apollo perception doesn't work

wangzhensuo commented 4 years ago

hello,my friend. many thanks for your carla_apollo_bridge! I created the carla_apollo_bridge environment as readme.md, all is running perfectly. then, I want to use the Apollo's perception, and changed the code as below step,

_To use Apollo perception, remove obstaclesensor from config/settings.yaml and enable the 'Transform' and 'Perception' modules.

restart the dreamview , reload the map , restart run_bridge.py and manual_control.py , and spawn some cars.

It seems that apollo perception doesn't work（couldnot see other green object like box,but I can see the cars in pygame window and cars pointcloud in the browser）. It is there any other settings that I did not done?

AngelJA commented 4 years ago

Hi there. If everything else is working this points to a possible hardware compatibility issue. What gpu are you using? Apollo perception isn't compatible with different gpu architectures such as that on the GTX 2080.

wangzhensuo commented 4 years ago

thank you for your reply. today I do the same thing in another PC. it worked OK.

wangzhensuo commented 3 years ago

I am sorry to reopen this issue as something still unknown. I built the carla_apollo_bridge environment in 3 PCs,the result is shown as below:

PC1: in fact ,it is a AWS server，apollo's perception runs OK. PC2: a local computer. apollo's perception runs failed,crashed. PC3: another local computer. apollo's perception runs failed,crashed.

when I click the "perception" button on the webpage, the terminal shows error _"[/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/common/data/global_flagfile.txt] E1109 13:26:55.701213 19258 hmi_worker.cc:128] [dreamview] FAILED(-1): nohup mainboard -d /apollo/modules/perception/production/dag/dag_streamingperception.dag &"

I run cmd(gdb --args mainboard -d /apollo/modules/perception/production/dag/dag_streaming_perception.dag) to start perception,and got the below core dump.

(gdb) bt

0 0x00007fff154d0fc9 in apollo::perception::inference::RTNet::Init(std::map<std::string, std::vector<int, std::allocator >, std::less, std::allocator<std::pair<std::string const, std::vector<int, std::allocator > > > > const&) ()

from /apollo/bazel-bin/modules/perception/onboard/component/../../../../_solib_k8/libmodules_Sperception_Sinference_Stensorrt_Slibrt_Unet.so

1 0x00007fff27df6ceb in apollo::perception::lidar::CNNSegmentation::Init(apollo::perception::lidar::SegmentationInitOptions const&) ()

from /apollo/bazel-bin/modules/perception/onboard/component/../../../../_solib_k8/libmodules_Sperception_Slidar_Slib_Ssegmentation_Scnnseg_Slibcnn_Usegmentation.so

2 0x00007fff2fdfbe0a in apollo::perception::lidar::LidarObstacleSegmentation::Init(apollo::perception::lidar::LidarObstacleSegmentationInitOptions const&) ()

from /apollo/bazel-bin/modules/perception/onboard/component/../../../../_solib_k8/libmodules_Sperception_Slidar_Sapp_Sliblidar_Uobstacle_Usegmentation.so

3 0x00007fff74587b44 in apollo::perception::onboard::SegmentationComponent::InitAlgorithmPlugin() ()

from /apollo/bazel-bin/modules/perception/onboard/component/../../../../_solib_k8/libmodules_Sperception_Sonboard_Scomponent_Slibperception_Ucomponent_Uinner_Ulidar.so

4 0x00007fff7459e93b in apollo::perception::onboard::SegmentationComponent::Init() ()

from /apollo/bazel-bin/modules/perception/onboard/component/../../../../_solib_k8/libmodules_Sperception_Sonboard_Scomponent_Slibperception_Ucomponent_Uinner_Ulidar.so

5 0x00007fff745a4094 in apollo::cyber::Component<apollo::drivers::PointCloud, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&) ()

from /apollo/bazel-bin/modules/perception/onboard/component/../../../../_solib_k8/libmodules_Sperception_Sonboard_Scomponent_Slibperception_Ucomponent_Uinner_Ulidar.so

6 0x000000000040adea in apollo::cyber::mainboard::ModuleController::LoadModule(apollo::cyber::proto::DagConfig const&) ()

7 0x000000000040b43b in apollo::cyber::mainboard::ModuleController::LoadModule(std::string const&) ()

