From c8ef4082528cf354d309504d4362402f0590da90 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Mon, 13 Sep 2021 23:31:52 +0200 Subject: [PATCH] Reduce downsampling --- active_grasp/nbv.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/active_grasp/nbv.py b/active_grasp/nbv.py index ce3e252..232f77d 100644 --- a/active_grasp/nbv.py +++ b/active_grasp/nbv.py @@ -83,7 +83,7 @@ class NextBestView(MultiViewPolicy): self.integrate(img, x, q) views = self.view_candidates 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"): costs = [self.cost_fn(v) for v in views] utilities = gains / np.sum(gains) - costs / np.sum(costs) @@ -109,7 +109,7 @@ class NextBestView(MultiViewPolicy): return True 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 = -1.0 + 2.0 * tsdf_grid # Open3D maps tsdf to [0,1]