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Generate candidate viewpoints

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This commit is contained in:
Michel Breyer 2021-08-13 14:47:04 +02:00
parent ffd342e073
commit 164109c4bd
1 changed files with 14 additions and 4 deletions
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18
active_grasp/nbv.py
View File

@ -1,7 +1,9 @@
import itertools
import numpy as np import numpy as np
import rospy
from .policy import BasePolicy from .policy import BasePolicy
from vgn.utils import look_at from vgn.utils import look_at, spherical_to_cartesian
class NextBestView(BasePolicy): class NextBestView(BasePolicy):
@ -33,9 +35,17 @@ class NextBestView(BasePolicy):
return nbv return nbv
def generate_viewpoints(self): def generate_viewpoints(self):
eye = np.r_[self.center[:2], self.center[2] + 0.3] r, h = 0.14, 0.2
up = np.r_[1.0, 0.0, 0.0] thetas = np.arange(1, 4) * np.deg2rad(30)
return [look_at(eye, self.center, up)] phis = np.arange(1, 6) * np.deg2rad(60)
views = []
for theta, phi in itertools.product(thetas, phis):
eye = self.center + np.r_[0, 0, h] + spherical_to_cartesian(r, theta, phi)
target = self.center
up = np.r_[1.0, 0.0, 0.0]
views.append(look_at(eye, target, up).inv())
return views
def compute_ig(self, view): def compute_ig(self, view):
return 1.0 return 1.0