Visualization fails

[ManonCortial]

kiss_icp_pipeline orleans.pcap --meta orleans.json --visualize Ouster pcap dataloader: using metadata json: orleans.json [2023-11-21 08:59:01.380] [ouster::sensor] [info] parsing legacy metadata format Pre-reading Ouster pcap to count the scans number ... Ouster pcap total scans number: 11948 libGL error: MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) libGL error: failed to load driver: iris libGL error: MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) libGL error: failed to load driver: iris libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) libGL error: failed to load driver: swrast [Open3D WARNING] GLFW Error: GLX: Failed to create context: GLXBadFBConfig [Open3D WARNING] Failed to create window ╭───────────────────── Traceback (most recent call last) ──────────────────────╮ │ /home/manon/anaconda3/envs/MS3D-env-310/lib/python3.10/site-packages/kiss_ic │ │ p/tools/cmd.py:229 in kiss_icp_pipeline │ │ │ │ 226 │ from kiss_icp.datasets import dataset_factory │ │ 227 │ from kiss_icp.pipeline import OdometryPipeline │ │ 228 │ │ │ ❱ 229 │ OdometryPipeline( │ │ 230 │ │ dataset=dataset_factory( │ │ 231 │ │ │ dataloader=dataloader, │ │ 232 │ │ │ data_dir=data, │ │ │ │ ╭──────────────────────────── locals ─────────────────────────────╮ │ │ │ config = None │ │ │ │ data = PosixPath('orleans.pcap') │ │ │ │ dataloader = 'ouster' │ │ │ │ dataset_factory = <function dataset_factory at 0x7f536548a8c0> │ │ │ │ deskew = False │ │ │ │ jump = 0 │ │ │ │ max_range = None │ │ │ │ meta = PosixPath('orleans.json') │ │ │ │ n_scans = -1 │ │ │ │ OdometryPipeline = <class 'kiss_icp.pipeline.OdometryPipeline'> │ │ │ │ sequence = None │ │ │ │ topic = None │ │ │ │ version = None │ │ │ │ visualize = True │ │ │ ╰─────────────────────────────────────────────────────────────────╯ │ │ │ │ /home/manon/anaconda3/envs/MS3D-env-310/lib/python3.10/site-packages/kiss_ic │ │ p/pipeline.py:79 in __init__ │ │ │ │ 76 │ │ ) │ │ 77 │ │ │ │ 78 │ │ # Visualizer │ │ ❱ 79 │ │ self.visualizer = RegistrationVisualizer() if visualize else S │ │ 80 │ │ if hasattr(self._dataset, "use_global_visualizer"): │ │ 81 │ │ │ self.visualizer.global_view = self._dataset.use_global_vis │ │ 82 │ │ │ │ ╭───────────────────────────────── locals ─────────────────────────────────╮ │ │ │ config = None │ │ │ │ dataset = <kiss_icp.datasets.ouster.OusterDataloader object at │ │ │ │ 0x7f536549c880> │ │ │ │ deskew = False │ │ │ │ jump = 0 │ │ │ │ max_range = None │ │ │ │ n_scans = -1 │ │ │ │ self = <kiss_icp.pipeline.OdometryPipeline object at │ │ │ │ 0x7f536549ccd0> │ │ │ │ visualize = True │ │ │ ╰──────────────────────────────────────────────────────────────────────────╯ │ │ │ │ /home/manon/anaconda3/envs/MS3D-env-310/lib/python3.10/site-packages/kiss_ic │ │ p/tools/visualizer.py:70 in __init__ │ │ │ │ 67 │ │ # Initialize visualizer │ │ 68 │ │ self.vis = self.o3d.visualization.VisualizerWithKeyCallback() │ │ 69 │ │ self._register_key_callbacks() │ │ ❱ 70 │ │ self._initialize_visualizer() │ │ 71 │ │ │ │ 72 │ │ # Visualization options │ │ 73 │ │ self.render_map = True │ │ │ │ ╭───────────────────────────────── locals ─────────────────────────────────╮ │ │ │ self = <kiss_icp.tools.visualizer.RegistrationVisualizer object at │ │ │ │ 0x7f53558368c0> │ │ │ ╰──────────────────────────────────────────────────────────────────────────╯ │ │ │ │ /home/manon/anaconda3/envs/MS3D-env-310/lib/python3.10/site-packages/kiss_ic │ │ p/tools/visualizer.py:102 in _initialize_visualizer │ │ │ │ 99 │ │ self.vis.add_geometry(self.source) │ │ 100 │ │ self.vis.add_geometry(self.keypoints) │ │ 101 │ │ self.vis.add_geometry(self.target) │ │ ❱ 102 │ │ self._set_black_background(self.vis) │ │ 103 │ │ self.vis.get_render_option().point_size = 1 │ │ 104 │ │ print( │ │ 105 │ │ │ f"{w_name} initialized. Press:\n" │ │ │ │ ╭───────────────────────────────── locals ─────────────────────────────────╮ │ │ │ self = <kiss_icp.tools.visualizer.RegistrationVisualizer object at │ │ │ │ 0x7f53558368c0> │ │ │ │ w_name = 'RegistrationVisualizer' │ │ │ ╰──────────────────────────────────────────────────────────────────────────╯ │ │ │ │ /home/manon/anaconda3/envs/MS3D-env-310/lib/python3.10/site-packages/kiss_ic │ │ p/tools/visualizer.py:137 in _set_black_background │ │ │ │ 134 │ │ self._register_key_callback(["W"], self._set_white_background) │ │ 135 │ │ │ 136 │ def _set_black_background(self, vis): │ │ ❱ 137 │ │ vis.get_render_option().background_color = [0.0, 0.0, 0.0] │ │ 138 │ │ │ 139 │ def _set_white_background(self, vis): │ │ 140 │ │ vis.get_render_option().background_color = [1.0, 1.0, 1.0] │ │ │ │ ╭───────────────────────────────── locals ─────────────────────────────────╮ │ │ │ self = <kiss_icp.tools.visualizer.RegistrationVisualizer object at │ │ │ │ 0x7f53558368c0> │ │ │ │ vis = VisualizerWithKeyCallback with name RegistrationVisualizer │ │ │ ╰──────────────────────────────────────────────────────────────────────────╯ │ ╰──────────────────────────────────────────────────────────────────────────────╯ AttributeError: 'NoneType' object has no attribute 'background_color'

KISS-ICP Version: 0.2.10

I am inside a conda environment with cuda 11.8

[nachovizzo]

Hello @ManonCortial

Honestly, it's a bit hard to go through the error log in the format you pasted it :) but nevertheless, it's a problem with your drivers:

libGL error: MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file:

And moreover, it also seems to be a problem with conda, we don't support conda or any friends, kiss-icp works without the need for such fancy environments

Check out this answer https://stackoverflow.com/questions/72110384/libgl-error-mesa-loader-failed-to-open-iris