Open-Reality/status at main · bdavidzhang/Open-Reality · GitHub

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✓ Initialized. View run at https://modal.com/apps/galois77777/main/ap-SMPW5f23O5sYwTBmb32uz7
✓ Created objects.
├── 🔨 Created mount /Users/zhangbocheng/code/projects/VGGT-SLAM/modal_app.py
├── 🔨 Created mount /Users/zhangbocheng/code/projects/VGGT-SLAM/vggt_slam
├── 🔨 Created mount setup.py
├── 🔨 Created function download_models.
└── 🔨 Created function run_slam.
Ensuring model weights are cached...
VGGT-1B: already cached
Uploading images from office_loop...
  473 files to upload
dino_salad: already cached
DINOv2: already cached
All model weights cached.
  Upload complete.

Starting SLAM on remote A100 (submap_size=16, max_loops=1)...
Waiting for Viser server to start...
Starting viser server on port 8080

============================================================
  LIVE MAP -> https://ta-01kjh5zpedz5b9ypx9cr4mtc86-8080.wo-ienflz56230yf7l8leleqljzt.w.modal.host
============================================================

╭──────────────── viser ────────────────╮
│             ╷                         │
│   HTTP      │ http://localhost:8080   │
│   Websocket │ ws://localhost:8080     │
│             ╵                         │
╰───────────────────────────────────────╯
Using cache found in /root/.cache/torch/hub/facebookresearch_dinov2_main
/root/.cache/torch/hub/facebookresearch_dinov2_main/dinov2/layers/swiglu_ffn.py:51: UserWarning: xFormers is not available (SwiGLU)
  warnings.warn("xFormers is not available (SwiGLU)")
/root/.cache/torch/hub/facebookresearch_dinov2_main/dinov2/layers/attention.py:33: UserWarning: xFormers is not available (Attention)
  warnings.warn("xFormers is not available (Attention)")
/root/.cache/torch/hub/facebookresearch_dinov2_main/dinov2/layers/block.py:40: UserWarning: xFormers is not available (Block)
  warnings.warn("xFormers is not available (Block)")
(viser) Connection opened (0, 1 total), 7 persistent messages
Loaded model from /root/.cache/torch/hub/checkpoints/dino_salad.ckpt Successfully!
Loading VGGT model...
(viser) Connection closed (0, 0 total)
Loading images from /root/data/office_loop...
Found 473 images

