Open MajdWardeh opened 3 years ago
Can you give me a little more detail about what you are trying to accomplish.
Are you using the ROS client or the python client? What branch of the FlightGogglesClientBindings are you using?
The current master branch is only intended to be used with v3.0 and might have backward compatibility issues. I suggest rolling back to f25e1c2555d0c83f3cbac441d4e6973f09e2d0b9
for ROS with v2.x.
I am trying to build an environment that has only squared gates in it. As I mentioned, I downloaded the assets and the FlightGoggles renderer source code. I was able to build and run the environment. Yes, I used an older version of ROS Client to get it running. I've read the source code for the ROS Client, and I know in depth what it does. My problem is that when I ask for stereo-rendering, my built app will open with doubled height, as expected, but showing only one image that is stretched, not the two stereo images as expected. After the application has loaded the image, it crashes as soon as the drone moves.
Do you have a Player.log that I can look at?
Hi,
Thank you so much for your help.
I've just created a new project (on Windows), added the assets and the renderer code, built it (for a Linux system), and tested it on Ubuntu 16.04.
I built a new environment so that the line numbers in the Player.log file are consistent with the code that you have. since for my custom environment, I added a simple function to place the gates at poeses read from a txt file.
Here's the content of Player.log for the new environment: Desktop is 1920 x 1080 @ 60 Hz [Vulkan init] extensions: count=13 [Vulkan init] extensions: name=VK_KHR_display, enabled=1 [Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0 [Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=0 [Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0 [Vulkan init] extensions: name=VK_KHR_surface, enabled=1 [Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0 [Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=1 [Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0 [Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0 [Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0 [Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0 Vulkan detection: 2 Initialize engine version: 2018.3.14f1 (d0e9f15437b1) GfxDevice: creating device client; threaded=1 [Vulkan init] extensions: count=13 [Vulkan init] extensions: name=VK_KHR_display, enabled=1 [Vulkan init] extensions: name=VK_KHR_external_fence_capabilities, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_memory_capabilities, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_semaphore_capabilities, enabled=0 [Vulkan init] extensions: name=VK_KHR_get_physical_device_properties2, enabled=0 [Vulkan init] extensions: name=VK_KHR_get_surface_capabilities2, enabled=0 [Vulkan init] extensions: name=VK_KHR_surface, enabled=1 [Vulkan init] extensions: name=VK_KHR_xcb_surface, enabled=0 [Vulkan init] extensions: name=VK_KHR_xlib_surface, enabled=1 [Vulkan init] extensions: name=VK_EXT_acquire_xlib_display, enabled=0 [Vulkan init] extensions: name=VK_EXT_debug_report, enabled=0 [Vulkan init] extensions: name=VK_EXT_direct_mode_display, enabled=0 [Vulkan init] extensions: name=VK_EXT_display_surface_counter, enabled=0 [Vulkan init] extensions: count=116 [Vulkan init] extensions: name=VK_KHR_16bit_storage, enabled=0 [Vulkan init] extensions: name=VK_KHR_8bit_storage, enabled=0 [Vulkan init] extensions: name=VK_KHR_acceleration_structure, enabled=0 [Vulkan init] extensions: name=VK_KHR_bind_memory2, enabled=0 [Vulkan init] extensions: name=VK_KHR_buffer_device_address, enabled=0 [Vulkan init] extensions: name=VK_KHR_copy_commands2, enabled=0 [Vulkan init] extensions: name=VK_KHR_create_renderpass2, enabled=0 [Vulkan init] extensions: name=VK_KHR_dedicated_allocation, enabled=1 [Vulkan init] extensions: name=VK_KHR_deferred_host_operations, enabled=0 [Vulkan init] extensions: name=VK_KHR_depth_stencil_resolve, enabled=0 [Vulkan init] extensions: name=VK_KHR_descriptor_update_template, enabled=0 [Vulkan init] extensions: name=VK_KHR_device_group, enabled=0 [Vulkan init] extensions: name=VK_KHR_draw_indirect_count, enabled=0 [Vulkan init] extensions: name=VK_KHR_driver_properties, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_fence, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_fence_fd, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_memory, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_memory_fd, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_semaphore, enabled=0 [Vulkan init] extensions: name=VK_KHR_external_semaphore_fd, enabled=0 [Vulkan init] extensions: name=VK_KHR_get_memory_requirements2, enabled=1 [Vulkan init] extensions: name=VK_KHR_image_format_list, enabled=1 [Vulkan init] extensions: name=VK_KHR_imageless_framebuffer, enabled=0 [Vulkan init] extensions: name=VK_KHR_maintenance1, enabled=1 [Vulkan init] extensions: name=VK_KHR_maintenance2, enabled=0 [Vulkan init] extensions: name=VK_KHR_maintenance3, enabled=0 [Vulkan init] extensions: name=VK_KHR_multiview, enabled=0 [Vulkan init] extensions: name=VK_KHR_pipeline_executable_properties, enabled=0 [Vulkan init] extensions: name=VK_KHR_pipeline_library, enabled=0 [Vulkan init] extensions: name=VK_KHR_push_descriptor, enabled=0 [Vulkan init] extensions: name=VK_KHR_ray_tracing_pipeline, enabled=0 [Vulkan init] extensions: name=VK_KHR_relaxed_block_layout, enabled=0 [Vulkan init] extensions: name=VK_KHR_sampler_mirror_clamp_to_edge, enabled=1 [Vulkan init] extensions: name=VK_KHR_sampler_ycbcr_conversion, enabled=0 [Vulkan init] extensions: name=VK_KHR_separate_depth_stencil_layouts, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_atomic_int64, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_clock, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_draw_parameters, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_float16_int8, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_float_controls, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_non_semantic_info, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_subgroup_extended_types, enabled=0 [Vulkan init] extensions: name=VK_KHR_shader_terminate_invocation, enabled=0 [Vulkan init] extensions: name=VK_KHR_spirv_1_4, enabled=0 [Vulkan init] extensions: name=VK_KHR_storage_buffer_storage_class, enabled=0 [Vulkan init] extensions: name=VK_KHR_swapchain, enabled=1 [Vulkan init] extensions: name=VK_KHR_swapchain_mutable_format, enabled=0 [Vulkan init] extensions: name=VK_KHR_synchronization2, enabled=0 [Vulkan init] extensions: name=VK_KHR_timeline_semaphore, enabled=0 [Vulkan init] extensions: name=VK_KHR_uniform_buffer_standard_layout, enabled=0 [Vulkan init] extensions: name=VK_KHR_variable_pointers, enabled=0 [Vulkan init] extensions: name=VK_KHR_vulkan_memory_model, enabled=0 [Vulkan init] extensions: name=VK_KHR_workgroup_memory_explicit_layout, enabled=0 [Vulkan init] extensions: name=VK_KHR_zero_initialize_workgroup_memory, enabled=0 [Vulkan init] extensions: name=VK_EXT_4444_formats, enabled=0 [Vulkan init] extensions: name=VK_EXT_blend_operation_advanced, enabled=0 [Vulkan init] extensions: name=VK_EXT_buffer_device_address, enabled=0 [Vulkan init] extensions: name=VK_EXT_calibrated_timestamps, enabled=0 [Vulkan init] extensions: name=VK_EXT_conditional_rendering, enabled=0 [Vulkan init] extensions: name=VK_EXT_conservative_rasterization, enabled=0 [Vulkan init] extensions: name=VK_EXT_custom_border_color, enabled=0 [Vulkan init] extensions: name=VK_EXT_depth_clip_enable, enabled=0 [Vulkan init] extensions: name=VK_EXT_depth_range_unrestricted, enabled=0 [Vulkan init] extensions: name=VK_EXT_descriptor_indexing, enabled=0 [Vulkan init] extensions: name=VK_EXT_discard_rectangles, enabled=0 [Vulkan init] extensions: name=VK_EXT_display_control, enabled=0 [Vulkan init] extensions: name=VK_EXT_extended_dynamic_state, enabled=0 [Vulkan init] extensions: name=VK_EXT_external_memory_host, enabled=0 [Vulkan init] extensions: name=VK_EXT_fragment_shader_interlock, enabled=0 [Vulkan init] extensions: name=VK_EXT_global_priority, enabled=0 [Vulkan init] extensions: name=VK_EXT_host_query_reset, enabled=0 [Vulkan init] extensions: name=VK_EXT_image_robustness, enabled=0 [Vulkan init] extensions: name=VK_EXT_index_type_uint8, enabled=0 [Vulkan init] extensions: name=VK_EXT_inline_uniform_block, enabled=0 [Vulkan init] extensions: name=VK_EXT_line_rasterization, enabled=0 [Vulkan init] extensions: name=VK_EXT_memory_budget, enabled=0 [Vulkan init] extensions: name=VK_EXT_pci_bus_info, enabled=0 [Vulkan init] extensions: name=VK_EXT_pipeline_creation_cache_control, enabled=0 [Vulkan init] extensions: name=VK_EXT_pipeline_creation_feedback, enabled=0 [Vulkan init] extensions: name=VK_EXT_post_depth_coverage, enabled=0 [Vulkan init] extensions: name=VK_EXT_private_data, enabled=0 [Vulkan init] extensions: name=VK_EXT_robustness2, enabled=0 [Vulkan init] extensions: name=VK_EXT_sample_locations, enabled=0 [Vulkan init] extensions: name=VK_EXT_sampler_filter_minmax, enabled=0 [Vulkan init] extensions: name=VK_EXT_scalar_block_layout, enabled=0 [Vulkan init] extensions: name=VK_EXT_separate_stencil_usage, enabled=0 [Vulkan init] extensions: name=VK_EXT_shader_atomic_float, enabled=0 [Vulkan init] extensions: name=VK_EXT_shader_demote_to_helper_invocation, enabled=0 [Vulkan init] extensions: name=VK_EXT_shader_image_atomic_int64, enabled=0 [Vulkan init] extensions: name=VK_EXT_shader_subgroup_ballot, enabled=0 [Vulkan init] extensions: name=VK_EXT_shader_subgroup_vote, enabled=0 [Vulkan init] extensions: name=VK_EXT_shader_viewport_index_layer, enabled=0 [Vulkan init] extensions: name=VK_EXT_subgroup_size_control, enabled=0 [Vulkan init] extensions: name=VK_EXT_texel_buffer_alignment, enabled=0 [Vulkan init] extensions: name=VK_EXT_tooling_info, enabled=0 [Vulkan init] extensions: name=VK_EXT_transform_feedback, enabled=0 [Vulkan init] extensions: name=VK_EXT_vertex_attribute_divisor, enabled=0 [Vulkan init] extensions: name=VK_EXT_ycbcr_image_arrays, enabled=0 [Vulkan init] extensions: name=VK_NV_clip_space_w_scaling, enabled=0 [Vulkan init] extensions: name=VK_NV_coverage_reduction_mode, enabled=0 [Vulkan init] extensions: name=VK_NV_dedicated_allocation, enabled=0 [Vulkan init] extensions: name=VK_NV_dedicated_allocation_image_aliasing, enabled=0 [Vulkan init] extensions: name=VK_NV_device_diagnostic_checkpoints, enabled=0 [Vulkan init] extensions: name=VK_NV_device_diagnostics_config, enabled=0 [Vulkan init] extensions: name=VK_NV_device_generated_commands, enabled=0 [Vulkan init] extensions: name=VK_NV_fill_rectangle, enabled=0 [Vulkan init] extensions: name=VK_NV_fragment_coverage_to_color, enabled=0 [Vulkan init] extensions: name=VK_NV_framebuffer_mixed_samples, enabled=0 [Vulkan init] extensions: name=VK_NV_geometry_shader_passthrough, enabled=0 [Vulkan init] extensions: name=VK_NV_ray_tracing, enabled=0 [Vulkan init] extensions: name=VK_NV_sample_mask_override_coverage, enabled=0 [Vulkan init] extensions: name=VK_NV_shader_sm_builtins, enabled=0 [Vulkan init] extensions: name=VK_NV_shader_subgroup_partitioned, enabled=0 [Vulkan init] extensions: name=VK_NV_viewport_array2, enabled=0 [Vulkan init] extensions: name=VK_NV_viewport_swizzle, enabled=0 [Vulkan init] extensions: name=VK_NVX_multiview_per_view_attributes, enabled=0 Vulkan API version 1.2.168 Vulkan vendor=[NVIDIA] id=[10de] Vulkan renderer=[NVIDIA TITAN Xp] id=[1b02] Vulkan device type 2 Vulkan driverversion=[0x7444c040] uint=[1950662720] Vulkan PSO: cache data not found [path=/tmp/MIT-FAST-Lab/FlightGoggles/vulkan_pso_cache.bin] Begin MonoManager ReloadAssembly
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
Configuring sockets.
