- 🌱 I'm a Ph.D. student at The University of Tokyo.
- 👨🎓 My major is mechanical and information engineering.
For more information, please visit my web page below.
https://kanazawanaoaki.github.io/
Implement the eyes of the cook
For more information, please visit my web page below.
https://kanazawanaoaki.github.io/
(https://gist.github.com/Kanazawanaoaki/f6b533c8219252f19befe570e449a2ea#file-rosbag_compressed_record-launch )のように圧縮されたrgb画像やdepth画像のrosbagを保存し、
(https://gist.github.com/Kanazawanaoaki/f6b533c8219252f19befe570e449a2ea#file-depth2ptcloud-launch ) のようにして再構成しているが、画像はまだましだけど点群がかなりカクカクしている。
(https://drive.google.com/file/d/1NAkvrk4bqJeafvFwC8-Z4iP47g-Y7T5t/view?usp=sharing )のrosbagを使って行うと、
roslaunch kitchen_recognition depth2ptcloud.launch
rosbag play com_test.bag -l --clock
(https://youtu.be/D6D_ldioWc8 )このような結果になった。
作成したデータセットを使って学習のスクリプトを実行すると、
Traceback (most recent call last):
File "create_tf_record.py", line 155, in <module>
tf.app.run()
File "/usr/local/lib/python2.7/dist-packages/tensorflow/python/platform/app.py", line 125, in run
_sys.exit(main(argv))
File "create_tf_record.py", line 151, in main
create_tf_record(root_dir, output_path)
File "create_tf_record.py", line 140, in create_tf_record
img_path, class_label_path, instance_label_path, class_names)
File "create_tf_record.py", line 72, in get_tf_example
cls_lbl = np.argmax(np.bincount(class_label[inst_mask]))
File "/usr/local/lib/python2.7/dist-packages/numpy/core/fromnumeric.py", line 1037, in argmax
return _wrapfunc(a, 'argmax', axis=axis, out=out)
File "/usr/local/lib/python2.7/dist-packages/numpy/core/fromnumeric.py", line 51, in _wrapfunc
return getattr(obj, method)(*args, **kwds)
ValueError: attempt to get argmax of an empty sequence
のようなエラーが出てしまう。
./run.sh 20200515-145232-dataset --port 6000 bash
+ cd /tensorflow/models/research/scripts
+ python create_tf_record.py --data_dir=/tensorflow/models/research/20200515-145232-dataset --output_dir=/tensorflow/models/research/20200515-145232-dataset
のようにして確認してみる。
https://gist.github.com/Kanazawanaoaki/53050022fc1a7cfaba87a9c5bb862889
のようにプリント文を入れてlogを見ると、class_label[inst_mask]
が空になってしまっているデータが一定数ありそれがエラーを起こしているみたい。
jsk-ros-pkg/jsk_recognition#2511 を使ってRectArray -> ClusterPointIndicesの変換をしてその出力をhttps://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_pcl_ros/sample/tabletop_object_detector.launch のeuclidean clusteringの部分を置き換える。
aaf54ab#diff-363e68923b115984009fddf2cdcfe078 を作って試して見ましたが、上手くバウンディングボックスが出ませんでした。
実行しているのは、
roslaunch kitchen_recognition tabletop_test_ssd_vegs.launch
roslaunch kitchen_recognition depth2ptcloud.launch gui:=false
https://github.com/Kanazawanaoaki/cook_eyes_coral/tree/master/curry_detector_ros のCoral TPUのSSDのlaunchを走らせる
roslaunch curry_detector_ros edgetpu_vegs_detector.launch INPUT_IMAGE:=/camera/rgb/image_raw
https://drive.google.com/file/d/1PVW_1rERg6YojUP5fFfc3UdM2Mx2U2s3/view?usp=sharing のrosbagを再生する。
rosbag play vegs_test.bag -l
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