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View Code? Open in Web Editor NEWimprovement for linemod, make it holistic but also part-based
License: BSD 2-Clause "Simplified" License
improvement for linemod, make it holistic but also part-based
License: BSD 2-Clause "Simplified" License
您好!我在看 cuda_icp的相关代码时发现,在深度图转点云的函数 depth2cloud_cpu 中您将处于边缘的深度都取了相反数,然后在ICP的时候icp 不考虑这些点云。我想请问下您这样处理的原因是什么呢?
when I run the python patch_linemod_test.py, there occured an error:
Traceback (most recent call last):
File "patch_linemod_test.py", line 11, in
import patch_linemod_pybind
ModuleNotFoundError: No module named 'patch_linemod_pybind'
but I can't find where the file is.
It seems that there is no this file in the folder.
1。数据是下不了。不过这个公开的数据集。。肯定别的地方也有
2。数据集的格式已经不一样了。要自己改配置文件
3。6dtool那个渲染有内存泄漏
4。运行的结果和linmod是差不多的。
我自己生成了一个数据集,用数据集里面的图像来测试。不过遇到了candidate size before refine and nms一直是0的情况。
然后我用test.cpp里面测试了一下。金字塔参数改成了{32, 64}之后才有多一点的匹配点。
您好,我在pip3 install linemodLevelup/时遇到了错误,是否因为python/pip/setuptools版本问题导致的?请问您是否有什么建议解决这一问题,error信息如下:
ERROR: Command errored out with exit status 1:
command: /usr/bin/python -u -c 'import sys, setuptools, tokenize; sys.argv[0] = '"'"'/tmp/pip-req-build-t4o_cl51/setup.py'"'"'; __file__='"'"'/tmp/pip-req-build-t4o_cl51/setup.py'"'"';f=getattr(tokenize, '"'"'open'"'"', open)(__file__);code=f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, __file__, '"'"'exec'"'"'))' bdist_wheel -d /tmp/pip-wheel-70hds906
cwd: /tmp/pip-req-build-t4o_cl51/
Complete output (104 lines):
running bdist_wheel
running build
running build_ext
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenCV: /usr/local (found suitable version "3.4.0", minimum required is "3")
-- Found Open3D 0.9.0.0
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.5m.so (found suitable version "3.5.2", minimum required is "3")
-- Found PythonInterp: /usr/bin/python (found version "3.5.2")
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.5m.so
-- Found NumPy: /home/jiayir/.local/lib/python3.5/site-packages/numpy/core/include (found version "1.16.2")
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
-- LTO enabled
-- Configuring done
-- Generating done
-- Build files have been written to: /tmp/pip-req-build-t4o_cl51/build/temp.linux-x86_64-3.5
Scanning dependencies of target cuda_renderer
[ 8%] Building CXX object cuda_renderer/CMakeFiles/cuda_renderer.dir/renderer.cpp.o
[ 16%] Linking CXX static library libcuda_renderer.a
[ 16%] Built target cuda_renderer
Scanning dependencies of target renderer_test
[ 25%] Building CXX object cuda_renderer/CMakeFiles/renderer_test.dir/test.cpp.o
Scanning dependencies of target patch_linemod
[ 33%] Building CXX object CMakeFiles/patch_linemod.dir/linemodLevelup.cpp.o
[ 41%] Linking CXX executable renderer_test
[ 41%] Built target renderer_test
[ 50%] Building CXX object CMakeFiles/patch_linemod.dir/pose_renderer.cpp.o
/tmp/pip-req-build-t4o_cl51/linemodLevelup.cpp: In member function ‘std::vector<int> linemodLevelup::Detector::addTemplate(const std::vector<cv::Mat>&, const string&, cv::Mat, std::vector<int>)’:
/tmp/pip-req-build-t4o_cl51/linemodLevelup.cpp:2259:10: warning: variable ‘bb’ set but not used [-Wunused-but-set-variable]
Rect bb = cropTemplates(tp, clusters);
^
In file included from /tmp/pip-req-build-t4o_cl51/pose_renderer.cpp:1:0:
/tmp/pip-req-build-t4o_cl51/pose_renderer.h: In constructor ‘PoseRenderer::PoseRenderer(std::string, cv::Mat, cv::Mat)’:
/tmp/pip-req-build-t4o_cl51/pose_renderer.h:18:50: warning: ‘PoseRenderer::tris’ will be initialized after [-Wreorder]
