About input depth image

[Fitz135]

Hello,

I obtain RGB and depth images in IsaacGym, where the depth images are stored in uint16 format. The depth data obtained from IsaacGym cannot be used to correctly determine the grasp action. Is it possible to achieve a correct grasp without using the depth images from a RealSense camera?

[Fang-Haoshu]

Hi, why the depth cannot be used to correctly determine the grasp action? There are some grasp detection based on RGB by not that accurate

[Fitz135]

Hi, thanks for the reply, I have solved this problem. However, I wonder the detected grasp translation and rotation have undergone mirror flipping. I used the view matrix of the camera to transfer the translation and rotation in the camera coordinate system to translation and rotation in the world coordinate system. But it did not work. Do you have any suggestions?

[Zingway]

Hi, thanks for the reply, I have solved this problem. However, I wonder the detected grasp translation and rotation have undergone mirror flipping. I used the view matrix of the camera to transfer the translation and rotation in the camera coordinate system to translation and rotation in the world coordinate system. But it did not work. Do you have any suggestions?

have you solved this mirror problem, i have the same confusion

[Fitz135]

Hi, thanks for the reply, I have solved this problem. However, I wonder the detected grasp translation and rotation have undergone mirror flipping. I used the view matrix of the camera to transfer the translation and rotation in the camera coordinate system to translation and rotation in the world coordinate system. But it did not work. Do you have any suggestions?

have you solved this mirror problem, i have the same confusion

By taking the opposite values of the translation and rotation ([-x, -y, -z]) I obtained, I can achieve relatively accurate results (in IsaacGym).

[Zingway]

Hi, thanks for the reply, I have solved this problem. However, I wonder the detected grasp translation and rotation have undergone mirror flipping. I used the view matrix of the camera to transfer the translation and rotation in the camera coordinate system to translation and rotation in the world coordinate system. But it did not work. Do you have any suggestions?

have you solved this mirror problem, i have the same confusion

By taking the opposite values of the translation and rotation ([-x, -y, -z]) I obtained, I can achieve relatively accurate results (in IsaacGym).

What are you based on to determine to take the opposite values of the translation and rotation?

[Fitz135]

Hi, thanks for the reply, I have solved this problem. However, I wonder the detected grasp translation and rotation have undergone mirror flipping. I used the view matrix of the camera to transfer the translation and rotation in the camera coordinate system to translation and rotation in the world coordinate system. But it did not work. Do you have any suggestions?

have you solved this mirror problem, i have the same confusion

By taking the opposite values of the translation and rotation ([-x, -y, -z]) I obtained, I can achieve relatively accurate results (in IsaacGym).

What are you based on to determine to take the opposite values of the translation and rotation?

Exhaustive search. =_=