add pointcloud memory feature for gsnet input

cfg/active_grasp.rviz

@@ -256,7 +256,9 @@ Visualization Manager:
       Name: Markers
       Namespaces:
         bbox: true
+        grasp: true
         path: true
+        roi: true
         views: true
       Queue Size: 100
       Value: true
@@ -272,7 +274,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -287,7 +289,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
     - Alpha: 0.20000000298023224
       Autocompute Intensity Bounds: false
       Autocompute Value Bounds:
@@ -424,7 +426,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.0648767948150635
+      Distance: 1.2382971048355103
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -432,17 +434,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.054327137768268585
-        Y: -0.14501728117465973
-        Z: 0.2944410443305969
+        X: 0.27311334013938904
+        Y: -0.15430450439453125
+        Z: 0.29310858249664307
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.3053985834121704
+      Pitch: 0.4653984010219574
       Target Frame: <Fixed Frame>
-      Yaw: 0.7053982615470886
+      Yaw: 1.5403975248336792
     Saved:
       - Class: rviz/Orbit
         Distance: 1.2000000476837158
@@ -483,4 +485,4 @@ Window Geometry:
     collapsed: true
   Width: 1095
   X: 1273
-  Y: 127
+  Y: 90

cfg/active_grasp.yaml

@@ -1,9 +1,9 @@
 bt_sim:
   gui: True
-  gripper_force: 10
+  gripper_force: 100
   # scene: random
   # scene: manual
-  scene: $(find active_grasp)/cfg/sim/challenging_scene_6.yaml
+  scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
 
 hw:
   roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
@@ -43,3 +43,8 @@ ap_grasp:
   max_views: 80
   ap_config_path: $(find active_grasp)/src/active_grasp/active_perception/configs/local_inference_config.yaml
   max_inference_num: 50
+  crop_min_radius: 0.2
+  crop_radius_step: 0.05
+  crop_max_radius: 0.5
+  num_knn_neighbours: 5
+

cfg/sim/challenging_scene_1.yaml

@@ -2,10 +2,10 @@ center: [0.5, 0.0, 0.25]
 q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
 - object_id: ycb/006_mustard_bottle
-  xyz: [0.0, 0.0, 0.03]
+  xyz: [0.1, 0.0, 0.03]
   rpy: [0, 0, 0]
   scale: 0.8
 - object_id: active_perception/box
-  xyz: [0.0, 0.0, 0.0]
+  xyz: [0.1, 0.0, 0.0]
   rpy: [0, 0, 0]
-  scale: 0.8
+  scale: 0.9

cfg/sim/challenging_scene_6.yaml

@@ -6,6 +6,6 @@ objects:
   rpy: [0, 0, -45]
   scale: 0.5
 - object_id: active_perception/cabinet2
-  xyz: [0.1, 0.0, 0.0]
-  rpy: [0, 0, 45]
+  xyz: [0.0, 0.0, 0.0]
+  rpy: [0, 0, 135]
   scale: 0.25