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训练时如何获取每张图像的grasp标签 #4
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您好 我们是把grasp投影到点云上 参考:https://github.com/Fang-Haoshu/graspnetAPI/blob/master/examples/exam_vis.py#L27 |
谢谢。我已经解决了这个问题,不过仍然有一些需要请教的地方: |
训练的话场景sample 20000个点即可 |
恩,谢谢。不过我还有一些不太确定的地方: |
点云的标签不需要根据5mm和5度的限制算一遍, 标签就是很dense的 |
Hello Fang,
非常感谢你的工作。我的理解是训练时需要把grasp映射到每张深度图上,请问这个变换关系是直接根据相机坐标的转换关系得到的吗,我在目前放出的代码里没有找到这部分。
非常感谢!
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