search

ethz-asl / vgn

Real-time 6 DOF grasp detection in clutter.
BSD 3-Clause "New" or "Revised" License
257 stars 55 forks source link

Gazebo kinect camera : TSDF not generating (tsdf_vol has all zero values) #16

Closed aniketghodake10 closed 2 years ago

aniketghodake10 commented 2 years ago

VGN works well on real kinect camera, but when i use gazebo kinect camera......tsdf_vol has all the values as zero, as a result grasps are not generated

Screenshot from 2022-03-23 21-17-51 Screenshot from 2022-03-23 21-18-37 d

mbreyer commented 2 years ago

It might be due to different image formats. The RealSense node publishes depth images in mm, whereas the Gazebo plugin probably uses meters. Does removing the scaling factor at the end of the following line solve the problem?

https://github.com/ethz-asl/vgn/blob/fdd46109ce38a526ed7e2d52336e07e7f0204f17/scripts/panda_grasp.py#L232

aniketghodake10 commented 2 years ago

yes, its working now. Thank you. Great work.