Open3D error while running DROID-SLAM

[hscho0316]

Hi, I’m trying to run DROID-SLAM ( GitHub - princeton-vl/DROID-SLAM ) and facing Error now.

I’m using Orin AGX with Jetpack 5.0.2, and successed to build with “pip3 install .” from the root directory of the cloned folder.
But when I try to run with
python3 demo.py --imagedir=data/rgbd_dataset_freiburg3_cabinet/rgb --calib=calib/tum3.txt
then the error about CUDA shared memory occured.

File “/usr/local/lib/python3.8/dist-packages/torch/storage.py”, line 800, in share_cuda
return self._storage.share_cuda(*args, **kwargs)
RuntimeError: CUDA error: operation not supported

I found out that this is because of PyTorch, which doesn’t support NvSCI IPC.
So I changed every code which is using GPU shared memory to use GPU memory with deleting .shared_memory_()
Then it works, but it can’t create new window when using open3d, it says

[Open3D WARNING] GLFW Error: GLX: No GLXFBConfigs returned
[Open3D WARNING] GLFW Error: GLX: Failed to find a suitable GLXFBConfig
[Open3D WARNING] Failed to create window

Is there any way to use open3d with Jetson?

[carolyuu]

Hi,
Here are some suggestions for the common issues:

1. Performance

Please run the below command before benchmarking deep learning use case:

$ sudo nvpmodel -m 0
$ sudo jetson_clocks

2. Installation

Installation guide of deep learning frameworks on Jetson:

• TensorFlow: Installing TensorFlow for Jetson Platform - NVIDIA Docs
• PyTorch: Installing PyTorch for Jetson Platform - NVIDIA Docs
  We also have containers that have frameworks preinstalled:
  Data Science, Machine Learning, AI, HPC Containers | NVIDIA NGC

3. Tutorial

Startup deep learning tutorial:

• Jetson-inference: Hello AI World guide to deploying deep-learning inference networks and deep vision primitives with TensorRT and NVIDIA Jetson
• TensorRT sample: Jetson/L4T/TRT Customized Example - eLinux.org

4. Report issue

If these suggestions don’t help and you want to report an issue to us, please attach the model, command/step, and the customized app (if any) with us to reproduce locally.

Thanks!

[AastaLLL]

Hi,

We have a similar issue before.

GLFW Error: GLX: No GLXFBConfigs returned

Hello, I get this error when trying to render pointcloud using Open3d, It works normally if I don’t import torchvision library. I have no idea why this is happening [Screenshot from 2023-04-06 15-18-22] This is my system info, Jectpack 5.1, Orin Python 3.8.10 pytorch versions tried (1.12, 1.13, 1.14, 2.0.0) compatible torchvision tried (0.13, 0.14, 0.15.1) open3d versions tried (0.17, 0.16.1, 0.14.1) using python virtual venv

The Open3d can work without importing torchvision.

Thanks.

[hscho0316]

So you mean there is no way to use Open3D with torchvision on Jetson?
The code uses torchvision module so it needs to be edited to remove import torchvision…

[AastaLLL]

Hi,

Previously, the user needed to remove the torchvision to make it work.
You can check if this issue is fixed or improved with the open3D team.

Thanks.