hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Visualize views along the path

Browse Source
This commit is contained in:
Michel Breyer 2021-12-06 10:23:15 +01:00
parent eca61e7297
commit 7d2530b8f6
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/active_grasp/policy.py
View File

@ -136,6 +136,7 @@ class MultiViewPolicy(Policy):
def integrate(self, img, x, q): def integrate(self, img, x, q):
self.views.append(x) self.views.append(x)
self.vis.path(self.base_frame, self.views) self.vis.path(self.base_frame, self.views)
self.vis.views(self.base_frame, self.intrinsic, self.views[::4])
with Timer("tsdf_integration"): with Timer("tsdf_integration"):
self.tsdf.integrate(img, self.intrinsic, x.inv() * self.T_base_task) self.tsdf.integrate(img, self.intrinsic, x.inv() * self.T_base_task)