Test script code discrepancy

[pv33]

The following in puzzle/pieces/testing work. Need to align between home and GT. What is below works at home:

• real05_edge.py [all good; some text output that should be removed]
• basic06_sift.py
• basic05_edge.py
• real01_template.py [has weird intermediate visuals that need to be removed]
• real02_sift.py
• real03_sift.py
• real04_sift.py
• rotate_regular.py
• rotate_template.py

The following in puzzle/testing/clusters work:

• arg01_clusterByColor.py [except for warning about missing display options]
• basic01_byColor.py [warning affinity deprecated in v1.2, removed in v1.4. Use metric.]
• score01_simByColor.py
• score02_rosByColor.py
• basic02_byShape.py
• basic03_byColor.py
• basic04_byEdges.py

[pv33]

Package Version Location

---

actionlib 1.14.0
alabaster 0.7.8
angles 1.9.13
apt-xapian-index 0.49
atomicwrites 1.1.5
attrs 19.3.0
autobahn 17.10.1
Automat 0.8.0
Babel 2.6.0
base-local-planner 1.17.3
bcrypt 3.1.7
beautifulsoup4 4.8.2
blinker 1.4
blosc 1.7.0
bokeh 3.0.3
bondpy 1.8.6
breezy 3.0.2
camera 2.2.0 /home/pvela/python/camera
camera-calibration 1.17.0
camera-calibration-parsers 1.12.0
capabilities 0.3.1
catkin 0.8.10
catkin-pkg 1.0.0
catkin-pkg-modules 1.0.0
catkin-tools 0.9.2
cbor 1.0.0
certifi 2019.11.28
chardet 3.0.4
charset-normalizer 2.1.0
Click 7.0
cloudpickle 1.3.0
colorama 0.4.3
colorlog 6.7.0
command-not-found 0.3
configobj 5.0.6
constantly 15.1.0
contourpy 1.0.7
controller-manager 0.20.0
controller-manager-msgs 0.20.0
cryptography 2.8
cupshelpers 1.0
cv-bridge 1.16.2
cycler 0.10.0
Cython 0.29.14
dask 2.8.1+dfsg
dataclasses 0.6
dbus-python 1.2.16
decorator 4.4.2
defusedxml 0.6.0
Deprecated 1.2.13
descartes 1.1.0
detector 1.0.1 /home/pvela/python/detector
diagnostic-analysis 1.11.0
diagnostic-common-diagnostics 1.11.0
diagnostic-updater 1.11.0
distro 1.4.0
distro-info 0.23+ubuntu1.1
docutils 0.16
dulwich 0.19.15
dynamic-reconfigure 1.7.3
empy 3.3.2
entrypoints 0.3
et-xmlfile 1.0.1
fastimport 0.9.8
fsspec 0.6.1
ftfy 6.1.1
future 0.18.2
gazebo-plugins 2.9.2
gazebo-ros 2.9.2
gencpp 0.7.0
geneus 3.0.0
genlisp 0.4.18
genmsg 0.6.0
gennodejs 2.0.2
genpy 0.6.15
gpg 1.13.1
h5py 3.10.0
html5lib 1.0.1
httplib2 0.14.0
hyperlink 19.0.0
idna 2.8
image-geometry 1.16.2
imageio 2.33.1
imagesize 1.2.0
importlib-metadata 1.5.0
importlib-resources 5.10.2
improcessor 1.0.1 /home/pvela/python/improcessor
incremental 16.10.1
interactive-markers 1.12.0
ivapy 1.0.1 /home/pvela/python/ivapy
jdcal 1.0
Jinja2 2.10.1
joblib 1.4.2
joint-state-publisher 1.15.1
joint-state-publisher-gui 1.15.1
jsonschema 4.17.3
kdl-parser-py 1.14.2
keyring 18.0.1
kiwisolver 1.0.1
language-selector 0.1
laser-geometry 1.6.7
