image_grasp_sampler: forward camera intrinsic to new grasp center point.

BerkeleyAutomation · Apr 23, 2019 · 5dfbb8b · 5dfbb8b
1 parent 2a414fe
commit 5dfbb8b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/gqcnn/grasping/image_grasp_sampler.py b/gqcnn/grasping/image_grasp_sampler.py
@@ -466,7 +466,7 @@ def _sample_antipodal_grasps(self, depth_im, camera_intr, num_samples,
             grasp_theta = np.pi / 2
             if grasp_axis[1] != 0:
                 grasp_theta = np.arctan2(grasp_axis[0], grasp_axis[1])
-            grasp_center_pt = Point(np.array([grasp_center[1], grasp_center[0]]))
+            grasp_center_pt = Point(np.array([grasp_center[1], grasp_center[0]]), frame=camera_intr.frame)
 
             # compute grasp points in 3D
             x1 = point_cloud_im[p1[0], p1[1]]