suction_policy_both.yaml

# sensor params
sensor:
  image_dir: data/own #data/rgbd/multiple_objects
  type: virtual_primesense #realsense #virtual_primesense
  frame: primesense_overhead #realsense #primesense_overhead
calib_dir: data/calib

# policy params
policy:
  # optimization params
  num_seed_samples: 200
  num_gmm_samples: 50
  num_iters: 1
  gmm_refit_p: 0.25
  gmm_component_frac: 0.4
  gmm_reg_covar: 0.01

  # general params
  deterministic: 1
  gripper_width: 0.05
  crop_height: 96
  crop_width: 96

  # sampling params
  sampling:
    # type
    type: suction

    # params
    max_suction_dir_optical_axis_angle: 30
    delta_theta: 5
    delta_phi: 5
    sigma_depth: 0.0025
    min_suction_dist: 1.0
    angle_dist_weight: 5.0
    depth_gaussian_sigma: 1.0
    num_grasp_samples: 1000

    max_dist_from_center: 2060
    max_num_samples: 10000

  # metric params
  metric:
    type: gqcnn #suction_gaussian_curvature

    window_size: 5
    sample_rate: 1.0

    gqcnn_model: /home/jasy/FDexter/catkin_ws/src/trained_model/GQ-Suction       #/home/autolab/Public/data/dex-net/data/models/suction/gqcnn_kit_08_11_17
    #    crop_height: 96
    #    crop_width: 96
    crop_height: 196
    crop_width: 196
  # visualization
  vis:
    grasp_sampling: 0
    tf_images: 0
    plane: 0
    grasp_candidates: 0
    elite_grasps: 0
    grasp_ranking: 0
    grasp_plan: 0
    final_grasp: 0

    k: 25

# image proc params
inpaint_rescale_factor: 0.5

# detection params
detection:
  type: point_cloud_box

  foreground_mask_tolerance: 60
  min_pt:
  - 0.0
  - -0.3
    #- 0.28
  - -.06
      #- 0.1
  max_pt:
  - 0.8
  - 0.5
      #- 0.15 
  - 0.28

  selection_policy: min
  focus: 0

  min_contour_area: 250.0
  max_contour_area: 1000000.0
  min_box_area: 25000
  max_box_area: 0.0
  box_padding_px: 0

  rescale_factor: 1.0
  interpolation: bilinear
  depth_grad_thresh: 10.0
  contour_dist_thresh: 2.5

  point_cloud_mask_only: 1

  image_width: 672
  image_height: 512

  filter_dim: 1