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NVlabs / contact_graspnet

Efficient 6-DoF Grasp Generation in Cluttered Scenes
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Visualizing step - Stuck for hours #11

Closed abhinavkk closed 3 years ago

abhinavkk commented 3 years ago

Hi,

While trying to generate grasps using the following command:

python contact_graspnet/inference.py \ --np_path=test_data/*.npy \ --local_regions --filter_grasps

the code does not proceed after the following print statement:

Generated 1 grasps for object 1.0 Generated 11 grasps for object 2.0 Generated 33 grasps for object 3.0 Generated 134 grasps for object 4.0 Generated 56 grasps for object 5.0 Generated 92 grasps for object 6.0 Generated 66 grasps for object 7.0 Generated 40 grasps for object 8.0 Generated 48 grasps for object 9.0 Generated 5 grasps for object 10.0 /home/kaykay/contact_graspnet/contact_graspnet/visualization_utils.py:63: MatplotlibDeprecationWarning: You are modifying the state of a globally registered colormap. In future versions, you will not be able to modify a registered colormap in-place. To remove this warning, you can make a copy of the colormap first. cmap = copy.copy(mpl.cm.get_cmap("rainbow")) cmap.set_under(alpha=0.0) Visualizing...takes time

It has been around 2 hours, what is the average expected time for the visualization step and if there is a CUDA memory limit (which I suspect) do we get a warning or an error?

arsalan-mousavian commented 3 years ago

Probably, mayavi is not installed properly. Visualization should not take that long...

Try to visualize a random point cloud to make sure your mayavi installation is correct.

abhinavkk commented 3 years ago

Ahh I see, I was expecting it to visualize all this time when the generated mayavi plot was already produced. Thanks for the help!