Labeling the dataset - Githubissues

dougsm / ggcnn

Generative Grasping CNN from "Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach" (RSS 2018)

BSD 3-Clause "New" or "Revised" License

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Labeling the dataset #46

Open OliviaNocentini opened 2 years ago

OliviaNocentini commented 2 years ago

Hi Doug, Sorry for my question in advance. How do you labeled the dataset in order to obtain the txt file, did you use a specific tool?Moreover, do you apply some augmentation to your dataset in order to increment it? I've found this grasping-labeling tool for labeling the images (https://github.com/ulaval-damas/grasp-rectangle-labelling )but the format I obtain is different from your txt file.

Bests,

Olivia

dougsm commented 2 years ago

Hi Olivia,

I never labelled any of the data myself. I used either the existing Cornell dataset (which has one point of the rectangle per line `x y) or the Jacquard dataset (which has format like x;y;angle;width;height).

Yes, the data loader applies random rotate and zoom/crop: https://github.com/dougsm/ggcnn/blob/master/utils/data/grasp_data.py#L51