p04798526
/
OmniGibson
mirror of https://github.com/StanfordVL/OmniGibson.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

OpenGL rendering can now be caught and killed (not orphaned)

This commit is contained in:
hzyjerry 2017-10-19 02:43:38 -07:00
parent 36e9da5fbc
commit af9749e437
12 changed files with 304 additions and 202 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
data/decode/package.json
View File

@ -1,40 +0,0 @@
{
"name": "decodejs",
"version": "0.1.0",
"lockfileVersion": 1,
"requires": true,
"dependencies": {
"bytebuffer": {
"version": "5.0.1",
"resolved": "https://registry.npmjs.org/bytebuffer/-/bytebuffer-5.0.1.tgz",
"integrity": "sha1-WC7qSxqHO20CCkjVjfhfC7ps/d0=",
"requires": {
"long": "3.2.0"
}
},
"long": {
"version": "3.2.0",
"resolved": "https://registry.npmjs.org/long/-/long-3.2.0.tgz",
"integrity": "sha1-2CG3E4yhy1gcFymQ7xTbIAtcR0s="
},
"minimist": {
"version": "0.0.10",
"resolved": "https://registry.npmjs.org/minimist/-/minimist-0.0.10.tgz",
"integrity": "sha1-3j+YVD2/lggr5IrRoMfNqDYwHc8="
},
"optimist": {
"version": "0.6.1",
"resolved": "https://registry.npmjs.org/optimist/-/optimist-0.6.1.tgz",
"integrity": "sha1-2j6nRob6IaGaERwybpDrFaAZZoY=",
"requires": {
"minimist": "0.0.10",
"wordwrap": "0.0.3"
}
},
"wordwrap": {
"version": "0.0.3",
"resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-0.0.3.tgz",
"integrity": "sha1-o9XabNXAvAAI03I0u68b7WMFkQc="
}
}
}

21
depth/.gitignore vendored
View File

@ -1,21 +0,0 @@
**/*.dll
**/*.exe
build/*
bin-*/*
distrib/build_*/*
**.bak
**.orig
screenshot.bmp
*.pyc
Thumbs.db
OpenGL-tutorial_v*
**.mtl
.DS_Store
build/
distrib/
*.obj
depth_render
glew-1.13.0/
glfw-3.1.2/
/11HB6XZSh1Q
/19Em1uen8Ae

15
depth/.hgignore
View File

@ -1,15 +0,0 @@
syntax: glob
*.dll
*.exe
build/*
bin-*/*
distrib/build_*/*
*.bak
*.orig
screenshot.bmp
*.pyc
Thumbs.db
glob:OpenGL-tutorial_v*
relre:.*\.blend.+
glob:*.mtl

4
realenv/core/build.sh
View File

@ -1,4 +0,0 @@
#!/bin/bash
g++ -std=c++11 ./realenv/envs/render.cpp -o ./realenv/envs/render.so -shared -fPIC -O2 -D_GLIBCXX_USE_CXX11_ABI=0

9
realenv/core/channels/depth_render.py
View File

@ -1,9 +0,0 @@
import os
from realenv.data.datasets import get_model_path
def run_depth_render():
model_path = get_model_path()
dr_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'depth_render')
os.chdir(dr_path)
print("./depth_render --modelpath {}".format(model_path))
os.system("./depth_render --modelpath {}".format(model_path))

