Error in ekf_mlp_anim.py

[karalleyna]

When I run ekf_mlp_anim.py, I'm getting the following error:

WARNING:absl:No GPU/TPU found, falling back to CPU. (Set TF_CPP_MIN_LOG_LEVEL=0 and rerun for more info.)
Traceback (most recent call last):
  File "/Users/aleynakara/Documents/GitHub/JSL/jsl/demos/ekf_mlp_anim.py", line 90, in <module>
    main(f, fz, filepath)
  File "/Users/aleynakara/Documents/GitHub/JSL/jsl/demos/ekf_mlp_anim.py", line 70, in main
    ani.save(filepath, dpi=200, bitrate=-1, fps=10)
  File "/Library/Frameworks/Python.framework/Versions/3.8/lib/python3.8/site-packages/matplotlib/animation.py", line 1102, in save
    alt_writer = next(writers, None)
TypeError: 'MovieWriterRegistry' object is not an iterator

[murphyk]

@gerdm PTAL

[murphyk]

@karalleyna You can also use https://github.com/probml/JSL/blob/main/jsl/demos/ekf_vs_ukf_mlp.py, which is the same code, but without the movie making.

[BitterKanegul]

Hi team, shall I try working on this?

[gerdm]

Hi @BitterKanegul. Feel free to work on this. It would be good if you make tests for multiple versions of Matplotlib. It seems that using matplotlib version 3.4.3 works fine.

[BitterKanegul]

Yeah sure! Thank you!

[gerdm]

@karalleyna, could you tell me which version of matplotlib are you using? I've ran the code on my local computer (matplotlib version 3.4.3) and on a VM (version 3.5.1) and I can't seem to replicate the error.

[karalleyna]

Sorry for the late response. Mine is 3.2.1.

[maheswarantp]

I tried replicating your error with the same Matplotlib 3.2.1 and Python 3.8 and could not replicate your error.

[murphyk]

I also get an error running the code on my macbook (python 3.8.5, matplotlib '3.3.2'). I think it is some issue related to ffmpeg. (See error log below). Fortunatley I was abble to get it to run in colab, and made https://github.com/probml/JSL/blob/main/jsl/demos/ekf_mlp_anim.ipynb.

@gerdm Maybe you can try using Celluliod to make the movie? This might be a more portable solution. (See this colab for a demo.)

Unfortunately the current colab is unbelievably slow, even in GPU mode - it takes several minutes just to make 10 frames. Also, when I run python demos/ekf_vs_ukf_mlp.py on my laptop, it is painflully slow. (It didn't used to be so slow, I'm not sure what has changed...) @gerdm Please investigate why EKF is so slow (eg use a profiler, and/or use @jit ).

 kpmurphy-macbookpro1% python demos/ekf_mlp_anim.py 
WARNING:absl:No GPU/TPU found, falling back to CPU. (Set TF_CPP_MIN_LOG_LEVEL=0 and rerun for more info.)
WARNING:matplotlib.animation:MovieWriter stderr:
dyld[26302]: Library not loaded: @rpath/libopenh264.5.dylib
  Referenced from: /opt/anaconda3/lib/libavcodec.58.91.100.dylib
  Reason: tried: '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/bin/../lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/lib/libopenh264.5.dylib' (no such file), '/opt/anaconda3/bin/../lib/libopenh264.5.dylib' (no such file), '/usr/local/lib/libopenh264.5.dylib' (no such file), '/usr/lib/libopenh264.5.dylib' (no such file)

Traceback (most recent call last):
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/animation.py", line 251, in saving
    yield self
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/animation.py", line 1145, in save
    writer.grab_frame(**savefig_kwargs)
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/animation.py", line 363, in grab_frame
    self.fig.savefig(self._frame_sink(), format=self.frame_format,
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/figure.py", line 2311, in savefig
    self.canvas.print_figure(fname, **kwargs)
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/backend_bases.py", line 2210, in print_figure
    result = print_method(
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/backend_bases.py", line 1639, in wrapper
    return func(*args, **kwargs)
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/backends/backend_agg.py", line 456, in print_raw
    fh.write(renderer.buffer_rgba())
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "demos/ekf_mlp_anim.py", line 90, in <module>
    main(f, fz, filepath)
  File "demos/ekf_mlp_anim.py", line 70, in main
    ani.save(filepath, dpi=200, bitrate=-1, fps=10)
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/animation.py", line 1145, in save
    writer.grab_frame(**savefig_kwargs)
  File "/opt/anaconda3/lib/python3.8/contextlib.py", line 131, in __exit__
    self.gen.throw(type, value, traceback)
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/animation.py", line 253, in saving
    self.finish()
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/animation.py", line 354, in finish
    self.cleanup()
  File "/opt/anaconda3/lib/python3.8/site-packages/matplotlib/animation.py", line 390, in cleanup
    raise subprocess.CalledProcessError(
subprocess.CalledProcessError: Command '['ffmpeg', '-f', 'rawvideo', '-vcodec', 'rawvideo', '-s', '1280x960', '-pix_fmt', 'rgba', '-r', '10', '-loglevel', 'error', '-i', 'pipe:', '-vcodec', 'h264', '-pix_fmt', 'yuv420p', '-y', './samples_hist_ekf.mp4']' died with <Signals.SIGABRT: 6>.

[maheswarantp]

Thanks for the detailed error log @murphyk . I use Ubuntu 18.04 LTS will try to see if I can replicate it using anaconda. In the meantime, seems ffmpeg's libh264 not found error /opt/anaconda3/lib/libopenh264.5.dylib' (no such file) has been posted by others too. In case this helps someone, one could try updating ffmpeg using conda or adding symlink.

[murphyk]

@maheswarantp Messing with ffmpeg seems like a pain. Can you try to rewrite the code to use https://github.com/jwkvam/celluloid as a way of making animations instead? This may be more portable.

[maheswarantp]

@murphyk sure, I am working on it

[maheswarantp]

I have added Celluloid based animations for this example. The issue that @murphyk mentioned /opt/anaconda3/lib/libopenh264.5.dylib' (no such file) may be fixed by the use of celluloid, not 100% sure, as it is built on top of matplotlib. Celluloid uses matplotlib.ArtisticAnimation for animation as compared to matplotlib.FuncAnimation in the earlier version.

I believe the performance issues has been reduced with celluloid based ekf_mlp. It has been tested on CPU as well as GPU on colab and it takes 4 minutes and 9 minutes respectively (not sure why GPU is slow) for 200 frames. Not sure if the performance improvement is a priority, if it is, I can do a deeper dive and profile the code.