Comments (1)
I know why there is scalar "quality",it is a scalar caculated from q_image
def detect_grasps(q_img, ang_img, width_img=None, no_grasps=1):
"""
Detect grasps in a GG-CNN output.
:param q_img: Q image network output
:param ang_img: Angle image network output
:param width_img: (optional) Width image network output
:param no_grasps: Max number of grasps to return
:return: list of Grasps
"""
local_max = peak_local_max(q_img, min_distance=20, threshold_abs=0.2, num_peaks=no_grasps)
grasps = []
for grasp_point_array in local_max:
grasp_point = tuple(grasp_point_array)
grasp_angle = ang_img[grasp_point]
g = Grasp(grasp_point, grasp_angle)
if width_img is not None:
g.length = width_img[grasp_point]
g.width = g.length/2
grasps.append(g)
return grasps
but should defined a new function rather than change the function Grasp init()
from robotic-grasping.
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from robotic-grasping.