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LCSR-SICKKIDS / volumetric_drilling

Virtual reality for synergistic surgical training and data generation. (MICCAI 2021 AE-CAI Best Paper)
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Missing Example Volumes #16

Closed Jdhaworth closed 1 year ago

Jdhaworth commented 1 year ago

Hello! I am able to launch the simulator using only the drill with the command: ~/ambf/bin/lin-x86_64$ ./ambf_simulator --launch_file ~/volumetric_drilling/launch.yaml -l 0

However when I try to use the example volumes by appending ",1" or ",2" or ",3" to the end I get a segmentation error and the simulation immediately crashes: (terminal feedback) WARNING! CAN'T FIND ANY OBJECTS NAMED: "cameraL" IN GLOBAL MAP Existing OBJECTS in Map: 1 /ambf/env/cameras/main_camera WARNING! CAN'T FIND ANY OBJECTS NAMED: "cameraR" IN GLOBAL MAP Existing OBJECTS in Map: 1 /ambf/env/cameras/main_camera Found Lib: libdvrk_arm.so No of dVRK Masters detected: 0 SUCCESFULLY LOADED MATCAP TEXTURE Segmentation fault (core dumped)

I looked into the launch.yaml file which for option "1" is using "ADF/volume_171.yaml". If I open this file it looks like it is trying to load the meshes found in "/meshes/high_res/" or "/meshes/low_res/". However if I look in these folders I only see files related to the drill (which did load successfully) but no meshes for the volume.

Maybe I am looking in the wrong place, but either way I'm still having trouble loading the example volumes. Let me know if I can provide any more information to help. Thanks!

adnanmunawar commented 1 year ago

Hi Jesse, thanks for creating the issue. The /meshes/high_res and meshes/low_res are indeed for the meshes and not for the volumes. The volumes are located here https://github.com/LCSR-SICKKIDS/volumetric_drilling/tree/master/resources/volumes .

In terms of the Segfault. Can you please try this branch:

https://github.com/adnanmunawar/volumetric_drilling/tree/study-gui

You can follow these steps:

mkdir ~/test_ws && cd ~/test_ws
git clone https://github.com/adnanmunawar/volumetric_drilling
cd ~/test_ws/volumetric_drilling
git checkout -b study_gui origin/study-gui

Then build the new branch, like this:

cd ~/test_ws/volumetric_drilling
mkdir build && cd build && cmake .. && make

Finally

ambf_simulator --launch_file ~/test_ws/volumetric_drilling/launch.yaml -l 0,1

Let me know if you still get the Segfault.

Jdhaworth commented 1 year ago

That worked! Thank you!

adnanmunawar commented 1 year ago

Great, I already created a PR #15 for this. Will merge it very shortly.