39
realenv/core/channels/depth_render/render.cpp
View File

@ -187,16 +187,12 @@ glm::mat4 str_to_mat(std::string str) {
glm::mat4 mat = glm::mat4();
std::string delimiter = " ";
//std::cout << "Inside str_to_mat" << str << std::endl;
size_t pos = 0;
size_t idx = 0;
std::string token;
while ((pos = str.find(delimiter)) != std::string::npos) {
token = str.substr(0, pos);
//std::cout << token << std::endl;
mat[idx % 4][idx / 4] = std::stof(token);
//std::cout << "after " << std::stof(token) << " " << idx % 4 << " " << idx / 4 << std::endl;
str.erase(0, pos + delimiter.length());
idx += 1;
}
@ -215,7 +211,6 @@ std::vector<size_t> str_to_vec(std::string str) {
while ((pos = str.find(delimiter)) != std::string::npos) {
token = str.substr(0, pos);
longs.push_back(std::stoul(token));
//std::cout << "after " << std::stof(token) << " " << idx % 4 << " " << idx / 4 << std::endl;
str.erase(0, pos + delimiter.length());
idx += 1;
}
@ -578,7 +573,6 @@ int main( int argc, char * argv[] )
std::vector<uint> cubeMapCoordToPanoCoord;
for(size_t ycoord = 0; ycoord < panoHeight; ycoord++){
// std::cout << ycoord << std::endl;
for(size_t xcoord = 0; xcoord < panoWidth; xcoord++){
size_t ind = reordering[ycoord][xcoord][0];
size_t corrx = reordering[ycoord][xcoord][1];
@ -601,39 +595,27 @@ int main( int argc, char * argv[] )
do{
std::cout << "Waiting for incoming task" << std::endl;
std::cout << "Realenv Channel Renderer: waiting for pose" << std::endl;
// Wait for next request from client
socket.recv (&request);
std::cout << "Received Hello " << request.data() << std::endl;
boost::timer t;
//printf("%s\n", request.data());
std::string request_str = std::string(static_cast<char*>(request.data()), request.size());
std::cout << "\nFinished cast" << std::endl;
//std::cout << request_str << std::endl;
glm::mat4 viewMat = str_to_mat(request_str);
// Measure speed
//double currentTime = glfwGetTime();
// double currentTime = glfwGetTime();
double currentTime = 0;
nbFrames++;
if ( currentTime - lastTime >= 1.0 ){ // If last prinf() was more than 1sec ago
// printf and reset
if ( currentTime - lastTime >= 1.0 ){
printf("%f ms/frame %d fps\n", 1000.0/double(nbFrames), nbFrames);
nbFrames = 0;
lastTime += 1.0;
}
//zmq::message_t reply (windowWidth*windowHeight*sizeof(unsigned short) * 6);
//std::cout << "message reply size " << windowWidth*windowHeight*sizeof(float) * 6 << std::endl;
glBindFramebuffer(GL_FRAMEBUFFER, FramebufferName);
glViewport(0,0,windowWidth,windowHeight); // Render on the whole framebuffer, complete from the lower left corner to the upper right
@ -641,7 +623,7 @@ int main( int argc, char * argv[] )
//int nByte = nSize*sizeof(unsigned short);
int nByte = nSize*sizeof(float);
// First let's create our buffer, 3 channels per Pixel
// create buffer, 3 channels per Pixel
float* dataBuffer = (float*)malloc(nByte);
//char* dataBuffer = (char*)malloc(nSize*sizeof(char));
@ -661,18 +643,15 @@ int main( int argc, char * argv[] )
glUseProgram(programID);
// Compute the MVP matrix from keyboard and mouse input
//computeMatricesFromInputs();
//computeMatricesFromFile(name_loc);
// computeMatricesFromInputs();
// computeMatricesFromFile(name_loc);
float fov = glm::radians(90.0f);
glm::mat4 ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f); // near & far are not verified, but accuracy seems to work well
glm::mat4 ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f);
// TODO: (hzyjerry) near & far are not verified, but accuracy seems to work well
glm::mat4 ViewMatrix = getView(viewMat, k);
//glm::mat4 ViewMatrix = getViewMatrix();
glm::mat4 viewMatPose = glm::inverse(ViewMatrix);
// printf("View (pose) matrix for skybox %d\n", k);
// for (int i = 0; i < 4; ++i) {
// printf("\t %f %f %f %f\n", viewMatPose[0][i], viewMatPose[1][i], viewMatPose[2][i], viewMatPose[3][i]);
// //printf("\t %f %f %f %f\n", ViewMatrix[0][i], ViewMatrix[1][i], ViewMatrix[2][i], ViewMatrix[3][i]);
// }
glm::mat4 ModelMatrix = glm::mat4(1.0);

