Please enter either pointcloud or meshes to compute bps

[antonagafonov]

Hi,
While running grab_new_objects.py encountering following issue:

python grabnet/tests/grab_new_objects.py --obj-path contact_meshes/camera.ply --rhm-path mano_v1_2/

2022-10-19 16:56:41,969 - root - INFO - Restored CoarseNet model from grabnet/models/coarsenet.pt
2022-10-19 16:56:41,975 - root - INFO - Restored RefineNet model from grabnet/models/refinenet.pt
2022-10-19 16:56:41,984 - root - INFO - #################
Colors Guide:
Gray ---> GrabNet generated grasp

Traceback (most recent call last):
File "/home/aa/Documents/GitHub/GrabNet/grabnet/tests/grab_new_objects.py", line 235, in
grab_new_objs(grabnet,obj_path, rot=True, n_samples=10)
File "/home/aa/Documents/GitHub/GrabNet/grabnet/tests/grab_new_objects.py", line 129, in grab_new_objs
bps_object = bps.encode(verts_obj, feature_type='dists')['dists']
File "/home/aa/miniconda3/envs/Pytorch3D/lib/python3.9/site-packages/bps_torch/bps.py", line 163, in encode
raise ('Please enter either pointcloud or meshes to compute bps!')
TypeError: exceptions must derive from BaseException

Can somebody please help me to solve this one?

Thanks

[GentlesJan]

I also have a same issue, could you please tell me the solution?

[waqc]

Hi @antonagafonov @GentlesJan ,

I ran into similar problems recently and I have figured it out. I think this was caused by the PyTorch version change. In grab_new_objects.py, before passing verts_obj to bps.encode, you need to first transform it into torch.tensor. After calculating bps, you need to change it back to numpy array. I am not sure whether this is elegant but this is a fast solution.

In summary, find

bps_object = bps.encode(verts_obj, feature_type='dists')['dists']

in function grab_new_objs(grabnet, objs_path, rot=True, n_samples=10, scale=1.) in grab_new_objects.py and replace it by

verts_obj = torch.from_numpy(verts_obj)
bps_object = bps.encode(verts_obj, feature_type='dists')['dists']
verts_obj = verts_obj.numpy()

[otaheri]

Hi @waqc, thanks for the quick fix. Indeed, this is the source of the error. I updated the bps package but didnt notice that it will break this script. I updated this script accordingly, it should be working now. Let me know if you face any other issues.