std::vector<cuda_renderer::Model::Triangle>& tris;
^
/tmp/pip-req-build-t4o_cl51/pose_renderer.h:14:26: warning: ‘cuda_renderer::Model PoseRenderer::model’ [-Wreorder]
cuda_renderer::Model model;
^
/tmp/pip-req-build-t4o_cl51/pose_renderer.cpp:3:1: warning: when initialized here [-Wreorder]
PoseRenderer::PoseRenderer(std::string model_path, cv::Mat depth, cv::Mat K):
^
[ 58%] Linking CXX static library libpatch_linemod.a
[ 58%] Built target patch_linemod
Scanning dependencies of target patch_linemod_test
[ 66%] Building CXX object CMakeFiles/patch_linemod_test.dir/test.cpp.o
Scanning dependencies of target patch_linemod_pybind
[ 75%] Building CXX object CMakeFiles/patch_linemod_pybind.dir/pybind11.cpp.o
[ 83%] Linking CXX executable patch_linemod_test
libpatch_linemod.a(linemodLevelup.cpp.o):在函数‘linemodLevelup::Match::read(cv::FileNode const&)’中:
linemodLevelup.cpp:(.text+0x4e5e):对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/patch_linemod_test.dir/build.make:146: recipe for target 'patch_linemod_test' failed
make[2]: *** [patch_linemod_test] Error 1
CMakeFiles/Makefile2:143: recipe for target 'CMakeFiles/patch_linemod_test.dir/all' failed
make[1]: *** [CMakeFiles/patch_linemod_test.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 91%] Building CXX object CMakeFiles/patch_linemod_pybind.dir/np2mat/ndarray_converter.cpp.o
[100%] Linking CXX shared module ../lib.linux-x86_64-3.5/patch_linemod_pybind.cpython-35m-x86_64-linux-gnu.so
[100%] Built target patch_linemod_pybind
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/tmp/pip-req-build-t4o_cl51/setup.py", line 69, in <module>
zip_safe=False,
File "/usr/lib/python3.5/distutils/core.py", line 148, in setup
dist.run_commands()
File "/usr/lib/python3.5/distutils/dist.py", line 955, in run_commands
self.run_command(cmd)
File "/usr/lib/python3.5/distutils/dist.py", line 974, in run_command
cmd_obj.run()
File "/home/jiayir/.local/lib/python3.5/site-packages/wheel/bdist_wheel.py", line 192, in run
self.run_command('build')
File "/usr/lib/python3.5/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/usr/lib/python3.5/distutils/dist.py", line 974, in run_command
cmd_obj.run()
File "/usr/lib/python3.5/distutils/command/build.py", line 135, in run
self.run_command(cmd_name)
File "/usr/lib/python3.5/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/usr/lib/python3.5/distutils/dist.py", line 974, in run_command
cmd_obj.run()
File "/tmp/pip-req-build-t4o_cl51/setup.py", line 33, in run
self.build_extension(ext)
File "/tmp/pip-req-build-t4o_cl51/setup.py", line 58, in build_extension
subprocess.check_call(['cmake', '--build', '.'] + build_args, cwd=self.build_temp)
File "/usr/lib/python3.5/subprocess.py", line 581, in check_call
raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['cmake', '--build', '.', '--config', 'Release', '--', '-j2']' returned non-zero exit status 2
----------------------------------------
ERROR: Failed building wheel for patch-linemod-pybind
Running setup.py clean for patch-linemod-pybind
Failed to build patch-linemod-pybind
Installing collected packages: patch-linemod-pybind
Running setup.py install for patch-linemod-pybind ... error
ERROR: Command errored out with exit status 1:
command: /usr/bin/python -u -c 'import sys, setuptools, tokenize; sys.argv[0] = '"'"'/tmp/pip-req-build-t4o_cl51/setup.py'"'"'; __file__='"'"'/tmp/pip-req-build-t4o_cl51/setup.py'"'"';f=getattr(tokenize, '"'"'open'"'"', open)(__file__);code=f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, __file__, '"'"'exec'"'"'))' install --record /tmp/pip-record-4tm61fz0/install-record.txt --single-version-externally-managed --user --prefix= --compile --install-headers /home/jiayir/.local/include/python3.5m/patch-linemod-pybind
