graspnet · cww97 · Dec 31, 2020 · Dec 31, 2020 · Jan 1, 2021 · Jan 1, 2021
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,13 @@
-*.so
+.vscode
 *.pyc
+*.so
+/__pycache__/
+/__pycache__/*
+data_process/grasp_data/*
+graspnet_dataset
+data_process/script/image_skip.txt
+data_process/script/scene_skip.txt
+*.npz
+*.npy
 grasp_multiObject_multiGrasp/data/coco/
+grasp_multiObject_multiGrasp/tools/result_/
diff --git a/README.md b/README.md
@@ -148,6 +148,13 @@ cd ..
 
 3. Training
 ```
-cd grasp_multiObject_multiGrasp
-./experiments/scripts/train_faster_rcnn.sh 0 graspRGB res50
-```
+./train_grasp.sh
+```
+
+in the end of training the training script will call `test_faster_rcnn.sh`, but that file wasnot carefully rewrited, so you will get a 'no dataset' and then exit. its ok, go to next part: test.
+
+4. Testing
+
+```
+./test_grasp.sh
+``
diff --git a/command_predict_grasp.sh b/command_predict_grasp.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+GPU_ID="0"
+
+cd grasp_multiObject_multiGrasp/tools
+
+CUDA_VISIBLE_DEVICES=${GPU_ID} python predict_graspRGD.py \
+	--net res50 \
+	--dataset grasp
diff --git a/command_train_grasp.sh b/command_train_grasp.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+cd grasp_multiObject_multiGrasp
+./experiments/scripts/train_faster_rcnn.sh 0 graspRGB res50
diff --git a/grasp_multiObject_multiGrasp/.gitignore b/grasp_multiObject_multiGrasp/.gitignore
@@ -0,0 +1,12 @@
+grasp_data
+tensorboard
+output
+log.txt
+env.txt
+data/coco
+data/cache
+data/demo/Images/
+data/imagenet_weights/*
+*.pyc
+*.cpython-36.pyc
+lib/datasets/__pycache__
diff --git a/grasp_multiObject_multiGrasp/experiments/scripts/train_faster_rcnn.sh~ b/grasp_multiObject_multiGrasp/experiments/scripts/train_faster_rcnn.sh~
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/__init__.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/__init__.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/coco.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/coco.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/ds_utils.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/ds_utils.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/factory.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/factory.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/graspRGB.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/graspRGB.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/imdb.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/imdb.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/pascal_voc.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/pascal_voc.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/voc_eval.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/datasets/__pycache__/voc_eval.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/__init__.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/__init__.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/anchor_target_layer.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/anchor_target_layer.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/generate_anchors.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/generate_anchors.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/proposal_layer.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/proposal_layer.cpython-36.pyc
diff --git a/...p_multiObject_multiGrasp/lib/layer_utils/__pycache__/proposal_target_layer.cpython-36.pyc b/...p_multiObject_multiGrasp/lib/layer_utils/__pycache__/proposal_target_layer.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/proposal_top_layer.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/proposal_top_layer.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/snippets.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/layer_utils/__pycache__/snippets.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/__init__.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/__init__.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/__init__.cpython-37.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/__init__.cpython-37.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/bbox_transform.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/bbox_transform.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/config.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/config.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/config.cpython-37.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/config.cpython-37.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/nms_wrapper.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/nms_wrapper.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/test.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/test.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/model/__pycache__/train_val.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/model/__pycache__/train_val.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/nets/__pycache__/__init__.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/nets/__pycache__/__init__.