Open niyatirawal opened 2 months ago
After following the instructions in the python bindings section and creating and sourcing a virtual environment, this error was fixed. I am currently facing an error when I try to execute
hydra habitat run /path/to/habitat/mp3d/17DRP5sb8fy/17DRP5sb8fy.glb
. The error is as follows:
`Traceback (most recent call last):
File "/workspaces/catkin_ws/pyenv/bin/hydra", line 8, in
TypeError: run() missing 1 required positional argument: 'publish'`
Hi, thanks for your interest in our work! As you have seemed to have figured out, the build issue you encountered was gcc running out of memory. For future reference (if you haven't seen it yet), you can set the number of jobs that Hydra uses to compile the bindings by setting the CMAKE_BUILD_PARELLEL_LEVEL
(see here).
As per the error w.r.t. running the habitat command: sorry about that, it appears I didn't try that particular command before releasing. I pushed a fix to main
that will at least fix that, but haven't had a chance to install and test the bindings fully.
@nathanhhughes Many thanks for pushing the fix to main. I wanted to extract scene graphs for the HM3D dataset.
Upon executing:
hydra habitat run /workspaces/abc_ws/kfPV7w3FaU5.glb
, I now get the following error:
Renderer: NVIDIA GeForce GTX TITAN X/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 535.183.01
Using optional features:
GL_ARB_vertex_array_object
GL_ARB_ES2_compatibility
GL_ARB_separate_shader_objects
GL_ARB_robustness
GL_ARB_texture_storage
GL_ARB_invalidate_subdata
GL_ARB_texture_storage_multisample
GL_ARB_multi_bind
GL_ARB_direct_state_access
GL_ARB_get_texture_sub_image
GL_ARB_texture_filter_anisotropic
GL_KHR_debug
GL_KHR_parallel_shader_compile
Using driver workarounds:
no-forward-compatible-core-context
nv-egl-incorrect-gl11-function-pointers
no-layout-qualifiers-on-old-glsl
nv-zero-context-profile-mask
nv-implementation-color-read-format-dsa-broken
nv-cubemap-inconsistent-compressed-image-size
nv-cubemap-broken-full-compressed-image-query
nv-compressed-block-size-in-bits
[15:05:30:151963]:[Sim] Simulator.cpp(240)::createSceneInstance : Navmesh file location in scene instance :
[15:05:30:151992]:[Sim] Simulator.cpp(249)::createSceneInstance : Navmesh file not found, checked at filename : ''
[15:05:30:154204]:[Sim] Simulator.cpp(305)::createSceneInstance : Using scene instance-specified Light key : - no_lights -
[15:05:30:154249]:[Sim] Simulator.cpp(415)::instanceStageForSceneAttributes : Start to load stage named : /workspaces/abc_ws/kfPV7w3FaU5.glb with render asset : /workspaces/abc_ws/kfPV7w3FaU5.glb and collision asset : /workspaces/abc_ws/kfPV7w3FaU5.glb
[15:05:32:136250]:[Sim] Simulator.cpp(442)::instanceStageForSceneAttributes : Successfully loaded stage named : /workspaces/abc_ws/kfPV7w3FaU5.glb
[15:05:32:136302]:[Sim] Simulator.cpp(474)::instanceStageForSceneAttributes :
---
The active scene does not contain semantic annotations : activeSemanticSceneID_ = 0
---
[15:05:32:136362]:[Sim] Simulator.cpp(208)::reconfigure : CreateSceneInstance success == true for active scene name : /workspaces/abc_ws/kfPV7w3FaU5.glb with renderer.
