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Reduce downsampling

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This commit is contained in:
Michel Breyer 2021-09-13 23:31:52 +02:00
parent c3da978753
commit c8ef408252
1 changed files with 2 additions and 2 deletions
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active_grasp/nbv.py
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@ -83,7 +83,7 @@ class NextBestView(MultiViewPolicy):
self.integrate(img, x, q) self.integrate(img, x, q)
views = self.view_candidates views = self.view_candidates
with Timer("ig_computation"): with Timer("ig_computation"):
gains = [self.ig_fn(v) for v in views] gains = [self.ig_fn(v, 10) for v in views]
with Timer("cost_computation"): with Timer("cost_computation"):
costs = [self.cost_fn(v) for v in views] costs = [self.cost_fn(v) for v in views]
utilities = gains / np.sum(gains) - costs / np.sum(costs) utilities = gains / np.sum(gains) - costs / np.sum(costs)
@ -109,7 +109,7 @@ class NextBestView(MultiViewPolicy):
return True return True
return False return False
def ig_fn(self, view, downsample=20): def ig_fn(self, view, downsample):
tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
tsdf_grid = -1.0 + 2.0 * tsdf_grid # Open3D maps tsdf to [0,1] tsdf_grid = -1.0 + 2.0 * tsdf_grid # Open3D maps tsdf to [0,1]