The error when i run this project in ROS demo!

[makangzhe]

I can run this demo in python3 ,but when i reinstall the env by running conda env create -f pose_rbpf_env_py2.yml and recmake this project ,i run ./scripts/run_demo.sh again , the error occured

Traceback (most recent call last): File "test_prbpf_rgbd.py", line 123, in <module> pose_rbpf.run_dataset(dataset_test, args.n_seq, only_track_kf=False, kf_skip=1, demo=args.demo) File "/home/hp1/catkin_ws/src/PoseRBPF/pose_rbpf/pose_rbpf.py", line 1410, in run_dataset self.process_poserbpf(images[0], intrinsics, depth=depth_data) File "/home/hp1/catkin_ws/src/PoseRBPF/pose_rbpf/pose_rbpf.py", line 983, in process_poserbpf self.rbpf.weights = np.nan_to_num(self.rbpf.weights, nan=1e-6, posinf=1.0, neginf=1e-6) TypeError: nan_to_num() got an unexpected keyword argument 'nan'

when i try to run './scripts/run_ros_demo_posecnn.sh'

Traceback (most recent call last): File "./ros/start_posecnn_ros.py", line 502, in <module> network = networks.__dict__[args.network_name](dataset.num_classes, cfg.TRAIN.NUM_UNITS, network_data).cuda(device=cfg.device) KeyError: 'posecnn'

where place should i put PoseCNN weights ? maybe i just put it in the wrong place,i don't know

can you help me ? thank you very much

[adamconkey]

@makangzhe I had to do two things to fix the latter problem when running the ROS posecnn demo:

1. Uncomment the line from .PoseCNN import * from the file PoseRBPF/networks/__init__.py
2. The following:

cd PoseRBPF/utils
python setup.py build_ext --inplace

[adamconkey]

@makangzhe regarding your first problem, I had to change line 983 in PoseRBPF/pose_rbpf/pose_rbpf.py from

self.rbpf.weights = np.nan_to_num(self.rbpf.weights, nan=1e-6, posinf=1.0, neginf=1e-6)

to this:

self.rbpf.weights = np.nan_to_num(self.rbpf.weights)

The reason is the function np.nan_to_num has changed its signature in Python3 to include extra args nan, posinf, neginf while the function in Python2 only takes the value x as input.