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update look-at center

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0nhc 2024-10-14 13:12:48 -05:00
parent c197c80002
commit fc7513082c
2 changed files with 5 additions and 2 deletions
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1
README.md
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@ -1,5 +1,4 @@
# Roadmap # Roadmap
* Change the lookat point to teh pointcloud average xyz instead of bbox center
* Debug with model output pose * Debug with model output pose
* Change simulation scenes * Change simulation scenes
* Interface with GS-Net * Interface with GS-Net

6
src/active_grasp/active_perception_policy.py
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@ -209,7 +209,11 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
current_cam_pose = torch.from_numpy(x.as_matrix()).float().to("cuda:0") current_cam_pose = torch.from_numpy(x.as_matrix()).float().to("cuda:0")
est_delta_rot_mat = self.rotation_6d_to_matrix_tensor_batch(delta_rot_6d)[0] est_delta_rot_mat = self.rotation_6d_to_matrix_tensor_batch(delta_rot_6d)[0]
look_at_center = torch.from_numpy(self.bbox.center).float().to("cuda:0")
target_points_np = target_points.cpu().numpy()[0,:,:]
central_point_of_target = np.mean(target_points_np, axis=0)
look_at_center = torch.from_numpy(central_point_of_target).float().to("cuda:0")
nbv_tensor = self.get_transformed_mat(current_cam_pose, nbv_tensor = self.get_transformed_mat(current_cam_pose,
est_delta_rot_mat, est_delta_rot_mat,
look_at_center) look_at_center)