Is the training data trained by a complete point cloud or a partial point cloud?

[qyp-robot]

Hi! @atenpas I find the object data from bigbird contain conpleted mesh module and partial point cloud, and the generate c++ code need 20 numbers point cloud module, when I use the parcial point cloud that view by singel camera, the antipodal graspa does not exist；I know need two singel camera point cloud connect ; or I can ues complete data to train? like this:

what's more, complete module is correspond to the parcial point cloud ,which is the groudtruth for it. What's the use?

[qyp-robot]

[qyp-robot]

@atenpas I'm sorry to bother you，How can I obtain a point cloud with 20 views of an object for trained? the picture as the follow: