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graspnet / graspnetAPI

Toolbox for our GraspNet-1Billion dataset.
https://graspnet.net/index.html
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Question about the to_rect_grasp_group function #16

Closed DrawZeroPoint closed 3 years ago

DrawZeroPoint commented 3 years ago

Hi, First thanks for sharing this great work. I noticed that in the to_rect_grasp_group function, the line:

https://github.com/graspnet/graspnetAPI/blob/f312d7e2a73ca97f9e791cf3f1ab3aeacebac3e9/graspnetAPI/grasp.py#L519

seems to preventing certain Grasp from converting to RectGrasp. I wonder want exactly the mask does and why the filter is needed.

Fang-Haoshu commented 3 years ago

Rect grasp only works for the grasps that are verticle to the images. Thus we need this filter