[15:05:32:235946]:[Sim] Simulator.cpp(898)::recomputeNavMesh : reconstruct navmesh successful
Traceback (most recent call last):
File "/workspaces/abc_ws/pyenv/bin/hydra", line 8, in <module>
sys.exit(main.cli())
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/click/core.py", line 1157, in __call__
return self.main(*args, **kwargs)
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/click/core.py", line 1078, in main
rv = self.invoke(ctx)
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/click/core.py", line 1688, in invoke
return _process_result(sub_ctx.command.invoke(sub_ctx))
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/click/core.py", line 1688, in invoke
return _process_result(sub_ctx.command.invoke(sub_ctx))
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/click/core.py", line 1434, in invoke
return ctx.invoke(self.callback, **ctx.params)
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/click/core.py", line 783, in invoke
return __callback(*args, **kwargs)
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/hydra_python/commands/habitat.py", line 71, in run
data = habitat.HabitatInterface(scene_path)
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/hydra_python/_plugins/habitat.py", line 201, in __init__
self._make_instance_labelmap()
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/hydra_python/_plugins/habitat.py", line 231, in _make_instance_labelmap
names = [name_mapping[ade_to_mpcat[idx]] for idx in keys]
File "/workspaces/abc_ws/pyenv/lib/python3.8/site-packages/hydra_python/_plugins/habitat.py", line 231, in <listcomp>
names = [name_mapping[ade_to_mpcat[idx]] for idx in keys]
KeyError: 0
[15:05:32:380711]:[Sim] Simulator.cpp(69)::~Simulator : Deconstructing Simulator
For mp3d scene_dataset, I get Segmentation fault (core dumped)
. There seems to be something wrong with the colors.
Renderer: NVIDIA GeForce GTX TITAN X/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 535.183.01
Using optional features:
GL_ARB_vertex_array_object
GL_ARB_ES2_compatibility
GL_ARB_separate_shader_objects
GL_ARB_robustness
GL_ARB_texture_storage
GL_ARB_invalidate_subdata
GL_ARB_texture_storage_multisample
GL_ARB_multi_bind
GL_ARB_direct_state_access
GL_ARB_get_texture_sub_image
GL_ARB_texture_filter_anisotropic
GL_KHR_debug
GL_KHR_parallel_shader_compile
Using driver workarounds:
no-forward-compatible-core-context
nv-egl-incorrect-gl11-function-pointers
no-layout-qualifiers-on-old-glsl
nv-zero-context-profile-mask
nv-implementation-color-read-format-dsa-broken
nv-cubemap-inconsistent-compressed-image-size
nv-cubemap-broken-full-compressed-image-query
nv-compressed-block-size-in-bits
[09:55:43:220206]:[Sim] Simulator.cpp(240)::createSceneInstance : Navmesh file location in scene instance : /workspaces/abc_ws/data/versioned_data/mp3d_example_scene_1.1/17DRP5sb8fy/17DRP5sb8fy.navmesh
[09:55:43:220230]:[Sim] Simulator.cpp(245)::createSceneInstance : Loading navmesh from /workspaces/abc_ws/data/versioned_data/mp3d_example_scene_1.1/17DRP5sb8fy/17DRP5sb8fy.navmesh
[09:55:43:220313]:[Sim] Simulator.cpp(247)::createSceneInstance : Navmesh Loaded.
[09:55:43:245567]:[Sim] Simulator.cpp(305)::createSceneInstance : Using scene instance-specified Light key : - no_lights -
[09:55:43:245610]:[Sim] Simulator.cpp(415)::instanceStageForSceneAttributes : Start to load stage named : /workspaces/abc_ws/data/versioned_data/mp3d_example_scene_1.1/17DRP5sb8fy/17DRP5sb8fy.glb with render asset : /workspaces/abc_ws/data/versioned_data/mp3d_example_scene_1.1/17DRP5sb8fy/17DRP5sb8fy.glb and collision asset : /workspaces/abc_ws/data/versioned_data/mp3d_example_scene_1.1/17DRP5sb8fy/17DRP5sb8fy.glb
[09:55:47:269522]:[Sim] Simulator.cpp(442)::instanceStageForSceneAttributes : Successfully loaded stage named : /workspaces/abc_ws/data/versioned_data/mp3d_example_scene_1.1/17DRP5sb8fy/17DRP5sb8fy.glb
[09:55:47:269586]:[Sim] Simulator.cpp(208)::reconfigure : CreateSceneInstance success == true for active scene name : /workspaces/abc_ws/data/versioned_data/mp3d_example_scene_1.1/17DRP5sb8fy/17DRP5sb8fy.glb with renderer.
