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Published 20 hours ago • verified publisher icon facebookresearch

Fail to parse mesh_semantic.ply and .navmesh file within replica_v1 dataset

Open fangchuan opened this issue 2 years ago • 0 comments

Hi guys, thanks for your effort to simplify the config files and instructions that load replica dataset into habitat-sim. #1771 But I still run into some confusing problems when I render images(color, depth, semantic) using habitat-sim. For example, I load a replica scene (data downloaded with download.sh) into the habitat-sim by example/viewer.py, firstly, it parsed the root config file: replica.scene_dataset_config.json and load mesh.ply and mesh_semantic.ply, but it fail to load .navmesh file. When loading the mesh.ply, it took a long time to load texture/_ptex.hdr files. I follow the 2020_tutorial to load and render images, when I need to retrieve the semantic instances in the scene, the program crashed in the following location: image

and the error hint is: image

After I run the command: python examples/my_viewer.py --scene /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply --dataset /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json, the total debug messages showed as the following:

(habitat) ziqianbai@ziqianbai-XPS-8930:~/Projects/vlab/habitat-sim$ python examples/my_viewer.py --scene /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply --dataset /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json 
[17:34:04:508609]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Dataset>: Proposing JSON name : default.scene_dataset_config.json from original name : default| This file does not exist.
[17:34:04:508975]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DSolid:capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
[17:34:04:509030]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DWireframe:capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
[17:34:04:509064]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneSolid:coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
[17:34:04:509079]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneWireframe:coneWireframe_segments_32_halfLen_1.25) created and registered.
[17:34:04:509092]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeSolid:cubeSolid) created and registered.
[17:34:04:509104]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeWireframe:cubeWireframe) created and registered.
[17:34:04:509117]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderSolid:cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
[17:34:04:509132]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderWireframe:cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
[17:34:04:509158]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereSolid:icosphereSolid_subdivs_1) created and registered.
[17:34:04:509184]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereWireframe:icosphereWireframe_subdivs_1) created and registered.
[17:34:04:509197]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereSolid:uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
[17:34:04:509226]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereWireframe:uvSphereWireframe_rings_16_segments_32) created and registered.
[17:34:04:509236]:[Metadata] AssetAttributesManager.cpp(110)::AssetAttributesManager : Built default primitive asset templates : 12
[17:34:04:509439]:[Metadata] SceneDatasetAttributesManager.cpp(35)::createObject : File (default) not found, so new default dataset attributes created  and registered.
[17:34:04:509448]:[Metadata] MetadataMediator.cpp(120)::createSceneDataset : Dataset default successfully created.
[17:34:04:509473]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Physics Manager>: Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json| This file exists.
[17:34:04:509736]:[Metadata] PhysicsAttributesManager.cpp(26)::createObject : JSON Configuration File (./data/default.physics_config.json) based physics manager attributes created and registered.
[17:34:04:509746]:[Metadata] MetadataMediator.cpp(210)::setActiveSceneDatasetName : Attempting to create new dataset /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json
[17:34:04:510181]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Dataset>: Proposing JSON name : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json from original name : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json| This file exists.
[17:34:04:510380]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DSolid:capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
[17:34:04:510433]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DWireframe:capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
[17:34:04:510466]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneSolid:coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
[17:34:04:510479]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneWireframe:coneWireframe_segments_32_halfLen_1.25) created and registered.
[17:34:04:510507]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeSolid:cubeSolid) created and registered.
[17:34:04:510531]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeWireframe:cubeWireframe) created and registered.
[17:34:04:510560]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderSolid:cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
[17:34:04:510605]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderWireframe:cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
[17:34:04:510631]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereSolid:icosphereSolid_subdivs_1) created and registered.
[17:34:04:510658]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereWireframe:icosphereWireframe_subdivs_1) created and registered.
[17:34:04:510671]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereSolid:uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
