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Minimum gain and max duration stopping criteria

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This commit is contained in:
Michel Breyer 2021-08-18 12:31:28 +02:00
parent d3e0d58c05
commit 327826de90
1 changed files with 7 additions and 4 deletions
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11
active_grasp/nbv.py
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@ -9,6 +9,8 @@ from vgn.utils import look_at, spherical_to_cartesian
class NextBestView(BasePolicy): class NextBestView(BasePolicy):
def __init__(self, rate, filter_grasps): def __init__(self, rate, filter_grasps):
super().__init__(rate, filter_grasps) super().__init__(rate, filter_grasps)
self.max_viewpoints = 20
self.min_gain = 10.0
def activate(self, bbox): def activate(self, bbox):
super().activate(bbox) super().activate(bbox)
@ -29,9 +31,10 @@ class NextBestView(BasePolicy):
self.visualizer.views(self.base_frame, self.intrinsic, views, utilities) self.visualizer.views(self.base_frame, self.intrinsic, views, utilities)
# Determine next-best-view # Determine next-best-view
nbv = views[np.argmax(utilities)] i = np.argmax(utilities)
nbv, g = views[i], gains[i]
if self.check_done(): if self.check_done(g):
self.best_grasp = self.compute_best_grasp() self.best_grasp = self.compute_best_grasp()
self.done = True self.done = True
return return
@ -114,5 +117,5 @@ class NextBestView(BasePolicy):
def compute_cost(self, view): def compute_cost(self, view):
return 1.0 return 1.0
def check_done(self): def check_done(self, gain):
return len(self.viewpoints) == 4 return len(self.viewpoints) > self.max_viewpoints or gain < self.min_gain