Some hands grasp nothing #8
Description
I run gpg over a partial pointcloud of a cuboid collected by Kinect, but it looks like your algorithm is interested in the blank area below the object. How to make it generate more desired candidates?
2019-01-16 16:51:32.023774
Failed to find match for field 'rgba'.
finger_width: 0.01
hand_outer_diameter: 0.12
hand_depth: 0.06
hand_height: 0.02
init_bite: 0.01
voxelize: 1
remove_outliers: 0
workspace: -1.0 1.0 -1.0 1.0 -1.0 1.0
camera_pose: -1 8.74227908e-08 3.55271368e-15 1.41000152e-02 6.18172749e-08 7.07107067e-01 7.07106531e-01 -5.47394216e-01 6.18172180e-08 7.07106531e-01 -7.07107067e-01 7.41109848e-01 0 0 0 1
num_samples: 2
num_threads: 4
nn_radius: 0.01
num_orientations: 1
rotation_axis: 2
plot_grasps: 1
plot_normals: 1
Loaded point cloud with 328 points
3
Processing cloud with: 328 points.
After workspace filtering: 328 points left.
After voxelization: 206 points left.
Subsampled 2 at random uniformly.
Calculating surface normals ...
camera: 0, #indices: 206, #normals: 206
runtime (normals): 0.000823014
Reversing direction of normals that do not point to at least one camera ...
reversed 0 normals
runtime (reverse normals): 3.4601e-06
Drawing 206 normals
Estimating local reference frames ...
Estimated 2 local reference frames in 7.1371e-05 sec.
Finding hand poses ...
Found 2 grasp candidate sets in 9.1517e-05 sec.
====> HAND SEARCH TIME: 0.000218619
