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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
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can i use this package to test point cloud files in the cornell grasping dataset? #72

Open TristramAr opened 5 years ago

atenpas commented 5 years ago

Sure. You can run it on any point clouds you want.

TristramAr commented 5 years ago

Thank you for your reply But the point cloud file I downloaded in the cornell grasping dataset are .txt files. Do I need to convert it to .pcd files first?

TristramAr commented 5 years ago

I convert the file to .pcd. but ,when I run the tutorial0.launch, no point left after workspace filtering. like this: ` classify_grasp_candidates (gpd/classify_candidates)

auto-starting new master process[master]: started with pid [12196] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 61a2c0f0-52b2-11e9-807c-000c291fe232 process[rosout-1]: started with pid [12210] started core service [/rosout] process[classify_grasp_candidates-2]: started with pid [12223] Loaded point cloud with 253674 points NET SETUP runtime: 0.103322 Processing cloud with: 253674 points. After workspace filtering: 0 points left. Plotting normals for different camera sources `

atenpas commented 5 years ago

If no points are left after workspace filtering, the first thing you should try is to increase the workspace size. That is, change the workspace parameter in the config file.