berkeleyautomation / autolab_core Goto Github PK

こんにちは
このリポジトリをgit cloneしてsetup.pyを実行しようとしたところ以下のエラーが出ました。
解決策がれば教えていただきたいです。

member@thinkpad-p15:~/3catkin_ws/src/autolab_core$ sudo python setup.py install
running install
running bdist_egg
running egg_info
writing requirements to autolab_core.egg-info/requires.txt
writing autolab_core.egg-info/PKG-INFO
writing top-level names to autolab_core.egg-info/top_level.txt
writing dependency_links to autolab_core.egg-info/dependency_links.txt
reading manifest file 'autolab_core.egg-info/SOURCES.txt'
reading manifest template 'MANIFEST.in'
writing manifest file 'autolab_core.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_py
creating build/bdist.linux-x86_64/egg
creating build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/points.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/version.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/json_serialization.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/camera_intrinsics.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/dual_quaternion.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/rigid_transformations.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/chessboard_registration.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/point_registration.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/data_stream_syncer.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/csv_model.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/experiment_logger.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/feature_matcher.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/completer.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/primitives.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/logger.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/image.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/tensor_dataset.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/init.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/transformations.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/learning_analysis.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/data_stream_recorder.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/random_variables.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/constants.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/features.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/dist_metrics.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/utils.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/detector.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/yaml_config.py -> build/bdist.linux-x86_64/egg/autolab_core
copying build/lib.linux-x86_64-2.7/autolab_core/orthographic_intrinsics.py -> build/bdist.linux-x86_64/egg/autolab_core
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/points.py to points.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/version.py to version.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/json_serialization.py to json_serialization.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/camera_intrinsics.py to camera_intrinsics.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/dual_quaternion.py to dual_quaternion.pyc
File "build/bdist.linux-x86_64/egg/autolab_core/dual_quaternion.py", line 94
f"Got {qd_wxyz[0]}"
^
SyntaxError: invalid syntax

byte-compiling build/bdist.linux-x86_64/egg/autolab_core/rigid_transformations.py to rigid_transformations.pyc
File "build/bdist.linux-x86_64/egg/autolab_core/rigid_transformations.py", line 417
f"Cannot transform points in frame {points.frame} with "
^
SyntaxError: invalid syntax

byte-compiling build/bdist.linux-x86_64/egg/autolab_core/chessboard_registration.py to chessboard_registration.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/point_registration.py to point_registration.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/data_stream_syncer.py to data_stream_syncer.pyc
File "build/bdist.linux-x86_64/egg/autolab_core/data_stream_syncer.py", line 87
f"Potential timeout! {timeout_names} not yet returned "
^
SyntaxError: invalid syntax

byte-compiling build/bdist.linux-x86_64/egg/autolab_core/csv_model.py to csv_model.pyc
File "build/bdist.linux-x86_64/egg/autolab_core/csv_model.py", line 42
f"For header {key}, type {val}"
^
SyntaxError: invalid syntax

byte-compiling build/bdist.linux-x86_64/egg/autolab_core/experiment_logger.py to experiment_logger.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/feature_matcher.py to feature_matcher.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/completer.py to completer.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/primitives.py to primitives.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/logger.py to logger.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/image.py to image.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/tensor_dataset.py to tensor_dataset.pyc
File "build/bdist.linux-x86_64/egg/autolab_core/tensor_dataset.py", line 495
f"Datapoint index {datapoint_index} is greater than the "
^
SyntaxError: invalid syntax