launchpadlib 1.10.13
lazr.restfulclient 0.14.2
lazr.uri 1.0.3
lazy-loader 0.3
Lie 1.0 /home/pvela/python/Lie
locket 0.2.0
lxml 4.5.0
lz4 3.0.2+dfsg
mailchecker 4.1.17
mapbox-earcut 1.0.1
MarkupSafe 1.1.0
matplotlib 3.1.2
matplotlib-venn 0.11.5
message-filters 1.16.0
more-itertools 4.2.0
moveit-commander 1.1.14
moveit-core 1.1.14
moveit-python 0.4.5
moveit-ros-planning-interface 1.1.14
moveit-ros-visualization 1.1.14
mpi4py 3.0.3
mpmath 1.2.1
msgpack 1.0.4
netifaces 0.10.4
networkx 3.1
noise 1.2.2
nose 1.3.7
numexpr 2.7.1
numpy 1.23.5
oauthlib 3.1.0
olefile 0.46
opencv-contrib-python 4.5.5.62
opencv-python 4.6.0.66
openpyxl 3.0.3
osrf-pycommon 2.0.2
packaging 23.2
pandas 1.5.3
paramiko 2.6.0
partd 1.0.0
pcg-gazebo 0.7.12
perceiver 1.0.1 /home/pvela/python/perceiver
pexpect 4.6.0
phonenumbers 8.12.51
Pillow 10.1.0
pip 20.0.2
pkgutil-resolve-name 1.3.10
pluggy 0.13.0
progress 1.6
psutil 5.5.1
py 1.8.1
py-ubjson 0.14.0
pyasn1 0.4.2
pyasn1-modules 0.2.1
pyassimp 4.1.4
pycairo 1.16.2
pycollada 0.6
pycrypto 2.6.1
pycryptodomex 3.6.1
pycups 1.9.73
pydot 1.4.1
PyGithub 1.43.7
Pygments 2.3.1
PyGObject 3.36.0
PyHamcrest 1.9.0
PyJWT 1.7.1
pymacaroons 0.13.0
PyNaCl 1.3.0
PyOpenGL 3.1.0
pyOpenSSL 19.0.0
pyparsing 2.4.6
pypng 0.0.20
PyQRCode 1.2.1
PyQt5 5.14.1
pyrealsense2 2.50.0.3812
pyrsistent 0.19.3
pyserial 3.4
pytest 4.6.9
python-apt 2.0.1+ubuntu0.20.4.1
python-benedict 0.25.1
python-dateutil 2.8.2
python-debian 0.1.36+ubuntu1.1
python-fcl 0.7.0.4
python-fsutil 0.6.1
python-gitlab 2.0.1
python-gnupg 0.4.5
python-qt-binding 0.4.4
python-slugify 6.1.2
python-snappy 0.5.3
python-tsp 0.3.0
pytoml 0.1.21
PyTrie 0.2
pytz 2022.7.1
PyWavelets 1.4.1
PyYAML 6.0
pyzmq 18.1.1
qt-dotgraph 0.4.2
qt-gui 0.4.2
qt-gui-cpp 0.4.2
qt-gui-py-common 0.4.2
reportlab 3.5.34
requests 2.28.1
requests-unixsocket 0.2.0
resource-retriever 1.12.7
roipoly 0.5.3
roman 2.0.0
ros-numpy 0.0.5
rosbag 1.16.0
rosboost-cfg 1.15.8
rosclean 1.15.8
roscreate 1.15.8
rosdep 0.25.1
rosdep-modules 0.25.1
rosdistro 0.9.1
rosdistro-modules 0.9.1
rosgraph 1.16.0
rosinstall 0.7.8
rosinstall-generator 0.1.23
roslaunch 1.16.0
roslib 1.15.8
roslint 0.12.0
roslz4 1.16.0
rosmake 1.15.8
rosmaster 1.16.0
rosmsg 1.16.0
rosnode 1.16.0
rosparam 1.16.0
rospkg 1.5.1
rospkg-modules 1.5.1
rospy 1.16.0
rospy-message-converter 0.5.9
rosservice 1.16.0
rostest 1.16.0
rostopic 1.16.0
rosunit 1.15.8
ROSWrapper 1.0 /home/pvela/python/ROSWrapper
roswtf 1.16.0
rqt-action 0.4.9
rqt-bag 0.5.1
rqt-bag-plugins 0.5.1
rqt-console 0.4.12
rqt-dep 0.4.12
rqt-graph 0.4.14
rqt-gui 0.5.3
rqt-gui-py 0.5.3
rqt-image-view 0.4.17
rqt-launch 0.4.9
rqt-logger-level 0.4.12
rqt-moveit 0.5.11
rqt-msg 0.4.10
rqt-nav-view 0.5.7
rqt-plot 0.4.13
rqt-pose-view 0.5.11