cwd: /tmp/pip-req-build-t4o_cl51/
Complete output (106 lines):
running install
running build
running build_ext
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenCV: /usr/local (found suitable version "3.4.0", minimum required is "3")
-- Found Open3D 0.9.0.0
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.5m.so (found suitable version "3.5.2", minimum required is "3")
-- Found PythonInterp: /usr/bin/python (found version "3.5.2")
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.5m.so
-- Found NumPy: /home/jiayir/.local/lib/python3.5/site-packages/numpy/core/include (found version "1.16.2")
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
-- LTO enabled
-- Configuring done
-- Generating done
-- Build files have been written to: /tmp/pip-req-build-t4o_cl51/build/temp.linux-x86_64-3.5
Scanning dependencies of target cuda_renderer
[ 8%] Building CXX object cuda_renderer/CMakeFiles/cuda_renderer.dir/renderer.cpp.o
[ 16%] Linking CXX static library libcuda_renderer.a
[ 16%] Built target cuda_renderer
Scanning dependencies of target renderer_test
[ 25%] Building CXX object cuda_renderer/CMakeFiles/renderer_test.dir/test.cpp.o
Scanning dependencies of target patch_linemod
[ 33%] Building CXX object CMakeFiles/patch_linemod.dir/linemodLevelup.cpp.o
[ 41%] Linking CXX executable renderer_test
[ 41%] Built target renderer_test
[ 50%] Building CXX object CMakeFiles/patch_linemod.dir/pose_renderer.cpp.o
/tmp/pip-req-build-t4o_cl51/linemodLevelup.cpp: In member function ‘std::vector<int> linemodLevelup::Detector::addTemplate(const std::vector<cv::Mat>&, const string&, cv::Mat, std::vector<int>)’:
/tmp/pip-req-build-t4o_cl51/linemodLevelup.cpp:2259:10: warning: variable ‘bb’ set but not used [-Wunused-but-set-variable]
Rect bb = cropTemplates(tp, clusters);
^
In file included from /tmp/pip-req-build-t4o_cl51/pose_renderer.cpp:1:0:
/tmp/pip-req-build-t4o_cl51/pose_renderer.h: In constructor ‘PoseRenderer::PoseRenderer(std::string, cv::Mat, cv::Mat)’:
/tmp/pip-req-build-t4o_cl51/pose_renderer.h:18:50: warning: ‘PoseRenderer::tris’ will be initialized after [-Wreorder]
std::vector<cuda_renderer::Model::Triangle>& tris;
^
/tmp/pip-req-build-t4o_cl51/pose_renderer.h:14:26: warning: ‘cuda_renderer::Model PoseRenderer::model’ [-Wreorder]
cuda_renderer::Model model;
^
/tmp/pip-req-build-t4o_cl51/pose_renderer.cpp:3:1: warning: when initialized here [-Wreorder]
PoseRenderer::PoseRenderer(std::string model_path, cv::Mat depth, cv::Mat K):
^
[ 58%] Linking CXX static library libpatch_linemod.a
[ 58%] Built target patch_linemod
Scanning dependencies of target patch_linemod_test
[ 66%] Building CXX object CMakeFiles/patch_linemod_test.dir/test.cpp.o
Scanning dependencies of target patch_linemod_pybind
[ 75%] Building CXX object CMakeFiles/patch_linemod_pybind.dir/pybind11.cpp.o
[ 83%] Linking CXX executable patch_linemod_test
libpatch_linemod.a(linemodLevelup.cpp.o):在函数‘linemodLevelup::Match::read(cv::FileNode const&)’中:
linemodLevelup.cpp:(.text+0x4e5e):对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/patch_linemod_test.dir/build.make:146: recipe for target 'patch_linemod_test' failed
make[2]: *** [patch_linemod_test] Error 1
CMakeFiles/Makefile2:143: recipe for target 'CMakeFiles/patch_linemod_test.dir/all' failed
