您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下

SYSU-STAR / H3-Mapping

H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time Dense Mapping Using Hierarchical Hybrid Representation (submitted to RAL 2024)

GNU General Public License v3.0

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您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 #2

Closed wangdebin00223 closed 3 months ago

wangdebin00223 commented 3 months ago

Traceback (most recent call last): File "/home/wdb/Packages/H3-Mapping/mapping/demo/run_mapping.py", line 9, in from H3Mapping import H3Mapping File "/home/wdb/Packages/H3-Mapping/mapping/src/H3Mapping.py", line 2, in from mapping import Mapping File "/home/wdb/Packages/H3-Mapping/mapping/src/mapping.py", line 19, in from functions.low_freq_directions import low_freq_directions File "/home/wdb/Packages/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 3, in import pyelsed ModuleNotFoundError: No module named 'pyelsed

然后我去网上搜这个No module named 'pyelsed也一直没有找到，请问大佬是怎么回事

JIANG-CX commented 3 months ago

这个库是在install.sh中安装的 cd ../ELSED_H3_mapping pip3 install .

wangdebin00223 commented 3 months ago

这个库是在install.sh中安装的 cd ../ELSED_H3_mapping pip3 install .

感谢您的火速回复，我在运行 ---------------------------------------------------------------------> cd H3-Mapping/mapping conda create -n h3mapping python=3.9 source activate h3mapping pip install -r requirements.txt bash install.sh --------------------------------------------------------------------->正好出现以下错误 install.sh: 第 15 行： cd: ../ELSED_H3_mapping: 没有那个文件或目录 Processing /home/wdb/Packages/H3-Mapping/mapping/third_party/tiny-cuda-nn_H3_mapping/bindings/torch

然后通过您说的指令后 ----------------------------------------------------> cd ../ELSED_H3_mapping pip3 install . ------------------------------------------------------->又出现以下错误 Traceback (most recent call last): File "/home/wdb/Packages/H3-Mapping/mapping/demo/run_mapping.py", line 9, in from H3Mapping import H3Mapping File "/home/wdb/Packages/H3-Mapping/mapping/src/H3Mapping.py", line 1, in from loggers import BasicLogger File "/home/wdb/Packages/H3-Mapping/mapping/src/loggers.py", line 9, in import open3d as o3d File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/open3d/init.py", line 134, in import open3d.ml File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/open3d/ml/init.py", line 35, in from . import datasets File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/open3d/ml/datasets.py", line 34, in from open3d._ml3d.datasets import File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/open3d/_ml3d/datasets/init.py", line 3, in from .semantickitti import SemanticKITTI File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/open3d/_ml3d/datasets/semantickitti.py", line 6, in from sklearn.neighbors import KDTree File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/init.py", line 84, in from .base import clone File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/base.py", line 19, in from .utils._estimator_html_repr import _HTMLDocumentationLinkMixin, estimator_html_repr File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/utils/init.py", line 11, in from ._chunking import gen_batches, gen_even_slices File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/utils/_chunking.py", line 8, in from ._param_validation import Interval, validate_params File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/utils/_param_validation.py", line 14, in from .validation import _is_arraylike_not_scalar File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/utils/validation.py", line 26, in from ..utils._array_api import _asarray_with_order, _is_numpy_namespace, get_namespace File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/utils/_array_api.py", line 11, in from .fixes import parse_version File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/sklearn/utils/fixes.py", line 20, in import scipy.stats File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/stats/init.py", line 606, in from ._stats_py import File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/stats/_stats_py.py", line 49, in from . import distributions File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/stats/distributions.py", line 11, in from . import _discrete_distns File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/stats/_discrete_distns.py", line 10, in from scipy.interpolate import interp1d File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/interpolate/init.py", line 167, in from ._interpolate import * File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/interpolate/_interpolate.py", line 14, in from . import _fitpack_py File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/interpolate/_fitpack_py.py", line 8, in from ._fitpack_impl import bisplrep, bisplev, dblint # noqa: F401 File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/scipy/interpolate/_fitpack_impl.py", line 103, in 'iwrk': array([], dfitpack_int), 'u': array([], float), TypeError

之前使用您的开源项目H2-Mapping，并没有出现这么多错误安装很顺利。不知道是否是我采用cuda11.8和pytorch2.1.0的问题呢？但是我更换了电脑RTX4060不支持cuda11.3

