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Small change to the visualization

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This commit is contained in:
Michel Breyer
2021-08-25 14:57:43 +02:00
parent 327826de90
commit fc8d9a8791
3 changed files with 16 additions and 15 deletions
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6
active_grasp/nbv.py
View File

@@ -28,7 +28,7 @@ class NextBestView(BasePolicy):
utilities = gains / np.sum(gains) - costs / np.sum(costs)
# Visualize
self.visualizer.views(self.base_frame, self.intrinsic, views, utilities)
self.vis.views(self.base_frame, self.intrinsic, views, utilities)
# Determine next-best-view
i = np.argmax(utilities)
@@ -86,7 +86,7 @@ class NextBestView(BasePolicy):
direction = np.r_[(u - cx) / fx, (v - cy) / fy, 1.0]
direction = view.rotation.apply(direction / np.linalg.norm(direction))
# self.visualizer.rays(self.task_frame, origin, [direction])
# self.vis.rays(self.task_frame, origin, [direction])
# rospy.sleep(0.01)
t, tsdf_prev = t_min, -1.0
@@ -94,7 +94,7 @@ class NextBestView(BasePolicy):
p = origin + t * direction
t += t_step
# self.visualizer.point(self.task_frame, p)
# self.vis.point(self.task_frame, p)
# rospy.sleep(0.01)
index = get_voxel_at(p)