9de3b3fd4781b6e22da802a12f46e7d26ce29d20,gqcnn/grasp.py,SuctionPoint2D,from_feature_vec,#Any#Any#Any#Any#,275

Before Change

            depth = v[5]
        if depth_im is not None:
            i = int(min(max(center_px[1], 0), depth_im.height-1))
            j = int(min(max(center_px[0], 0), depth_im.width-1))
            depth = depth_im[i, j] + depth_offset
        
        // compute center and angle
        center = Point(center_px, camera_intr.frame)
        return SuctionPoint2D(center, axis, depth, camera_intr=camera_intr)

After Change

        // read feature vec
        center_px = v[:2]

        grasp_axis = np.array([0,0,-1])
        if v.shape > 2 and axis is None:
            grasp_axis = v[2:5]
            grasp_axis = grasp_axis / np.linalg.norm(grasp_axis)
        elif axis is not None:

Instances