How to collect data in carla and warehouse #110
Description
I downloaded the Carla assets according to the provided link, and running viplanner_demo.py works without any issues. However, when I run data_collect.py in Carla, it only collects depth and RGB data, and no semantic information is obtained.
Furthermore, when I attempt to collect data in the Warehouse environment, an error occurs: [INFO]: Time taken for scene creation : 140.458325 seconds
[INFO]: Scene manager:
Number of environments: 2
Environment spacing : 1.0
Source prim name : /World/envs/env_0
Global prim paths : ['/World/Warehouse']
Replicate physics : True
[INFO]: Time taken for simulation start : 57.172073 seconds
[INFO]: Setup complete...
[INFO] No viewpoint samples found for seed 1 and 500 samples.
[INFO] Starting terrain analysis...
Traceback (most recent call last):
File "/home/lf/Documents/Viplanner/viplanner/omniverse/standalone/data_collect.py", line 141, in
main()
File "/home/lf/Documents/Viplanner/viplanner/omniverse/standalone/data_collect.py", line 123, in main
samples = explorer.sample_viewpoints(args_cli.num_samples)
File "/home/lf/Documents/Viplanner/viplanner/omniverse/extension/omni.viplanner/omni/viplanner/collectors/viewpoint_sampling.py", line 66, in sample_viewpoints
self.terrain_analyser.analyse()
File "/home/lf/Documents/Viplanner/viplanner/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis.py", line 72, in analyse
self._setup_raycaster()
File "/home/lf/Documents/Viplanner/viplanner/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis.py", line 719, in _setup_raycaster
self._mesh_dimensions = self._get_usd_stage_dimensions()
File "/home/lf/Documents/Viplanner/viplanner/omniverse/extension/omni.viplanner/omni/viplanner/collectors/terrain_analysis.py", line 306, in _get_usd_stage_dimensions
prim_max = np.vstack([list(prim_range.GetMax()) for prim_range in bbox])
File "/home/lf/Documents/Viplanner/isaacsim/extscache/omni.kit.pip_archive-0.0.0+10a4b5c0.lx64.cp310/pip_prebundle/numpy/core/shape_base.py", line 289, in vstack
return _nx.concatenate(arrs, 0, dtype=dtype, casting=casting)
ValueError: need at least one array to concatenate
I look forward to your response to help resolve the above issues. Thank you very much.