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MIT-SPARK / Hydra

BSD 2-Clause "Simplified" License
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how to save compressed models or data #32

Closed banovers closed 11 months ago

banovers commented 1 year ago

Hello, I have successfully built Hydra. May I ask how to save compressed models or data?

BavanthaU commented 1 year ago

If it helps at all, this is how I use it.

As I understood that there is a configuration under "hydra/hydra_dsg_builder/launch/uhumans2_incremental_dsg.launch" called,

 <arg name="dsg_output_dir" default="$(find hydra_dsg_builder)/output/uhumans2"/>
 <arg name="dsg_output_prefix" default="office"/>

As far as I understood, given the above paths (make sure they exist), the dsg_output_prefix directory must contain backend frontend lcd pgmo folders, and you will find the 3d mesh (mesh.ply) and scene graph data under the backend and frontend folders, given the state of the hydra when you terminate it.

nathanhhughes commented 11 months ago

@BavanthaU Thanks for helping out with the issue, you are correct! Hydra will save related outputs to the specified path (provided the right directories are there) when it exits.

I've seen ROS kill Hydra before it manages to save out everything if you just use ctrl-C to terminate the launch file on slower machines, so you may want to run with:

roslaunch hydra_ros uhumans2.launch exit_mode:=SERVICE

which lets you call

rosservice call /hydra_ros_node/shutdown "{}"

to shutdown hydra without running into issues with ROS killing it prematurely.