success

baselines/grasping/GSNet/graspnetAPI/docs/source/example_convert.rst

@@ -0,0 +1,62 @@
+.. _example_vis:
+
+Convert Labels between rectangle format and 6d format
+=====================================================
+
+Get a GraspNet instance.
+
+.. literalinclude:: ../../examples/exam_convert.py
+    :lines: 4-22
+
+Convert rectangle format to 6d format
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+First, load rectangle labels from dataset.
+
+.. literalinclude:: ../../examples/exam_convert.py
+    :lines: 24-25
+
+**Convert a single RectGrasp to Grasp.**
+
+.. note:: This conversion may fail due to invalid depth information.
+
+.. literalinclude:: ../../examples/exam_convert.py
+    :lines: 27-42
+
+Before Conversion:
+
+.. image:: _static/convert_single_before.png
+
+After Conversion:
+
+.. image:: _static/convert_single_after.png
+
+**Convert RectGraspGroup to GraspGroup.**
+
+.. literalinclude:: ../../examples/exam_convert.py
+    :lines: 44-56
+
+Before Conversion:
+
+.. image:: _static/convert_rect_before.png
+
+After Conversion:
+
+.. image:: _static/convert_rect_after.png
+
+Convert 6d format to rectangle format
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. note:: Grasp to RectGrasp conversion is not applicable as only very few 6d grasp can be converted to rectangle grasp.
+
+.. literalinclude:: ../../examples/exam_convert.py
+    :lines: 58-
+
+Before Conversion:
+
+.. image:: _static/convert_6d_before.png
+
+After Conversion:
+
+.. image:: _static/convert_6d_after.png
+