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This commit is contained in:
Michel Breyer 2021-10-27 15:43:01 +02:00
parent 8f6f18d296
commit 4a884fdc11
2 changed files with 9 additions and 0 deletions
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1
src/active_grasp/__init__.py
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@ -5,4 +5,5 @@ from .nbv import NextBestView
register("initial-view", InitialView) register("initial-view", InitialView)
register("top-view", TopView) register("top-view", TopView)
register("top-trajectory", TopTrajectory) register("top-trajectory", TopTrajectory)
register("fixed-trajectory", FixedTrajectory)
register("nbv-grasp", NextBestView) register("nbv-grasp", NextBestView)

8
src/active_grasp/baselines.py
View File

@ -27,3 +27,11 @@ class TopTrajectory(MultiViewPolicy):
linear, _ = compute_error(self.x_d, x) linear, _ = compute_error(self.x_d, x)
if np.linalg.norm(linear) < 0.02: if np.linalg.norm(linear) < 0.02:
self.done = True self.done = True
class FixedTrajectory(MultiViewPolicy):
def activate(self, bbox, view_sphere):
pass
def update(self, img, x, q):
pass