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Processing submap 1 (17 frames)...
Loaded and preprocessed 17 images in 0.52 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 0
Created new submap in 0.75 seconds
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CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.88 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
Initial total error: 0.000000
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Processing submap 2 (17 frames)...
Loaded and preprocessed 17 images in 0.55 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 17
Created new submap in 0.15 seconds
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CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.40 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (0.9222222199558887, None)
Initial total error: 0.000000
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Processing submap 3 (17 frames)...
Loaded and preprocessed 17 images in 0.56 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 34
Created new submap in 0.15 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.40 seconds
detected_loops [LoopMatch(similarity_score=0.9211510419845581, query_submap_id=34, query_submap_frame=12, detected_submap_id=0, detected_submap_frame=10)]
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Average of top quarter attention values (all frames): 0.60811806
CameraHead trunk_fn: B=1, S=2, C=2048
Converting pose encoding to extrinsic and intrinsic matrices...
Loop closure image match ratio too low, skipping loop closure
scale factor (0.9999999751582623, None)
Initial total error: 0.000000
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Processing submap 4 (17 frames)...
Loaded and preprocessed 17 images in 0.57 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 51
Created new submap in 0.15 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.39 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (1.1409395538431877, None)
Initial total error: 0.000000
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Processing submap 5 (17 frames)...
Loaded and preprocessed 17 images in 0.56 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 68
Created new submap in 0.17 seconds
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CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.40 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (0.7948718096278273, None)
Initial total error: 0.000000
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Processing submap 6 (17 frames)...
Loaded and preprocessed 17 images in 0.57 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 85
Created new submap in 0.15 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.40 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (0.8963964133869294, None)
Initial total error: 0.000000
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Processing submap 7 (17 frames)...
Loaded and preprocessed 17 images in 0.56 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 102
Created new submap in 0.17 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.41 seconds
detected_loops [LoopMatch(similarity_score=0.9048017859458923, query_submap_id=102, query_submap_frame=8, detected_submap_id=17, detected_submap_frame=13)]
21
Average of top quarter attention values (all frames): 0.7210303
CameraHead trunk_fn: B=1, S=2, C=2048
Converting pose encoding to extrinsic and intrinsic matrices...
Loop closure image match ratio too low, skipping loop closure
scale factor (1.2535211406809732, None)
Initial total error: 0.000000
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Processing submap 8 (17 frames)...
Loaded and preprocessed 17 images in 0.58 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 119
Created new submap in 0.15 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.40 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (1.1974522020500735, None)
Initial total error: 0.000000
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Processing submap 9 (17 frames)...
Loaded and preprocessed 17 images in 0.57 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 136
Created new submap in 0.17 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.41 seconds
detected_loops [LoopMatch(similarity_score=0.8882735371589661, query_submap_id=136, query_submap_frame=0, detected_submap_id=102, detected_submap_frame=16)]
21
Average of top quarter attention values (all frames): 0.647831
CameraHead trunk_fn: B=1, S=2, C=2048
Converting pose encoding to extrinsic and intrinsic matrices...
Loop closure image match ratio too low, skipping loop closure
scale factor (1.1249999846982144, None)
Initial total error: 0.000000
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Processing submap 10 (17 frames)...
Loaded and preprocessed 17 images in 0.58 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 153
Created new submap in 0.17 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.42 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (0.9513513403779865, None)
Initial total error: 0.000000
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Processing submap 11 (17 frames)...
Loaded and preprocessed 17 images in 0.57 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 170
Created new submap in 0.16 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.42 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (0.7192118288269889, None)
Initial total error: 0.000000
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[1A 93%|█████████▎| 441/473 [00:39<00:02, 13.96it/s]
Processing submap 12 (17 frames)...
Loaded and preprocessed 17 images in 0.59 seconds
Preprocessed images shape: torch.Size([17, 3, 294, 518])
Creating new submap with id 187
Created new submap in 0.15 seconds
21
CameraHead trunk_fn: B=1, S=17, C=2048
VGGT model inference took 0.40 seconds
Converting pose encoding to extrinsic and intrinsic matrices...
scale factor (1.113402040454476, None)
Initial total error: 0.000000
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[1A 94%|█████████▍| 446/473 [00:42<00:07,  3.56it/s]
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[1A 99%|█████████▊| 467/473 [00:43<00:00, 18.89it/s]
Processing submap 13 (16 frames)...
Loaded and preprocessed 16 images in 0.53 seconds
Preprocessed images shape: torch.Size([16, 3, 294, 518])
Creating new submap with id 204
Created new submap in 0.15 seconds
21
CameraHead trunk_fn: B=1, S=16, C=2048
VGGT model inference took 0.39 seconds
detected_loops [LoopMatch(similarity_score=0.6213627457618713, query_submap_id=204, query_submap_frame=14, detected_submap_id=0, detected_submap_frame=3)]
21
Average of top quarter attention values (all frames): 1.0055668
CameraHead trunk_fn: B=1, S=2, C=2048
Converting pose encoding to extrinsic and intrinsic matrices...
['/root/data/office_loop/frame_0469.jpg', '/root/data/office_loop/frame_0018.jpg']
scale factor (0.9306358416611853, None)
Creating new Loop closure submap with id 220
Loop closure conf (2, 294, 518)
220 0 204 14
scale factor (0.6892965273815757, None)
scale factor (2.0744851804550577, None)
Initial total error: 64.387351
[1A 99%|█████████▉| 470/473 [00:43<00:00, 21.26it/s]
[1A100%|██████████| 473/473 [00:52<00:00,  1.06it/s]
[1A100%|██████████| 473/473 [00:52<00:00,  9.07it/s]
[1.0, 10.0, 14.0, 18.0, 21.0, 24.0, 26.0, 29.0, 32.0, 35.0, 40.0, 44.0, 48.0, 52.0, 55.0, 58.0, 60.0]
[60.0, 62.0, 64.0, 66.0, 69.0, 72.0, 75.0, 78.0, 80.0, 83.0, 85.0, 88.0, 91.0, 93.0, 96.0, 98.0, 101.0]
[101.0, 104.0, 107.0, 109.0, 111.0, 113.0, 115.0, 117.0, 119.0, 121.0, 124.0, 127.0, 130.0, 133.0, 135.0, 138.0, 140.0]
[140.0, 143.0, 146.0, 150.0, 153.0, 156.0, 160.0, 164.0, 167.0, 170.0, 172.0, 175.0, 177.0, 179.0, 181.0, 183.0, 185.0]
[185.0, 187.0, 189.0, 191.0, 193.0, 195.0, 197.0, 199.0, 201.0, 203.0, 205.0, 207.0, 211.0, 214.0, 217.0, 220.0, 223.0]
[223.0, 226.0, 229.0, 231.0, 232.0, 233.0, 235.0, 236.0, 238.0, 240.0, 241.0, 242.0, 243.0, 244.0, 245.0, 246.0, 247.0]
[247.0, 248.0, 249.0, 250.0, 251.0, 253.0, 255.0, 257.0, 259.0, 262.0, 264.0, 266.0, 268.0, 270.0, 272.0, 274.0, 276.0]
[276.0, 278.0, 281.0, 283.0, 285.0, 287.0, 290.0, 293.0, 296.0, 299.0, 301.0, 303.0, 305.0, 307.0, 310.0, 314.0, 318.0]
[318.0, 322.0, 326.0, 329.0, 332.0, 334.0, 336.0, 338.0, 340.0, 342.0, 344.0, 346.0, 348.0, 351.0, 354.0, 356.0, 358.0]
[358.0, 360.0, 363.0, 366.0, 368.0, 370.0, 372.0, 374.0, 377.0, 379.0, 382.0, 384.0, 386.0, 388.0, 390.0, 391.0, 392.0]
[392.0, 394.0, 396.0, 397.0, 399.0, 402.0, 404.0, 406.0, 408.0, 410.0, 411.0, 412.0, 413.0, 415.0, 417.0, 419.0, 421.0]
[421.0, 423.0, 425.0, 427.0, 429.0, 432.0, 434.0, 436.0, 438.0, 439.0, 440.0, 441.0, 442.0, 443.0, 444.0, 445.0, 446.0]
[446.0, 447.0, 448.0, 449.0, 450.0, 451.0, 452.0, 453.0, 455.0, 457.0, 459.0, 461.0, 463.0, 466.0, 469.0, 472.0]
{'frames_processed': 208, 'submaps': 13, 'loop_closures': 1, 'total_time_s': 52.18, 'avg_fps': 3.99, 'vggt_time_s': 13.01, 'backend_time_s': 0.53, 'results_path': 'results/office_loop/'}

