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Relax stopping criterion

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This commit is contained in:
Michel Breyer 2021-11-10 16:46:34 +01:00
parent f75d70f7bc
commit 3c39453aa8
1 changed files with 1 additions and 5 deletions
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6
src/active_grasp/nbv.py
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@ -90,11 +90,7 @@ class NextBestView(MultiViewPolicy):
t = (self.T_task_base * self.best_grasp.pose).translation t = (self.T_task_base * self.best_grasp.pose).translation
i, j, k = (t / self.tsdf.voxel_size).astype(int) i, j, k = (t / self.tsdf.voxel_size).astype(int)
qs = self.qual_hist[:, i, j, k] qs = self.qual_hist[:, i, j, k]
if ( if np.count_nonzero(qs) == self.T and np.mean(qs) > 0.9:
np.count_nonzero(qs) == self.T
and np.mean(qs) > 0.9
and np.std(qs) < 0.05
):
return True return True
return False return False