aghaphd
commented
3 weeks ago Before I run python run_demo.py, I have run the build_all.sh:
(my) root@5f6626e587fd:/workspace# bash build_all.sh CMake Error: The current CMakeCache.txt directory /workspace/mycpp/build/CMakeCache.txt is different than the directory /home/ali/Downloads/FoundationPose/mycpp/build where CMakeCache.txt was created. This may result in binaries being created in the wrong place. If you are not sure, reedit the CMakeCache.txt CMake Error: The source "/workspace/mycpp/CMakeLists.txt" does not match the source "/home/ali/Downloads/FoundationPose/mycpp/CMakeLists.txt" used to generate cache. Re-run cmake with a different source directory. Obtaining file:///kaolin Preparing metadata (setup.py) ... done Requirement already satisfied: ipycanvas in /opt/conda/envs/my/lib/python3.8/site-packages/ipycanvas-0.13.1-py3.8.egg (from kaolin==0.15.0) (0.13.1) Requirement already satisfied: ipyevents in /opt/conda/envs/my/lib/python3.8/site-packages/ipyevents-2.0.2-py3.8.egg (from kaolin==0.15.0) (2.0.2) Requirement already satisfied: jupyter_client<8 in /opt/conda/envs/my/lib/python3.8/site-packages/jupyter_client-7.4.9-py3.8.egg (from kaolin==0.15.0) (7.4.9) Requirement already satisfied: pyzmq<25 in /opt/conda/envs/my/lib/python3.8/site-packages/pyzmq-24.0.1-py3.8-linux-x86_64.egg (from kaolin==0.15.0) (24.0.1) Requirement already satisfied: flask in /opt/conda/envs/my/lib/python3.8/site-packages (from kaolin==0.15.0) (3.0.3) Requirement already satisfied: tornado in /opt/conda/envs/my/lib/python3.8/site-packages/tornado-6.4-py3.8-linux-x86_64.egg (from kaolin==0.15.0) (6.4) Requirement already satisfied: comm>=0.1.3 in /opt/conda/envs/my/lib/python3.8/site-packages (from kaolin==0.15.0) (0.2.2) Requirement already satisfied: numpy in /opt/conda/envs/my/lib/python3.8/site-packages (from kaolin==0.15.0) (1.24.3) Requirement already satisfied: pybind11 in /opt/conda/envs/my/lib/python3.8/site-packages/pybind11-2.12.0-py3.8.egg (from kaolin==0.15.0) (2.12.0) Requirement already satisfied: Pillow>=8.0.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from kaolin==0.15.0) (10.2.0) Requirement already satisfied: tqdm>=4.51.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from kaolin==0.15.0) (4.66.2) Requirement already satisfied: scipy in /opt/conda/envs/my/lib/python3.8/site-packages (from kaolin==0.15.0) (1.10.1) Requirement already satisfied: pygltflib in /opt/conda/envs/my/lib/python3.8/site-packages/pygltflib-1.16.2-py3.8.egg (from kaolin==0.15.0) (1.16.2) Requirement already satisfied: usd-core<=23.5 in /opt/conda/envs/my/lib/python3.8/site-packages/usd_core-23.5-py3.8-linux-x86_64.egg (from kaolin==0.15.0) (23.5) Requirement already satisfied: ipython<8.13 in /opt/conda/envs/my/lib/python3.8/site-packages (from kaolin==0.15.0) (8.12.3) Requirement already satisfied: traitlets>=4 in /opt/conda/envs/my/lib/python3.8/site-packages (from comm>=0.1.3->kaolin==0.15.0) (5.14.3) Requirement already satisfied: backcall in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (0.2.0) Requirement already satisfied: decorator in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (5.1.1) Requirement already satisfied: jedi>=0.16 in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (0.19.1) Requirement already satisfied: matplotlib-inline in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (0.1.7) Requirement already satisfied: pickleshare in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (0.7.5) Requirement already satisfied: prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30 in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (3.0.43) Requirement already satisfied: pygments>=2.4.