JIANG-CX commented 3 months ago

install.sh的问题我更新了，谢谢你的测试。对于后面的问题，看报错是open3d的报错，这个我暂时还没遇到过。h2和h3的大部分库是通用的，包括这个open3d。你可以重新安装一下open3d看一下。

wangdebin00223 commented 3 months ago

install.sh的问题我更新了，谢谢你的测试。对于后面的问题，看报错是open3d的报错，这个我暂时还没遇到过。h2和h3的大部分库是通用的，包括这个open3d。你可以重新安装一下open3d看一下。

好的，我再自行研究一下。感谢作者！！！与此同时，我想再向您请教2个问题，麻烦您了！ ---------------------------------------------------------------------------------> 1.首先是在H2-Mapping的时候，我跑下来了您录的一整个数据集。最后rosnode kill -a，结束进程。结束进程后，并没有像视频那样自动跳出一个窗口显示出建图的界面，需要后续单独执行可视化才能看到重建图像，这是我的功能包没安装好或者是设置不对吗？ 2.第二个是这些可视化重建的图像会自动存储相应的点云文件吗？

感谢您这么晚了还在积极解答！！！

JIANG-CX commented 3 months ago

做实物饰演的时候因为想做到一镜到底的拍摄，所以加了结束后自动弹出结果的功能，但开源代码中并没有加入这个，mesh结果可以在logs文件夹下查看
没有储存为点云文件

wangdebin00223 commented 3 months ago

做实物饰演的时候因为想做到一镜到底的拍摄，所以加了结束后自动弹出结果的功能，但开源代码中并没有加入这个，mesh结果可以在logs文件夹下查看

没有储存为点云文件

好的，感谢作者！！

JIANG-CX commented 3 months ago

没事儿，祝好😊

wangdebin00223 commented 3 months ago

您好作者，又来打扰您了，昨天我又按照教程做了一遍。好像本次的H3-Mapping没有之前H2的可视化过程代码？还有就是我昨天请教的程序结束后弹窗结果，请问您方便提供思路或者源代码吗？如果您可以分享但是在这不方便的话，可以通过邮箱（595679602@qq.com）

JIANG-CX commented 3 months ago

1.因为mesh的分辨率有限，所以h3和h2的效果在mesh层面差距比较小。建议可以用 https://github.com/SYSU-STAR/H3-Mapping?tab=readme-ov-file#rendering-error 看渲染的视频 2.在mapping.py的run函数的最后加上。 vis = o3d.visualization.Visualizer()

    vis.create_window(window_name="results")

    vis.get_render_option().point_size = 4
    vis.get_render_option().mesh_show_back_face = False
    vis.get_render_option().light_on = False
    vis.add_geometry(mesh)
    vis.run()
    while(True):
        pass

wangdebin00223 commented 3 months ago

1.因为mesh的分辨率有限，所以h3和h2的效果在mesh层面差距比较小。建议可以用 https://github.com/SYSU-STAR/H3-Mapping?tab=readme-ov-file#rendering-error 看渲染的视频 2.在mapping.py的run函数的最后加上。 vis = o3d.visualization.Visualizer()
    vis.create_window(window_name="results")

    vis.get_render_option().point_size = 4
    vis.get_render_option().mesh_show_back_face = False
    vis.get_render_option().light_on = False
    vis.add_geometry(mesh)
    vis.run()
    while(True):
        pass

感谢大佬！！我试试

wangdebin00223 commented 2 months ago

您好作者，我现在尝试使用H3，请问您的cuda cudnn 及pytorch版本是？我安装的版本不知道为何会报错

JIANG-CX commented 2 months ago

和H2应该是可以通用的

获取 Outlook for iOShttps://aka.ms/o0ukef

发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 2:37:15 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2)

您好作者，我现在尝试使用H3，请问您的cuda cudnn 及pytorch版本是？我安装的版本不知道为何会报错

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267097234, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNWXDTXEGYS46V4XG73ZPUPNXAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGA4TOMRTGQ. You are receiving this because you modified the open/close state.Message ID: @.***>

wangdebin00223 commented 2 months ago

和H2应该是可以通用的获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 2:37:15 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2) 您好作者，我现在尝试使用H3，请问您的cuda cudnn 及pytorch版本是？我安装的版本不知道为何会报错 ― Reply to this email directly, view it on GitHub<#2 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNWXDTXEGYS46V4XG73ZPUPNXAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGA4TOMRTGQ. You are receiving this because you modified the open/close state.Message ID: @.***>