[09:55:47:343102]:[Sim] Simulator.cpp(898)::recomputeNavMesh : reconstruct navmesh successful
[09:55:48:180817]:[Sim] Simulator.cpp(898)::recomputeNavMesh : reconstruct navmesh successful
Trajectory is 105.64831450406255 meters long
I0807 09:55:48.819205 35134 gvd_place_extractor.cpp:88] Downsampling TSDF when creating places!
I0807 09:55:48.845501 35134 hydra_pipeline.cpp:100]
====================================================================================================
= Modules =
====================================================================================================
****************************************************************************************************
* backend *
****************************************************************************************************
========================================== BackendConfig ===========================================
visualize_place_factors: false
enable_rooms: true (default)
enable_buildings: true (default)
building_color: [169, "\b", �, �] (default)
building_semantic_label: 22 (default)
use_2d_places: false (default)
add_places_to_deformation_graph: true (default)
optimize_on_lc: true (default)
enable_node_merging: true (default)
merge_update_map: {BUILDINGS: false, OBJECTS: false, PLACES: true, ROOMS:
false} (default)
merge_update_dynamic: true (default)
places_merge_pos_threshold_m: 0.3
places_merge_distance_tolerance_m: 0.2
use_mesh_subscribers: false (default)
enable_merge_undos: false (default)
use_active_flag_for_updates: true (default)
num_neighbors_to_find_for_merge: 1 (default)
zmq_send_url: tcp://127.0.0.1:8001 (default)
zmq_recv_url: tcp://127.0.0.1:8002 (default)
use_zmq_interface: false (default)
zmq_num_threads: 2 (default)
zmq_poll_time_ms: 10 (default)
zmq_send_mesh: true (default)
room_finder [RoomFinderConfig]:
prefix: R (default)
min_dilation_m [m]: 0.5
max_dilation_m [m]: 1.2
min_window_size: 0.2 (default)
clip_dilation_window_to_max: false (default)
min_component_size: 10
min_room_size: 10 (default)
dilation_threshold_mode: PLATEAU
min_lifetime_length_m: 0.1 (default)
plateau_ratio: 0.25
max_modularity_iters: 5 (default)
modularity_gamma: 1 (default)
clustering_mode: NEIGHBORS (default)
dilation_diff_threshold_m [m]: -1
log_filtrations: false (default)
log_place_graphs: false (default)
pgmo [HydraPgmoConfig]:
run_mode: FULL
embed_trajectory_delta_t: 5
num_interp_pts: 3
interp_horizon: 10
add_initial_prior: true (default)
output_prefix: "" (default)
enable_sparsify: false (default)
trans_node_dist: 1 (default)
rot_node_dist: 1.2 (default)
odom: 0.01
loop_close: 0.05
prior: 0.01
mesh_mesh: 0.01
pose_mesh: 0.01
odom_trans_threshold: 0.05
odom_rot_threshold: 0.01
pcm_trans_threshold: -1
pcm_rot_threshold: -1
gnc_alpha: 0.9
gnc_max_iterations: 100 (default)
gnc_mu_step: 1.6
gnc_cost_tolerance: 1e-05 (default)
gnc_weight_tolerance: 0.0001 (default)
gnc_fix_prev_inliers: true
lm_diagonal_damping: true (default)
place_mesh: 0.01
place_edge: 0.01
place_merge: 10
object_merge: 10
sg_loop_close: 0.1
gnc_fix_prev_inliers: true (default)
verbosity: UPDATE (default)
solver: LM (default)
places2d_config [Places2dConfig] (default):
allow_places_merge: true (default)
merge_max_delta_z: 0.5 (default)
min_points: 10 (default)
min_size: 2 (default)
connection_overlap_threshold: 0 (default)
connection_max_delta_z: 0.5 (default)
connection_ellipse_scale_factor: 1 (default)
====================================================================================================
****************************************************************************************************
****************************************************************************************************
* frontend *
