斯坦福大学GibsonEnv环境搭建

简介

为了在3DGS三维重建的时候获得更加真实的场景数据，摒弃Gazebo自建场景，这些场景只方便测试控制算法，对于感知数据的真实性难以保证。下面尝试Gibson环境，已尝试Matterport3D搭建失败。

前置环境：

apt-get install libglew-dev libglm-dev libassimp-dev xorg-dev libglu1-mesa-dev libboost-dev \
mesa-common-dev freeglut3-dev libopenmpi-dev cmake golang libjpeg-turbo8-dev wmctrl \
xdotool libzmq3-dev zlib1g-dev

尝试python3.8

使用python3.8创建环境，为了后期适配ROS。

conda create -n gibsonenv python=3.8 anaconda
conda activate gibsonenv

为了对应CUDA 11.8，采用torch 2.0.0

pip install torch==2.0.0 torchvision==0.15.1 torchaudio==2.0.1 --index-url https://download.pytorch.org/whl/cu118

安装tensorflow-gpu

pip install tensorflow-gpu==2.2.0

克隆仓库

git clone https://github.com/StanfordVL/GibsonEnv.git
cd GibsonEnv
./download.sh 
./build.sh build_local

首先会报错：

GibsonEnv/gibson/core/channels/external/glew.c:2774:1: error: unknown type name ‘PFNGLCLEARDEPTHFOESPROC’; did you mean ‘PFNGLCLEARDEPTHFPROC’?
 2774 | PFNGLCLEARDEPTHFOESPROC __glewClearDepthfOES = NULL;
      | ^~~~~~~~~~~~~~~~~~~~~~~
      | PFNGLCLEARDEPTHFPROC
/home/adipandas/git_clones/GibsonEnv/gibson/core/channels/external/glew.c:2774:48: warning: initialization of ‘int’ from ‘void *’ makes integer from pointer without a cast [-Wint-conversion]
 2774 | PFNGLCLEARDEPTHFOESPROC __glewClearDepthfOES = NULL;
      |                                                ^~~~
/home/adipandas/git_clones/GibsonEnv/gibson/core/channels/external/glew.c:2775:1: error: unknown type name ‘PFNGLCLIPPLANEFOESPROC’; did you mean ‘PFNGLCLIPPLANEFPROC’?
 2775 | PFNGLCLIPPLANEFOESPROC __glewClipPlanefOES = NULL;
      | ^~~~~~~~~~~~~~~~~~~~~~
      | PFNGLCLIPPLANEFPROC
/home/adipandas/git_clones/GibsonEnv/gibson/core/channels/external/glew.c:2775:46: warning: initialization of ‘int’ from ‘void *’ makes integer from pointer without a cast [-Wint-conversion]
 2775 | PFNGLCLIPPLANEFOESPROC __glewClipPlanefOES = NULL;
      |                                              ^~~~
/home/adipandas/git_clones/GibsonEnv/gibson/core/channels/external/glew.c:2776:1: error: unknown type name ‘PFNGLDEPTHRANGEFOESPROC’; did you mean ‘PFNGLDEPTHRANGEFPROC’?
 2776 | PFNGLDEPTHRANGEFOESPROC __glewDepthRangefOES = NULL;
      | ^~~~~~~~~~~~~~~~~~~~~~~
      | PFNGLDEPTHRANGEFPROC
......

需要在GibsonEnv/gibson/core/channels/external/glew.c中把没有的全换成对应的，应将2774-2779行修改为：

PFNGLCLEARDEPTHFPROC __glewClearDepthfOES = NULL;
PFNGLCLIPPLANEFPROC __glewClipPlanefOES = NULL;
PFNGLDEPTHRANGEFPROC __glewDepthRangefOES = NULL;
PFNGLFRUSTUMFPROC __glewFrustumfOES = NULL;
PFNGLGETCLIPPLANEFPROC __glewGetClipPlanefOES = NULL;
PFNGLORTHOFPROC __glewOrthofOES = NULL;

再次编译即可成功，随后安装python包

pip install -e .

首先报错：

lib/python3.10/site-packages/setuptools/_distutils/dist.py:268: UserWarning: Unknown distribution option: 'tests_require'

需要在setup.py中把tests_require改为:

#     tests_require=[],
extras_require={
        'test': ['pytest'],
},

再次报错：

error: Multiple top-level packages discovered in a flat-layout:

在setup.py中添加：

setup(name='gibson',
    version='0.3.1',
    py_modules=[],
    ...

好的，现在让我们运行python examples/demo/play_husky_nonviz.py:

Segmentation fault (core dumped)

至此，在Ubuntu 20.04上提高python、pytorch、tensorflow、CUDA版本安装的尝试宣告失败

docker运行

能用，但感觉不太好用