Issue: Bug/Performance Issue [Custom Images] - point cloud is not smooth
leeivan1007 opened this issue · comments
- OS Platform and Distribution (e.g., Linux Ubuntu 16.04): Ubuntu 16.04
- Python version: 3.7.5
- Installed using pip or ROS: pip
- Camera: realsenseD415
- GPU model (if applicable): Nvidia 1080 Ti
It is good by 'GQCNN-4.0-PJ' and always can grasp successfully.
But it can't predict successfully by 'GQCNN-4.0-SUCTION'.
Our test image
the depth distance is 0.693m with Q=0.185
there have a point cloud file:
https://drive.google.com/file/d/13iyM7MnbWEN_LE1hMO_S_Cwu3fr_XLZC/view?usp=sharing
The original image [ depth_0.npy ]
When grasp_candidates is opened
sampled grasps iter 0
sampled grasps iter 1
sampled grasps iter 2
Question
The original image's surface is smooth. I think maybe it is the cause that suction method can't be successful. Maybe I miss something, but now i don't know what happen clearly...
Think for any suggestions!