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RobotLocomotion / pytorch-dense-correspondence

Code for "Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation"
https://arxiv.org/pdf/1806.08756.pdf
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About ply file in PDC #191

Closed t0mo3 closed 5 years ago

t0mo3 commented 5 years ago

Nice to meet you.

We are now interested in pytorch-dense-correspondence technology and try it out in our own developing environment. However, rendering after 3D construction is not doing well and we have faced in a problem. If possible, could you advise us on question below?

Question：Is it impossible to read the ply file that we created? How can we solve this problem? Symptom：”vtkArray = dataObj.GetPoints().GetData()” occurs in “run_change_detection.py”. Cause：The header information of our ply file is different from the example. How to create our ply file：refer to https://github.com/andyzeng/tsdf-fusion-python

➢example’s header ply.. format.binary_little_endian.1.0.. element.vertex.57294.. property.float.x.. property.float.y.. property.float.z.. element.face.113352.. property.list.uchar.int.vertex_indices.. end_header.

➢ our’s ply format binary_little_endian 1.0 comment VCGLIB generated element vertex 15716 property float x property float y property float z property uchar red property uchar green property uchar blue property uchar alpha element face 31316 property list uchar int vertex_indices end_header

➢ error log /home/user/director/lib/python2.7/site-packages/vtk/util/numpy_support.py:134: FutureWarning: Conversion of the second argument of issubdtype from complex to np.complexfloating is deprecated. In future, it will be treated as np.complex128 == np.dtype(complex).type. assert not numpy.issubdtype(z.dtype, complex), \ Traceback (most recent call last): File "./modules/dense_correspondence_manipulation/scripts/run_change_detection.py", line 81, in run(data_folder, config_file=args.config_file, debug=args.debug, globalsDict=globalsDict) File "./modules/dense_correspondence_manipulation/scripts/run_change_detection.py", line 41, in run background_data_folder=background_scene_data_folder) File "/home/user/code/modules/dense_correspondence_manipulation/change_detection/change_detection.py", line 495, in from_data_folder foreground_reconstruction = TSDFReconstruction.from_data_folder(data_folder, config=config) File "/home/user/code/modules/dense_correspondence_manipulation/fusion/fusion_reconstruction.py", line 352, in from_data_folder fr.setup() File "/home/user/code/modules/dense_correspondence_manipulation/fusion/fusion_reconstruction.py", line 288, in setup self.load_poly_data() File "/home/user/code/modules/dense_correspondence_manipulation/fusion/fusion_reconstruction.py", line 294, in load_poly_data self.crop_poly_data() File "/home/user/code/modules/dense_correspondence_manipulation/fusion/fusion_reconstruction.py", line 234, in crop_poly_data self.poly_data = director_utils.cropToBox(self.poly_data, transform, dimensions, data_type=self.poly_data_type) File "/home/user/code/modules/dense_correspondence_manipulation/utils/director_utils.py", line 171, in cropToBox polyData = cropToLineSegment(polyData, origin - cropAxis, origin + cropAxis) File "/home/user/code/modules/dense_correspondence_manipulation/utils/director_utils.py", line 152, in cropToLineSegment polyData = labelPointDistanceAlongAxis(polyData, axis, origin=point1, resultArrayName='dist_along_line') File "/home/user/director/lib/python2.7/site-packages/director/segmentationroutines.py", line 214, in labelPointDistanceAlongAxis points = vtkNumpy.getNumpyFromVtk(polyData, 'Points') File "/home/user/director/lib/python2.7/site-packages/director/vtkNumpy.py", line 44, in getNumpyFromVtk vtkArray = dataObj.GetPoints().GetData() AttributeError: 'NoneType' object has no attribute 'GetData'

I appreciate your kind response.

manuelli commented 5 years ago

So our codebase uses VTK to read ply files. So it seems like there is some sort of incompatibility between the ply file you generated and the type that VTK can read. I have encountered such issues with PCL's ply writer. But in general this is a VTK compatibilty issue rather than something specific to our repo so I think that googling around the internet is your best bet.

Let us know what your solution ends up being. Usually it's just the header that is the problem and it's a simple fix.

t0mo3 commented 5 years ago

Thank you for your comment. I understand that there are some incompatibility between the file and VTK can read. Keep on figuring out. Thanks.