当我使用与H2相同的版本时，mapping运行到60帧就出现以下报错 [ERROR] [1722709537.765053]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f20e70fc5b0>> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 76, in callback self.signalMessage(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 330, in add self.signalMessage(msgs) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb(*(msg + args)) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 181, in callback self.mapping_step(self.idx, tracked_frame, update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 188, in mapping_step self.create_voxels(tracked_frame) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 559, in create_voxels self.line_compress.texture_pattern_determination(frame.img_raw, points_raw, self.map_states, File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 53, in texture_pattern_determination highest_score_segments_dir_all, highest_score_segments_weight_all = self.fuse_line_segment_directions_per_frame(img_raw, pc_img, map_states, voxel_size, w2c, K) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 58, in fuse_line_segment_directions_per_frame self.line_segments(img_raw, pc_img, w2c, K) # get the valid 3D line segments File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 157, in line_segments dist = self.dist_conv(pc_img.permute(2, 0, 1).unsqueeze(0)) File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1188, in _call_impl if not (self._backward_hooks or self._forward_hooks or self._forward_pre_hooks or _global_backward_hooks File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1265, in getattr raise AttributeError("'{}' object has no attribute '{}'".format( AttributeError: 'Conv2d' object has no attribute '_forward_pre_hooks'

JIANG-CX commented 2 months ago

运行replica数据集会有错误吗

获取 Outlook for iOShttps://aka.ms/o0ukef

发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 3:48:44 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2)

和H2应该是可以通用的获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 2:37:15 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2https://github.com/SYSU-STAR/H3-Mapping/issues/2) 您好作者，我现在尝试使用H3，请问您的cuda cudnn 及pytorch版本是？我安装的版本不知道为何会报错 D Reply to this email directly, view it on GitHub<#2 (comment)https://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267097234>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNWXDTXEGYS46V4XG73ZPUPNXAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGA4TOMRTGQ. You are receiving this because you modified the open/close state.Message ID: @.***>

当我使用与H2相同的版本时，mapping运行到60帧就出现以下报错 [ERROR] [1722709537.765053]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f20e70fc5b0>> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 76, in callback self.signalMessage(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb(*(msg + args)) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 330, in add self.signalMessage(msgs) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 181, in callback self.mapping_step(self.idx, tracked_frame, update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 188, in mapping_step self.create_voxels(tracked_frame) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 559, in create_voxels self.line_compress.texture_pattern_determination(frame.img_raw, points_raw, self.map_states, File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 53, in texture_pattern_determination highest_score_segments_dir_all, highest_score_segments_weight_all = self.fuse_line_segment_directions_per_frame(img_raw, pc_img, map_states, voxel_size, w2c, K) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 58, in fuse_line_segment_directions_per_frame self.line_segments(img_raw, pc_img, w2c, K) # get the valid 3D line segments File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 157, in line_segments dist = self.dist_conv(pc_img.permute(2, 0, 1).unsqueeze(0)) File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1188, in _call_impl if not (self._backward_hooks or self._forward_hooks or self._forward_pre_hooks or _global_backward_hooks File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1265, in getattr raise AttributeError("'{}' object has no attribute '{}'".format( AttributeError: 'Conv2d' object has no attribute '_forward_pre_hooks'

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267116696, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNUAXF2LUV4JSFSEELDZPUXZZAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGEYTMNRZGY. You are receiving this because you modified the open/close state.Message ID: @.***>

