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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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18
active_grasp/policy.py
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@@ -36,7 +36,7 @@ class BasePolicy(Policy):
self.score_fn = lambda g: g.pose.translation[2] # TODO
def init_visualizer(self):
self.visualizer = Visualizer()
self.vis = Visualizer()
def activate(self, bbox):
self.bbox = bbox
@@ -60,8 +60,8 @@ class BasePolicy(Policy):
self.done = False
self.best_grasp = None
self.visualizer.clear()
self.visualizer.bbox(self.base_frame, bbox)
self.vis.clear()
self.vis.bbox(self.base_frame, bbox)
def integrate_img(self, img, extrinsic):
self.viewpoints.append(extrinsic.inv())
@@ -76,11 +76,11 @@ class BasePolicy(Policy):
self.width_hist[t, ...] = out.width
mean_qual = self.compute_mean_quality()
self.visualizer.quality(self.task_frame, voxel_size, mean_qual)
self.vis.quality(self.task_frame, voxel_size, mean_qual)
self.visualizer.scene_cloud(self.task_frame, self.tsdf.get_scene_cloud())
self.visualizer.map_cloud(self.task_frame, voxel_size, tsdf_grid)
self.visualizer.path(self.base_frame, self.viewpoints)
self.vis.scene_cloud(self.task_frame, self.tsdf.get_scene_cloud())
self.vis.map_cloud(self.task_frame, self.tsdf.get_map_cloud())
self.vis.path(self.base_frame, self.viewpoints)
def compute_best_grasp(self):
if self.filter_grasps:
@@ -97,8 +97,8 @@ class BasePolicy(Policy):
grasps = self.transform_and_reject(grasps)
grasps = sort_grasps(grasps, self.score_fn)
self.visualizer.quality(self.task_frame, self.tsdf.voxel_size, qual)
self.visualizer.grasps(self.base_frame, grasps)
self.vis.quality(self.task_frame, self.tsdf.voxel_size, qual)
self.vis.grasps(self.base_frame, grasps)
return grasps[0] if len(grasps) > 0 else None