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Precompile raycast fn

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This commit is contained in:
Michel Breyer 2021-12-06 10:06:53 +01:00
parent 90ef7e98d2
commit 55658948d6
1 changed files with 21 additions and 0 deletions
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21
src/active_grasp/nbv.py
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@ -56,10 +56,31 @@ def raycast(
class NextBestView(MultiViewPolicy): class NextBestView(MultiViewPolicy):
def __init__(self): def __init__(self):
super().__init__() super().__init__()
self.compile()
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")
def compile(self):
# Trigger the JIT compilation
raycast(
1.0,
np.zeros((40, 40, 40), dtype=np.float32),
np.eye(3),
np.zeros(3),
1.0,
1.0,
1.0,
1.0,
0,
1,
0,
1,
0.0,
1.0,
0.1,
)
def activate(self, bbox, view_sphere): def activate(self, bbox, view_sphere):
super().activate(bbox, view_sphere) super().activate(bbox, view_sphere)