Relax stopping criterion

2021-11-10 16:46:34 +01:00 · 2021-11-10 16:46:34 +01:00 · 3c39453aa8
commit 3c39453aa8
parent f75d70f7bc
1 changed files with 1 additions and 5 deletions
--- a/src/active_grasp/nbv.py
+++ b/src/active_grasp/nbv.py
@ -90,11 +90,7 @@ class NextBestView(MultiViewPolicy):
            t = (self.T_task_base * self.best_grasp.pose).translation
            i, j, k = (t / self.tsdf.voxel_size).astype(int)
            qs = self.qual_hist[:, i, j, k]
-            if (
-                np.count_nonzero(qs) == self.T
-                and np.mean(qs) > 0.9
-                and np.std(qs) < 0.05
-            ):
+            if np.count_nonzero(qs) == self.T and np.mean(qs) > 0.9:
                return True
        return False