Pipeline complete:
  Frames processed: 208
  Submaps: 13
  Loop closures: 1
  Total time: 52.18s (3.99 FPS)
  VGGT inference: 13.01s
  Backend optimization: 0.53s

Downloading results to modal_results/...
  Downloaded poses.txt
  Could not download dense logs: [Errno 2] No such file or directory: 'modal_results/poses_logs/406.0.npz'

Done. Results saved to modal_results/
Stopping app - local entrypoint completed.
an error occurred during closing of asynchronous generator <async_generator object _forward at 0x2b2d8e5e15a0>
asyncgen: <async_generator object _forward at 0x2b2d8e5e15a0>
Traceback (most recent call last):
  File "/pkg/modal/_tunnel.py", line 194, in _forward
    yield Tunnel(response.host, response.port, response.unencrypted_host, response.unencrypted_port)
GeneratorExit

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/pkg/modal/_tunnel.py", line 196, in _forward
    await client.stub.TunnelStop(api_pb2.TunnelStopRequest(port=port))
  File "/pkg/modal/_grpc_client.py", line 158, in direct
    return await self.client._call_unary(self.wrapped_method, req, timeout=timeout, metadata=metadata)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/pkg/modal/client.py", line 338, in _call_unary
    return await self._call_safely(coro, grpclib_method.name)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/pkg/modal/client.py", line 289, in _call_safely
    raise ClientClosed(id(self))
modal.exception.ClientClosed: 47469579263952
✓ App completed. View run at https://modal.com/apps/galois77777/main/ap-SMPW5f23O5sYwTBmb32uz7