63 lines
1.3 KiB
ReStructuredText
Executable File
63 lines
1.3 KiB
ReStructuredText
Executable File
.. _example_vis:
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Convert Labels between rectangle format and 6d format
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=====================================================
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Get a GraspNet instance.
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.. literalinclude:: ../../examples/exam_convert.py
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:lines: 4-22
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Convert rectangle format to 6d format
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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First, load rectangle labels from dataset.
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.. literalinclude:: ../../examples/exam_convert.py
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:lines: 24-25
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**Convert a single RectGrasp to Grasp.**
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.. note:: This conversion may fail due to invalid depth information.
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.. literalinclude:: ../../examples/exam_convert.py
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:lines: 27-42
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Before Conversion:
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.. image:: _static/convert_single_before.png
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After Conversion:
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.. image:: _static/convert_single_after.png
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**Convert RectGraspGroup to GraspGroup.**
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.. literalinclude:: ../../examples/exam_convert.py
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:lines: 44-56
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Before Conversion:
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.. image:: _static/convert_rect_before.png
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After Conversion:
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.. image:: _static/convert_rect_after.png
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Convert 6d format to rectangle format
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. note:: Grasp to RectGrasp conversion is not applicable as only very few 6d grasp can be converted to rectangle grasp.
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.. literalinclude:: ../../examples/exam_convert.py
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:lines: 58-
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Before Conversion:
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.. image:: _static/convert_6d_before.png
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After Conversion:
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.. image:: _static/convert_6d_after.png
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