Traceback (most recent call last):
File "/home/mellot/ob_robot_arm/src/DOPE-ROS-D435/dope/nodes/dope", line 24, in
from inference.cuboid_pnp_solver import CuboidPNPSolver
File "/home/mellot/ob_robot_arm/src/DOPE-ROS-D435/dope/nodes/inference/cuboid_pnp_solver.py", line 8, in
from pyrr import Quaternion
ImportError: No module named pyrr

I own a D415, and yes. I know that the D435 is better at closer objects. So I have two questions.

• Have you heard of anyone trying this code on a 435?

• Is there any reason other than performance why this code would not work with a D415?

Thanks you so much for your contribution!

Hello,

Where could I find your cube dataset? It would be nice if you could share it.

Thank you in advance!

Hi, thank you for your wonderful project! May I know whether I can run this on noetic? Thanks in advance!

im getting below error while launching rs_rgbd.lauch .

[ERROR] [1567102536.591839154]: Region-of-interest is not implemented for this device!

... logging to /home/ncrai-avinash/.ros/log/7c4c409e-ca84-11e9-8afa-6c4b907aac6b/roslaunch-NCRAI-14534.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://NCRAI:40303/

SUMMARY

PARAMETERS

• /camera/realsense2_camera/accel_fps: 250
• /camera/realsense2_camera/accel_frame_id: camera_accel_frame
• /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
• /camera/realsense2_camera/align_depth: True
• /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
• /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
• /camera/realsense2_camera/allow_no_texture_points: False
• /camera/realsense2_camera/base_frame_id: camera_link
• /camera/realsense2_camera/calib_odom_file:
• /camera/realsense2_camera/clip_distance: -1.0
• /camera/realsense2_camera/color_fps: 30
• /camera/realsense2_camera/color_frame_id: camera_color_frame
• /camera/realsense2_camera/color_height: 480
• /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
• /camera/realsense2_camera/color_width: 640
• /camera/realsense2_camera/depth_fps: 30
• /camera/realsense2_camera/depth_frame_id: camera_depth_frame
• /camera/realsense2_camera/depth_height: 480
• /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
• /camera/realsense2_camera/depth_width: 640
• /camera/realsense2_camera/enable_accel: True
• /camera/realsense2_camera/enable_color: True
• /camera/realsense2_camera/enable_depth: True
• /camera/realsense2_camera/enable_fisheye1: True
• /camera/realsense2_camera/enable_fisheye2: True
• /camera/realsense2_camera/enable_fisheye: True
• /camera/realsense2_camera/enable_gyro: True
• /camera/realsense2_camera/enable_infra1: True
• /camera/realsense2_camera/enable_infra2: True
• /camera/realsense2_camera/enable_pointcloud: False
• /camera/realsense2_camera/enable_sync: True
• /camera/realsense2_camera/filters:
• /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
• /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
• /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
• /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
• /camera/realsense2_camera/fisheye_fps: 30
• /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
• /camera/realsense2_camera/fisheye_height: 480
• /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
• /camera/realsense2_camera/fisheye_width: 640
• /camera/realsense2_camera/gyro_fps: 400
• /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
• /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
• /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
• /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
• /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
• /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
• /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
• /camera/realsense2_camera/infra_fps: 30
• /camera/realsense2_camera/infra_height: 480
• /camera/realsense2_camera/infra_width: 640
• /camera/realsense2_camera/initial_reset: False
• /camera/realsense2_camera/json_file_path:
