Closed U-AMC closed 9 months ago
Thank you for trying test code! Could you show me the full command line output?
[YAML] Loading paths...
[YAML] Loading 3D-BBS parameters...
[YAML] Loading angular search range...
[YAML] Loading score threshold percentage...
[YAML] Loading downsample souce clouds parameters...
[Setting] Loading target pcds...
Segmentation fault (core dumped)
Right after the file launches, it immediately fails. Just to note that I am running on Ubuntu 20.04 / CUDA 12.2 / PCL 1.10.0
Thank you for sharing more information. Please take a moment.
Hi, thanks for your efforts! and I have a same problem...
Hi! I was able to reproduce the same error in pcl::io::loadPCDFile() I'm trying to solve this.
@KOKIAOKI
Hi, Thanks for the great work!
When I built an environment with docker to test it, it ran successfully on test_data! 😄
Related to docker, could I pull request for the execution and dockerfile?
I built and tested the environment in docker as shown below. | Version | |
---|---|---|
Ubuntu | 22.04 | |
NVIDIA driver | 525.60.11 | |
CUDA | 12.0 | |
Cudnn | 8.0 | |
Cmake | 3.27.9 | |
Eigen | 3.4.0 | |
PCL | 1.12.1 |
terminal output :
root@multirobot1-CILAB:~/workspace/test/build# ./gpu_test ../config/test.yaml
[YAML] Loading paths...
[YAML] Loading 3D-BBS parameters...
[YAML] Loading angular search range...
[YAML] Loading score threshold percentage...
[YAML] Loading downsample souce clouds parameters...
[Setting] Loading target pcds...
[Setting] Loading source pcds...
[Setting] Create output folder with date...
[Voxel map] Creating hierarchical voxel map...
[Voxel map] Execution time: 221833[msec]
-------------------------------
[Localize] pcd file name: 1
[Localize] Execution time: 126.891[msec]
[Localize] Score: 719
-------------------------------
[Localize] pcd file name: 10
[Localize] Execution time: 646.21[msec]
[Localize] Score: 869
-------------------------------
[Localize] pcd file name: 11
[Localize] Execution time: 3351.11[msec]
[Localize] Score: 907
-------------------------------
[Localize] pcd file name: 12
[Localize] Execution time: 2230.99[msec]
[Localize] Score: 863
-------------------------------
[Localize] pcd file name: 13
[Localize] Execution time: 550.258[msec]
[Localize] Score: 597
-------------------------------
[Localize] pcd file name: 14
[Localize] Execution time: 2292.04[msec]
[Localize] Score: 1001
-------------------------------
[Localize] pcd file name: 15
[Localize] Execution time: 529.112[msec]
[Localize] Score: 492
-------------------------------
[Localize] pcd file name: 16
[Localize] Execution time: 152.919[msec]
[Localize] Score: 890
-------------------------------
[Localize] pcd file name: 17
[Localize] Execution time: 296.275[msec]
[Localize] Score: 718
-------------------------------
[Localize] pcd file name: 18
[Localize] Execution time: 475.436[msec]
[Localize] Score: 760
-------------------------------
[Localize] pcd file name: 19
[Localize] Execution time: 959.659[msec]
[Localize] Score: 730
-------------------------------
[Localize] pcd file name: 2
[Localize] Execution time: 109.258[msec]
[Localize] Score: 1208
-------------------------------
[Localize] pcd file name: 20
[Localize] Execution time: 572.528[msec]
[Localize] Score: 670
-------------------------------
[Localize] pcd file name: 21
[Localize] Execution time: 511.264[msec]
[Localize] Score: 666
-------------------------------
[Localize] pcd file name: 22
[Localize] Execution time: 175.054[msec]
[Localize] Score: 836
-------------------------------
[Localize] pcd file name: 23
[Localize] Execution time: 137.486[msec]
[Localize] Score: 822
-------------------------------
[Localize] pcd file name: 24
[Localize] Execution time: 92.3328[msec]
[Localize] Score: 845
-------------------------------
[Localize] pcd file name: 25
[Localize] Execution time: 104.793[msec]
[Localize] Score: 774
-------------------------------
[Localize] pcd file name: 26
[Localize] Execution time: 103.445[msec]
[Localize] Score: 769
-------------------------------
[Localize] pcd file name: 27
[Localize] Execution time: 145.053[msec]
[Localize] Score: 889
-------------------------------
[Localize] pcd file name: 28
[Localize] Execution time: 128.226[msec]
[Localize] Score: 969
-------------------------------
[Localize] pcd file name: 29
[Localize] Execution time: 260.802[msec]
[Localize] Score: 877
-------------------------------
[Localize] pcd file name: 3
[Localize] Execution time: 298.594[msec]
[Localize] Score: 952
-------------------------------
[Localize] pcd file name: 30
[Localize] Execution time: 370.472[msec]
[Localize] Score: 1031
-------------------------------
[Localize] pcd file name: 31
[Localize] Execution time: 223.518[msec]
[Localize] Score: 748
-------------------------------
[Localize] pcd file name: 32
[Localize] Execution time: 104.014[msec]
[Localize] Score: 695
-------------------------------
[Localize] pcd file name: 4
[Localize] Execution time: 575.496[msec]
[Localize] Score: 1074
-------------------------------
[Localize] pcd file name: 5
[Localize] Execution time: 3405.11[msec]
[Localize] Score: 1060
-------------------------------
[Localize] pcd file name: 6
[Localize] Execution time: 1023.24[msec]
[Localize] Score: 1122
-------------------------------
[Localize] pcd file name: 7
[Localize] Execution time: 2332.08[msec]
[Localize] Score: 984
-------------------------------
[Localize] pcd file name: 8
[Localize] Execution time: 311.617[msec]
[Localize] Score: 752
-------------------------------
[Localize] pcd file name: 9
[Localize] Execution time: 2591.78[msec]
[Localize] Score: 901
[Localize] Average time: 786[msec] per frame
Thanks,
@KOKIAOKI Hi, Thanks for the great work!
