[Problem] Bag of Features for Object Recognition

[xMutzelx]

Hello,
I am following this example: http://jsk-recognition.readthedocs.org/en/latest/jsk_perception/bof_object_recognition.html

When I type:rosrun jsk_perception create_sift_dataset.py 20150428_collected_images I get the following error:

Traceback (most recent call last):
  File "/home/marcel/jsk_ws/src/jsk_recognition/jsk_perception/scripts/create_sift_dataset.py", line 31, in <module>
    import imagesift
  File "/home/marcel/jsk_ws/devel/lib/python2.7/dist-packages/imagesift/__init__.py", line 35, in <module>
    exec(__fh.read())
  File "<string>", line 8, in <module>
ImportError: No module named siftfastpy

I succssfully installed jsk-recognition and jsk-3rdparty. I am using Ubuntu 14.04 and Ros Indigo. I installed OpenCV 2.4.11. Do you have any ideas how I can fix this?
Thank you for your help.

[wkentaro]

This seems problem in libsiftfastpy. https://github.com/jsk-ros-pkg/jsk_3rdparty/tree/master/3rdparty/libsiftfast
because the siftfastpy.so should be installed and properly loaded after installed via apt.

[xMutzelx]

I installed it from source and not via apt.
I can find siftfastpy.o by hand:

marcel@marcel-H67A-UD3H-B3:~/jsk_ws/build/libsiftfast/libsiftfast_svn/build/CMakeFiles/siftfastpy.dir$ ls
build.make         CXX.includecache  depend.internal  flags.make     link.txt       siftfastpy.o
cmake_clean.cmake  DependInfo.cmake  depend.make      libsiftfast.o  progress.make

[wkentaro]

Ok, if so, it should be installed at:

~/jsk_ws/devel/lib/python2.7/dist-packages/siftfastpy.so

[xMutzelx]

Here is no siftfastpy.so and I also cant find it in subfolders.

marcel@marcel-H67A-UD3H-B3:~/jsk_ws/devel/lib/python2.7/dist-packages$ ls
bayesian                  jsk_pcl_ros        jsk_recognition_msgs   opt_camera
bayesian_belief_networks  jsk_pcl_ros_utils  jsk_recognition_utils  pgm_learner
imagesift                 jsk_perception     mini_maxwell           resized_image_transport

I also found a link at: /home/marcel/jsk_ws/devel and the link goes to: /home/marcel/jsk_ws/devel/.private/libsiftfast

[wkentaro]

There is a condition in build/libsiftfast/libsiftfast_svn/CMakeLists.txt as below:

if( HAVE_ALL_PYTHON_HEADERS )
      message(STATUS "python and boost-python found")
      include_directories(${PYTHON_INCLUDE_PATH} ${Boost_INCLUDE_DIRS})
      link_directories(${Boost_LIBRARY_DIRS})
      add_library(siftfastpy SHARED siftfastpy.cpp libsiftfast.cpp)
      # stdc++ has to be included before opengl libraries due to some ATI bug (http://wiki.fifengine.de/Segfault_in_cxa_allocate_exception#Workaround)
      target_link_libraries(siftfastpy ${STDC_LIBRARY} ${PYTHON_LIBRARIES} ${Boost_PYTHON_LIBRARY})

there is some missing dependencies in your environment.

[wkentaro]

Please check the message on built time.

[wkentaro]

I found catkin_tools 0.4.0 does not run execute_process cmake function, and it may cause the bug.

[wkentaro]

Ah, it's my misunderstanding, https://github.com/jsk-ros-pkg/jsk_3rdparty/blob/master/3rdparty/libsiftfast/CMakeLists.txt#L33-L35 line fails because of changed catkin_tools api.

[wkentaro]

jsk-ros-pkg/jsk_3rdparty#62 should fix the problem of wrong location of siftfastpy.so.

[xMutzelx]

Your fix works fine. Thank you for your help, I really appreciate it.