How do I get the point cloud data from Realsense and convert it to the NPY files needed for the project demo?

[gzchenjiajun]

I am using your warehouse, I tried the demo effect and felt very good.
I see that the demo code is an input of test data in NPY format, and the output is the score and grasp location.

Now I want to merge the data from Intel RealSense into a similar output format, and then give it to machine control. How do I do that?

Especially smoothed_object_pc

[gzchenjiajun]

I am using your warehouse, I tried the demo effect and felt very good.
I see that the demo code is an input of test data in NPY format, and the output is the score and grasp location.

Now I want to merge the data from Intel RealSense into a similar output format, and then give it to machine control. How do I do that?

Especially smoothed_object_pc

I understand it's 10 frames of point cloud data, right?

[arsalan-mousavian]

It's 10 frames of point cloud data after removing the noisy points and averaging the rest.