about predict.py error

[baojun701]

here is my path: --YCBInEOAT_dir', default='/home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_Dataset/YCBInEOAT/bleach0' --train_data_path', default="/home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_Dataset/YCBInEOAT_synthetic/bleach_cleanser/train_data_blender_DR --ckpt_dir', default="/home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_weights/bleach_cleanser/model_best_val.pth.tar --mean_std_path', default="/home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_weights/bleach_cleanser I don't find bleach_cleanser folder in the YCBInEOAT , I think YCBInEOAT_dir stand for test_path,right or wrong? I run the predict.py, but always account the eror " File "predict.py", line 218, in on_track rgbB, depthB = crop_bbox(current_rgb, current_depth, bb, self.image_size) File "/home/zkyd/iros20-6d-pose-tracking-master/Utils.py", line 340, in crop_bbox color_crop[top_offset:bottom_offset, left_offset:right_offset, :] = color[top:bottom, left:right, :] ValueError: could not broadcast input array from shape (71,633,3) into shape (71,0,3) " How can I solve it? thank you if you can answer my question.

[wenbowen123]

The paths look correct. Did you see this error at beginning or during tracking? Can you paste here the entire error?

[baojun701]

(zky) zkyd@zkyd:~/iros20-6d-pose-tracking-master$ python3 predict.py ckpt_dir: /home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_weights/bleach_cleanser/model_best_val.pth.tar dataset_info_path /home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_Dataset/YCBInEOAT_synthetic/bleach_cleanser/train_data_blender_DR/../dataset_info.yml /home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_Dataset/YCBInEOAT/bleach0 self.object_cloud loaded and downsampled self.object_width= 285.37860394994397 self.K: [[1.066778e+03 0.000000e+00 3.129869e+02] [0.000000e+00 1.067487e+03 2.413109e+02] [0.000000e+00 0.000000e+00 1.000000e+00]] Loading ckpt from /home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_weights/bleach_cleanser/model_best_val.pth.tar pose track ckpt epoch=203 Using vispy renderer model_path: /home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_Dataset/YCBInEOAT_synthetic/bleach_cleanser/textured.ply self.cam_K: [[1.066778e+03 0.000000e+00 3.129869e+02] [0.000000e+00 1.067487e+03 2.413109e+02] [0.000000e+00 0.000000e+00 1.000000e+00]] making dataset... for eval

dataset: 0

self.trans_normalizer=0.03, self.rot_normalizer=0.5235987755982988 init pose [[-0.6981918 0.05113025 0.71419933 -0.39318141] [ 0.57201178 0.6396664 0.51329966 0.27422776] [-0.43062506 0.76665225 -0.47589299 0.83633948] [ 0. 0. 0. 1. ]] on_track: [[ 409 -371] [ 773 -371] [ 409 -7] [ 773 -7]] Traceback (most recent call last): File "predict.py", line 643, in predictSequenceMyData() File "predict.py", line 595, in predictSequenceMyData cur_pose = tracker.on_track(A_in_cam, rgb, depth, gt_A_in_cam=np.eye(4),gt_B_in_cam=np.eye(4), debug=debug,samples=samples) File "predict.py", line 218, in on_track rgbB, depthB = crop_bbox(current_rgb, current_depth, bb, self.image_size) File "/home/zkyd/iros20-6d-pose-tracking-master/Utils.py", line 340, in crop_bbox color_crop[top_offset:bottom_offset, left_offset:right_offset, :] = color[top:bottom, left:right, :] ValueError: could not broadcast input array from shape (71,633,3) into shape (71,0,3)

The paths look correct. Did you see this error at beginning or during tracking? Can you paste here the entire error?

[wenbowen123]

It looks like your /home/zkyd/iros20-6d-pose-tracking-master/data/YCBInEOAT_Dataset/YCBInEOAT_synthetic/bleach_cleanser/train_data_blender_DR/../dataset_info.yml is actually from the ycb-video dataset, which is different from ycbineoat dataset.

If you want to test on ycbineoat dataset, you need to download from here