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Compute IG only for voxels within the bounding box

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This commit is contained in:
Michel Breyer 2021-11-09 19:21:39 +01:00
parent 2b8c66b318
commit c53378d33d
1 changed files with 9 additions and 5 deletions
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14
src/active_grasp/nbv.py
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@ -126,9 +126,9 @@ class NextBestView(MultiViewPolicy):
u_min, u_max = u.min(), u.max() u_min, u_max = u.min(), u.max()
v_min, v_max = v.min(), v.max() v_min, v_max = v.min(), v.max()
t_min = self.min_z_dist t_min = 0.0 # self.min_z_dist
t_max = corners[2].max() # TODO This bound might be a bit too short t_max = corners[2].max() # This bound might be a bit too short
t_step = np.sqrt(3) * voxel_size # TODO replace with line rasterization t_step = np.sqrt(3) * voxel_size # Could be replaced with line rasterization
# Cast rays from the camera view (we'll work in the task frame from now on) # Cast rays from the camera view (we'll work in the task frame from now on)
view = self.T_task_base * view view = self.T_task_base * view
@ -152,8 +152,12 @@ class NextBestView(MultiViewPolicy):
t_step, t_step,
) )
# Count rear side voxels # Count rear side voxels within the bounding box
i, j, k = np.unique(voxel_indices, axis=0).T indices = np.unique(voxel_indices, axis=0)
bbox_min = self.T_task_base.apply(self.bbox.min) / voxel_size
bbox_max = self.T_task_base.apply(self.bbox.max) / voxel_size
mask = np.array([((i > bbox_min) & (i < bbox_max)).all() for i in indices])
i, j, k = indices[mask].T
tsdfs = tsdf_grid[i, j, k] tsdfs = tsdf_grid[i, j, k]
ig = np.logical_and(tsdfs > -1.0, tsdfs < 0.0).sum() ig = np.logical_and(tsdfs > -1.0, tsdfs < 0.0).sum()