crlab/pc_object_completion_cnn

ROS node for shape completion. Referenced in IROS 2017 paper "Shape Completion Enabled Robotic Grasping"

pc_object_completion_cnn's Issues

Cannot copy sequence with size 4 to array axis with dimension 3

After fixing several issues in the pipeline, I get this

[ INFO] [1571772815.804430990, 1571098005.473352630]: object_completion_topic: depth 0 

[ INFO] [1571772815.804484785, 1571098005.473352630]: waitForServer()

[ INFO] [1571772815.804565577, 1571098005.473352630]: sendGoalAndWait()

[INFO] [1571772815.809312, 1571098005.483454]: Received Completion Goal
[ERROR] [1571772815.815073, 1571098005.483454]: Exception in your execute callback: cannot copy sequence with size 4 to array axis with dimension 3
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 289, in executeLoop
    self.execute_callback(goal)
  File "/root/pc_scene_completion_ws/src/pc_object_completion_cnn/scripts/shape_completion_server/mesh_completion_server.py", line 109, in completion_cb
    goal.partial_cloud)
  File "/usr/local/lib/python2.7/dist-packages/curvox/cloud_conversions.py", line 57, in cloud_msg_to_np
    out[count] = point

and I tried https://github.com/jvarley/curvox and https://github.com/CRLab/curvox

@jvarley and @DavidWatkins do either of you have any ideas why this is not working? Since I am just guessing at the appropriate Curvox package to use , I figured that this may be the issue. It is failing here

I will try to use the recently added CURVOX repo

Server to download the model not responding

Hi,
when calling the script to download the model the server times out.
./download_trained_model.sh
--2019-02-22 11:47:33-- http://shapecompletiongrasping.cs.columbia.edu/static/depth_y17_m05_d26_h14_m22_s35_bare_keras_v2.tar.gz
Resolving shapecompletiongrasping.cs.columbia.edu (shapecompletiongrasping.cs.columbia.edu)... 128.59.23.47
Connecting to shapecompletiongrasping.cs.columbia.edu (shapecompletiongrasping.cs.columbia.edu)|128.59.23.47|:80...
failed: Connection timed out.
Retrying.

Dataset

Hello,

thanks for the work. Where can I find the dataset since I can not open the link regarding the open-source dataset?

Thanks

Runtime Error when calling the server

The repository was set up as explained here. The mesh_completion_server is started successfully and can works without issues when a partial mesh is requested. When the completed mesh is requested the following error appears:

[ERROR] [1528739565.694986, 120.801000]: Exception in your execute callback: axis 1 is out of bounds for array of dimension 1
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 289, in executeLoop
self.execute_callback(goal)
File "/home/robocup17/Nawal_Projekt/src/pc_scene_completion_ws/src/pc_object_completion_cnn/scripts/shape_completion_server/mesh_completion_server.py", line 166, in completion_cb
binvox_rw.write(completed_vox, open(temp_binvox_filepath, 'w'))
File "build/bdist.linux-x86_64/egg/binvox_rw/binvox_rw.py", line 262, in write
run_starts = np.concatenate((np.array([0]), np.where(voxels_flat[1:] != voxels_flat[:-1])[0] + 1), axis=1)
AxisError: axis 1 is out of bounds for array of dimension 1

A suggestion as to how to fix this error is greatly appreciated!