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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
606 stars 233 forks source link

Two camera #83

Open WHGang opened 5 years ago

WHGang commented 5 years ago

Hello, when I read your paper, I found that two cameras can be used. Can I use two cameras directly on the code you Shared? Do I need to make any changes?Thank you!

atenpas commented 4 years ago

Yes, you can. With ROS, you should use this message. Without ROS, you could provide a PCD file that has been generated by concatenating two point clouds.

FrankLin9981 commented 4 years ago

Excuse me. I have the same question about how to use two cameras with ROS. But the link you provided is broken. Could you provide some details about how to use two cameras? Thanks.

atenpas commented 4 years ago

Yes, have a look at this ROS message: CloudSources.msg.

FrankLin9981 commented 4 years ago

Thanks for your reply! So, it looks like that I should create this type of message and publish it by myself. Then modify the cloud_type parameter in launch file? Do I misunderstand the mechanism? Or there has been already wrapped by your package?

atenpas commented 4 years ago

Sorry, I pointed you to the wrong message. The grasp detection node can be used with CloudIndexed or CloudSamples messages. Both of these messages have a CloudSources member.

FrankLin9981 commented 4 years ago

So, I should generate CloudIndexed or CloudSamples by myself? Or there has been already wrapped by your package? Thanks.