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THU-VCLab / HGGD

Official code of paper "Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes"
MIT License
51 stars 6 forks source link

Some objects not detected #2

Closed lishiyu005 closed 6 months ago

lishiyu005 commented 6 months ago

Dear authors,

Thanks for your great work. This code has significant improvement compared with Graspnet-1billion. However, I am confused why some object is not detected. For example, scissor in the demo is not detected for grasping. Is this due to scissor is not in the training dataset? How can I fix this issue? Screenshot from 2024-02-24 17-09-30

Thank you very much.

Best regards, Shiyu Li

ChenThree commented 6 months ago

Thanks for your interest in our work! You can try running with more region centers (center_num), maybe 128 or 256

lishiyu005 commented 6 months ago

Screenshot from 2024-02-24 21-44-17 I changed it to 256, but the scissor is still not detected.

ChenThree commented 6 months ago

You can visualize the predicted heatmap. Maybe the predicted value on the scissors is relatively lower.

ChenThree commented 6 months ago

Closed for no more comments.