf_grid)
self.vis.quality(self.task_frame, voxel_size, out.qual, 0.5)
@@ -142,8 +150,16 @@ class MultiViewPolicy(Policy):
with Timer("tsdf_integration"):
self.tsdf.integrate(img, self.intrinsic, x.inv() * self.T_base_task)
self.vis.scene_cloud(self.task_frame, self.tsdf.get_scene_cloud())
self.vis.map_cloud(self.task_frame, self.tsdf.get_map_cloud())
scene_cloud = self.tsdf.get_scene_cloud()
self.vis.scene_cloud(self.task_frame, np.asarray(scene_cloud.points))
map_cloud = self.tsdf.get_map_cloud()
self.vis.map_cloud(
self.task_frame,
np.asarray(map_cloud.points),
np.expand_dims(np.asarray(map_cloud.colors)[:, 0], 1),
)
with Timer("grasp_prediction"):
tsdf_grid = self.tsdf.get_grid()