131
realenv/core/engine.py Normal file
View File

@ -0,0 +1,131 @@
from realenv.data.datasets import ViewDataSet3D
from realenv.core.render.show_3d2 import PCRenderer, sync_coords
from realenv.core.channels.depth_render import run_depth_render
from realenv.core.physics.render_physics import PhysRenderer
from realenv import error
import progressbar
import subprocess, os, signal
import numpy as np
import sys
import zmq
import socket
import shlex
from realenv.data.datasets import get_model_path
class Engine(object):
def __init__(self, model_id, human, debug):
self.dataset = ViewDataSet3D(transform = np.array, mist_transform = np.array, seqlen = 2, off_3d = False, train = False)
self.model_id = model_id
self.scale_up = 1
self.human = human
self.debug = debug
self.r_visuals = None
self.r_physics = None
self.p_channel = None
def setup_all(self):
def channel_excepthook(exctype, value, tb):
#if self.p_channel.is_alive():
print("killing", self.p_channel)
#os.system("kill -9 {}".format(self.p_channel))
self.p_channel.terminate()
while tb:
filename = tb.tb_frame.f_code.co_filename
name = tb.tb_frame.f_code.co_name
lineno = tb.tb_lineno
print ' File "%.500s", line %d, in %.500s' %(filename, lineno, name)
tb = tb.tb_next
print ' %s: %s' %(exctype.__name__, value)
sys.excepthook = channel_excepthook
self._checkPortClear()
self._setupChannel()
self._setupPhysics(self.human)
self._setupVisuals()
## Sync initial poses
pose_init = self.r_visuals.renderOffScreenInitialPose()
self.r_physics = self._setupPhysics(self.human)
self.r_physics.initialize(pose_init)
if self.debug:
self.r_visuals.renderToScreenSetup()
self.r_displayer = RewardDisplayer() #MPRewardDisplayer()
return self.r_visuals, self.r_physics
def _checkPortClear(self):
# TODO (hzyjerry) not working
"""
s = socket.socket()
try:
s.connect(("127.0.0.1", 5555))
except socket.error as e:
raise e
raise error.Error("Realenv starting error: port {} is in use".format(5555))
try:
s.connect(("127.0.0.1", 5556))
except socket.error as e:
raise error.Error("Realenv starting error: port {} is in use".format(5556))
"""
return
def _setupChannel(self):
model_path = get_model_path()
dr_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'channels', 'depth_render')
cmd = "pwd && ls && cd {} && ./depth_render --modelpath {}".format(dr_path, model_path)
self.p_channel = subprocess.Popen(shlex.split(cmd), shell=False)
def _setupVisuals(self):
scene_dict = dict(zip(self.dataset.scenes, range(len(self.dataset.scenes))))
## Todo: (hzyjerry) more error handling
if not self.model_id in scene_dict.keys():
raise error.Error("Dataset not found: model {} cannot be loaded".format(self.model_id))
else:
scene_id = scene_dict[self.model_id]
uuids, rts = self.dataset.get_scene_info(scene_id)
targets = []
sources = []
source_depths = []
poses = []
pbar = progressbar.ProgressBar(widgets=[
' [ Initializing Environment ] ',
progressbar.Bar(),
' (', progressbar.ETA(), ') ',
])
for k,v in pbar(uuids):
data = self.dataset[v]
target = data[1]
target_depth = data[3]
if self.scale_up !=1:
target = cv2.resize(target,None,fx=1.0/self.scale_up, fy=1.0/self.scale_up, interpolation = cv2.INTER_CUBIC)
target_depth = cv2.resize(target_depth,None,fx=1.0/self.scale_up, fy=1.0/self.scale_up, interpolation = cv2.INTER_CUBIC)
pose = data[-1][0].numpy()
targets.append(target)
poses.append(pose)
sources.append(target)
source_depths.append(target_depth)
context_mist = zmq.Context()
socket_mist = context_mist.socket(zmq.REQ)
socket_mist.connect("tcp://localhost:5555")
## TODO (hzyjerry): make sure 5555&5556 are not occupied, or use configurable ports
sync_coords()
renderer = PCRenderer(5556, sources, source_depths, target, rts, self.scale_up)
return renderer
def _setupPhysics(self, human):
framePerSec = 13
renderer = PhysRenderer(self.dataset.get_model_obj(), framePerSec, debug = self.debug, human = human)
return renderer
def cleanUp(self):
self.p_channel.terminate()

