hofee/nbv_sim
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This commit is contained in:
Michel Breyer 2021-12-06 14:08:06 +01:00
parent f64b9aaa34
commit 2f952b9db5
1 changed files with 1 additions and 4 deletions
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5
src/active_grasp/nbv.py
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@ -56,14 +56,11 @@ def raycast(
class NextBestView(MultiViewPolicy): class NextBestView(MultiViewPolicy):
def __init__(self): def __init__(self):
super().__init__() super().__init__()
self.load_parameters()
self.compile()
def load_parameters(self):
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 = rospy.get_param("nbv_grasp/max_views") self.max_views = rospy.get_param("nbv_grasp/max_views")
self.min_gain = rospy.get_param("nbv_grasp/min_gain") self.min_gain = rospy.get_param("nbv_grasp/min_gain")
self.downsample = rospy.get_param("nbv_grasp/downsample") self.downsample = rospy.get_param("nbv_grasp/downsample")
self.compile()
def compile(self): def compile(self):
# Trigger the JIT compilation # Trigger the JIT compilation