[17:34:04:510684]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereWireframe:uvSphereWireframe_rings_16_segments_32) created and registered.
[17:34:04:510707]:[Metadata] AssetAttributesManager.cpp(110)::AssetAttributesManager : Built default primitive asset templates : 12
[17:34:04:510976]:[Metadata] SceneDatasetAttributesManager.cpp(308)::readDatasetJSONCell : "stages.default_attributes" set in Attributes Manager from JSON.
[17:34:04:511069]:[Metadata] AttributesManagerBase.h(357)::buildAttrSrcPathsFromJSONAndLoad : No Glob path result for /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/apartment_0/apartment0.basis.ply
[17:34:04:511097]:[Metadata] AttributesManagerBase.h(360)::buildAttrSrcPathsFromJSONAndLoad : <Stage Template>:1paths specified in JSON doc forStage Templatetemplates.
[17:34:04:511112]:[Metadata] SceneInstanceAttributesManager.cpp(65)::setValsFromJSONDoc : No Stage specified for scene default_attributes , or specification error.
[17:34:04:511125]:[Metadata] SceneInstanceAttributesManager.cpp(105)::setValsFromJSONDoc : No Articulated Objects specified for scene default_attributes , or specification error.
[17:34:04:511140]:[Metadata] SceneInstanceAttributesManager.cpp(125)::setValsFromJSONDoc : No navmesh_instance specified for scene default_attributes .
[17:34:04:511151]:[Metadata] SceneInstanceAttributesManager.cpp(135)::setValsFromJSONDoc : No semantic_scene_instance specified for scene default_attributes .
[17:34:04:511165]:[Metadata] SceneDatasetAttributesManager.cpp(308)::readDatasetJSONCell : "scene_instances.default_attributes" set in Attributes Manager from JSON.
[17:34:04:511179]:[Metadata] SceneDatasetAttributesManager.cpp(35)::createObject : JSON Configuration File (/media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json) based dataset attributes created  and registered.
[17:34:04:511186]:[Metadata] MetadataMediator.cpp(120)::createSceneDataset : Dataset /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json successfully created.
[17:34:04:511193]:[Metadata] MetadataMediator.cpp(217)::setActiveSceneDatasetName : Attempt to create new dataset /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json   succeeded. Currently active dataset : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json
[17:34:04:511200]:[Metadata] MetadataMediator.cpp(175)::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
[17:34:04:511207]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply and dataset : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json which is currently active dataset.
Renderer: NVIDIA GeForce GTX 1080/PCIe/SSE2 by NVIDIA Corporation
OpenGL version: 4.6.0 NVIDIA 495.29.05
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
Using driver workarounds:
    no-forward-compatible-core-context
    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
[17:34:04:615213]:[Metadata] MetadataMediator.cpp(297)::getSceneInstanceAttributesByName : Dataset : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json has no preloaded SceneInstanceAttributes or StageAttributes named : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply so loading/creating a new StageAttributes with this name, and then creating a SceneInstanceAttributes with the same name that references this stage.
[17:34:04:615340]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Stage Template>: Proposing JSON name : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.stage_config.json from original name : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply| This file does not exist.
[17:34:04:615709]:[Metadata] AbstractObjectAttributesManagerBase.h(184)::createObject : File (/media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
[17:34:04:615750]:[Metadata] SceneDatasetAttributes.cpp(47)::addNewSceneInstanceToDataset : Dataset : 'replica' : Stage Attributes '/media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply' specified in Scene Attributes exists in dataset library.
[17:34:04:615759]:[Metadata] SceneDatasetAttributes.cpp(84)::addNewSceneInstanceToDataset : Dataset : 'replica' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
[17:34:04:615774]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Lighting Layout>: Proposing JSON name : no_lights.lighting_config.json from original name : no_lights| This file does not exist.
[17:34:04:615789]:[Metadata] LightLayoutAttributesManager.cpp(36)::createObject : File (no_lights) not found, so new default light layout attributes created and registered.
[17:34:04:615800]:[Sim] Simulator.cpp(237)::createSceneInstance : Navmesh file location in scene instance : 
[17:34:04:616127]:[Sim] Simulator.cpp(246)::createSceneInstance : Navmesh file not found, checked at filename : ''
[17:34:04:616479]:[Scene] SceneGraph.h(85)::createDrawableGroup : Created DrawableGroup: 
[17:34:04:616490]:[Assets] ResourceManager.cpp(297)::loadSemanticSceneDescriptor : SceneInstance : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply proposed Semantic Scene Descriptor filename : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/habitat/info_semantic.json
[17:34:04:617788]:[Assets] ResourceManager.cpp(308)::loadSemanticSceneDescriptor : SSD with SceneInstanceAttributes-provided name  /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/habitat/info_semantic.json successfully found and loaded
[17:34:04:617813]:[Assets] ResourceManager.cpp(1652)::ConfigureImporterManagerGLExtensions : Importing Basis files as BC7.
[17:34:04:618344]:[Sim] Simulator.cpp(302)::createSceneInstance : Using scene instance-specified Light key : - no_lights -
[17:34:04:618359]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply and dataset : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/replica.scene_dataset_config.json which is currently active dataset.
