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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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自定义workspace_mask #91

Closed du-xinyi closed 5 months ago

du-xinyi commented 5 months ago

如何自定义workspace_mask，我使用自定义的二值图取代workspace_mask后，会出现

    cloud_sampled = cloud_masked[idxs]
numpy.core._exceptions.MemoryError: Unable to allocate 732. GiB for an array with shape (20000, 1280, 1280, 3) and data type float64
du-xinyi commented 5 months ago

mask

du-xinyi commented 5 months ago

mask

这是我设置的掩膜

xinchaosong commented 5 months ago

Is your workspace_mask a boolean matrix? It must be a boolean matrix, not a numeric matrix.

chenxi-wang commented 5 months ago

在mask过后，点云大小应该是N x 3，根据提示的信息，你在masking这步出了问题，可以检查一下mask是不是布尔值