We collected data for 4 objects(softscrub, foambrick, sugerbox and mustard) which then are used to calculate the object_coordinates_wrt_table and gipper_coordinates_wrt_object.
The gipper_coordinates_wrt_object data are then used to plot the mesh in Matlab to visualize the gripper position and orientation wrt objects.
The gipper_coordinates_wrt_object data are then used to generate coordinates of rays which then are used to generate the depth maps.
This is seperated from what is done above. It analyzes the orientation of the grasps.
All the old and messy code is in grasping_archive.zip which is too big to be here.(Don't do it like this anymore!)