wangdebin00223 commented 2 months ago

运行replica数据集会有错误吗获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 3:48:44 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2) 和H2应该是可以通用的获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 2:37:15 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2<#2>) 您好作者，我现在尝试使用H3，请问您的cuda cudnn 及pytorch版本是？我安装的版本不知道为何会报错 D Reply to this email directly, view it on GitHub<#2 (comment)<#2 (comment)>>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNWXDTXEGYS46V4XG73ZPUPNXAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGA4TOMRTGQ. You are receiving this because you modified the open/close state.Message ID: @.> 当我使用与H2相同的版本时，mapping运行到60帧就出现以下报错 [ERROR] [1722709537.765053]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f20e70fc5b0>> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 76, in callback self.signalMessage(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 330, in add self.signalMessage(msgs) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 181, in callback self.mapping_step(self.idx, tracked_frame, update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 188, in mapping_step self.create_voxels(tracked_frame) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 559, in create_voxels self.line_compress.texture_pattern_determination(frame.img_raw, points_raw, self.map_states, File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 53, in texture_pattern_determination highest_score_segments_dir_all, highest_score_segments_weight_all = self.fuse_line_segment_directions_per_frame(img_raw, pc_img, map_states, voxel_size, w2c, K) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 58, in fuse_line_segment_directions_per_frame self.line_segments(img_raw, pc_img, w2c, K) # get the valid 3D line segments File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 157, in line_segments dist = self.dist_conv(pc_img.permute(2, 0, 1).unsqueeze(0)) File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1188, in _call_impl if not (self._backward_hooks or self._forward_hooks or self._forward_pre_hooks or _global_backward_hooks File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1265, in getattr raise AttributeError("'{}' object has no attribute '{}'".format( AttributeError: 'Conv2d' object has no attribute '_forward_pre_hooks' ― Reply to this email directly, view it on GitHub<#2 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNUAXF2LUV4JSFSEELDZPUXZZAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGEYTMNRZGY. You are receiving this because you modified the open/close state.Message ID: **@.***>

是的当运行您给的数据集的时候，大概到838帧时产生报错 [ERROR] [1722780927.794799]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f4ea82444f0>> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 76, in callback self.signalMessage(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 330, in add self.signalMessage(msgs) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 182, in callback self.mapping_step(self.idx, tracked_frame, update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 211, in mapping_step self.do_mapping(tracked_frame=tracked_frame, update_pose=update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 417, in do_mapping bundle_adjust_frames( File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/render_helpers.py", line 522, in bundle_adjust_frames chunk_outputs = sdf_network(chunk_samples['sampled_point_xyz'], File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1190, in _call_impl return forward_call(input, *kwargs) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/parallel_hash_net.py", line 161, in forward sdf, rgb = self.get_values(xyz, map_states, chunk_samples) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/parallel_hash_net.py", line 153, in get_values rgb = self.get_color_use_liner(xyz, map_states, chunk_samples) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/parallel_hash_net.py", line 137, in get_color_use_liner feat_compress = self.hash_color_encoding( File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1190, in _call_impl return forward_call(input, **kwargs) File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/tinycudann/modules.py", line 204, in forward output = _module_function.apply( File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/tinycudann/modules.py", line 108, in forward native_ctx, output = native_tcnn_module.fwd(input, params, prime_id) RuntimeError: /home/wdb/Packges/H3-Mapping/mapping/third_party/tiny-cuda-nn_H3_mapping/include/tiny-cuda-nn/gpu_memory.h:584 cuMemCreate(&m_handles.back(), n_bytes_to_allocate, &prop, 0) failed: CUDA_ERROR_OUT_OF_MEMORY

JIANG-CX commented 2 months ago

看一下replica数据集有没有问题，如果没有的话，那只能改小insert_ratio了

获取 Outlook for iOShttps://aka.ms/o0ukef

发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 10:17:35 PM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2)

