zhoumiaoqiang
commented
2 years ago Hi, I build my own dataset following your Network trainig partial.
My data storage format is as follow:
└─ roor ├─ objects.txt ├─ input │ ├─ example_gt.pcd │ ├─ example_0.pcd │ ├─ ... │ ├─ example_19.pcd │ └─ ... └─ test └─ ...I don't have the
xxx.csvwhich contains normal for each point, and my point cloud stored in.pcdis converted from a512*512depth map according to camera reference. (May be the lack of normal cause this trouble)And I run
./generate_data ../cfg/generate_data.cfg(I just change the path and num_thread in the cfg file). Then the output is as follow:Opening HDF5 file at: /opt/ply/test/train.h5 Creating dataset <labels>: 225000 x 1 Creating dataset <images>: 225000 x 60 x 60 x 12 Opening HDF5 file at: /opt/ply/test/test.h5 Creating dataset <labels>: 75000 x 1 Creating dataset <images>: 75000 x 60 x 60 x 12 ===> Generating images for object 1/30: bedroom0_0 mesh_file_path: /opt/ply/input/bedroom0_0_gt.pcd normals_file_path: /opt/ply/input/bedroom0_0_gt_normals.csv extension: pcd Failed to find match for field 'rgba'. Loaded point cloud with 261120 points Loaded mesh with 261120 points. runtime(computeNormals): 59.3458 camera: 0, #indices: 261120, #normals: 261120 ===> Processing view 1/20 extension: pcd Failed to find match for field 'rgba'. Loaded point cloud with 220770 points Voxelized cloud: 102234 runtime(computeNormals): 9.9189 camera: 0, #indices: 102234, #normals: 102234 Estimating local reference frames ... Estimated 1000 frames in 0.0226s. Finding hand poses ... Found 1000 hand sets in 1.03s ====> HAND SEARCH TIME: 1.1607 Generated 1000 hand sets. Filtering grasps outside of workspace ... Number of grasp candidates within workspace and gripper width: 1794 neighborhoods search time: 0.3013 Created 1794 images in 0.5582s Eval GT ... #grasps: 1794, #positives: 0, #negatives: 1794 ...The number of positive grasps is always 0 and the loop doesn't stop. I've increased the number of sample, but it doesn't work.
I also run the
./detect_grasps ../cfg/eigen_params.cfg .. $MY_PATH_TO_PCD$, and the output is as follow:
I think your GPD algorithm makes scene. But I meet some trouble in building my own dataset, it doesn't get positive grasps.
Can you help me? Looking for your reply.
have you solved this problem?
Hi, I build my own dataset following your Network trainig partial.
My data storage format is as follow:
I don't have the
xxx.csvwhich contains normal for each point, and my point cloud stored in.pcdis converted from a512*512depth map according to camera reference. (May be the lack of normal cause this trouble)And I run
./generate_data ../cfg/generate_data.cfg(I just change the path and num_thread in the cfg file). Then the output is as follow:The number of positive grasps is always 0 and the loop doesn't stop. I've increased the number of sample, but it doesn't work.
I also run the
./detect_grasps ../cfg/eigen_params.cfg .. $MY_PATH_TO_PCD$, and the output is as follow:I think your GPD algorithm makes scene. But I meet some trouble in building my own dataset, it doesn't get positive grasps.
Can you help me? Looking for your reply.