minghuam/grasp-search

Compile original Graspit code

Download version 2.2 from here and follow the manual to install dependencies.

1. dlopen@GLIBC error: add -ldl to LIBS in graspit-lib-LINUX.pro.

2. Hoxfix 1 in ivmgr.cpp: change SbList<SbName> extList to SbPList extList.

3. Hotfix 2 in database.cpp:

   Original code:

    bool Table::Populate(QSqlQuery query) {
      PROF_TIMER_FUNC(TABLE_POPULATE);
      data_.clear();
      column_names_.clear();
      if (query.next()) {
        QSqlRecord first_record = query.record();
        num_columns_ = first_record.count();
        data_.resize(num_columns_, vector<QVariant>(query.numRowsAffected()));
        for (int i = 0; i < num_columns_; ++i) {
          column_names_.insert(make_pair(first_record.fieldName(i).toStdString(), i));
          //cerr << "Column name: " << first_record.fieldName(i).toStdString() << "\n";
        }
        do {
          for (int i = 0; i < num_columns_; ++i) 
            data_[i].push_back(query.value(i));
        } while(query.next());
        if (!data_.empty()) num_rows_ = data_[0].size();
        return true;
      }
      return false;
    }
   

   Modified code:

    bool Table::Populate(QSqlQuery query) {
      PROF_TIMER_FUNC(TABLE_POPULATE);
      data_.clear();
      column_names_.clear();
      if (query.next()) {
        QSqlRecord first_record = query.record();
        num_columns_ = first_record.count();
        //data_.resize(num_columns_, vector<QVariant>(query.numRowsAffected()));
        for (int i = 0; i < num_columns_; ++i) {
          column_names_.insert(make_pair(first_record.fieldName(i).toStdString(), i));
          //cerr << "Column name: " << first_record.fieldName(i).toStdString() << "\n";
          vector<QVariant> v;
          data_.push_back(v);
        }
        do {
          for (int i = 0; i < num_columns_; ++i) 
            data_[i].push_back(query.value(i));
        } while(query.next());
        if (!data_.empty()) num_rows_ = data_[0].size();
        return true;
      }
      return false;
    }
   

4. To save images, install Simage library:

   apt-get install libsimage-dev

Prepare database

1. Follow here to download the grasp database file and shape models.

2. Create a database table cgdb and restore database:

   sudo -u postgres psql cgdb < path_to_cgdb-10.0.backup

   Ignore ...$libdir/cube$... errors and warnings for now.

3. Setup environtment variables: GRASPIT and CGDB_MODEL_ROOT.