运行replica数据集会有错误吗获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 3:48:44 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2https://github.com/SYSU-STAR/H3-Mapping/issues/2) 和H2应该是可以通用的获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 2:37:15 AM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2https://github.com/SYSU-STAR/H3-Mapping/issues/2<#2https://github.com/SYSU-STAR/H3-Mapping/issues/2>) 您好作者，我现在尝试使用H3，请问您的cuda cudnn 及pytorch版本是？我安装的版本不知道为何会报错 D Reply to this email directly, view it on GitHub<#2https://github.com/SYSU-STAR/H3-Mapping/issues/2 (comment)<#2 (comment)https://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267097234>>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNWXDTXEGYS46V4XG73ZPUPNXAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGA4TOMRTGQ. You are receiving this because you modified the open/close state.Message ID: @.> 当我使用与H2相同的版本时，mapping运行到60帧就出现以下报错 [ERROR] [1722709537.765053]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f20e70fc5b0>> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 76, in callback self.signalMessage(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 330, in add self.signalMessage(msgs) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 181, in callback self.mapping_step(self.idx, tracked_frame, update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 188, in mapping_step self.create_voxels(tracked_frame) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 559, in create_voxels self.line_compress.texture_pattern_determination(frame.img_raw, points_raw, self.map_states, File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 53, in texture_pattern_determination highest_score_segments_dir_all, highest_score_segments_weight_all = self.fuse_line_segment_directions_per_frame(img_raw, pc_img, map_states, voxel_size, w2c, K) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 58, in fuse_line_segment_directions_per_frame self.line_segments(img_raw, pc_img, w2c, K) # get the valid 3D line segments File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/low_freq_directions.py", line 157, in line_segments dist = self.dist_conv(pc_img.permute(2, 0, 1).unsqueeze(0)) File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1188, in _call_impl if not (self._backward_hooks or self._forward_hooks or self._forward_pre_hooks or _global_backward_hooks File "/home/wdb/anaconda3/envs/h3mapping/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1265, in getattr raise AttributeError("'{}' object has no attribute '{}'".format( AttributeError: 'Conv2d' object has no attribute '_forward_pre_hooks' D Reply to this email directly, view it on GitHub<#2 (comment)https://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267116696>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNUAXF2LUV4JSFSEELDZPUXZZAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGEYTMNRZGY. You are receiving this because you modified the open/close state.Message ID: @.*>

是的当运行您给的数据集的时候，大概到838帧时产生报错 [ERROR] [1722780927.794799]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f4ea82444f0>> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 76, in callback self.signalMessage(msg) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 330, in add self.signalMessage(msgs) File "/opt/ros/noetic/lib/python3/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 182, in callback self.mapping_step(self.idx, tracked_frame, update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 211, in mapping_step self.do_mapping(tracked_frame=tracked_frame, update_pose=update_pose) File "/home/wdb/Packges/H3-Mapping/mapping/src/mapping.py", line 417, in do_mapping bundle_adjust_frames( File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/render_helpers.py", line 522, in bundle_adjust_frames chunk_outputs = sdf_network(chunk_samples['sampled_point_xyz'], File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1190, in _call_impl return forward_call(input, *kwargs) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/parallel_hash_net.py", line 161, in forward sdf, rgb = self.get_values(xyz, map_states, chunk_samples) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/parallel_hash_net.py", line 153, in get_values rgb = self.get_color_use_liner(xyz, map_states, chunk_samples) File "/home/wdb/Packges/H3-Mapping/mapping/src/functions/parallel_hash_net.py", line 137, in get_color_use_liner feat_compress = self.hash_color_encoding( File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1190, in _call_impl return forward_call(input, **kwargs) File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/tinycudann/modules.py", line 204, in forward output = _module_function.apply( File "/home/wdb/.conda/envs/h3mapping/lib/python3.8/site-packages/tinycudann/modules.py", line 108, in forward native_ctx, output = native_tcnn_module.fwd(input, params, prime_id) RuntimeError: /home/wdb/Packges/H3-Mapping/mapping/third_party/tiny-cuda-nn_H3_mapping/include/tiny-cuda-nn/gpu_memory.h:584 cuMemCreate(&m_handles.back(), n_bytes_to_allocate, &prop, 0) failed: CUDA_ERROR_OUT_OF_MEMORY

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267559759, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNXBYCNV4DPZLVUGLKTZPYZX7AVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU2TSNZVHE. You are receiving this because you modified the open/close state.Message ID: @.***>

wangdebin00223 commented 2 months ago

看一下replica数据集有没有问题，如果没有的话，那只能改小insert_ratio了

请问您指的是bash mapping/scripts/download_replica.sh这个命令下载的东西吗？而不是下面播放的bag文件我一直没有下载这个文件，不知道有没有影响请问下载这个仅映射中的文件是做什么的我一直没有搞懂，也没有去下载

JIANG-CX commented 2 months ago

对的，用replica数据集试一下。这个不影响你用bag运行的结果。我觉得应该还是gpu显存不够，所以还得减小insert ratio

获取 Outlook for iOShttps://aka.ms/o0ukef

发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 10:27:42 PM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2)