When I built an environment with docker to test it, it ran successfully on test_data! 😄
Related to docker, could I pull request for the execution and dockerfile?
I built and tested the environment in docker as shown below.
Version Ubuntu 22.04 NVIDIA driver 525.60.11 CUDA 12.0 Cudnn 8.0 Cmake 3.27.9 Eigen 3.4.0 PCL 1.12.1 terminal output :
root@multirobot1-CILAB:~/workspace/test/build# ./gpu_test ../config/test.yaml [YAML] Loading paths... [YAML] Loading 3D-BBS parameters... [YAML] Loading angular search range... [YAML] Loading score threshold percentage... [YAML] Loading downsample souce clouds parameters... [Setting] Loading target pcds... [Setting] Loading source pcds... [Setting] Create output folder with date... [Voxel map] Creating hierarchical voxel map... [Voxel map] Execution time: 221833[msec] ------------------------------- [Localize] pcd file name: 1 [Localize] Execution time: 126.891[msec] [Localize] Score: 719 ------------------------------- [Localize] pcd file name: 10 [Localize] Execution time: 646.21[msec] [Localize] Score: 869 ------------------------------- [Localize] pcd file name: 11 [Localize] Execution time: 3351.11[msec] [Localize] Score: 907 ------------------------------- [Localize] pcd file name: 12 [Localize] Execution time: 2230.99[msec] [Localize] Score: 863 ------------------------------- [Localize] pcd file name: 13 [Localize] Execution time: 550.258[msec] [Localize] Score: 597 ------------------------------- [Localize] pcd file name: 14 [Localize] Execution time: 2292.04[msec] [Localize] Score: 1001 ------------------------------- [Localize] pcd file name: 15 [Localize] Execution time: 529.112[msec] [Localize] Score: 492 ------------------------------- [Localize] pcd file name: 16 [Localize] Execution time: 152.919[msec] [Localize] Score: 890 ------------------------------- [Localize] pcd file name: 17 [Localize] Execution time: 296.275[msec] [Localize] Score: 718 ------------------------------- [Localize] pcd file name: 18 [Localize] Execution time: 475.436[msec] [Localize] Score: 760 ------------------------------- [Localize] pcd file name: 19 [Localize] Execution time: 959.659[msec] [Localize] Score: 730 ------------------------------- [Localize] pcd file name: 2 [Localize] Execution time: 109.258[msec] [Localize] Score: 1208 ------------------------------- [Localize] pcd file name: 20 [Localize] Execution time: 572.528[msec] [Localize] Score: 670 ------------------------------- [Localize] pcd file name: 21 [Localize] Execution time: 511.264[msec] [Localize] Score: 666 ------------------------------- [Localize] pcd file name: 22 [Localize] Execution time: 175.054[msec] [Localize] Score: 836 ------------------------------- [Localize] pcd file name: 23 [Localize] Execution time: 137.486[msec] [Localize] Score: 822 ------------------------------- [Localize] pcd file name: 24 [Localize] Execution time: 92.3328[msec] [Localize] Score: 845 ------------------------------- [Localize] pcd file name: 25 [Localize] Execution time: 104.793[msec] [Localize] Score: 774 ------------------------------- [Localize] pcd file name: 26 [Localize] Execution time: 103.445[msec] [Localize] Score: 769 ------------------------------- [Localize] pcd file name: 27 [Localize] Execution time: 145.053[msec] [Localize] Score: 889 ------------------------------- [Localize] pcd file name: 28 [Localize] Execution time: 128.226[msec] [Localize] Score: 969 ------------------------------- [Localize] pcd file name: 29 [Localize] Execution time: 260.802[msec] [Localize] Score: 877 ------------------------------- [Localize] pcd file name: 3 [Localize] Execution time: 298.594[msec] [Localize] Score: 952 ------------------------------- [Localize] pcd file name: 30 [Localize] Execution time: 370.472[msec] [Localize] Score: 1031 ------------------------------- [Localize] pcd file name: 31 [Localize] Execution time: 223.518[msec] [Localize] Score: 748 ------------------------------- [Localize] pcd file name: 32 [Localize] Execution time: 104.014[msec] [Localize] Score: 695 ------------------------------- [Localize] pcd file name: 4 [Localize] Execution time: 575.496[msec] [Localize] Score: 1074 ------------------------------- [Localize] pcd