[17:34:04:618377]:[Sim] Simulator.cpp(412)::instanceStageForSceneAttributes : Start to load stage named : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply with render asset : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply and collision asset : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply
[17:34:04:618406]:[Assets] ResourceManager.cpp(691)::createStageAssetInfosFromAttributes : Frame :{"up":[0,0,1],"front":[0,1,0],"origin":[0,0,0]} for render mesh named : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply|{"up":[0,0,1],"front":[0,1,0],"origin":[0,0,0]} for semantic mesh named : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/habitat/mesh_semantic.ply with type specified as semantic|Semantic Txtrs : True
[17:34:04:618510]:[Assets] ResourceManager.cpp(431)::loadStage : Loading Semantic Stage mesh : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/habitat/mesh_semantic.ply
[17:34:04:618521]:[Scene] SceneGraph.h(85)::createDrawableGroup : Created DrawableGroup: 
[17:34:04:618528]:[Assets] ResourceManager.cpp(973)::loadStageInternal : Attempting to load stage /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/habitat/mesh_semantic.ply 
[17:34:04:618576]:[Assets] ResourceManager.cpp(852)::loadRenderAsset : Loading Semantic Mesh asset named: /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/habitat/mesh_semantic.ply
[17:34:04:618584]:[Assets] ResourceManager.cpp(1652)::ConfigureImporterManagerGLExtensions : Importing Basis files as BC7.
[17:34:08:372923]:[Assets] ResourceManager.cpp(2089)::loadMaterials : Building 0 materials for asset named 'mesh_semantic.ply' : 
[17:34:11:908955]:[Assets] ResourceManager.cpp(464)::loadStage : Semantic Stage mesh : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/habitat/mesh_semantic.ply loaded.
[17:34:11:908983]:[Assets] ResourceManager.cpp(507)::loadStage : Start load render asset /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply .
[17:34:11:909004]:[Assets] ResourceManager.cpp(973)::loadStageInternal : Attempting to load stage /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply 
[17:34:11:909390]:[Assets] ResourceManager.cpp(849)::loadRenderAsset : Loading PTEX asset named: /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply
[17:34:18:837593]:[Assets] PTexMeshData.cpp(475)::loadMeshData : Splitting mesh...
[17:34:20:203125]:[Assets] PTexMeshData.cpp(382)::loadSubMeshes : The number of quads: 4560777 , which equals to 9121554 triangles.
[17:34:20:213886]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 1 / 31 ...
[17:34:20:216448]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 2 / 31 ...
[17:34:20:221343]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 3 / 31 ...
[17:34:20:226117]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 4 / 31 ...
[17:34:20:233389]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 5 / 31 ...
[17:34:20:240909]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 6 / 31 ...
[17:34:20:245812]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 7 / 31 ...
[17:34:20:251280]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 8 / 31 ...
[17:34:20:257603]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 9 / 31 ...
[17:34:20:258073]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 10 / 31 ...
[17:34:20:268412]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 11 / 31 ...
[17:34:20:268731]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 12 / 31 ...
[17:34:20:269780]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 13 / 31 ...
[17:34:20:276500]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 14 / 31 ...
[17:34:20:276638]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 15 / 31 ...
[17:34:20:285177]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 16 / 31 ...
[17:34:20:296318]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 17 / 31 ...
[17:34:20:303450]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 18 / 31 ...
[17:34:20:312242]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 19 / 31 ...
[17:34:20:318934]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 20 / 31 ...
[17:34:20:327790]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 21 / 31 ...
[17:34:20:329433]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 22 / 31 ...
[17:34:20:335714]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 23 / 31 ...
[17:34:20:344001]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 24 / 31 ...
[17:34:20:351953]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 25 / 31 ...
[17:34:20:357909]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 26 / 31 ...
[17:34:20:358545]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 27 / 31 ...
[17:34:20:358669]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 28 / 31 ...
[17:34:20:365039]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 29 / 31 ...
[17:34:20:365383]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 30 / 31 ...
[17:34:20:367262]:[Assets] PTexMeshData.cpp(831)::uploadBuffersToGPU : Loading mesh 31 / 31 ...
[17:34:20:373383]:[Assets] PTexMeshData.cpp(857)::uploadBuffersToGPU : Calculating mesh adjacency...
[17:34:21:584096]:[Assets] PTexMeshData.cpp(904)::uploadBuffersToGPU : loading atlas textures:
[17:34:21:584412]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 1 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/0-color-ptex.hdr .
[17:34:31:254457]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 2 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/1-color-ptex.hdr .
[17:34:44:772882]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 3 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/2-color-ptex.hdr .
[17:34:54:264760]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 4 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/3-color-ptex.hdr .
[17:35:05:295784]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 5 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/4-color-ptex.hdr .
[17:35:12:724341]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 6 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/5-color-ptex.hdr .
