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Render grasp colors based on their quality

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This commit is contained in:
Michel Breyer 2021-09-13 11:49:13 +02:00
parent b41d70df66
commit e9344a4db2
2 changed files with 8 additions and 10 deletions
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7
active_grasp/policy.py
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@ -138,7 +138,7 @@ class MultiViewPolicy(Policy):
with Timer("grasp_prediction"): with Timer("grasp_prediction"):
tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
out = self.vgn.predict(tsdf_grid) out = self.vgn.predict(tsdf_grid)
self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.5) self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.8)
t = (len(self.views) - 1) % self.T t = (len(self.views) - 1) % self.T
self.qual_hist[t, ...] = out.qual self.qual_hist[t, ...] = out.qual
@ -150,10 +150,9 @@ class MultiViewPolicy(Policy):
self.vis.clear_grasps() self.vis.clear_grasps()
if len(grasps) > 0: if len(grasps) > 0:
smin, smax = np.min(scores), np.max(scores)
self.best_grasp = grasps[0] self.best_grasp = grasps[0]
self.vis.grasps(self.base_frame, grasps, scores, smin, smax) self.vis.grasps(self.base_frame, grasps)
self.vis.best_grasp(self.base_frame, grasps[0], scores[0], smin, smax) self.vis.best_grasp(self.base_frame, self.best_grasp)
else: else:
self.best_grasp = None self.best_grasp = None

11
active_grasp/visualization.py
View File

@ -69,15 +69,14 @@ class Visualizer:
marker = create_line_list_marker(frame, pose, scale, color, lines, ns="bbox") marker = create_line_list_marker(frame, pose, scale, color, lines, ns="bbox")
self.draw([marker]) self.draw([marker])
def best_grasp(self, frame, grasp, score, smin=0.9, smax=1.0, alpha=1.0): def best_grasp(self, frame, grasp, qmin=0.5, qmax=1.0):
color = cmap((score - smin) / (smax - smin)) color = cmap((grasp.quality - qmin) / (qmax - qmin))
color = [color[0], color[1], color[2], alpha]
self.draw(create_grasp_markers(frame, grasp, color, "best_grasp", radius=0.006)) self.draw(create_grasp_markers(frame, grasp, color, "best_grasp", radius=0.006))
def grasps(self, frame, grasps, scores, smin=0.9, smax=1.0, alpha=0.8): def grasps(self, frame, grasps, qmin=0.5, qmax=1.0, alpha=0.8):
markers = [] markers = []
for i, (grasp, score) in enumerate(zip(grasps, scores)): for i, grasp in enumerate(grasps):
color = cmap((score - smin) / (smax - smin)) color = cmap((grasp.quality - qmin) / (qmax - qmin))
color = [color[0], color[1], color[2], alpha] color = [color[0], color[1], color[2], alpha]
markers += create_grasp_markers(frame, grasp, color, "grasps", 4 * i) markers += create_grasp_markers(frame, grasp, color, "grasps", 4 * i)
self.grasp_marker_count = len(markers) self.grasp_marker_count = len(markers)