rqt-publisher 0.4.10
rqt-py-common 0.5.3
rqt-py-console 0.4.10
rqt-reconfigure 0.5.5
rqt-robot-dashboard 0.5.8
rqt-robot-monitor 0.5.15
rqt-robot-steering 0.5.12
rqt-runtime-monitor 0.5.10
rqt-rviz 0.7.0
rqt-service-caller 0.4.10
rqt-shell 0.4.11
rqt-srv 0.4.9
rqt-tf-tree 0.6.4
rqt-top 0.4.10
rqt-topic 0.4.13
rqt-web 0.4.10
Rtree 1.0.1
rviz 1.14.25
scikit-image 0.21.0
scikit-learn 1.3.2
scipy 1.8.1
screen-resolution-extra 0.0.0
SecretStorage 2.3.1
sensor-msgs 1.13.1
service-identity 18.1.0
setuptools 45.2.0
Shapely 1.7.0
similaritymeasures 1.1.0
simplejson 3.16.0
sip 4.19.21
six 1.14.0
sklearn 0.0
sklearn-pandas 1.8.0
smach 2.5.2
smach-ros 2.5.2
smclib 1.8.6
soupsieve 1.9.5
Sphinx 1.8.5
srdfdom 0.6.4
ssh-import-id 5.10
Surveillance 1.0 /home/pvela/python/surveillance
svg.path 6.2
sympy 1.11.1
systemd-python 234
tables 3.6.1
tabulate 0.8.10
text-unidecode 1.3
tf 1.13.2
tf-conversions 1.13.2
tf2-geometry-msgs 0.7.7
tf2-kdl 0.7.7
tf2-py 0.7.7
tf2-ros 0.7.7
threadpoolctl 3.5.0
tifffile 2023.7.10
toml 0.10.2
toolz 0.9.0
topic-tools 1.16.0
tornado 6.2
tqdm 4.64.0
trackpointer 1.0.1 /home/pvela/python/trackpointer
transitions 0.8.11
triangle 20220202
trimesh 3.19.4
tsplib95 0.7.1
Twisted 18.9.0
txaio 2.10.0
u-msgpack-python 2.1
ubuntu-advantage-tools 8001
ubuntu-drivers-common 0.0.0
ufw 0.36
unattended-upgrades 0.1
urdfdom-py 0.4.6
urllib3 1.25.8
usb-creator 0.3.7
vcstools 0.1.42
wadllib 1.3.3
wcwidth 0.2.5
webencodings 0.5.1
wheel 0.34.2
wrapt 1.14.1
wsaccel 0.6.2
wstool 0.1.18
xacro 1.14.18
xkit 0.0.0
xlrd 1.1.0
xlwt 1.3.0
xmltodict 0.13.0
xxhash 3.2.0
xyzservices 2022.9.0
yacs 0.1.8
yasha 5.0
zipp 3.13.0
zope.interface 4.7.1

[pv33]

@dvsh-n
I got the puzzle/testing/clusters and testing/pieces/testing directories to have mostly functional code. What works is checked off in the list at the top of the git issue. Everything should run. If it doesn't, then maybe there are library/package differences. I posted by package listing to this issue in a comment. Worth comparing.

It would be a good exercise to get the SIFT feature working. I never upgraded the class code for SIFT. Yunzhi liked to do shapeExtractFeat and colorExtractFeat or maybe FeatExtract, who knows. All I know is that it is now called extractFeature. you can use the histgoram of other coded and functional methods to see how to code the SIFT version. There's enough working that you should be able to get the revisions made pretty quickly.

I had to cancel execution of ./score01_simByColor.py but it did appear to be working. The pieces were being moved to regions that made sense. I got up to piece 26 before canceling execution. Will test tomorrow on machine in TSRB if I have time.