17
realenv/core/render/show_3d2.py
View File

@ -312,6 +312,12 @@ class PCRenderer:
cv2.waitKey(1)
return self.show_rgb
def sync_coords():
with Profiler("Transform coords"):
new_coords = np.getbuffer(coords.flatten().astype(np.uint32))
socket_mist.send(new_coords)
message = socket_mist.recv()
def show_target(target_img):
cv2.namedWindow('target')
@ -319,17 +325,6 @@ def show_target(target_img):
show_rgb = cv2.cvtColor(target_img, cv2.COLOR_BGR2RGB)
cv2.imshow('target', show_rgb)
def sync_coords():
print(coords.flatten().dtype)
with Profiler("Transform coords"):
new_coords = np.getbuffer(coords.flatten().astype(np.uint32))
print(coords.shape)
print("Count: ", coords.flatten().astype(np.uint32).size )
print("elem [2,3,5]: ", coords[4][2][1] )
socket_mist.send(new_coords)
print("Sent reordering")
message = socket_mist.recv()
print("received reordering reply")
if __name__=='__main__':

0
realenv/core/test_engine.py Normal file
View File

8
realenv/core/tests/test_engine.py Normal file
View File

@ -0,0 +1,8 @@
from realenv.core.engine import Engine
import time
test_engine = Engine(model_id="11HB6XZSh1Q", human=True, debug=False)
test_engine.setup_all()
#for i in range(3):
# time.sleep(1)

72
realenv/envs/simple_env.py
View File

@ -3,19 +3,14 @@ from gym import error, spaces, utils
from gym.utils import seeding
import realenv
from realenv.main import RealEnv
from realenv.data.datasets import ViewDataSet3D
from realenv.core.render.show_3d2 import PCRenderer, sync_coords
from realenv.core.physics.render_physics import PhysRenderer
from realenv.core.engine import Engine
from realenv.core.render.profiler import Profiler
from realenv.core.channels.depth_render import run_depth_render
from realenv.core.scoreboard.realtime_plot import MPRewardDisplayer, RewardDisplayer
import numpy as np
import zmq
import time
import os
import random
import progressbar
from multiprocessing import Process
import cv2
@ -27,70 +22,13 @@ class SimpleEnv(RealEnv):
file_dir = os.path.dirname(__file__)
self.model_id = model_id
self.dataset = ViewDataSet3D(transform = np.array, mist_transform = np.array, seqlen = 2, off_3d = False, train = False)
self.p_channel = Process(target=run_depth_render)
self.state_old = None
self.scale_up = scale_up
self.engine = Engine(model_id, human, debug)
try:
self.p_channel.start()
self.r_visuals = self._setupVisuals()
pose_init = self.r_visuals.renderOffScreenInitialPose()
print("initial pose", pose_init)
self.r_physics = self._setupPhysics(human)
self.r_physics.initialize(pose_init)
if self.debug_mode:
self.r_visuals.renderToScreenSetup()
self.r_displayer = RewardDisplayer() #MPRewardDisplayer()
except Exception as e:
self._end()
raise(e)
self.r_visuals, self.r_physics, self.p_channel = self.engine.setup_all()
def _setupVisuals(self):
scene_dict = dict(zip(self.dataset.scenes, range(len(self.dataset.scenes))))
if not self.model_id in scene_dict.keys():
print("model not found")
else:
scene_id = scene_dict[self.model_id]
uuids, rts = self.dataset.get_scene_info(scene_id)
targets = []
sources = []
source_depths = []
poses = []
pbar = progressbar.ProgressBar(widgets=[
' [ Initializing Environment ] ',
progressbar.Bar(),
' (', progressbar.ETA(), ') ',
])
for k,v in pbar(uuids):
data = self.dataset[v]
target = data[1]
target_depth = data[3]
if self.scale_up !=1:
target = cv2.resize(target,None,fx=1.0/self.scale_up, fy=1.0/self.scale_up, interpolation = cv2.INTER_CUBIC)
target_depth = cv2.resize(target_depth,None,fx=1.0/self.scale_up, fy=1.0/self.scale_up, interpolation = cv2.INTER_CUBIC)
pose = data[-1][0].numpy()
targets.append(target)
poses.append(pose)
sources.append(target)
source_depths.append(target_depth)
context_mist = zmq.Context()
socket_mist = context_mist.socket(zmq.REQ)
socket_mist.connect("tcp://localhost:5555")
sync_coords()
renderer = PCRenderer(5556, sources, source_depths, target, rts, self.scale_up)
return renderer
def _setupPhysics(self, human):
framePerSec = 13
renderer = PhysRenderer(self.dataset.get_model_obj(), framePerSec, debug = self.debug_mode, human = human)
return renderer
def testShow3D(self):
return
@ -129,10 +67,10 @@ class SimpleEnv(RealEnv):
def _render(self, mode='human', close=False):
return
def _end(self):
def __del__(self):
## TODO (hzyjerry): this does not kill cleanly
## to reproduce bug, set human = false, debug_mode = false
self.p_channel.terminate()
self.engine.cleanUp()
return

