def __init__(self, root, camera='kinect', split='train', num_points=20000, voxel_size=0.005, remove_outlier=True):
assert(num_points is None or num_points<=50000)
self.root = root
self.split = split
self.num_points = num_points
self.voxel_size = voxel_size
self.remove_outlier = remove_outlier
self.num_sample = 10
self.dist_thresh = 0.01
self.score_thresh = 0.11
graspnet = GraspNet(root, camera=camera, split=split)
self.rgbpath, self.depthpath, self.labelpath, self.metapath, self.scenename = graspnet.loadData()
self.grasp_labels = graspnet.loadGraspLabels(retrun_collision=True)
self.num_views, self.num_angles, self.num_depths = 300, 12, 4
self.viewpoints = generate_views(self.num_views)
def generate_scene_rectangle_grasp(sceneId, dump_folder, camera):
g = GraspNet(graspnet_root, camera=camera, split='all')
objIds = g.getObjIds(sceneIds = sceneId)
grasp_labels = g.loadGraspLabels(objIds)
collision_labels = g.loadCollisionLabels(sceneIds = sceneId)
scene_dir = os.path.join(dump_folder,'scene_%04d' % sceneId)
if not os.path.exists(scene_dir):
os.mkdir(scene_dir)
camera_dir = os.path.join(scene_dir, camera)
if not os.path.exists(camera_dir):
os.mkdir(camera_dir)
for annId in tqdm(range(256), 'Scene:{}, Camera:{}'.format(sceneId, camera)):
_6d_grasp = g.loadGrasp(sceneId = sceneId, annId = annId, format = '6d', camera = camera, grasp_labels = grasp_labels, collision_labels = collision_labels, fric_coef_thresh = 1.0)
rect_grasp_group = _6d_grasp.to_rect_grasp_group(camera)
rect_grasp_group.save_npy(os.path.join(camera_dir, '%04d.npy' % annId))
__author__ = 'mhgou'
__version__ = '1.0'
from graspnetAPI import GraspNet
# GraspNetAPI example for checking the data completeness.
# change the graspnet_root path
if __name__ == '__main__':
####################################################################
graspnet_root = '/home/gmh/graspnet' ### ROOT PATH FOR GRASPNET ###
####################################################################
g = GraspNet(graspnet_root, 'kinect', 'all')
if g.checkDataCompleteness():
print('Check for kinect passed')
g = GraspNet(graspnet_root, 'realsense', 'all')
if g.checkDataCompleteness():
print('Check for realsense passed')
from tqdm import tqdm
import os
import time
import cv2
height = 0.02
depth_base = 0.02
grasp_depth = 0.02
grasp_width = 0.08
num_sample = 2000
grasp_points_num = 750
DUMP_DIR = './dump/'
CAMERA = 'kinect'
#g = GraspNet('/home/minghao/graspnet/', camera='kinect', split='test')
g = GraspNet('/ssd1/graspnet/', camera=CAMERA, split='test')
sceneIds = g.getSceneIds()
'''
is_resume = 0
if args.load_model and args.load_epoch != -1:
is_resume = 1
if is_resume or args.mode == 'test':
model = torch.load(args.load_model, map_location='cuda:{}'.format(args.gpu))
model.device_ids = [args.gpu]
print('load model {}'.format(args.load_model))
else:
model = PointNetCls(num_points=grasp_points_num, input_chann=point_channel, k=3)
'''
input_channels = 3
from graspnetAPI import GraspNet
from graspnetAPI import GraspGroup
import numpy as np
import sys
import os
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
ROOT_DIR = os.path.dirname(BASE_DIR)
sys.path.append(ROOT_DIR)
from rgbmatter.configs import get_config_rgbmatter
from rgbmatter.util import collision_detection_with_full_models
config = get_config_rgbmatter()
graspnet_root = config['dataset_path'] # ROOT PATH FOR GRASPNET
sceneId = 22
annId = 100
# initialize a GraspNet instance
g = GraspNet(graspnet_root, camera='kinect', split='train')
# load grasps of scene 1 with annotation id = 3, camera = kinect and fric_coef_thresh = 0.2
grasp = g.loadGrasp(sceneId=sceneId,
annId=annId,
format='6d',
camera='kinect',
fric_coef_thresh=0.1)
print('grasp num after load grasp: ', grasp.grasp_group_array.shape)
grasp = collision_detection_with_full_models(grasp, annId)
print('grasp after collision detection: ', grasp.grasp_group_array.shape)
np.save('a.npy', grasp.grasp_group_array)
import open3d as o3d
import cv2
import numpy as np
# GraspNetAPI example for loading grasp for a scene.
# change the graspnet_root path
####################################################################
graspnet_root = '/disk1/graspnet' # ROOT PATH FOR GRASPNET
####################################################################
sceneId = 1
annId = 3
# initialize a GraspNet instance
g = GraspNet(graspnet_root, camera='kinect', split='train')
# load grasps of scene 1 with annotation id = 3, camera = kinect and fric_coef_thresh = 0.2
_6d_grasp = g.loadGrasp(sceneId=sceneId,
annId=annId,
format='6d',
camera='kinect',
fric_coef_thresh=0.2)
print('6d grasp:\n{}'.format(_6d_grasp))
# _6d_grasp is an GraspGroup instance defined in grasp.py
print('_6d_grasp:\n{}'.format(_6d_grasp))
# index
grasp = _6d_grasp[0]
print('_6d_grasp[0](grasp):\n{}'.format(grasp))