file name: 5 [Localize] Execution time: 3405.11[msec] [Localize] Score: 1060 ------------------------------- [Localize] pcd file name: 6 [Localize] Execution time: 1023.24[msec] [Localize] Score: 1122 ------------------------------- [Localize] pcd file name: 7 [Localize] Execution time: 2332.08[msec] [Localize] Score: 984 ------------------------------- [Localize] pcd file name: 8 [Localize] Execution time: 311.617[msec] [Localize] Score: 752 ------------------------------- [Localize] pcd file name: 9 [Localize] Execution time: 2591.78[msec] [Localize] Score: 901 [Localize] Average time: 786[msec] per frame
Thanks,
Thanks for sharing!!
@Taeyoung96 Thank you for sharing that!
Yes, please! However, may I merge the corrections for the issues indicated in the next thread first? After that, I would like to request a PR from you.
@U-AMC @kimdaebeom Could you try the newest main branch to see if it works in your environment?
I found that gpu_test should use gpu_test.cpp instead of gpu_test.cu and use add_executable (gcc compiling) in CMakeLists Refer to the segmentation fault problem of pcl::io::loadPCDFile() with nvcc compilation
(@Taeyoung96 I'm sorry that I forgot to cut the brunch and pushed it to main)
@KOKIAOKI
No problem! :+1:
When I retested with the new updated branch, I got the same score, but the time taken was significantly reduced!
I'm excited to learn something new from new branch.
Would it be okay if I sent you a PR?
terminal output :
root@multirobot1-CILAB:~/workspace/test/build# ./gpu_test ../config/test.yaml
[YAML] Loading paths...
[YAML] Loading 3D-BBS parameters...
[YAML] Loading angular search range...
[YAML] Loading score threshold percentage...
[YAML] Loading downsample souce clouds parameters...
[Setting] Loading target pcds...
[Setting] Loading source pcds...
[Setting] Create output folder with date...
[Voxel map] Creating hierarchical voxel map...
[Voxel map] Execution time: 7616.3[msec]
-------------------------------
[Localize] pcd file name: 1
[Localize] Execution time: 39.2529[msec]
[Localize] Score: 719
-------------------------------
[Localize] pcd file name: 10
[Localize] Execution time: 206.158[msec]
[Localize] Score: 869
-------------------------------
[Localize] pcd file name: 11
[Localize] Execution time: 1085.87[msec]
[Localize] Score: 907
-------------------------------
[Localize] pcd file name: 12
[Localize] Execution time: 672.341[msec]
[Localize] Score: 863
-------------------------------
[Localize] pcd file name: 13
[Localize] Execution time: 143.333[msec]
[Localize] Score: 597
-------------------------------
[Localize] pcd file name: 14
[Localize] Execution time: 756.003[msec]
[Localize] Score: 1001
-------------------------------
[Localize] pcd file name: 15
[Localize] Execution time: 125.542[msec]
[Localize] Score: 492
-------------------------------
[Localize] pcd file name: 16
[Localize] Execution time: 45.562[msec]
[Localize] Score: 890
-------------------------------
[Localize] pcd file name: 17
[Localize] Execution time: 80.0392[msec]
[Localize] Score: 718
-------------------------------
[Localize] pcd file name: 18
[Localize] Execution time: 125.65[msec]
[Localize] Score: 760
-------------------------------
[Localize] pcd file name: 19
[Localize] Execution time: 266.06[msec]
[Localize] Score: 730
-------------------------------
[Localize] pcd file name: 2
[Localize] Execution time: 37.055[msec]
[Localize] Score: 1208
-------------------------------
[Localize] pcd file name: 20
[Localize] Execution time: 154.671[msec]
[Localize] Score: 670
-------------------------------
[Localize] pcd file name: 21
[Localize] Execution time: 133.951[msec]
[Localize] Score: 666
-------------------------------
[Localize] pcd file name: 22
[Localize] Execution time: 50.7911[msec]
[Localize] Score: 836
-------------------------------
[Localize] pcd file name: 23
[Localize] Execution time: 39.9124[msec]
[Localize] Score: 822
-------------------------------
[Localize] pcd file name: 24
[Localize] Execution time: 27.8912[msec]
[Localize] Score: 845
-------------------------------
[Localize] pcd file name: 25
[Localize] Execution time: 27.847[msec]
[Localize] Score: 774
