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Add min IG stopping criterion

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This commit is contained in:
Michel Breyer 2021-09-13 23:15:52 +02:00
parent 9d25cba092
commit c3da978753
2 changed files with 8 additions and 3 deletions
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9
active_grasp/nbv.py
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@ -57,7 +57,8 @@ class NextBestView(MultiViewPolicy):
def __init__(self): def __init__(self):
super().__init__() super().__init__()
self.min_z_dist = rospy.get_param("~camera/min_z_dist") self.min_z_dist = rospy.get_param("~camera/min_z_dist")
self.max_views = 80 self.max_views = 50
self.min_gain = 0.0
def activate(self, bbox, view_sphere): def activate(self, bbox, view_sphere):
super().activate(bbox, view_sphere) super().activate(bbox, view_sphere)
@ -88,7 +89,11 @@ class NextBestView(MultiViewPolicy):
utilities = gains / np.sum(gains) - costs / np.sum(costs) utilities = gains / np.sum(gains) - costs / np.sum(costs)
self.vis.views(self.base_frame, self.intrinsic, views, utilities) self.vis.views(self.base_frame, self.intrinsic, views, utilities)
i = np.argmax(utilities) i = np.argmax(utilities)
nbv, _ = views[i], gains[i] nbv, gain = views[i], gains[i]
if gain < self.min_gain:
self.done = True
self.x_d = nbv self.x_d = nbv
def best_grasp_prediction_is_stable(self): def best_grasp_prediction_is_stable(self):

2
active_grasp/simulation.py
View File

@ -133,7 +133,7 @@ class RandomScene(Scene):
def load(self, rng, attempts=10): def load(self, rng, attempts=10):
self.load_support(self.center) self.load_support(self.center)
urdfs, scale = rng.choice(self.object_urdfs, 5), 0.8 urdfs, scale = rng.choice(self.object_urdfs, 4), 0.8
for urdf in urdfs: for urdf in urdfs:
uid = self.load_object(urdf, Rotation.identity(), np.zeros(3), scale) uid = self.load_object(urdf, Rotation.identity(), np.zeros(3), scale)
lower, upper = p.getAABB(uid) lower, upper = p.getAABB(uid)