26 lines
857 B
Python
Executable File
26 lines
857 B
Python
Executable File
__author__ = 'mhgou'
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__version__ = '1.0'
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# GraspNetAPI example for visualization.
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# change the graspnet_root path
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####################################################################
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graspnet_root = '/mnt/h/AI/Datasets/graspnet-1billion/test_seen' # ROOT PATH FOR GRASPNET
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####################################################################
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from graspnetAPI import GraspNet
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# initialize a GraspNet instance
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g = GraspNet(graspnet_root, camera='kinect', split='test_seen')
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# show object grasps
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g.showObjGrasp(objIds = 0, show=True)
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# show 6d poses
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g.show6DPose(sceneIds = 0, show = True)
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# show scene rectangle grasps
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g.showSceneGrasp(sceneId = 0, camera = 'realsense', annId = 0, format = 'rect', numGrasp = 20)
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# show scene 6d grasps(You may need to wait several minutes)
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g.showSceneGrasp(sceneId = 4, camera = 'kinect', annId = 2, format = '6d') |