[17:35:19:534504]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 7 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/6-color-ptex.hdr .
[17:35:28:793351]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 8 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/7-color-ptex.hdr .
[17:35:36:146806]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 9 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/8-color-ptex.hdr .
[17:35:37:966856]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 10 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/9-color-ptex.hdr .
[17:35:50:726712]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 11 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/10-color-ptex.hdr .
[17:35:51:272836]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 12 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/11-color-ptex.hdr .
[17:35:54:082678]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 13 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/12-color-ptex.hdr .
[17:36:02:272463]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 14 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/13-color-ptex.hdr .
[17:36:02:415709]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 15 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/14-color-ptex.hdr .
[17:36:11:980504]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 16 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/15-color-ptex.hdr .
[17:36:27:479519]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 17 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/16-color-ptex.hdr .
[17:36:35:780719]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 18 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/17-color-ptex.hdr .
[17:36:47:712216]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 19 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/18-color-ptex.hdr .
[17:36:54:832876]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 20 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/19-color-ptex.hdr .
[17:37:06:341263]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 21 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/20-color-ptex.hdr .
[17:37:09:266909]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 22 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/21-color-ptex.hdr .
[17:37:16:059560]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 23 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/22-color-ptex.hdr .
[17:37:26:303625]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 24 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/23-color-ptex.hdr .
[17:37:37:422533]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 25 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/24-color-ptex.hdr .
[17:37:49:450035]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 26 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/25-color-ptex.hdr .
[17:37:50:924887]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 27 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/26-color-ptex.hdr .
[17:37:51:466907]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 28 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/27-color-ptex.hdr .
[17:37:57:227069]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 29 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/28-color-ptex.hdr .
[17:37:58:135757]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 30 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/29-color-ptex.hdr .
[17:38:00:765130]:[Assets] PTexMeshData.cpp(913)::uploadBuffersToGPU : Loading atlas 31 / 31 from /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/textures/30-color-ptex.hdr .
[17:38:07:336319]:[Sim] Simulator.cpp(439)::instanceStageForSceneAttributes : Successfully loaded stage named : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply
[17:38:07:336399]:[Sim] Simulator.cpp(205)::reconfigure : CreateSceneInstance success == true for active scene name : /media/ziqianbai/BACKPACK_DATA1/Replica_all/replica_v1/apartment_0/mesh.ply  with renderer.
[17:38:07:337874]:[Nav] PathFinder.cpp(852)::loadNavMesh : NavMeshSettings aren't present, guessing that they are the default
agent_state: position [ 0.18430093 -1.3747652   5.265953  ] rotation quaternion(-0.649466693401337, 0, 0.760390102863312, 0)
caemra hfov: 1.5707963267948966
action move_forward
Traceback (most recent call last):
  File "examples/my_viewer.py", line 411, in <module>
    print(f"obj_id:{sem_obj.id}, bbox: ({sem_obj.obb.sizes}) ({sem_obj.obb.center}) orientation: {sem_obj.obb.rotation} \n")
AttributeError: 'NoneType' object has no attribute 'id'
[17:38:07:736438]:[Physics] PhysicsManager.cpp(50)::~PhysicsManager : Deconstructing PhysicsManager
[17:38:07:736505]:[Scene] SceneManager.h(25)::~SceneManager : Deconstructing SceneManager
[17:38:07:736514]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[17:38:07:736845]:[Sensor] Sensor.cpp(69)::~Sensor : Deconstructing Sensor
[17:38:07:737737]:[Sensor] Sensor.cpp(69)::~Sensor : Deconstructing Sensor
[17:38:07:738178]:[Sensor] Sensor.cpp(69)::~Sensor : Deconstructing Sensor
[17:38:07:738209]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[17:38:08:522479]:[Gfx] Renderer.cpp(72)::~Impl : Deconstructing Renderer
[17:38:08:522543]:[Gfx] WindowlessContext.h(17)::~WindowlessContext : Deconstructing WindowlessContext
[17:38:08:529558]:[Scene] SemanticScene.h(47)::~SemanticScene : Deconstructing SemanticScene
[17:38:08:529633]:[Sim] Simulator.cpp(66)::~Simulator : Deconstructing Simulator

By the way, I noticed that there is a minor error in replica_stage.stage_config.json, where the extension of semantic_descriptor_filename should be .json in scene apartment_0 image

I have got stuck in the problem for a few days, and I'm looking forward to your help. @aclegg3 @dhruvbatra Thanks in advance!

fangchuan avatar Nov 09 '22 09:11 fangchuan