List of objects in seen ans unseen test set

[1mingW]

Hi,
Do you have a list of objects that are used in seen and unseen test sets? I retrained a model and want to do some experiment on seen and unseen objects, it would be great if there is some document that lists which object belongs to which test set.

[chenxi-wang]

Hi, you can find the objects from object_ids.txt in each scene folder, and the object names can be found here.

[Fang-Haoshu]

@1mingW Hi, for the object list, you can also find the object list for both train and test using the graspnet_api. I remember there is a function that you can obtain all object ids given the input scene number. And the first 100 scenes are training set.

[1mingW]

@Fang-Haoshu and @chenxi-wang Thank you for the answers!
I have another problem about how to collect the depth images. In real experiment, did you get point cloud directly or reconstructed with depth image? I was trying to reconstruct point clouds, but I got depth images with dtype uint16 by realsense pipeline and the depth value was not correct. I notice the depth images in your dataset have dtype int32. How did you save or collect the images?