[pcl::NormalEstimationOMP::compute] input_ is empty!

[xiaofeiso]

When I try my own point cloud，I run ./detect_grasps ../cfg/eigen_params.cfg,/home/xiaofeisong/Desktop/f/code/our_dataset/luosuan/google_512k/nontextured.pcd

Failed to find match for field 'rgba'. Loaded point cloud with 76290 points ============ HAND GEOMETRY ====================== finger_width: 0.01 hand_outer_diameter: 0.12 hand_depth: 0.06 hand_height: 0.02 init_bite: 0.01

============ PLOTTING ======================== plot_normals: true plot_samples false plot_candidates: true plot_filtered_candidates: false plot_valid_grasps: false plot_clustered_grasps: false plot_selected_grasps: true

============ CLOUD PREPROCESSING ============= voxelize: true voxel_size: 0.003 remove_outliers: false workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 sample_above_plane: false normals_radius: 0.030 refine_normals_k: 0

============ CANDIDATE GENERATION ============ num_samples: 30 num_threads: 4 nn_radius: 0.01 hand axes: 2 num_orientations: 8 num_finger_placements: 10 deepen_hand: true friction_coeff: 20.00 min_viable: 6

============ GRASP IMAGE GEOMETRY =============== volume width: 0.1 volume depth: 0.06 volume height: 0.02 image_size: 60 image_num_channels: 15

NET SETUP runtime: 0.0433275 ============ CLASSIFIER ====================== model_file: weights_file: ../models/lenet/15channels/params/ batch_size: 1

============ CANDIDATE FILTERING ============= candidate_workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 min_aperture: 0.0000 max_aperture: 0.0850

============ CLUSTERING ====================== min_inliers: 0

Processing cloud with 76290 points. Voxelized cloud: 0 Calculating surface normals ... numthreads: 4 [pcl::NormalEstimationOMP::compute] input is empty! runtime(computeNormals): 0.0000 camera: 0, #indices: 0, #normals: 0 Calculated 0 surface normals in 0.0000s (mode: OpenMP). Reversing direction of normals that do not point to at least one camera ... reversed 0 normals runtime (reverse normals): 3.123e-06 Plotting normals for different camera sources

[wonwon0]

Hi, I have the exact same issue. Ill post here if i find what's going on. Update me if you find it too please!

I do not have this issue with the tutorials, only when using either the tutorial example with my own .pcd files or when using gpd_ros while subscribed to a pointcloud2 message.

I noticed the format of my PCD clouds is a bit different than the ones in the tutorials:

my pcd: # .PCD v0.7 - Point Cloud Data file format VERSION 0.7 FIELDS x y z rgb SIZE 4 4 4 4 TYPE F F F U COUNT 1 1 1 1 WIDTH 3110 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 3110 DATA ascii

Tutorial's PCD: # .PCD v.7 - Point Cloud Data file format VERSION .7 FIELDS x y z rgb SIZE 4 4 4 4 TYPE F F F I COUNT 1 1 1 1 WIDTH 4467 HEIGHT 1 POINTS 4467 DATA ascii

[xiaofeiso]

OK, if I find a solution, I will reply it.

---Original--- From: @.> Date: Fri, Nov 25, 2022 06:28 AM To: @.>; Cc: @.**@.>; Subject: Re: [atenpas/gpd] [pcl::NormalEstimationOMP::compute] input_ isempty! (Issue #131)

Hi, I have the exact same issue. Ill post here if i find what's going on. Update me if you find it too please!

I do not have this issue with the tutorials, only when using either the tutorial example with my own .pcd files or when using gpd_ros while subscribed to a pointcloud2 message.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

[wonwon0]

Ho wow, look at that!

workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00 candidate_workspace: -1.00 1.00 -1.00 1.00 -1.00 1.00

My cloud happened to fall outside of this region. I changed the values in order to have my cloud inside of the region. Now it's not generating the same output. Normals are able to be compputed but i dont have a result yet (maybe i bugged something else while fideling into stuff...

[wonwon0]

i confirm it fixed the issue for me.

Be aware though, if you run the example, the window is made to visualize an object located at 0 0 0. It's normal that you have to change your point of view in the 3D viewer in order to see what's going on.

[xiaofeiso]

ok, the error is solved,but nomal ,candidate grasp not generated, Do you mean to modify camera_position？

[wonwon0]

well in the config files i modified the fields of workspace and candidate_workspace to dimensions that fit my use case. it's hard to get a definitive answer since i do not know the parameters of your project.