agile_grasp

agile_grasp copied to clipboard

Just follow the wiki tutorial I use the methon A Method A Preparations: Each point cloud file needs to be called obji.pcd where i goes from 0 to num_files pcd_directory is the location of the directory plus the root name of the training files, e.g., /home/userA/data/obj. Training: $ rosrun agile_grasp train_svm num_files pcd_directory/obj svm_filename [plots_hands] [num_samples] [num_threads]

So I write the command in terminal as follows: rosrun agile_grasp train_svm 100 /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj svm_cube false 200 12

the pcd files directory is /home/xkx/agile_grasp_ws/src/agile_grasp-master/data this is my pcd data and their names

However, I get some of the problem: Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj78 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj78l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj78l_reg.pcd 78) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj79 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj79l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj79l_reg.pcd 79) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj80 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj80l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj80l_reg.pcd 80) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj81 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj81l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj81l_reg.pcd 81) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj82 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj82l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj82l_reg.pcd 82) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj83 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj83l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj83l_reg.pcd 83) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj84 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj84l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj84l_reg.pcd 84) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj85 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj85l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj85l_reg.pcd 85) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj86 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj86l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj86l_reg.pcd 86) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj87 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj87l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj87l_reg.pcd 87) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj88 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj88l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj88l_reg.pcd 88) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj89 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj89l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj89l_reg.pcd 89) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj90 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj90l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj90l_reg.pcd 90) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj91 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj91l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj91l_reg.pcd 91) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj92 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj92l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj92l_reg.pcd 92) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj93 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj93l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj93l_reg.pcd 93) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj94 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj94l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj94l_reg.pcd 94) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj95 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj95l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj95l_reg.pcd 95) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj96 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj96l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj96l_reg.pcd 96) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj97 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj97l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj97l_reg.pcd 97) # hands: 0 Creating training data from file /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj98 ... [pcl::PCDReader::readHeader] Could not find file '/home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj98l_reg.pcd'. Couldn't read pcd_filename_left file: /home/xkx/agile_grasp_ws/src/agile_grasp-master/data/obj98l_reg.pcd 98) # hands: 0 Training the SVM ... Converting 0 training examples (grasps) to images OpenCV Error: Bad argument (train data must be floating-point matrix) in cvCheckTrainData, file /build/buildd/opencv-2.4.8+dfsg1/modules/ml/src/inner_functions.cpp, line 857 terminate called after throwing an instance of 'cv::Exception' what(): /build/buildd/opencv-2.4.8+dfsg1/modules/ml/src/inner_functions.cpp:857: error: (-5) train data must be floating-point matrix in function cvCheckTrainData

How can I solve this problem?? thx!!!

Hello ,did anyone meet this problem, my hands are tied