8 0x000000000040b70d in apollo::cyber::mainboard::ModuleController::LoadAll() ()

9 0x000000000040539d in main ()

three PC s are the same code,but one( AWS server) is OK ,and other two is failed.

compare the three PC's hardware info: run cmd: lspci | grep -i vga PC1 (AWS server) 00:02.0 VGA compatible controller: Cirrus Logic GD 5446 00:1e.0 VGA compatible controller: NVIDIA Corporation GM204GL [Tesla M60] (rev a1)

PC 2 01:00.0 VGA compatible controller: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti Rev. A] (rev a1)

PC3 : 00:02.0 VGA compatible controller: Intel Corporation Device 9bc4 (rev 05) 01:00.0 VGA compatible controller: NVIDIA Corporation Device 2191 (rev a1) TU116M [GeForce GTX 1660 Ti Mobile](I use this web to tranfer "2191" to this hardware info.)

+-----------------------------------------------------------------------------+ | Processes: GPU Memory | | GPU PID Type Process name Usage | |=============================================================================| | 0 1778 G /usr/lib/xorg/Xorg 90MiB | | 0 5665 G /usr/bin/gnome-shell 92MiB | +-----------------------------------------------------------------------------+

+-----------------------------------------------------------------------------+ | Processes: GPU Memory | | GPU PID Type Process name Usage | |=============================================================================| | 0 1292 G /usr/lib/xorg/Xorg 16MiB | | 0 1385 G /usr/bin/gnome-shell 57MiB | | 0 3826 G /usr/lib/xorg/Xorg 109MiB | | 0 3997 G /usr/bin/gnome-shell 116MiB | | 0 10917 C+G .../Binaries/Linux/CarlaUE4-Linux-Shipping 1096MiB | | 0 11931 G /usr/lib/firefox/firefox 734MiB | +-----------------------------------------------------------------------------+

+-----------------------------------------------------------------------------+ | Processes: GPU Memory | | GPU PID Type Process name Usage | |=============================================================================| | 0 2821 G /usr/lib/xorg/Xorg 213MiB | | 0 3529 G /usr/bin/gnome-shell 99MiB | | 0 16894 G ...AAAAAAAAAAAACAAAAAAAAAA= --shared-files 16MiB | +-----------------------------------------------------------------------------+

Does anyone meet the same problem(perception crashed)?
thank you!

AngelJA commented 3 years ago

Hi there, no need to apologize. The Nvidia 2080 and 1660 are both Turing architecture gpus which Apollo 5.0's perception doesn't support. https://github.com/ApolloAuto/apollo/issues/6916

It seems there were plans to support different gpu architectures, but I don't know the current status of those efforts.

AuroAi / carla_apollo_bridge

apollo perception doesn't work #13

0 0x00007fff154d0fc9 in apollo::perception::inference::RTNet::Init(std::map<std::string, std::vector<int, std::allocator >, std::less, std::allocator<std::pair<std::string const, std::vector<int, std::allocator > > > > const&) ()

1 0x00007fff27df6ceb in apollo::perception::lidar::CNNSegmentation::Init(apollo::perception::lidar::SegmentationInitOptions const&) ()

2 0x00007fff2fdfbe0a in apollo::perception::lidar::LidarObstacleSegmentation::Init(apollo::perception::lidar::LidarObstacleSegmentationInitOptions const&) ()

3 0x00007fff74587b44 in apollo::perception::onboard::SegmentationComponent::InitAlgorithmPlugin() ()

4 0x00007fff7459e93b in apollo::perception::onboard::SegmentationComponent::Init() ()

5 0x00007fff745a4094 in apollo::cyber::Component<apollo::drivers::PointCloud, apollo::cyber::NullType, apollo::cyber::NullType, apollo::cyber::NullType>::Initialize(apollo::cyber::proto::ComponentConfig const&) ()

6 0x000000000040adea in apollo::cyber::mainboard::ModuleController::LoadModule(apollo::cyber::proto::DagConfig const&) ()

7 0x000000000040b43b in apollo::cyber::mainboard::ModuleController::LoadModule(std::string const&) ()

8 0x000000000040b70d in apollo::cyber::mainboard::ModuleController::LoadAll() ()

9 0x000000000040539d in main ()