Issue: Bug/Performance Issue [Custom Images] - point cloud is not smooth

[leeivan1007]

• OS Platform and Distribution (e.g., Linux Ubuntu 16.04): Ubuntu 16.04
• Python version: 3.7.5
• Installed using pip or ROS: pip
• Camera: realsenseD415
• GPU model (if applicable): Nvidia 1080 Ti

It is good by 'GQCNN-4.0-PJ' and always can grasp successfully. But it can't predict successfully by 'GQCNN-4.0-SUCTION'.

Our test image

the depth distance is 0.693m with Q=0.185

there have a point cloud file: https://drive.google.com/file/d/13iyM7MnbWEN_LE1hMO_S_Cwu3fr_XLZC/view?usp=sharing

The original image [ depth_0.npy ]

When grasp_candidates is opened

sampled grasps iter 0

sampled grasps iter 1

sampled grasps iter 2

Question

The original image's surface is smooth. I think maybe it is the cause that suction method can't be successful. Maybe I miss something, but now i don't know what happen clearly...

Think for any suggestions!