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Compute ray directions

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This commit is contained in:
Michel Breyer 2021-08-13 14:47:17 +02:00
parent 164109c4bd
commit 6da198a5bf
1 changed files with 12 additions and 1 deletions
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13
active_grasp/nbv.py
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@ -46,8 +46,19 @@ class NextBestView(BasePolicy):
views.append(look_at(eye, target, up).inv()) views.append(look_at(eye, target, up).inv())
return views return views
def compute_ig(self, view, downsample=20):
res_x = int(self.intrinsic.width / downsample)
res_y = int(self.intrinsic.height / downsample)
fx = self.intrinsic.fx / downsample
fy = self.intrinsic.fy / downsample
cx = self.intrinsic.cx / downsample
cy = self.intrinsic.cy / downsample
def compute_ig(self, view): for x in range(res_x):
for y in range(res_y):
d = np.r_[(x - cx) / fx, (y - cy) / fy, 1.0]
d = d / np.linalg.norm(d)
d = view.rotation.apply(d)
return 1.0 return 1.0
def compute_cost(self, view): def compute_cost(self, view):