make[1]: *** [CMakeFiles/patch_linemod_test.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 91%] Building CXX object CMakeFiles/patch_linemod_pybind.dir/np2mat/ndarray_converter.cpp.o
[100%] Linking CXX shared module ../lib.linux-x86_64-3.5/patch_linemod_pybind.cpython-35m-x86_64-linux-gnu.so
[100%] Built target patch_linemod_pybind
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/tmp/pip-req-build-t4o_cl51/setup.py", line 69, in <module>
zip_safe=False,
File "/usr/lib/python3.5/distutils/core.py", line 148, in setup
dist.run_commands()
File "/usr/lib/python3.5/distutils/dist.py", line 955, in run_commands
self.run_command(cmd)
File "/usr/lib/python3.5/distutils/dist.py", line 974, in run_command
cmd_obj.run()
File "/home/jiayir/.local/lib/python3.5/site-packages/setuptools/command/install.py", line 61, in run
return orig.install.run(self)
File "/usr/lib/python3.5/distutils/command/install.py", line 583, in run
self.run_command('build')
File "/usr/lib/python3.5/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/usr/lib/python3.5/distutils/dist.py", line 974, in run_command
cmd_obj.run()
File "/usr/lib/python3.5/distutils/command/build.py", line 135, in run
self.run_command(cmd_name)
File "/usr/lib/python3.5/distutils/cmd.py", line 313, in run_command
self.distribution.run_command(command)
File "/usr/lib/python3.5/distutils/dist.py", line 974, in run_command
cmd_obj.run()
File "/tmp/pip-req-build-t4o_cl51/setup.py", line 33, in run
self.build_extension(ext)
File "/tmp/pip-req-build-t4o_cl51/setup.py", line 58, in build_extension
subprocess.check_call(['cmake', '--build', '.'] + build_args, cwd=self.build_temp)
File "/usr/lib/python3.5/subprocess.py", line 581, in check_call
raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['cmake', '--build', '.', '--config', 'Release', '--', '-j2']' returned non-zero exit status 2
----------------------------------------
ERROR: Command errored out with exit status 1: /usr/bin/python -u -c 'import sys, setuptools, tokenize; sys.argv[0] = '"'"'/tmp/pip-req-build-t4o_cl51/setup.py'"'"'; __file__='"'"'/tmp/pip-req-build-t4o_cl51/setup.py'"'"';f=getattr(tokenize, '"'"'open'"'"', open)(__file__);code=f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, __file__, '"'"'exec'"'"'))' install --record /tmp/pip-record-4tm61fz0/install-record.txt --single-version-externally-managed --user --prefix= --compile --install-headers /home/jiayir/.local/include/python3.5m/patch-linemod-pybind Check the logs for full command output.`
Hello,
When trying to import patch_linemod_pybind, I get the following errors,
In [1]: import patch_linemod_pybind
`
ImportError Traceback (most recent call last)
<ipython-input-1-52359092ea51> in <module>
----> 1 import patch_linemod_pybind
ImportError: pythonpath/lib/python3.6/site-packages/patch_linemod_pybind.cpython-36m-x86_64-linux-gnu.so: undefined symbol: _ZN13cuda_renderer5ModelC1ERKSs`
It seems that error happens when you declare a method but not define it like here. However, it doesn't work when I try to remove the default construct and destructor.
Has anyone had same issues?
请问一下,在训练阶段,得到位姿后 并对三维模型提取模板的实现代码在哪里呢,我想尝试用python重写这一部分的代码,但是没有找到...
非常感谢!!
你好,请问一下可以制作自己的数据集么?
i can not input chinese in ubuntu .
open3d is hard to compile !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
and the projects cmake is useless
fix open3d , fix cuda , fix dataset , this project take an week to get it run!!!!!
您好,您提供的链接失效了,403了。
Hi, the dataset link in readme was invalid.
input the command and it turns out "Proxy request sent, awaiting response... 403 Forbidden".
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