看一下replica数据集有没有问题，如果没有的话，那只能改小insert_ratio了

请问您指的是bash mapping/scripts/download_replica.sh这个命令下载的东西吗？而不是下面播放的bag文件我一直没有下载这个文件，不知道有没有影响

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267562920, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNU766GGT3FM4YLU5I3ZPY255AVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU3DEOJSGA. You are receiving this because you modified the open/close state.Message ID: @.***>

wangdebin00223 commented 2 months ago

对的，用replica数据集试一下。这个不影响你用bag运行的结果。我觉得应该还是gpu显存不够，所以还得减小insert ratio 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 10:27:42 PM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2) 看一下replica数据集有没有问题，如果没有的话，那只能改小insert_ratio了请问您指的是bash mapping/scripts/download_replica.sh这个命令下载的东西吗？而不是下面播放的bag文件我一直没有下载这个文件，不知道有没有影响 ― Reply to this email directly, view it on GitHub<#2 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNU766GGT3FM4YLU5I3ZPY255AVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU3DEOJSGA. You are receiving this because you modified the open/close state.Message ID: @.***>

就是在您在代码优化的基础上GPU显存还是不够是吗，我的显卡是RTX4060 8g的，那如果说，要像您这样扫描一整间屋子，需要什么配置的显卡呢？

JIANG-CX commented 2 months ago

实际实验是32g的AGX Orin，我在4090 24G上测过也是ok的

发件人: DeBinW @.> 发送时间: 2024年8月4日 22:41 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2)

对的，用replica数据集试一下。这个不影响你用bag运行的结果。我觉得应该还是gpu显存不够，所以还得减小insert ratio 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 10:27:42 PM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2https://github.com/SYSU-STAR/H3-Mapping/issues/2) 看一下replica数据集有没有问题，如果没有的话，那只能改小insert_ratio了请问您指的是bash mapping/scripts/download_replica.sh这个命令下载的东西吗？而不是下面播放的bag文件我一直没有下载这个文件，不知道有没有影响 D Reply to this email directly, view it on GitHub<#2 (comment)https://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267562920>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNU766GGT3FM4YLU5I3ZPY255AVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU3DEOJSGA. You are receiving this because you modified the open/close state.Message ID: @.***>

就是在您在代码优化的基础上GPU显存还是不够是吗，我的显卡是RTX4060 8g的，那如果说，要像您这样扫描一整间屋子，需要什么配置的显卡呢？

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H3-Mapping/issues/2#issuecomment-2267567056, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNXMHRJLMFRSRDIGHULZPY4RFAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU3DOMBVGY. You are receiving this because you modified the open/close state.Message ID: @.***>

wangdebin00223 commented 2 months ago

实际实验是32g的AGX Orin，我在4090 24G上测过也是ok的 … ____ 发件人: DeBinW @.> 发送时间: 2024年8月4日 22:41 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2) 对的，用replica数据集试一下。这个不影响你用bag运行的结果。我觉得应该还是gpu显存不够，所以还得减小insert ratio 获取 Outlook for iOShttps://aka.ms/o0ukef … ____ 发件人: DeBinW @.> 发送时间: Sunday, August 4, 2024 10:27:42 PM 收件人: SYSU-STAR/H3-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H3-Mapping] 您好，我安装的时候进行到运行python -W ignore demo/run_mapping.py --config configs/realsense/tower.yaml -run_ros产生报错如下 (Issue #2<#2>) 看一下replica数据集有没有问题，如果没有的话，那只能改小insert_ratio了请问您指的是bash mapping/scripts/download_replica.sh这个命令下载的东西吗？而不是下面播放的bag文件我一直没有下载这个文件，不知道有没有影响 D Reply to this email directly, view it on GitHub<#2 (comment)<#2 (comment)>>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNU766GGT3FM4YLU5I3ZPY255AVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU3DEOJSGA. You are receiving this because you modified the open/close state.Message ID: @.> 就是在您在代码优化的基础上GPU显存还是不够是吗，我的显卡是RTX4060 8g的，那如果说，要像您这样扫描一整间屋子，需要什么配置的显卡呢？ ― Reply to this email directly, view it on GitHub<#2 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNXMHRJLMFRSRDIGHULZPY4RFAVCNFSM6AAAAABLKJFYDOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENRXGU3DOMBVGY. You are receiving this because you modified the open/close state.Message ID: @.>

好的感谢