Error when trying to visualize synthetic dataset #3
Description
Hey everyone!
Thanks for the great work and thanks for sharing the code.
I have an issue when trying to visualize the dataset I generated synthetically with the synthetic data generation tool provided by this repo. I run the notebook inspect_dataset and get following error in the second cell:
---------------------------------------------------------------------------
ConstructorError Traceback (most recent call last)
Cell In [5], line 3
1 # ds_name = 'ycbv.train.real'
2 ds_name = 'synthetic.ycbv-1M.train'
----> 3 scene_ds = make_scene_dataset(ds_name)
File ~/cosypose/cosypose/datasets/datasets_cfg.py:139, in make_scene_dataset(ds_name, n_frames)
137 is_train = 'train' in ds_name.split('.')[-1]
138 ds_name = ds_name.split('.')[1]
--> 139 ds = SyntheticSceneDataset(ds_dir=LOCAL_DATA_DIR / 'synt_datasets' / ds_name, train=is_train)
141 else:
142 raise ValueError(ds_name)
File ~/cosypose/cosypose/datasets/synthetic_dataset.py:22, in SyntheticSceneDataset.__init__(self, ds_dir, train)
20 keys_path = ds_dir / (('train' if train else 'val') + '_keys.pkl')
21 keys = pkl.loads(keys_path.read_bytes())
---> 22 self.cfg = yaml.load((ds_dir / 'config.yaml').read_text(), Loader=yaml.FullLoader)
23 self.object_set = self.cfg.scene_kwargs['urdf_ds']
24 self.keys = keys
File ~/anaconda3/envs/cosypose/lib/python3.10/site-packages/yaml/__init__.py:81, in load(stream, Loader)
79 loader = Loader(stream)
80 try:
---> 81 return loader.get_single_data()
82 finally:
83 loader.dispose()
File ~/anaconda3/envs/cosypose/lib/python3.10/site-packages/yaml/constructor.py:51, in BaseConstructor.get_single_data(self)
49 node = self.get_single_node()
50 if node is not None:
---> 51 return self.construct_document(node)
52 return None
File ~/anaconda3/envs/cosypose/lib/python3.10/site-packages/yaml/constructor.py:55, in BaseConstructor.construct_document(self, node)
54 def construct_document(self, node):
---> 55 data = self.construct_object(node)
56 while self.state_generators:
57 state_generators = self.state_generators
File ~/anaconda3/envs/cosypose/lib/python3.10/site-packages/yaml/constructor.py:100, in BaseConstructor.construct_object(self, node, deep)
98 constructor = self.__class__.construct_mapping
99 if tag_suffix is None:
--> 100 data = constructor(self, node)
101 else:
102 data = constructor(self, tag_suffix, node)
File ~/anaconda3/envs/cosypose/lib/python3.10/site-packages/yaml/constructor.py:427, in SafeConstructor.construct_undefined(self, node)
426 def construct_undefined(self, node):
--> 427 raise ConstructorError(None, None,
428 "could not determine a constructor for the tag %r" % node.tag,
429 node.start_mark)
ConstructorError: could not determine a constructor for the tag 'tag:yaml.org,2002:python/object:argparse.Namespace'
in "<unicode string>", line 1, column 1:
!!python/object:argparse.Namespace
^
I think there is a problem with the structure of the YAML file. When I delete !!python/object:argparse.Namespace in the first line and !!python/object/apply:pathlib.PosixPath in the third line inside the YAML file of the dataset, I get following error:
---------------------------------------------------------------------------
AttributeError Traceback (most recent call last)
Cell In [6], line 3
1 # ds_name = 'ycbv.train.real'
2 ds_name = 'synthetic.ycbv-1M.train'
----> 3 scene_ds = make_scene_dataset(ds_name)
File ~/cosypose/cosypose/datasets/datasets_cfg.py:139, in make_scene_dataset(ds_name, n_frames)
137 is_train = 'train' in ds_name.split('.')[-1]
138 ds_name = ds_name.split('.')[1]
--> 139 ds = SyntheticSceneDataset(ds_dir=LOCAL_DATA_DIR / 'synt_datasets' / ds_name, train=is_train)
141 else:
142 raise ValueError(ds_name)
File ~/cosypose/cosypose/datasets/synthetic_dataset.py:23, in SyntheticSceneDataset.__init__(self, ds_dir, train)
21 keys = pkl.loads(keys_path.read_bytes())
22 self.cfg = yaml.load((ds_dir / 'config.yaml').read_text(), Loader=yaml.FullLoader)
---> 23 self.object_set = self.cfg.scene_kwargs['urdf_ds']
24 self.keys = keys
26 urdf_ds_name = self.cfg.scene_kwargs['urdf_ds']
AttributeError: 'dict' object has no attribute 'scene_kwargs'
When I try to validate the content of the YAML file with https://codebeautify.org/yaml-validator, I get errors in both versions. I think there is something with the !! expressions. While python seems to not have a problem with these expressions when I remove the two lines mentioned above, but rather has a problem with the content of file, it cant find the scene_kwargs attribute.
Any help is appreciated. Thanks in advance