From b5f12baaba354d4ceaed56a739eee22e9f6e9e60 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Tue, 9 Nov 2021 15:10:42 +0100 Subject: [PATCH] Update dbscan parameters --- src/active_grasp/controller.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py index 53c04a4..c114d7f 100644 --- a/src/active_grasp/controller.py +++ b/src/active_grasp/controller.py @@ -3,6 +3,7 @@ import copy import cv_bridge from geometry_msgs.msg import Twist import numpy as np +import open3d as o3d import rospy from sensor_msgs.msg import Image import trimesh @@ -158,12 +159,13 @@ class GraspController: _, inliers = cloud.segment_plane(0.01, 3, 1000) support_cloud = cloud.select_by_index(inliers) cloud = cloud.select_by_index(inliers, invert=True) + # o3d.io.write_point_cloud(f"{time.time():.0f}.pcd", cloud) # Add collision object for the support self.add_collision_mesh("support", compute_convex_hull(support_cloud)) # Cluster cloud - labels = np.array(cloud.cluster_dbscan(eps=0.02, min_points=10)) + labels = np.array(cloud.cluster_dbscan(eps=0.01, min_points=8)) # Generate convex collision objects for each segment self.hulls = []