140
realenv/error.py Normal file
View File

@ -0,0 +1,140 @@
import sys
class Error(Exception):
pass
# Local errors
class Unregistered(Error):
"""Raised when the user requests an item from the registry that does
not actually exist.
"""
pass
class UnregisteredEnv(Unregistered):
"""Raised when the user requests an env from the registry that does
not actually exist.
"""
pass
class UnregisteredBenchmark(Unregistered):
"""Raised when the user requests an env from the registry that does
not actually exist.
"""
pass
class DeprecatedEnv(Error):
"""Raised when the user requests an env from the registry with an
older version number than the latest env with the same name.
"""
pass
class UnseedableEnv(Error):
"""Raised when the user tries to seed an env that does not support
seeding.
"""
pass
class DependencyNotInstalled(Error):
pass
class UnsupportedMode(Exception):
"""Raised when the user requests a rendering mode not supported by the
environment.
"""
pass
class ResetNeeded(Exception):
"""When the monitor is active, raised when the user tries to step an
environment that's already done.
"""
pass
class ResetNotAllowed(Exception):
"""When the monitor is active, raised when the user tries to step an
environment that's not yet done.
"""
pass
class InvalidAction(Exception):
"""Raised when the user performs an action not contained within the
action space
"""
pass
# API errors
class APIError(Error):
def __init__(self, message=None, http_body=None, http_status=None,
json_body=None, headers=None):
super(APIError, self).__init__(message)
if http_body and hasattr(http_body, 'decode'):
try:
http_body = http_body.decode('utf-8')
except:
http_body = ('<Could not decode body as utf-8. '
'Please report to gym@openai.com>')
self._message = message
self.http_body = http_body
self.http_status = http_status
self.json_body = json_body
self.headers = headers or {}
self.request_id = self.headers.get('request-id', None)
def __unicode__(self):
if self.request_id is not None:
msg = self._message or "<empty message>"
return u"Request {0}: {1}".format(self.request_id, msg)
else:
return self._message
if sys.version_info > (3, 0):
def __str__(self):
return self.__unicode__()
else:
def __str__(self):
return unicode(self).encode('utf-8')
class APIConnectionError(APIError):
pass
class InvalidRequestError(APIError):
def __init__(self, message, param, http_body=None,
http_status=None, json_body=None, headers=None):
super(InvalidRequestError, self).__init__(
message, http_body, http_status, json_body,
headers)
self.param = param
class AuthenticationError(APIError):
pass
class RateLimitError(APIError):
pass
# Video errors
class VideoRecorderError(Error):
pass
class InvalidFrame(Error):
pass
# Wrapper errors
class DoubleWrapperError(Error):
pass
class WrapAfterConfigureError(Error):
pass
class RetriesExceededError(Error):
pass