How to visualise with 3D graspping pose?

[yananliusdu]

Hi Doug,

thanks for your amazing work, I managed to run your project and get some results (Figure1) from cornell dataset and Jacquard dataset.

My question is how to get the visualisation as shown in your paper (Figure2) ?

thanks

Figure 1

Figure 2

[dougsm]

Hey there,

The second visualisation is from RViz (the visualisation tool from ROS). You can see an example of how it's published here. But converting the GG-CNN output to a 6D Pose requires the camera intrinsics (see here), so it may not be possible just from the Cornell or Jacquard datasets. Hope that helps.