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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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data convention of `camera_poses.npy` in graspnet-1billion dataset #93

Closed elenacliu closed 3 months ago

elenacliu commented 5 months ago

Hi, thank you for your impressive work! I want to test other models on your dataset. What does your camera space look like? Does it comply with OpenGL or OpenCV convention?

elenacliu commented 5 months ago

besides, is the matrix in camera_poses.npy camera_to_world or world_to_camera?

elenacliu commented 5 months ago

after some attempts in Blender, I guess your camera_pose is c2w and in blender convention.

chenxi-wang commented 3 months ago

Looks like the problem is solved lol.