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Simultaneous Multi-View 3D Object Recognition and Grasp Pose Estimation

Preparing Data

Download and unzip the Modelet10 dataset from the official distribution: http://3dvision.princeton.edu/projects/2014/3DShapeNets/ModelNet10.zip (451MB)

Ensure you are running Python>=3.6 and import the required libraries by running:

pip install -r requirements.txt

WARNING: The dataset is quite large and generation scripts may take hours to complete.

To generate the entropy dataset run:

python generate_entropy_dataset.py --modelnet10 <dir>

substitute <dir> with the root directory of the ModelNet10 dataset.

To generate the view dataset run:

python generate_view_dataset.py --modelnet10 <dir> --set <set>

substitute <dir> with the root directory of the ModelNet10 dataset and <set> with either train or test to generate the views from the respective split.

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python entropy_model.py --data <dir> --csv <entropy_dataset>

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