Best View Point Selection

[JemuelStanley47]

Objective is to maximize the view of the tool from ray-tracing until a specific threshold(distance between camera and object/grasp pose) is achieved (because further than that)

• Metric for deciding viewpoint quality
  -- [ ] Task dependent metrics:
  -- [ ] Increase amount of information (maximizing over Shannon entropy, KL divergence, Fisher information)
  -- [ ] Store view-points in database (non-parametric nearest-neighbor approach)