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

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+__author__ = 'mhgou'
+__version__ = '1.0'
+
+# GraspNetAPI example for grasp nms.
+# change the graspnet_root path
+
+####################################################################
+graspnet_root = '/home/gmh/graspnet' # ROOT PATH FOR GRASPNET
+####################################################################
+
+sceneId = 1
+annId = 3
+
+from graspnetAPI import GraspNet
+import open3d as o3d
+import cv2
+
+# initialize a GraspNet instance  
+g = GraspNet(graspnet_root, camera='kinect', split='train')
+
+# load grasps of scene 1 with annotation id = 3, camera = kinect and fric_coef_thresh = 0.2
+_6d_grasp = g.loadGrasp(sceneId = sceneId, annId = annId, format = '6d', camera = 'kinect', fric_coef_thresh = 0.2)
+print('6d grasp:\n{}'.format(_6d_grasp))
+
+# visualize the grasps using open3d
+geometries = []
+geometries.append(g.loadScenePointCloud(sceneId = sceneId, annId = annId, camera = 'kinect'))
+geometries += _6d_grasp.random_sample(numGrasp = 1000).to_open3d_geometry_list()
+o3d.visualization.draw_geometries(geometries)
+
+nms_grasp = _6d_grasp.nms(translation_thresh = 0.1, rotation_thresh = 30 / 180.0 * 3.1416)
+print('grasp after nms:\n{}'.format(nms_grasp))
+
+# visualize the grasps using open3d
+geometries = []
+geometries.append(g.loadScenePointCloud(sceneId = sceneId, annId = annId, camera = 'kinect'))
+geometries += nms_grasp.to_open3d_geometry_list()
+o3d.visualization.draw_geometries(geometries)