It crushing Colab.

[shakurShirajul]

mainly set_estimate() function crushing the Colab. is there any solution of this?

[https://github.com/miquelmassenter image description here][1]ot/g2o-python

[RainerKuemmerle]

Can you give an example of what is happening in detail?
What error is shown?

$ ipython3
Python 3.12.7 (main, Feb  4 2025, 14:46:03) [GCC 14.2.0]
Type 'copyright', 'credits' or 'license' for more information
IPython 8.20.0 -- An enhanced Interactive Python. Type '?' for help.

In [1]: import g2opy as g2o

In [2]: v=g2o.VertexPointXY()

In [3]: v.set_id(1)

In [4]: v.set_estimate([1,1])

In [5]: point=[1,2,3,4]

In [6]: v.set_estimate(point[:2])

[shakurShirajul]

@RainerKuemmerle

Actually i am trying to optimize openpose keypoint using g2o-python.

Snippet of my code

    def create_keypoint_vertex(self, point_id, point):
        """Create a vertex for a keypoint"""
        v = g2o.VertexPointXY()
        v.set_id(point_id)
       v.set_estimate(point[:2])
        v.set_marginalized(False)

        if point[2] > 0.5:  # High confidence points are fixed
            v.set_fixed(True)
        return v

when i calling v.set_estimate(point[:2]) it crushing the Colab saying unknown error occurred.

This is the error log from Colab

[RainerKuemmerle]

Can you consider a minimal reproducible example.
I cannot run the notebook as I am not allowed to read files from the drive - I did not closely investigate this.

[shakurShirajul]

@RainerKuemmerle
v.set_estimate([1,1]) crushed the colab

import g2o
v = g2o.VertexPointXY()
v.set_id(1)
v.set_estimate([1,1])
point=[1,2,3,4]
v.set_estimate(point[:2])

[RainerKuemmerle]

v = g2o.VertexPointXY()
v.set_id(1)
v.set_estimate_data([1., 2.])
print(v.estimate())

This seems to run for me. I have no real idea right now how to debug further what is happening under the hood in the notebook hosted online.
On my notebook using more recent versions also the set_estimate call runs through as normal.

@miquelmassot Any plans to update the internal g2o version here. Maybe there is some bug in the older implementation available via pip?

[shakurShirajul]

Hi @RainerKuemmerle
I tried running it on my local machine using Jupyter Notebook, but the same issue occurred — the kernel crashes. I used set_estimate() correctly back in February, and everything worked fine. However, this crashing problem has been happening since last month.

In your previous comment, you imported it as import g2opy as g2o. Which repository did you use for this?

Also, if there's a proper guideline for installing g2o from scratch, that would be very helpful for us.

Thank You for your response.

[RainerKuemmerle]

My initial comment was made while I was working on g2o itself ( https://github.com/RainerKuemmerle/g2o/tree/pymem). The pybind wrapping library there is called g2opy. Here the lib under the hood is also g2opy but we have the convenience to import: https://github.com/miquelmassot/g2o-python/blob/main/setup.py#L52 You can try on your machine to update the g2o sub module and build locally instead of using the pre build one. Shakur ***@***.***> schrieb am Mi., 23. Apr. 2025, 20:19:

…

*shakurShirajul* left a comment (miquelmassot/g2o-python#44) <#44 (comment)> Hi @RainerKuemmerle <https://github.com/RainerKuemmerle> I tried running it on my local machine using Jupyter Notebook, but the same issue occurred — the kernel crashes. I used set_estimate() correctly back in February, and everything worked fine. However, this crashing problem has been happening since last month. In your previous comment, you imported it as import g2opy as g2o. Which repository did you use for this? Also, if there's a proper guideline for installing g2o from scratch, that would be very helpful for us. Thank You for your response. — Reply to this email directly, view it on GitHub <#44 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAKBDWEUXNFVQ2BTXCINKLD227KRRAVCNFSM6AAAAAB3LHCFKSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDQMRVGEZTSMRZHA> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[shakurShirajul]

@RainerKuemmerle
I follow bellow instruction

git clone https://github.com/miquelmassot/g2o-python
cd g2o-python
git clone https://github.com/RainerKuemmerle/g2o.git
git checkout pymem
cd ..
pip install -v .
end.

but it giving this error

shakur@Ubuntu:~/Documents/g2o-python$ python3
Python 3.12.3 (main, Feb  4 2025, 14:48:35) [GCC 13.3.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import g2o
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/shakur/Documents/g2o-python/g2o/__init__.py", line 1, in <module>
    from .g2opy import *  # noqa: F401
    ^^^^^^^^^^^^^^^^^^^^
ModuleNotFoundError: No module named 'g2o.g2opy'
>>> 

[RainerKuemmerle]

You probably need to change to another folder such import does not resolve locally.
This then worked for me using a venv though.