byte-compiling build/bdist.linux-x86_64/egg/autolab_core/init.py to init.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/transformations.py to transformations.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/learning_analysis.py to learning_analysis.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/data_stream_recorder.py to data_stream_recorder.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/random_variables.py to random_variables.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/constants.py to constants.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/features.py to features.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/dist_metrics.py to dist_metrics.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/utils.py to utils.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/detector.py to detector.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/yaml_config.py to yaml_config.pyc
byte-compiling build/bdist.linux-x86_64/egg/autolab_core/orthographic_intrinsics.py to orthographic_intrinsics.pyc
creating build/bdist.linux-x86_64/egg/EGG-INFO
copying autolab_core.egg-info/PKG-INFO -> build/bdist.linux-x86_64/egg/EGG-INFO
copying autolab_core.egg-info/SOURCES.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying autolab_core.egg-info/dependency_links.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying autolab_core.egg-info/requires.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying autolab_core.egg-info/top_level.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
zip_safe flag not set; analyzing archive contents...
creating 'dist/autolab_core-1.1.1-py2.7.egg' and adding 'build/bdist.linux-x86_64/egg' to it
removing 'build/bdist.linux-x86_64/egg' (and everything under it)
Processing autolab_core-1.1.1-py2.7.egg
Removing /usr/local/lib/python2.7/dist-packages/autolab_core-1.1.1-py2.7.egg
Copying autolab_core-1.1.1-py2.7.egg to /usr/local/lib/python2.7/dist-packages
autolab-core 1.1.1 is already the active version in easy-install.pth

Installed /usr/local/lib/python2.7/dist-packages/autolab_core-1.1.1-py2.7.egg
Processing dependencies for autolab-core==1.1.1
Searching for joblib
Reading https://pypi.org/simple/joblib/
Downloading https://files.pythonhosted.org/packages/45/dd/a5435a6902d6315241c48a5343e6e6675b007e05d3738ed97a7a47864e53/joblib-1.2.0.tar.gz#sha256=e1cee4a79e4af22881164f218d4311f60074197fb707e082e803b61f6d137018
Best match: joblib 1.2.0
Processing joblib-1.2.0.tar.gz
Writing /tmp/easy_install-yUke5i/joblib-1.2.0/setup.cfg
Running joblib-1.2.0/setup.py -q bdist_egg --dist-dir /tmp/easy_install-yUke5i/joblib-1.2.0/egg-dist-tmp-NorNer
Traceback (most recent call last):
File "setup.py", line 62, in
"ros": ["rospkg", "catkin_pkg", "empy"],
File "/home/member/.local/lib/python2.7/site-packages/setuptools/init.py", line 162, in setup
return distutils.core.setup(**attrs)
File "/usr/lib/python2.7/distutils/core.py", line 151, in setup
dist.run_commands()
File "/usr/lib/python2.7/distutils/dist.py", line 953, in run_commands
self.run_command(cmd)
File "/usr/lib/python2.7/distutils/dist.py", line 972, in run_command
cmd_obj.run()
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/install.py", line 67, in run
self.do_egg_install()
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/install.py", line 117, in do_egg_install
cmd.run(show_deprecation=False)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 424, in run
self.easy_install(spec, not self.no_deps)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 666, in easy_install
return self.install_item(None, spec, tmpdir, deps, True)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 713, in install_item
self.process_distribution(spec, dist, deps)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 758, in process_distribution
[requirement], self.local_index, self.easy_install
File "/home/member/.local/lib/python2.7/site-packages/pkg_resources/init.py", line 782, in resolve
replace_conflicting=replace_conflicting
File "/home/member/.local/lib/python2.7/site-packages/pkg_resources/init.py", line 1065, in best_match
return self.obtain(req, installer)
File "/home/member/.local/lib/python2.7/site-packages/pkg_resources/init.py", line 1077, in obtain
return installer(requirement)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 685, in easy_install
return self.install_item(spec, dist.location, tmpdir, deps)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 711, in install_item
dists = self.install_eggs(spec, download, tmpdir)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 896, in install_eggs
return self.build_and_install(setup_script, setup_base)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 1164, in build_and_install
self.run_setup(setup_script, setup_base, args)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/command/easy_install.py", line 1150, in run_setup
run_setup(setup_script, args)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 253, in run_setup
raise
File "/usr/lib/python2.7/contextlib.py", line 35, in exit
self.gen.throw(type, value, traceback)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 195, in setup_context
yield
File "/usr/lib/python2.7/contextlib.py", line 35, in exit
self.gen.throw(type, value, traceback)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 166, in save_modules
saved_exc.resume()
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 141, in resume
six.reraise(type, exc, self._tb)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 154, in save_modules
yield saved
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 195, in setup_context
yield
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 250, in run_setup
_execfile(setup_script, ns)
File "/home/member/.local/lib/python2.7/site-packages/setuptools/sandbox.py", line 45, in _execfile
exec(code, globals, locals)
File "/tmp/easy_install-yUke5i/joblib-1.2.0/setup.py", line 5, in
import os
File "/tmp/easy_install-yUke5i/joblib-1.2.0/joblib/init.py", line 113, in
File "/tmp/easy_install-yUke5i/joblib-1.2.0/joblib/memory.py", line 271
raise new_exc from exc
^
SyntaxError: invalid syntax

from mayavi import mlab
from autolab_core import YamlConfig
import os


if __name__ == '__main__':
    home_dir = os.environ["HOME"]
    print(home_dir)
    yaml_config = YamlConfig(filename)
    print(yaml_config[keyname])

