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graspnet / graspnet-baseline

Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020)
https://graspnet.net/
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Why are all the object_ids in the demo output -1 #56

Closed cx3307 closed 1 year ago

cx3307 commented 1 year ago

image I need the grasp poses of a specific object outputted by GraspNet, but all object_ids outputted by the demo are -1. How can I change this?

chenxi-wang commented 1 year ago

The model does not predict object categories, so you need to detect the object first. You can also modify the network output layer from objectness (0 or 1) to object class ids and train the network from scratch.