• /camera/realsense2_camera/linear_accel_cov: 0.01
• /camera/realsense2_camera/odom_frame_id: camera_odom_frame
• /camera/realsense2_camera/pointcloud_texture_index: 0
• /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
• /camera/realsense2_camera/pose_frame_id: camera_pose_frame
• /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
• /camera/realsense2_camera/publish_odom_tf: True
• /camera/realsense2_camera/rosbag_filename:
• /camera/realsense2_camera/serial_no:
• /camera/realsense2_camera/topic_odom_in: camera/odom_in
• /camera/realsense2_camera/unite_imu_method: none
• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/camera/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/realsense2_camera_manager-1]: started with pid [14551]
process[camera/realsense2_camera-2]: started with pid [14552]
process[camera/color_rectify_color-3]: started with pid [14553]
process[camera/points_xyzrgb_hw_registered-4]: started with pid [14554]
[ INFO] [1567102535.246415985]: Initializing nodelet with 4 worker threads.
[ INFO] [1567102535.513146683]: RealSense ROS v2.2.8
[ INFO] [1567102535.513189191]: Running with LibRealSense v2.25.1
[ INFO] [1567102535.956911171]: getParameters...
[ INFO] [1567102536.044742282]: setupDevice...
[ INFO] [1567102536.044779900]: JSON file is not provided
[ INFO] [1567102536.044796776]: ROS Node Namespace: camera
[ INFO] [1567102536.044814112]: Device Name: Intel RealSense D435
[ INFO] [1567102536.044825543]: Device Serial No: 819612073682
[ INFO] [1567102536.044836265]: Device FW version: 05.09.14.00
[ INFO] [1567102536.044846925]: Device Product ID: 0x0B07
[ INFO] [1567102536.044857858]: Enable PointCloud: Off
[ INFO] [1567102536.044869831]: Align Depth: On
[ INFO] [1567102536.044879184]: Sync Mode: On
[ INFO] [1567102536.044936915]: Device Sensors:
[ INFO] [1567102536.044978569]: Stereo Module was found.
[ INFO] [1567102536.044992751]: RGB Camera was found.
[ INFO] [1567102536.045025299]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567102536.045039405]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567102536.045049134]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567102536.045059345]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567102536.045069635]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567102536.045081507]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567102536.045108953]: num_filters: 0
[ INFO] [1567102536.045122252]: Setting Dynamic reconfig parameters.
[ INFO] [1567102536.175449087]: Done Setting Dynamic reconfig parameters.
[ INFO] [1567102536.176790433]: depth stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567102536.176995307]: infra1 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567102536.177187755]: infra2 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567102536.179008068]: color stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567102536.180826048]: setupPublishers...
[ INFO] [1567102536.183486503]: Expected frequency for depth = 30.00000
[ INFO] [1567102536.218737694]: Expected frequency for infra1 = 30.00000
[ INFO] [1567102536.260708524]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1567102536.295540629]: Expected frequency for infra2 = 30.00000
[ INFO] [1567102536.331328936]: Expected frequency for color = 30.00000
[ INFO] [1567102536.365417630]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1567102536.401275511]: setupStreams...
[ INFO] [1567102536.402059412]: insert Depth to Stereo Module
[ INFO] [1567102536.402112489]: insert Color to RGB Camera
[ INFO] [1567102536.402140564]: insert Infrared to Stereo Module
[ INFO] [1567102536.402164232]: insert Infrared to Stereo Module
[ INFO] [1567102536.414141286]: SELECTED BASE:Depth, 0
[ INFO] [1567102536.427189415]: RealSense Node Is Up!
29/08 23:45:36,591 WARNING [140439157782272] (types.cpp:48) Region-of-interest is not implemented for this device!
[ERROR] [1567102536.591839154]: Region-of-interest is not implemented for this device!