****************************************************************************************************
====================================== FrontendModule::Config ======================================
min_object_vertices: 40
min_object_vertices: 40
lcd_use_bow_vectors: true (default)
mesh_resolution: 0.005
d_graph_resolution: 2.5
time_horizon: 15
use_frontiers: false (default)
objects [MeshSegmenterConfig] (default):
prefix: O (default)
layer_id: 2 (default)
active_index_horizon_m: 7 (default)
cluster_tolerance: 0.25 (default)
min_cluster_size: 40 (default)
max_cluster_size: 100000 (default)
bounding_box_type: AABB (default)
timer_namespace: frontend/objects (default)
pose_graph_tracker [Virtual Config: PoseGraphFromOdom::Config]:
surface_places [Uninitialized Virtual Config]
freespace_places [Virtual Config: GvdPlaceExtractor::Config]:
min_component_size: 3 (default)
filter_places: true (default)
filter_ground: false (default)
robot_height: 0 (default)
edge_tolerance: 1 (default)
node_tolerance: 1 (default)
add_freespace_edges: false (default)
gvd [GvdIntegratorConfig]:
max_distance_m: 4.5
min_distance_m: 0.2 (default)
min_diff_m: 0.1
min_weight: 1e-06 (default)
num_buckets: 20 (default)
multi_queue: false (default)
refine_voxel_pos: false (default)
positive_distance_only: true (default)
min_basis_for_extraction: 1
voronoi_config [VoronoiCheckConfig]:
mode: L1_THEN_ANGLE (default)
min_distance_m: 0.3
parent_l1_separation: 20
parent_cos_angle_separation: 0.2
graph [Virtual Config: CompressionExtractorConfig]:
node_merge_distance_m: 0.5
add_overlap_edges: false
add_freespace_edges: true (default)
compression_distance_m: 1
validate_graph: false (default)
min_node_distance_m: 0.4
min_edge_distance_m: 0.2
merge_new_nodes: true (default)
add_heuristic_edges: true
merge_policy: basis_points (default)
freespace_edges [FreespaceEdgeConfig]:
max_length_m: 2 (default)
num_nodes_to_check: 10
num_neighbors_to_find: 2
min_clearance_m: 0.2
tsdf_interpolator [Virtual Config: DownsampleTsdfInterpolator::Config]:
ratio: 2 (default)
tolerance: 1e-10 (default)
frontier_places [Uninitialized Virtual Config]
====================================================================================================
****************************************************************************************************
****************************************************************************************************
* reconstruction *
****************************************************************************************************
======================================= ReconstructionConfig =======================================
show_stats: false
stats_verbosity: 2 (default)
clear_distant_blocks: true (default)
dense_representation_radius_m: 8
num_poses_per_update: 5
max_input_queue_size: 0 (default)
semantic_measurement_probability: 0.9 (default)
tsdf [ProjectiveIntegrator]:
verbosity: 1
use_weight_dropoff: true (default)
weight_dropoff_epsilon [vs]: -1 (default)
use_constant_weight: false (default)
max_weight: 100000 (default)
num_threads: 8
interpolation_method: bilinear
semantic_integrator [Virtual Config: MLESemanticIntegrator::Config]:
label_confidence: 0.9 (default)
mesh [MeshIntegratorConfig]:
min_weight: 0.0001 (default)
integrator_threads: 8
robot_footprint [Uninitialized Virtual Config]
====================================================================================================
