search

atenpas / gpg

Generate grasp pose candidates in point clouds
BSD 2-Clause "Simplified" License
104 stars 60 forks source link

Generated 0 grasp candidates #10

Closed chaiban closed 5 years ago

chaiban commented 5 years ago

I changed multiple parameters and tested it, but I am getting zero grasps. could someone help me with that ? thank you! This is what I get after running

finger_width: 0.01 hand_outer_diameter: 0.12 hand_depth: 0.06 hand_height: 0.02 init_bite: 0.01 CFG: Not a valid b received! voxelize: 1 remove_outliers: 0 workspace: -1.0 1.0 -1.0 1.0 -1.0 1.0 camera_pose: 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 num_samples: 5 num_threads: 4 nn_radius: 0.001 num_orientations: 1 rotation_axis: 2 plot_grasps: 1 plot_normals: 1 Loaded point cloud with 1319524 points 3 Processing cloud with: 1319524 points. After workspace filtering: 0 points left. [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! Estimating local reference frames ... Error: No samples or no indices! Generated 0 grasp candidate sets. Generated 0 grasp candidates.

Do I need mesh to get grasps ? This is what I get after pressing r

atenpas commented 5 years ago

From the output, it looks like the workspace filter removes all points (which should not be happening). Could you upload the pcd file?

chaiban commented 5 years ago

Sorry for closing it, I pressed it by mistake.

atenpas commented 5 years ago

Have you tried to change the workspace as I suggested above? In cfg/params.cfg, set workspace = -10.0 10.0 -10.0 10.0 -10.0 10.0.

chaiban commented 5 years ago

Yes, this is the result I got, still no grasps. I will try to increase voxelize and try it again.

finger_width: 0.01 hand_outer_diameter: 0.12 hand_depth: 0.06 hand_height: 0.02 init_bite: 0.01 CFG: Not a valid b received! voxelize: 1 remove_outliers: 0 workspace: -10.0 10.0 -10.0 10.0 -10.0 10.0 camera_pose: 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 num_samples: 5 num_threads: 4 nn_radius: 0.001 num_orientations: 1 rotation_axis: 2 plot_grasps: 1 plot_normals: 1 Loaded point cloud with 1319524 points 3 Processing cloud with: 1319524 points. After workspace filtering: 1319524 points left. After voxelization: 1305987 points left. Subsampled 5 at random uniformly. Calculating surface normals ... camera: 0, #indices: 1305987, #normals: 1305987 runtime (normals): 35.6881 Reversing direction of normals that do not point to at least one camera ... reversed 0 normals runtime (reverse normals): 0.0104546 Drawing 1305987 normals

Estimating local reference frames ... Estimated 5 local reference frames in 0.0001489 sec. Finding hand poses ... Found 0 grasp candidate sets in 0.0492453 sec. ====> HAND SEARCH TIME: 0.411898 Generated 0 grasp candidate sets. Generated 0 grasp candidates.

Thank you

atenpas commented 5 years ago

Set num_samples = 500.

atenpas commented 5 years ago

Your object seems to be quite large in size. Perhaps you should decrease its size.

hand_outer_diameter is the parameter to set the width.

chaiban commented 5 years ago

Thank you so much for your help!