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/nets/__pycache__/network.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/nets/__pycache__/network.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/nets/__pycache__/resnet_v1.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/nets/__pycache__/resnet_v1.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/nets/__pycache__/vgg16.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/nets/__pycache__/vgg16.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/nms/__pycache__/__init__.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/nms/__pycache__/__init__.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/__init__.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/__init__.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/layer.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/layer.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/minibatch.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/minibatch.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/roidb.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/roi_data_layer/__pycache__/roidb.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/utils/__pycache__/__init__.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/utils/__pycache__/__init__.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/utils/__pycache__/blob.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/utils/__pycache__/blob.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/utils/__pycache__/boxes_grid.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/utils/__pycache__/boxes_grid.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/lib/utils/__pycache__/timer.cpython-36.pyc b/grasp_multiObject_multiGrasp/lib/utils/__pycache__/timer.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/tools/__pycache__/_init_paths.cpython-36.pyc b/grasp_multiObject_multiGrasp/tools/__pycache__/_init_paths.cpython-36.pyc
diff --git a/grasp_multiObject_multiGrasp/tools/__pycache__/_init_paths.cpython-37.pyc b/grasp_multiObject_multiGrasp/tools/__pycache__/_init_paths.cpython-37.pyc
diff --git a/grasp_multiObject_multiGrasp/tools/_init_paths.pyc b/grasp_multiObject_multiGrasp/tools/_init_paths.pyc
diff --git a/grasp_multiObject_multiGrasp/tools/predict_graspRGD.py b/grasp_multiObject_multiGrasp/tools/predict_graspRGD.py
@@ -27,7 +27,7 @@
 cos = scipy.cos
 ar = scipy.array
 
-os.environ['CUDA_VISIBLE_DEVICES'] = '1' # Choose GPU
+# os.environ['CUDA_VISIBLE_DEVICES'] = '0' # Choose GPU
 
 CLASSES = ('__background__',
            'angle_01', 'angle_02', 'angle_03', 'angle_04', 'angle_05',
@@ -152,10 +152,13 @@ def parse_args():
 
     for scene_index in range(100, 190):
         scene_name = 'scene_{}'.format(str(scene_index).zfill(4)) # 'scene_0012'
-        if not os.path.exists(os.path.join('..', 'predicted_rectangle_grasp', scene_name)):
-            os.mkdir(os.path.join('..', 'predicted_rectangle_grasp', scene_name))
-        if not os.path.exists(os.path.join('..', 'predicted_rectangle_grasp', scene_name, graspnet_config.CAMERA_NAME)):
-            os.mkdir(os.path.join('..', 'predicted_rectangle_grasp', scene_name, graspnet_config.CAMERA_NAME))
+        pred_folder_name = 'predicted_rectangle_grasp'
+        if not os.path.exists(os.path.join('..', pred_folder_name)):
+            os.mkdir(os.path.join('..', pred_folder_name))
+        if not os.path.exists(os.path.join('..', pred_folder_name, scene_name)):
+            os.mkdir(os.path.join('..', pred_folder_name, scene_name))
+        if not os.path.exists(os.path.join('..', pred_folder_name, scene_name, graspnet_config.CAMERA_NAME)):
+            os.mkdir(os.path.join('..', pred_folder_name, scene_name, graspnet_config.CAMERA_NAME))
         print(scene_name)
         for img_index in range(256):
             im_name = '{}+{}.png'.format(scene_name, str(img_index).zfill(4))

diff --git a/grasp_multiObject_multiGrasp/tools/result/FPPI.npy b/grasp_multiObject_multiGrasp/tools/result/FPPI.npy
diff --git a/grasp_multiObject_multiGrasp/tools/result/miss_rate.npy b/grasp_multiObject_multiGrasp/tools/result/miss_rate.npy
diff --git a/grasp_multiObject_multiGrasp/tools/result/total_false_positive_num.npy b/grasp_multiObject_multiGrasp/tools/result/total_false_positive_num.npy
diff --git a/grasp_multiObject_multiGrasp/tools/result/total_gt_num.npy b/grasp_multiObject_multiGrasp/tools/result/total_gt_num.npy
diff --git a/grasp_multiObject_multiGrasp/tools/result/total_missed_gt_grasp_num.npy b/grasp_multiObject_multiGrasp/tools/result/total_missed_gt_grasp_num.npy
diff --git a/grasp_multiObject_multiGrasp/tools/result/total_proposed_num.npy b/grasp_multiObject_multiGrasp/tools/result/total_proposed_num.npy
diff --git a/grasp_multiObject_multiGrasp/tools/test_graspRGD.py b/grasp_multiObject_multiGrasp/tools/test_graspRGD.py
@@ -29,7 +29,7 @@
 cos = scipy.cos
 ar = scipy.array
 
-os.environ['CUDA_VISIBLE_DEVICES'] = '1' # Choose GPU
+os.environ['CUDA_VISIBLE_DEVICES'] = '0' # Choose GPU
 
 CLASSES = ('__background__',
            'angle_01', 'angle_02', 'angle_03', 'angle_04', 'angle_05',