Script crash during dataset preparation

[ADetilie]

TL;DR

I am getting the following error during Habitat Matterport dataset prep:

-------------
{}
agent_state: position [13.376938    0.09943584  0.18875428] rotation quaternion(1, 0, 0, 0)
saving frame 3584/3586: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 3585/3585 [03:05<00:00, 19.28it/s]
GL::Context::current(): no current context
[1]    234262 IOT instruction (core dumped)  

Steps to reproduce:

1. I've downloaded "Downloading HM3D v0.2" from https://github.com/matterport/habitat-matterport-3dresearch
   and prepared it as described in the README.md.

See the image:

2. I've modified https://github.com/hovsg/HOV-SG/blob/main/data/habitat/gen_hm3dsem_from_poses.py#L84 and https://github.com/hovsg/HOV-SG/blob/main/data/habitat/gen_hm3dsem_from_poses.py#L85 from "quite" to "verbose" in order to get more detailed error message.

3. After that, I executed the following command:

python data/habitat/gen_hm3dsem_from_poses.py --dataset_dir <hm3dsem_dir> --save_dir data/hm3dsem_walks/

Results:

Script have been executed for some time, but in the end, it failed with the following error:

agent_state: position [13.376938    0.09943584  0.18875428] rotation quaternion(1, 0, 0, 0)
saving frame 3584/3586: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 3585/3585 [03:48<00:00, 15.68it/s]
[15:40:40:663264]:[Debug]:[Physics] PhysicsManager.cpp(57)::~PhysicsManager : Deconstructing PhysicsManager
[15:40:40:663379]:[Debug]:[Scene] SceneManager.h(21)::~SceneManager : Deconstructing SceneManager
[15:40:40:663397]:[Debug]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[15:40:40:663973]:[Debug]:[Sensor] Sensor.cpp(68)::~Sensor : Deconstructing Sensor
[15:40:40:664186]:[Debug]:[Sensor] Sensor.cpp(68)::~Sensor : Deconstructing Sensor
[15:40:40:664413]:[Debug]:[Sensor] Sensor.cpp(68)::~Sensor : Deconstructing Sensor
[15:40:40:664608]:[Debug]:[Sensor] Sensor.cpp(68)::~Sensor : Deconstructing Sensor
[15:40:40:664647]:[Debug]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[15:40:40:667051]:[Debug]:[Scene] SemanticScene.h(53)::~SemanticScene : Deconstructing SemanticScene
[15:40:40:668724]:[Debug]:[Gfx] Renderer.cpp(71)::~Impl : Deconstructing Renderer
[15:40:40:668769]:[Debug]:[Gfx] WindowlessContext.h(17)::~WindowlessContext : Deconstructing WindowlessContext
[15:40:40:767203]:[Debug]:[Sim] Simulator.cpp(61)::~Simulator : Deconstructing Simulator
[15:40:40:767945]:[Debug]:[Physics] PhysicsManager.cpp(57)::~PhysicsManager : Deconstructing PhysicsManager
[15:40:40:767990]:[Debug]:[Scene] SceneManager.h(21)::~SceneManager : Deconstructing SceneManager
[15:40:40:768002]:[Debug]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
GL::Context::current(): no current context
[1]    235042 IOT instruction (core dumped)  python data/habitat/gen_hm3dsem_from_poses.py --dataset_dir  --save_dir 

Generated data looks like this:

Questions

Have you seen similar problems? Could you help figure out what might be the root cause of the issue? Thanks.

By the way, it seems like it might be a habitat problem. Could you specify the version of habitat you are using?

[abwerby]

Hello,
I have not encountered this issue before it looks like a habitat sim problem.
Does habitat-sim work with you in general?

[ADetilie]

When I run Habitat with a command like:

habitat-viewer mL8ThkuaVTM.glb

I don't encounter any problems.

However, when I run the script, I get the following error at the end: GL::Context::current(): no current context.
This error doesn't affect data generation tho; the data is still written to disk.

[ADetilie]

@abwerby but I've added to the data/habitat/gen_hm3dsem_from_poses.py script the following line (line 141):

        sim.close()

after the for pose in pbar: loop.
It seems like this fixed the problem for me.

See the code snippet:

        ...
        for pose in pbar:
           pbar.set_description(f"saving frame {steps}/{len(poses_list) + 1}")
           agent = sim.get_agent(0)
           agent_state = agent.get_state()
           agent_state.sensor_states["color_sensor"].position = pose[:3]
           agent_state.sensor_states["color_sensor"].rotation = pose[3:]
           agent_state.sensor_states["depth_sensor"].position = pose[:3]
           agent_state.sensor_states["depth_sensor"].rotation = pose[3:]
           agent_state.sensor_states["semantic"].position = pose[:3]
           agent_state.sensor_states["semantic"].rotation = pose[3:]
           agent.set_state(agent_state, reset_sensors=True, infer_sensor_states=False)
           obs = sim.get_sensor_observations(0)
           rgb = obs["color_sensor"]
           depth = obs["depth_sensor"]
           depth = ((depth / 10) * 255).astype(np.uint8)
           semantic = obs["semantic"]
           # cv2.imshow("rgb", rgb)
           # cv2.imshow("depth", depth)
           # cv2.waitKey()
           save_obs(save_dir, sim_settings, obs, pose, steps)
           steps += 1
       sim.close()

[abwerby]

thank you for sharing your solution.