__author__ = 'mhgou'
__version__ = '1.0'

# GraspNetAPI example for visualization.
# change the graspnet_root path

####################################################################
graspnet_root = '/mnt/h/AI/Datasets/graspnet-1billion/test_seen' # ROOT PATH FOR GRASPNET
####################################################################

from graspnetAPI import GraspNet

# initialize a GraspNet instance  
g = GraspNet(graspnet_root, camera='kinect', split='test_seen')

# show object grasps
g.showObjGrasp(objIds = 0, show=True)

# show 6d poses
g.show6DPose(sceneIds = 0, show = True)

# show scene rectangle grasps
g.showSceneGrasp(sceneId = 0, camera = 'realsense', annId = 0, format = 'rect', numGrasp = 20)

# show scene 6d grasps(You may need to wait several minutes)
g.showSceneGrasp(sceneId = 4, camera = 'kinect', annId = 2, format = '6d')