-------------------------------
[Localize] pcd file name: 26
[Localize] Execution time: 29.2153[msec]
[Localize] Score: 769
-------------------------------
[Localize] pcd file name: 27
[Localize] Execution time: 43.5789[msec]
[Localize] Score: 889
-------------------------------
[Localize] pcd file name: 28
[Localize] Execution time: 37.666[msec]
[Localize] Score: 969
-------------------------------
[Localize] pcd file name: 29
[Localize] Execution time: 74.7134[msec]
[Localize] Score: 877
-------------------------------
[Localize] pcd file name: 3
[Localize] Execution time: 86.0392[msec]
[Localize] Score: 952
-------------------------------
[Localize] pcd file name: 30
[Localize] Execution time: 112.116[msec]
[Localize] Score: 1031
-------------------------------
[Localize] pcd file name: 31
[Localize] Execution time: 60.9528[msec]
[Localize] Score: 748
-------------------------------
[Localize] pcd file name: 32
[Localize] Execution time: 29.1845[msec]
[Localize] Score: 695
-------------------------------
[Localize] pcd file name: 4
[Localize] Execution time: 176.928[msec]
[Localize] Score: 1074
-------------------------------
[Localize] pcd file name: 5
[Localize] Execution time: 1166.1[msec]
[Localize] Score: 1060
-------------------------------
[Localize] pcd file name: 6
[Localize] Execution time: 317.771[msec]
[Localize] Score: 1122
-------------------------------
[Localize] pcd file name: 7
[Localize] Execution time: 759.323[msec]
[Localize] Score: 984
-------------------------------
[Localize] pcd file name: 8
[Localize] Execution time: 88.5859[msec]
[Localize] Score: 752
-------------------------------
[Localize] pcd file name: 9
[Localize] Execution time: 815.359[msec]
[Localize] Score: 901
[Localize] Average time: 243[msec] per frame
@Taeyoung96 Thank you for testing the newest branch also!
Maybe this reduction of the time is due to the past PR https://github.com/KOKIAOKI/3d_bbs/pull/5 I replaced score calculation by cuda graph with one kernel execution.
Would it be okay if I sent you a PR?
Yes! Adding docker support would be very helpful.
@U-AMC @kimdaebeom Could you try the newest main branch to see if it works in your environment?
I found that gpu_test should use gpu_test.cpp instead of gpu_test.cu and use add_executable (gcc compiling) in CMakeLists Refer to the segmentation fault problem of pcl::io::loadPCDFile() with nvcc compilation
(@Taeyoung96 I'm sorry that I forgot to cut the brunch and pushed it to main)
Got it. I'll share results ASAP.
@U-AMC I still have the same issues... I think you'd better use the docker image by @Taeyoung96 ! Thanks for your effort!
@U-AMC @kimdaebeom Could you try the newest main branch to see if it works in your environment?
I found that gpu_test should use gpu_test.cpp instead of gpu_test.cu and use add_executable (gcc compiling) in CMakeLists Refer to the segmentation fault problem of pcl::io::loadPCDFile() with nvcc compilation
(@Taeyoung96 I'm sorry that I forgot to cut the brunch and pushed it to main)
I got the segmentation issue solved, but now the issue comes with localization failure. I'll try it on an isolated container (besides to @Taeyoung96 's docker approach) and see if there are other environment issues.
@U-AMC @kimdaebeom Could you try the newest main branch to see if it works in your environment? I found that gpu_test should use gpu_test.cpp instead of gpu_test.cu and use add_executable (gcc compiling) in CMakeLists Refer to the segmentation fault problem of pcl::io::loadPCDFile() with nvcc compilation (@Taeyoung96 I'm sorry that I forgot to cut the brunch and pushed it to main)
I got the segmentation issue solved, but now the issue comes with localization failure. I'll try it on an isolated container (besides to @Taeyoung96 's docker approach) and see if there are other environment issues.
Re-installation of CUDA 12.1 solved the issue!! Docker environment also runs without any problem after CUDA update. Thanks for all contributions! I'll close the issue.
Hello, and thanks for your great research! I am currently experiencing a unknown segmentation error which seems to be caused by file_path. Would there be a faulty reason for this?
The test.yaml are set as shown.