As above, the "bind: Invalid command enable-meta-key" occurred in pycharm, and the "segmentation dump" occurred during the execution of the script.

from autolab_core import YamlConfig
from mayavi import mlab

Swap the order and the error does not occur

Thanks!

Hello,
Could you tell me that how to get the 4x4 translation matrix from your program as in your repository you have transformation.py file i am bit confused that how to generate output from that particular file for my dataset ?
thanks

When I try to use the autolab_core.calibration.CameraChessboardRegistration class in a python 3 interpreter I get the following error:

Traceback (most recent call last):
  File "/home/ricks/.vscode-insiders/extensions/ms-python.python-2019.6.24221/pythonFiles/ptvsd_launcher.py", line 43, in <module>
    main(ptvsdArgs)
  File "/home/ricks/.vscode-insiders/extensions/ms-python.python-2019.6.24221/pythonFiles/lib/python/ptvsd/__main__.py", line 434, in main
    run()
  File "/home/ricks/.vscode-insiders/extensions/ms-python.python-2019.6.24221/pythonFiles/lib/python/ptvsd/__main__.py", line 312, in run_file
    runpy.run_path(target, run_name='__main__')
  File "/opt/conda/envs/autograsp/lib/python3.7/runpy.py", line 263, in run_path
    pkg_name=pkg_name, script_name=fname)
  File "/opt/conda/envs/autograsp/lib/python3.7/runpy.py", line 96, in _run_module_code
    mod_name, mod_spec, pkg_name, script_name)
  File "/opt/conda/envs/autograsp/lib/python3.7/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/home/ricks/panda_autograsp/tools/test_perception_calibration.py", line 28, in <module>
    calibration_result = calibrator.register(sensor, new_config)
  File "/home/ricks/panda_autograsp/panda_autograsp/calibration.py", line 163, in register
    points_3d_plane = (k * points_3d_plane + points_3d[corner_ind]) / (k + 1)
TypeError: unsupported operand type(s) for /: 'PointCloud' and 'int'

This is caused by the fact that in python3 the __div__ operator was replaced by the __truediv__ and __floordiv__ operators (See this issue). I tested the solution in a python 2.7 and python 3.6 environment and send a pull request #26.

Users should be informed when the dataset is corrupt. This can be handled here.

System information

OS: Windows 10
Python version: 3.8
Installed using pip or ROS: pip

I am running into issues installing this package via pip (pip install autolab-core) with the following message:

Collecting matplotlib<=2.2.0
Using cached matplotlib-2.2.0.tar.gz (37.2 MB)
ERROR: Command errored out with exit status 1:
command: 'c:\users\shi yx\appdata\local\programs\python\python38\python.exe' -c 'import sys, setuptools, tokenize; sys.argv[0] = '"'"'C:\Users\Shi YX\AppData\Local\Temp\pip-install-adu7xe6b\matplotlib_2f5b8f04523d4d0fa8e927fb19d04bde\setup.py'"'"'; file='"'"'C:\Users\Shi YX\AppData\Local\Temp\pip-install-adu7xe6b\matplotlib_2f5b8f04523d4d0fa8e927fb19d04bde\setup.py'"'"';f=getattr(tokenize, '"'"'open'"'"', open)(file);code=f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, file, '"'"'exec'"'"'))' egg_info --egg-base 'C:\Users\Shi YX\AppData\Local\Temp\pip-pip-egg-info-4rubyry4'
cwd: C:\Users\Shi YX\AppData\Local\Temp\pip-install-adu7xe6b\matplotlib_2f5b8f04523d4d0fa8e927fb19d04bde
Complete output (61 lines):
============================================================================
Edit setup.cfg to change the build options

I am using matplotlib 3.3.4 and cannot seem to install 2.2.0. I saw a similar issue with the gqcnn package but did not find a helpful solution (I simply read about the issue but did not use the package myself).