I have made all the procedure in this package (https://github.com/yehengchen/DOPE-ROS-D435). Workspace was build completely.
This command works well =====> roslaunch realsense2_camera rs_rgbd.launch <====

After I have launched the following launch file, I am getting the following error.

roslaunch dope dope.launch

===================================error======================================
[100%] Built target realsense2_camera
ialab@ialab-OptiPlex-9010:~/obdet_ws1$ roslaunch dope dope.launch
... logging to /home/ialab/.ros/log/cf18db98-ad72-11eb-a308-90b11c6a514b/roslaunch-ialab-OptiPlex-9010-13012.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ialab-OptiPlex-9010:34993/

SUMMARY

CLEAR PARAMETERS

• /dope/

PARAMETERS

• /dope/class_ids/AlphabetSoup: 9
• /dope/class_ids/BBQSauce: 12
• /dope/class_ids/Butter: 15
• /dope/class_ids/Cherries: 18
• /dope/class_ids/ChocolatePudding: 21
• /dope/class_ids/Cookies: 24
• /dope/class_ids/Corn: 27
• /dope/class_ids/CreamCheese: 20
• /dope/class_ids/GranolaBars: 33
• /dope/class_ids/GreenBeans: 35
• /dope/class_ids/Ketchup: 10
• /dope/class_ids/MacaroniAndCheese: 13
• /dope/class_ids/Mayo: 16
• /dope/class_ids/Milk: 19
• /dope/class_ids/Mushrooms: 22
• /dope/class_ids/Mustard: 25
• /dope/class_ids/OrangeJuice: 28
• /dope/class_ids/Parmesan: 31
• /dope/class_ids/Peaches: 34
• /dope/class_ids/PeasAndCarrots: 36
• /dope/class_ids/Pineapple: 11
• /dope/class_ids/Popcorn: 14
• /dope/class_ids/Raisins: 17
• /dope/class_ids/SaladDressing: 20
• /dope/class_ids/Spaghetti: 23
• /dope/class_ids/TomatoSauce: 26
• /dope/class_ids/Tuna: 29
• /dope/class_ids/Yogurt: 32
• /dope/class_ids/bleach: 7
• /dope/class_ids/cracker: 1
• /dope/class_ids/gelatin: 2
• /dope/class_ids/meat: 3
• /dope/class_ids/mustard: 4
• /dope/class_ids/soup: 5
• /dope/class_ids/sugar: 6
• /dope/dimensions/AlphabetSoup: [8.35550022125244...
• /dope/dimensions/BBQSauce: [14.8329000473022...
• /dope/dimensions/Butter: [5.28259992599487...
• /dope/dimensions/Cherries: [5.80389976501464...
• /dope/dimensions/ChocolatePudding: [4.94719982147216...
• /dope/dimensions/Cookies: [16.7243003845214...
• /dope/dimensions/Corn: [5.80389976501464...
• /dope/dimensions/CreamCheese: [5.32060003280639...
• /dope/dimensions/GranolaBars: [12.4006004333496...
• /dope/dimensions/GreenBeans: [5.75869989395141...
• /dope/dimensions/Ketchup: [14.8607997894287...
• /dope/dimensions/MacaroniAndCheese: [16.6256008148193...
• /dope/dimensions/Mayo: [14.7902002334594...
• /dope/dimensions/Milk: [19.0358009338378...
• /dope/dimensions/Mushrooms: [3.33220005035400...
• /dope/dimensions/Mustard: [16.0049991607666...
• /dope/dimensions/OrangeJuice: [19.2483005523681...
• /dope/dimensions/Parmesan: [10.2861995697021...
• /dope/dimensions/Peaches: [5.77810001373291...
• /dope/dimensions/PeasAndCarrots: [5.85120010375976...
• /dope/dimensions/Pineapple: [5.76230001449585...
• /dope/dimensions/Popcorn: [8.49769973754882...
• /dope/dimensions/Raisins: [12.3175001144409...
• /dope/dimensions/SaladDressing: [14.7440996170043...
• /dope/dimensions/Spaghetti: [4.98369979858398...
• /dope/dimensions/TomatoSauce: [8.28470039367675...
• /dope/dimensions/Tuna: [3.25710010528564...
• /dope/dimensions/Yogurt: [5.36770009994506...
• /dope/dimensions/bleach: [10.2677307128906...
• /dope/dimensions/cracker: [16.4036006927490...
• /dope/dimensions/gelatin: [8.91829967498779...
• /dope/dimensions/meat: [10.1646738052368...
• /dope/dimensions/mustard: [9.60241508483886...
• /dope/dimensions/soup: [6.76593780517578...
• /dope/dimensions/sugar: [9.26773071289062...
• /dope/downscale_height: 400
• /dope/draw_colors/bleach: [232, 222, 12]
• /dope/draw_colors/cracker: [13, 255, 128]
• /dope/draw_colors/gelatin: [255, 255, 255]
• /dope/draw_colors/meat: [0, 104, 255]
• /dope/draw_colors/mustard: [217, 12, 232]
• /dope/draw_colors/soup: [255, 101, 0]
• /dope/draw_colors/sugar: [232, 222, 12]
• /dope/input_is_rectified: True
• /dope/mesh_scales/bleach: 0.01
• /dope/mesh_scales/cracker: 0.01
• /dope/mesh_scales/gelatin: 0.01
• /dope/mesh_scales/meat: 0.01
• /dope/mesh_scales/mustard: 0.01
• /dope/mesh_scales/soup: 0.01
• /dope/mesh_scales/sugar: 0.01
• /dope/sigma: 3
• /dope/thresh_angle: 0.5
• /dope/thresh_map: 0.01
• /dope/thresh_points: 0.1
• /dope/topic_camera: /dope/webcam/imag...
• /dope/topic_camera_info: /dope/webcam/came...
• /dope/topic_publishing: dope
• /dope/weights/soup: package://dope/we...
• /rosdistro: melodic
• /rosversion: 1.14.10