****************************************************************************************************
I0807 09:55:48.845571 35134 hydra_python_pipeline.cpp:117] ========================================== PipelineConfig ==========================================
enable_reconstruction: true (default)
enable_lcd: false (default)
enable_places: true (default)
timing_disabled: false (default)
disable_timer_output: true (default)
enable_pgmo_logging: true (default)
default_verbosity: 1 (default)
default_num_threads: -1 (default)
store_visualization_details: false (default)
label_names: [{label: 0, name: void},
{label: 1, name: wall},
{label: 2, name: floor},
{label: 3, name: chair},
{label: 4, name: door},
{label: 5, name: table},
{label: 6, name: picture},
{label: 7, name: cabinet},
{label: 8, name: cushion},
{label: 9, name: window},
{label: 10, name: sofa},
{label: 11, name: bed},
{label: 12, name: curtain},
{label: 13, name: chest_of_drawers},
{label: 14, name: plant},
{label: 15, name: sink},
{label: 16, name: stairs},
{label: 17, name: ceiling},
{label: 18, name: toilet},
{label: 19, name: stool},
{label: 20, name: towel},
{label: 21, name: mirror},
{label: 22, name: tv_monitor},
{label: 23, name: shower},
{label: 24, name: column},
{label: 25, name: bathtub},
{label: 26, name: counter},
{label: 27, name: fireplace},
{label: 28, name: lighting},
{label: 29, name: railing},
{label: 30, name: shelving},
{label: 31, name: blinds},
{label: 32, name: seating},
{label: 33, name: board_panel},
{label: 34, name: furniture},
{label: 35, name: appliances},
{label: 36, name: clothes},
{label: 37, name: objects},
{label: 38, name: misc}]
room_colors: [[166, �, �, �],
[31, x, �, �],
[178, �, �, �],
[51, �, ",", �],
[251, �, �, �],
[227, "\x1a", "\x1c", �],
[253, �, o, �],
[255, "��", "\x00", �],
[202, �, �, �],
[106, =, �, �],
[255, �, �, �],
[177, Y, (, �]] (default)
reconstruction/map [VolumetricMap] (default):
voxel_size [m]: 0.1 (default)
voxels_per_side: 16 (default)
truncation_distance [m]: 0.3 (default)
logs [LogConfig] (default):
log_path: "" (default)
log_timing_incrementally: false (default)
timing_stats_name: timing_stats.csv (default)
timing_suffix: _timing_raw.csv (default)
log_raw_timers_to_single_dir: false (default)
frames [FrameConfig] (default):
robot_frame: base_link (default)
odom_frame: odom (default)
map_frame: map (default)
label_space [LabelSpaceConfig]:
total_semantic_labels: 39
semantic_colormap_file: "" (default)
semantic_label_remap_filepath: "" (default)
dynamic_labels: [] (default)
invalid_labels: [0]
object_labels: [3, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 18, 19, 20, 21,
22, 23, 25, 27, 28, 30, 31, 32, 33, 34, 35, 36, 37]
surface_places_labels: [2, 16]
====================================================================================================
*** Aborted at 1723024548 (unix time) try "date -d @1723024548" if you are using GNU date ***
PC: @ 0x7fce6d39b623 flann::anyimpl::small_any_policy<>::print()
*** SIGSEGV (@0x9) received by PID 35134 (TID 0x7fce3eefe700) from PID 9; stack trace: ***
@ 0x7fce65478631 (unknown)
@ 0x7fce9eeb7090 (unknown)
@ 0x7fce6d39b623 flann::anyimpl::small_any_policy<>::print()
@ 0x7fce65fee6ad flann::get_param<>()
@ 0x7fce66037642 pcl::KdTreeFLANN<>::setInputCloud()
@ 0x7fce660323aa pcl::search::KdTree<>::setInputCloud()
@ 0x7fce6602e818 hydra::findClusters()
@ 0x7fce6602ef9d hydra::MeshSegmenter::detect()
@ 0x7fce65face6a hydra::FrontendModule::updateObjects()
@ 0x7fce89846df4 (unknown)
@ 0x7fce9ee59609 start_thread
@ 0x7fce9ef93353 clone
Segmentation fault (core dumped)
For installing the python package, when I do the last
pip install .
, I get the following error. Any idea on how to fix it?