Visualizing input TSDFs and grasp

[ishikaalunawat]

Hi,

I'm trying to obtain:

1. TSDFs: A 3D visualization of the input TSDFs.
2. Grasp affordance: The visuals of the grasp affordance are not getting logged under the data/experiments/<>/meshes folder. There are no files with <name>_aff.obj> getting logged/saved (although the scenes are still getting saved as <name>_aff.obj> .

Please let me know what I can do achieve the above.

[Steve-Tod]

1. I visualize the TSDF with matplotlib in a jupyter notebook so I don't have a well-written function for that. I think you can save tsdf_vol to numpy array here and visualize offline.
2. I think running this script with argument --vis should give you the affordance visualization. Can you try it?

[ishikaalunawat]

Hey,

1. Thanks I’ll try that out!
2. I did use the —vis command but as I explained above, no affordance related files get saved as obj. [Btw, I’m using the pretrained giga model on piles dataset]

[ishikaalunawat]

Hey,

1. Thanks I’ll try that out!
2. I did use the —vis command but as I explained above, no affordance related files get saved as obj. [Btw, I’m using the pretrained giga model on piles dataset]

1. Works! Thank you
2. Works, but I added a line in clutter_removal.py to export: visual_mesh.export('<path-to-save>',file_type='obj')