from graspnetAPI import GraspNet
import open3d as o3d
import cv2
# GraspNetAPI example for loading grasp for a scene.
# change the graspnet_root path
####################################################################
graspnet_root = '/home/gmh/graspnet' # ROOT PATH FOR GRASPNET
####################################################################
sceneId = 1
annId = 3
# initialize a GraspNet instance
g = GraspNet(graspnet_root, camera='kinect', split='train')
# load grasps of scene 1 with annotation id = 3, camera = kinect and fric_coef_thresh = 0.2
_6d_grasp = g.loadGrasp(sceneId=sceneId,
annId=annId,
format='6d',
camera='kinect',
fric_coef_thresh=0.2)
print('6d grasp:\n{}'.format(_6d_grasp))
# visualize the grasps using open3d
geometries = []
geometries.append(
g.loadScenePointCloud(sceneId=sceneId, annId=annId, camera='kinect'))
geometries += _6d_grasp.random_sample(numGrasp=20).to_open3d_geometry_list()
o3d.visualization.draw_geometries(geometries)
__author__ = 'mhgou'
__version__ = '1.0'
# GraspNetAPI example for visualization.
# change the graspnet_root path
####################################################################
graspnet_root = '/home/gmh/graspnet' # ROOT PATH FOR GRASPNET
####################################################################
from graspnetAPI import GraspNet
# initialize a GraspNet instance
g = GraspNet(graspnet_root, camera='kinect', split='train')
# 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')
__author__ = 'mhgou'
__version__ = '1.0'
# GraspNetAPI example for loading grasp for a scene.
# change the graspnet_root path
####################################################################
graspnet_root = '/DATA1/Benchmark/graspnet' # ROOT PATH FOR GRASPNET
####################################################################
sceneId = 1
from graspnetAPI import GraspNet
# initialize a GraspNet instance
g = GraspNet(graspnet_root, camera='kinect', split='train')
# load grasp of scene 1 with annotation id = 0, camera = kinect and grasp_thresh = 0.4
_6d_grasp = g.loadGrasp(sceneId = sceneId, annId = 0, format = '6d', camera = 'kinect', grasp_thresh = 0.4)
print('Object ids in scene %d:' % sceneId, _6d_grasp.keys())
for k in _6d_grasp.keys():
print('=======================\nobject id=%d, grasps number = %d format = 6d\n=======================' % (k,_6d_grasp[k]['depths'].shape[0]))
print('points:')
print(_6d_grasp[k]['points'])
print('Rs:')
print(_6d_grasp[k]['Rs'])
print('depths:')
print(_6d_grasp[k]['depths'])
print('widths:')
print(_6d_grasp[k]['widths'])
print('friction coefficients:')
from graspnetAPI import GraspNet
import cv2
import open3d as o3d
# GraspNetAPI example for checking the data completeness.
# change the graspnet_root path
camera = 'kinect'
sceneId = 5
annId = 3
####################################################################
graspnet_root = '/home/gmh/graspnet' # ROOT PATH FOR GRASPNET
####################################################################
g = GraspNet(graspnet_root, camera=camera, split='all')
bgr = g.loadBGR(sceneId=sceneId, camera=camera, annId=annId)
depth = g.loadDepth(sceneId=sceneId, camera=camera, annId=annId)
# Rect to 6d
rect_grasp_group = g.loadGrasp(sceneId=sceneId,
camera=camera,
annId=annId,
fric_coef_thresh=0.2,
format='rect')
# RectGrasp to Grasp
rect_grasp = rect_grasp_group.random_sample(1)[0]
img = rect_grasp.to_opencv_image(bgr)
import torch.multiprocessing
import sys
from graspnetAPI import GraspNet, GraspNetEval, GraspGroup
#torch.multiprocessing.set_start_method('spawn')
from grasptoolbox.grasp_sampling.gen_grasp_cloud import estimate_normals, estimate_darboux_frame
from grasptoolbox.grasp_sampling.gen_grasp_image import transform_cloud_to_image
from grasptoolbox.collision_detection.collision_detector import ModelFreeCollisionDetector
from json_dataset import JsonDataset
from network import Net, NetCCFFF
from tqdm import tqdm
import os
import time
import cv2
g = GraspNet('/home/minghao/graspnet/', camera='kinect', split='test')
height = 0.02
depth_base = 0.02
grasp_depth = 0.02
grasp_width = 0.08
num_sample = 2000
DUMP_DIR = './dump/'
sceneIds = g.getSceneIds()
input_channels = 3
model = Net(input_channels)
device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
model = nn.DataParallel(model)
model.to(device)
model.load_state_dict(torch.load('model_new_2.pwf'))
__author__ = 'mhgou' __version__ = '1.0' # GraspNetAPI example for loading grasp for a scene. # change the graspnet_root path #################################################################### graspnet_root = '/home/gmh/Desktop/graspnet' # ROOT PATH FOR GRASPNET #################################################################### sceneId = 1 from graspnetAPI import GraspNet # initialize a GraspNet instance g = GraspNet(graspnet_root, camera='kinect', split='train') # show object grasps g.showObjGrasp(objIds = 0, show=True) # show 6d poses g.show6DPose(sceneIds=0, show=True) # show scene rectangle grasps # g.showSceneGrasp(sceneIds=0, format = 'rect', show = True, numGrasp = 20) # show scene 6d grasps(You may need to wait several minutes) g.showSceneGrasp(sceneIds=0, format = '6d', show = True, numGrasp = 2)