success

baselines/grasping/GSNet/graspnetAPI/copy_rect_labels.py

@@ -0,0 +1,19 @@
+import os
+from tqdm import tqdm
+
+### change the root to you path #### 
+graspnet_root = '/home/gmh/graspnet'
+
+### change the root to the folder contains rectangle grasp labels ###
+rect_labels_root = 'rect_labels'
+
+for sceneId in tqdm(range(190), 'Copying Rectangle Grasp Labels'):
+    for camera in ['kinect', 'realsense']:
+        dest_dir = os.path.join(graspnet_root, 'scenes', 'scene_%04d' % sceneId, camera, 'rect')
+        src_dir = os.path.join(rect_labels_root, 'scene_%04d' % sceneId, camera)
+        if not os.path.exists(dest_dir):
+            os.mkdir(dest_dir)
+        for annId in range(256):
+            src_path = os.path.join(src_dir,'%04d.npy' % annId)
+            assert os.path.exists(src_path)
+            os.system('cp {} {}'.format(src_path, dest_dir))