I'm using Docker: error when run_demo.py about AttributeError: 'NoneType' object has no attribute 'cluster_poses'

[aghaphd]

ali@ali:~$ docker run --gpus all -it -v /home/ali/Downloads/FoundationPose:/workspace foundationpose /bin/bash (my) root@89b15d8c96c3:/# cd /workspace (my) root@89b15d8c96c3:/workspace# python run_demo.py Warp 1.0.2 initialized: CUDA Toolkit 11.5, Driver 11.4 Devices: "cpu" : "x86_64" "cuda:0" : "NVIDIA GeForce RTX 3070 Ti Laptop GPU" (8 GiB, sm_86, mempool enabled) Kernel cache: /root/.cache/warp/1.0.2 [init()] self.cfg: lr: 0.0001 c_in: 6 zfar: 'Infinity' debug: null n_view: 1 run_id: 3wy8qqex use_BN: true exp_name: 2024-01-11-20-02-45 n_epochs: 62 save_dir: /home/bowenw/debug/2024-01-11-20-02-45/ use_mask: false loss_type: pairwise_valid optimizer: adam batch_size: 64 crop_ratio: 1.1 enable_amp: true use_normal: false max_num_key: null warmup_step: -1 input_resize:

• 160
• 160 max_step_val: 1000 vis_interval: 1000 weight_decay: 0 normalize_xyz: true resume_run_id: null clip_grad_norm: 'Infinity' lr_epoch_decay: 500 render_backend: nvdiffrast train_num_pair: 5 lr_decay_epochs:
• 50 n_epochs_warmup: 1 make_pair_online: false gradient_max_norm: 'Infinity' max_step_per_epoch: 10000 n_rendering_workers: 1 save_epoch_interval: 100 n_dataloader_workers: 100 split_objects_across_gpus: true ckpt_dir: /workspace/learning/training/../../weights/2024-01-11-20-02-45/model_best.pth

[init()] self.h5_file:None [init()] Using pretrained model from /workspace/learning/training/../../weights/2024-01-11-20-02-45/model_best.pth [init()] init done [init()] welcome [init()] self.cfg: lr: 0.0001 c_in: 6 zfar: .inf debug: null w_rot: 0.1 n_view: 1 run_id: null use_BN: true rot_rep: axis_angle ckpt_dir: /workspace/learning/training/../../weights/2023-10-28-18-33-37/model_best.pth exp_name: 2023-10-28-18-33-37 save_dir: /tmp/2023-10-28-18-33-37/ loss_type: l2 optimizer: adam trans_rep: tracknet batch_size: 64 crop_ratio: 1.2 use_normal: false BN_momentum: 0.1 max_num_key: null warmup_step: -1 input_resize:

• 160
• 160 max_step_val: 1000 normal_uint8: false vis_interval: 1000 weight_decay: 0 n_max_objects: null normalize_xyz: true clip_grad_norm: 'Infinity' rot_normalizer: 0.3490658503988659 trans_normalizer:
• 0.019999999552965164
• 0.019999999552965164
• 0.05000000074505806 max_step_per_epoch: 25000 val_epoch_interval: 10 n_dataloader_workers: 60 enable_amp: true use_mask: false

[init()] self.h5_file: [init()] Using pretrained model from /workspace/learning/training/../../weights/2023-10-28-18-33-37/model_best.pth [init()] init done [reset_object()] self.diameter:0.19646325799497472, vox_size:0.009823162899748735 [reset_object()] self.pts:torch.Size([607, 3]) [reset_object()] reset done [make_rotation_grid()] cam_in_obs:(42, 4, 4) [make_rotation_grid()] rot_grid:(252, 4, 4) Traceback (most recent call last): File "run_demo.py", line 41, in est = FoundationPose(model_pts=mesh.vertices, model_normals=mesh.vertex_normals, mesh=mesh, scorer=scorer, refiner=refiner, debug_dir=debug_dir, debug=debug, glctx=glctx) File "/workspace/estimater.py", line 27, in init self.make_rotation_grid(min_n_views=40, inplane_step=60) File "/workspace/estimater.py", line 120, in make_rotation_grid rot_grid = mycpp.cluster_poses(30, 99999, rot_grid, self.symmetry_tfs.data.cpu().numpy()) AttributeError: 'NoneType' object has no attribute 'cluster_poses' (my) root@89b15d8c96c3:/workspace#

I need to know where is the problem? thank you.

[aghaphd]

https://github.com/NVlabs/FoundationPose/issues/8, closing as another issue similar to mine is already open.

[GZF123]

The same problem ,have you solved it?

[aghaphd]

yes it solved, see https://github.com/NVlabs/FoundationPose/issues/89.