Hi, I tried to install from source using the instructions here: https://berkeleyautomation.github.io/autolab_core/install/install.html

But I got this error when I tried to run catkin build:

[build] Found '1' packages in 0.0 seconds.
[build] Package table is up to date.
Starting  >>> autolab_core
_________________________________________________________________________________________________
Errors     << autolab_core:cmake /usr0/home/tweng/catkin_ws/logs/autolab_core/build.cmake.002.log
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_python_setup.cmake:79 (message):
  catkin_python_setup() version in setup.py (0.0.7) differs from version in
  package.xml (0.0.6)
Call Stack (most recent call first):
  CMakeLists.txt:20 (catkin_python_setup)


cd /usr0/home/tweng/catkin_ws/build/autolab_core; catkin build --get-env autolab_core | catkin env -si  /usr/bin/cmake /usr0/home/tweng/catkin_ws/src/autolab_core --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/usr0/home/tweng/catkin_ws/devel/.private/autolab_core -DCMAKE_INSTALL_PREFIX=/usr0/home/tweng/catkin_ws/install; cd -
.................................................................................................
Failed     << autolab_core:cmake          [ Exited with code 1 ]
Failed    <<< autolab_core                [ 0.9 seconds ]
[build] Summary: 0 of 1 packages succeeded.
[build]   Ignored:   None.
[build]   Warnings:  None.
[build]   Abandoned: None.
[build]   Failed:    1 packages failed.
[build] Runtime: 0.9 seconds total.

I updated the version in package.xml from 0.0.6 to 0.0.7 and the build was successful.

Is updating the version the correct fix? Thank you very much.

It looks that the second one should be no scaling.

According to the doc of RigidTransform.linear_trajectory_to method, it is supposed to return a trajectory of length traj_len. It doesn't do so and is not even consistent about the length of the returned trajectory wrt traj_len.

>>> from autolab_core import RigidTransform
>>> a = RigidTransform()
>>> for i in range(10):
...     print(i, len(a.linear_trajectory_to(a, i)))
...
0 2
1 3
2 4
3 5
4 6
5 8
6 9
7 9
8 10
9 12

Like the old version (0.06 and 0.07) problem
catkin_python_setup() version in setup.py (1.1.1) differs from version in package.xml (1.1.0).

I guess package.xml need to be updated

HELLO

Im desperately trying to run your code since this stuff is amazing!

But I keep getting the same error lads:

WARNING:root:autolab_core not installed as catkin package, RigidTransform ros methods will be unavailable
WARNING:root:Unable to import pylibfreenect2. Python-only Kinect driver may not work properly.
WARNING:root:Unable to import openni2 driver. Python-only Primesense driver may not work properly
WARNING:root:primesense_sensor.py not installed as catkin package. ROS functionality not available.
INFO:root:Beginning Visualization
INFO:root:Setting up for visualization.
INFO:root:Reading filenames
Traceback (most recent call last):
File "visualize_predictions.py", line 18, in
visualizer = GQCNNPredictionVisualizer(visualization_config)
File "build/bdist.linux-x86_64/egg/gqcnn/gqcnn_prediction_visualizer.py", line 35, in init
File "build/bdist.linux-x86_64/egg/gqcnn/gqcnn_prediction_visualizer.py", line 177, in _setup
File "build/bdist.linux-x86_64/egg/gqcnn/gqcnn_prediction_visualizer.py", line 193, in _setup_data_filenames
OSError: [Errno 2] No such file or directory: '/home/autolab/Public/data/dex-net/data/grasp_quality_regression/3dnet_kit_04_09_17_minimal'
INFO:rospy.core:signal_shutdown [atexit]

Is it okay to run the visualize_predictions.py from the tools folder? I tried installing the catkin package like this
mkdir catkin_ws
cd catkin_ws
mkdir src
catkin_make install
cd src
git clone https://github.com/BerkeleyAutomation/autolab_core.git
cd ..
catkin_make

!?