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NVlabs / contact_graspnet

Efficient 6-DoF Grasp Generation in Cluttered Scenes

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Normalizing depth image for inference

AmanuelErgogo opened this issue · comments

commented

Hi, @MartinSmeyer

I wanted to test the inference.py on real-time data from realsense depth camera. and I realized depth image from the provided test data is normalized while the depth image from realsense camera is uint16 format.
I tried to normalize using this formula but i am not certain about the range.
depth_normalized = (depth - min_depth) / (max_depth - min_depth)
so, could you provide the range used to normalize or any other ways to preprocess depth image?

Thanks,
Amanuel

commented

Hi @AmanuelErgogo,

You don't need to normalize the depth, in fact it should be just in meters. If you know your workspace, it is beneficial to pass a suitable --z_range=[0.2,1.1] which cuts off foreground/background measurements.