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
Trying to connect to: 127.0.0.1
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
Terminated ZMQ sockets.
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
Configuring sockets.
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
Sockets bound.
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
Fallback handler could not load library /home/majd/catkin_ws/src/basic_rl_agent/data/FG_linux/FG3_original_Morning/FG3_linux_built_Data/Mono/libKernel32 Fallback handler could not load library /home/majd/catkin_ws/src/basic_rl_agent/data/FG_linux/FG3_original_Morning/FG3_linux_built_Data/Mono/libKernel32.so Fallback handler could not load library /home/majd/catkin_ws/src/basic_rl_agent/data/FG_linux/FG3_original_Morning/FG3_linux_built_Data/Mono/Kernel32 Fallback handler could not load library /home/majd/catkin_ws/src/basic_rl_agent/data/FG_linux/FG3_original_Morning/FG3_linux_built_Data/Mono/libKernel32 Fallback handler could not load library /home/majd/catkin_ws/src/basic_rl_agent/data/FG_linux/FG3_original_Morning/FG3_linux_built_Data/Mono/libKernel32.so Fallback handler could not load library /home/majd/catkin_ws/src/basic_rl_agent/data/FG_linux/FG3_original_Morning/FG3_linux_built_Data/Mono/libKernel32 requesting resize 1024 x 768 resizing window to 1024 x 768 Desktop is 1920 x 1080 @ 60 Hz InitializeOrResetSwapChain 1024x768 samples=1 Loading scene: Abandoned_Factory_Morning
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
The referenced script on this Behaviour (Game Object 'PointLight (9)') is missing!
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The referenced script on this Behaviour (Game Object 'Arrow (4)') is missing!
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The referenced script on this Behaviour (Game Object 'Arrow') is missing!
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The referenced script on this Behaviour (Game Object 'Arrow Blue') is missing!
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Unloading 5 Unused Serialized files (Serialized files now loaded: 0) UnloadTime: 11.359000 ms
Unloading 7 unused Assets to reduce memory usage. Loaded Objects now: 40944. Total: 11.781000 ms (FindLiveObjects: 2.905000 ms CreateObjectMapping: 1.246000 ms MarkObjects: 7.489000 ms DeleteObjects: 0.140000 ms)
Using quality level: 0
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
Disabling realtime reflection probes.
(Filename: ./Runtime/Export/Debug.bindings.h Line: 45)
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requesting resize 640 x 960 resizing window to 640 x 960 Desktop is 1920 x 1080 @ 60 Hz InitializeOrResetSwapChain 640x960 samples=1 SetTextures: missing texture ID 236
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Receiving unhandled NULL exception
Hi,
Two weeks ago, I downloaded the Unity environment assets and followed all the instructions provided, and I built a custom environment (v2.0.5-smoketrail-1) that worked perfectly for a single RGB camera. Now, I need a stereo camera, and it looks like the provided Unity environment has bugs regarding stereo-rendering or the use of a depth camera compared to the pre-built releases <= V2.0.4-b1. Could you please give me some hints to solve this issue? I have zero knowledge of Unity, but I read your code and had some high-level understanding of it. I urgently need a stereo camera or an RGBD camera for my experiments, so your help is really appreciated.
Thank you,