NODES
/
dope (dope/dope)

ROS_MASTER_URI=http://localhost:11311

process[dope-1]: started with pid [13028]
Traceback (most recent call last):
File "/home/ialab/obdet_ws1/src/dope/nodes/dope", line 19, in
import tf.transformations
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in
from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 38, in
from tf2_py import *
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/init.py", line 38, in
from ._tf2 import *
ImportError: dynamic module does not define module export function (PyInit__tf2)
[dope-1] process has died [pid 13028, exit code 1, cmd /home/ialab/obdet_ws1/src/dope/nodes/dope __name:=dope __log:=/home/ialab/.ros/log/cf18db98-ad72-11eb-a308-90b11c6a514b/dope-1.log].
log file: /home/ialab/.ros/log/cf18db98-ad72-11eb-a308-90b11c6a514b/dope-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
ialab@ialab-OptiPlex-9010:~/obdet_ws1$
=========================================error end=============================
How can I rectify this error.

Hello bro, When I run this program（roslaunch dope dope.launch） I get the following error
[ERROR] [1646648498.595929]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f67afd47890>>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 76, in callback
self.signalMessage(msg)
File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 58, in signalMessage
cb(*(msg + args))
File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 225, in add
self.signalMessage(msgs)
File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 58, in signalMessage
cb((msg + args))
File "/home/xxt/test_ws/src/DOPE-ROS-D435/dope/nodes/dope", line 252, in image_callback
self.config_detect
File "/home/xxt/test_ws/src/DOPE-ROS-D435/dope/nodes/inference/detector.py", line 251, in detect_object_in_image
out, seg = net_model(image_torch)
File "/home/xxt/anaconda3/envs/test/lib/python2.7/site-packages/torch/nn/modules/module.py", line 491, in call
result = self.forward(*input, **kwargs)
File "/home/xxt/anaconda3/envs/test/lib/python2.7/site-packages/torch/nn/parallel/data_parallel.py", line 112, in forward
return self.module(*inputs[0], **kwargs[0])
File "/home/xxt/anaconda3/envs/test/lib/python2.7/site-packages/torch/nn/modules/module.py", line 491, in call
result = self.forward(*input, **kwargs)
File "/home/xxt/test_ws/src/DOPE-ROS-D435/dope/nodes/inference/detector.py", line 91, in forward
out1 = self.vgg(x)
File "/home/xxt/anaconda3/envs/test/lib/python2.7/site-packages/torch/nn/modules/module.py", line 491, in call
result = self.forward(*input, **kwargs)
File "/home/xxt/anaconda3/envs/test/lib/python2.7/site-packages/torch/nn/modules/container.py", line 91, in forward
input = module(input)
File "/home/xxt/anaconda3/envs/test/lib/python2.7/site-packages/torch/nn/modules/module.py", line 491, in call
result = self.forward(*input, **kwargs)
File "/home/xxt/anaconda3/envs/test/lib/python2.7/site-packages/torch/nn/modules/conv.py", line 301, in forward
self.padding, self.dilation, self.groups)
RuntimeError: CUDNN_STATUS_EXECUTION_FAILED

I guess it may be my python version problem, the environment I am using now is
python2.7
cudatoolkit 9.0
cudnn 7.6.5
pytorch 0.4.0
torchvision 0.2.1
So can you tell me which python environment you are using, it would be greatly appreciated.

Hey,

thanks for your work. It's possible to detect and estimate the pose of multiple objects, for example cubes which belongs to the same class?

Thanks

I want to further exchange related topics with the author. This is my WeChat account:18705680658，I am looking forward to your further communication.Thank you

Traceback (most recent call last):
File "/home/sch/catkin_ws/src/DOPE-ROS-D435-master/dope/nodes/dope", line 23, in
from dope.inference.cuboid import Cuboid3d
ImportError: No module named inference.cuboid

but i can not install cuboid3d..