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Question about calculating grasp width #25

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menggui1993 opened this issue Dec 9, 2024 · 1 comment
Open

Question about calculating grasp width #25

menggui1993 opened this issue Dec 9, 2024 · 1 comment

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@menggui1993
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menggui1993 commented Dec 9, 2024

Hi,
In function get_6d_width and to_6d_grasp_group, when calculating grasp width, you are using cx, cy instead of the predicted centers. I don't think these two are equivalent. I referred to the code.
Could you please explain why, thanks.

@ChenThree
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Thank you for your careful reading! These lines aims to make the grasp width calculation consistent for all grasps among the scenes with different center locations (different centers may cause inconsistent width calculation due to the imaging model for rgbd camera).

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