success

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

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+__author__ = 'mhgou'
+__version__ = '1.0'
+
+# GraspNetAPI example for visualization.
+# change the graspnet_root path
+
+####################################################################
+graspnet_root = '/mnt/h/AI/Datasets/graspnet-1billion/test_seen' # ROOT PATH FOR GRASPNET
+####################################################################
+
+from graspnetAPI import GraspNet
+
+# initialize a GraspNet instance  
+g = GraspNet(graspnet_root, camera='kinect', split='test_seen')
+
+# show object grasps
+g.showObjGrasp(objIds = 0, show=True)
+
+# show 6d poses
+g.show6DPose(sceneIds = 0, show = True)
+
+# show scene rectangle grasps
+g.showSceneGrasp(sceneId = 0, camera = 'realsense', annId = 0, format = 'rect', numGrasp = 20)
+
+# show scene 6d grasps(You may need to wait several minutes)
+g.showSceneGrasp(sceneId = 4, camera = 'kinect', annId = 2, format = '6d')