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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
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How can I add additional filters/filtering criterion based on their position on object ? #123

Closed Gaurav37 closed 1 year ago

Gaurav37 commented 2 years ago

Hi, I would like to know how can I edit some grasps out ? Is there a position where I can store the grasps generated and then cut out those grasps which I don't need? Right now it just opens a window showing filtered grasps generated on object. I want to further filter them based on their position on object. Is there a way to crop out some of the grasps if they fall within a certain area of object?

ojijinWang commented 2 years ago

I am not @atenpas. lol. you have several options to remove them. one, use the parameter of workspace to filter out the grasp candidates out of the workspace. second, using the parameter of camera positions to filter out the wrong direction. third. i just mention it here because we have not uploaded the code yet. use the paper of our following up research "Robust grasp detection with incomplete point cloud and complex background". If you want i will discuss with the co-authour about sending you the code that we have not published yet. I replay this because we found the same problem and the filter of workspace is not good enough. And we proposed the occlusion checking athough the reviewers said it might not realy necessary.

atenpas commented 1 year ago

@ojijinWang is right. There is no filter for this. @Gaurav37, you would have to implement this in your own code.

Gaurav37 commented 1 year ago

@atenpas Sorry I forgot to reply and close issue. Yes I modified it for my use case. Thanks

lwcode commented 9 months ago

@ojijinWang Could I get your code of "Robust grasp detection with incomplete point cloud and complex background" for reference?

ojijinWang commented 9 months ago

@ojijinWang Could I get your code of "Robust grasp detection with incomplete point cloud and complex background" for reference? @lwcode Okay, please wait for a week, I am busy. I've not organized the code. Please notify me if I forget.

lwcode commented 9 months ago

@ojijinWang Could I get your code of "Robust grasp detection with incomplete point cloud and complex background" for reference? @lwcode Okay, please wait for a week, I am busy. I've not organized the code. Please notify me if I forget.

@ojijinWang Thank you so much!

ojijinWang commented 9 months ago

@lwcode I quickly made a repository for you. It might be buggy. Please try it first. https://github.com/ojijinWang/gpd_vcloud

I will build a standalone filter that can be applied to any grasp detection method later. Might take a week.