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baselines/grasping/GSNet/graspnetAPI/examples/exam_convert.py

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+__author__ = 'mhgou'
+__version__ = '1.0'
+
+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)
+
+cv2.imshow('rect grasp', img)
+cv2.waitKey(0)
+cv2.destroyAllWindows()
+
+grasp = rect_grasp.to_grasp(camera, depth)
+if grasp is not None:
+    geometry = []
+    geometry.append(g.loadScenePointCloud(sceneId, camera, annId))
+    geometry.append(grasp.to_open3d_geometry())
+    o3d.visualization.draw_geometries(geometry)
+else:
+    print('No result because the depth is invalid, please try again!')
+
+# RectGraspGroup to GraspGroup
+sample_rect_grasp_group = rect_grasp_group.random_sample(20)
+img = sample_rect_grasp_group.to_opencv_image(bgr)
+cv2.imshow('rect grasp', img)
+cv2.waitKey(0)
+cv2.destroyAllWindows()
+
+grasp_group = sample_rect_grasp_group.to_grasp_group(camera, depth)
+if grasp_group is not None:
+    geometry = []
+    geometry.append(g.loadScenePointCloud(sceneId, camera, annId))
+    geometry += grasp_group.to_open3d_geometry_list()
+    o3d.visualization.draw_geometries(geometry)
+
+# 6d to Rect
+_6d_grasp_group = g.loadGrasp(sceneId = sceneId, camera = camera, annId = annId, fric_coef_thresh = 0.2, format = '6d')
+
+# Grasp to RectGrasp conversion is not applicable as only very few 6d grasp can be converted to rectangle grasp.
+
+# GraspGroup to RectGraspGroup
+sample_6d_grasp_group = _6d_grasp_group.random_sample(20)
+geometry = []
+geometry.append(g.loadScenePointCloud(sceneId, camera, annId))
+geometry += sample_6d_grasp_group.to_open3d_geometry_list()
+o3d.visualization.draw_geometries(geometry)
+
+rect_grasp_group = _6d_grasp_group.to_rect_grasp_group(camera)
+img = rect_grasp_group.to_opencv_image(bgr)
+
+cv2.imshow('rect grasps', img)
+cv2.waitKey(0)
+cv2.destroyAllWindows()
+