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (2.17.2) Requirement already satisfied: stack-data in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (0.6.3) Requirement already satisfied: typing-extensions in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (4.9.0) Requirement already satisfied: pexpect>4.3 in /opt/conda/envs/my/lib/python3.8/site-packages (from ipython<8.13->kaolin==0.15.0) (4.9.0) Requirement already satisfied: entrypoints in /opt/conda/envs/my/lib/python3.8/site-packages/entrypoints-0.4-py3.8.egg (from jupyter_client<8->kaolin==0.15.0) (0.4) Requirement already satisfied: jupyter-core>=4.9.2 in /opt/conda/envs/my/lib/python3.8/site-packages (from jupyter_client<8->kaolin==0.15.0) (5.7.2) Requirement already satisfied: nest-asyncio>=1.5.4 in /opt/conda/envs/my/lib/python3.8/site-packages (from jupyter_client<8->kaolin==0.15.0) (1.6.0) Requirement already satisfied: python-dateutil>=2.8.2 in /opt/conda/envs/my/lib/python3.8/site-packages (from jupyter_client<8->kaolin==0.15.0) (2.9.0.post0) Requirement already satisfied: Werkzeug>=3.0.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from flask->kaolin==0.15.0) (3.0.2) Requirement already satisfied: Jinja2>=3.1.2 in /opt/conda/envs/my/lib/python3.8/site-packages (from flask->kaolin==0.15.0) (3.1.3) Requirement already satisfied: itsdangerous>=2.1.2 in /opt/conda/envs/my/lib/python3.8/site-packages (from flask->kaolin==0.15.0) (2.2.0) Requirement already satisfied: click>=8.1.3 in /opt/conda/envs/my/lib/python3.8/site-packages (from flask->kaolin==0.15.0) (8.1.7) Requirement already satisfied: blinker>=1.6.2 in /opt/conda/envs/my/lib/python3.8/site-packages (from flask->kaolin==0.15.0) (1.7.0) Requirement already satisfied: importlib-metadata>=3.6.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from flask->kaolin==0.15.0) (7.1.0) Requirement already satisfied: ipywidgets<9,>=7.6.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from ipycanvas->kaolin==0.15.0) (8.1.2) Requirement already satisfied: dataclasses-json>=0.0.25 in /opt/conda/envs/my/lib/python3.8/site-packages/dataclasses_json-0.6.4-py3.8.egg (from pygltflib->kaolin==0.15.0) (0.6.4) Requirement already satisfied: deprecated in /opt/conda/envs/my/lib/python3.8/site-packages/Deprecated-1.2.14-py3.8.egg (from pygltflib->kaolin==0.15.0) (1.2.14) Requirement already satisfied: marshmallow<4.0.0,>=3.18.0 in /opt/conda/envs/my/lib/python3.8/site-packages/marshmallow-3.21.1-py3.8.egg (from dataclasses-json>=0.0.25->pygltflib->kaolin==0.15.0) (3.21.1) Requirement already satisfied: typing-inspect<1,>=0.4.0 in /opt/conda/envs/my/lib/python3.8/site-packages/typing_inspect-0.9.0-py3.8.egg (from dataclasses-json>=0.0.25->pygltflib->kaolin==0.15.0) (0.9.0) Requirement already satisfied: zipp>=0.5 in /opt/conda/envs/my/lib/python3.8/site-packages (from importlib-metadata>=3.6.0->flask->kaolin==0.15.0) (3.18.1) Requirement already satisfied: widgetsnbextension~=4.0.10 in /opt/conda/envs/my/lib/python3.8/site-packages (from ipywidgets<9,>=7.6.0->ipycanvas->kaolin==0.15.0) (4.0.10) Requirement already satisfied: jupyterlab-widgets~=3.0.10 in /opt/conda/envs/my/lib/python3.8/site-packages (from ipywidgets<9,>=7.6.0->ipycanvas->kaolin==0.15.0) (3.0.10) Requirement already satisfied: parso<0.9.0,>=0.8.3 in /opt/conda/envs/my/lib/python3.8/site-packages (from jedi>=0.16->ipython<8.13->kaolin==0.15.0) (0.8.4) Requirement already satisfied: MarkupSafe>=2.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from Jinja2>=3.1.2->flask->kaolin==0.15.0) (2.1.5) Requirement already satisfied: platformdirs>=2.5 in /opt/conda/envs/my/lib/python3.8/site-packages (from jupyter-core>=4.9.2->jupyter_client<8->kaolin==0.15.0) (4.2.1) Requirement already satisfied: ptyprocess>=0.5 in /opt/conda/envs/my/lib/python3.8/site-packages (from pexpect>4.3->ipython<8.13->kaolin==0.15.0) (0.7.0) Requirement already satisfied: wcwidth in /opt/conda/envs/my/lib/python3.8/site-packages (from prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30->ipython<8.13->kaolin==0.15.0) (0.2.13) Requirement already satisfied: six>=1.5 in /opt/conda/envs/my/lib/python3.8/site-packages (from python-dateutil>=2.8.2->jupyter_client<8->kaolin==0.15.0) (1.16.0) Requirement already satisfied: wrapt<2,>=1.10 in /opt/conda/envs/my/lib/python3.8/site-packages/wrapt-1.16.0-py3.8.egg (from deprecated->pygltflib->kaolin==0.15.0) (1.16.0) Requirement already satisfied: executing>=1.2.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from stack-data->ipython<8.13->kaolin==0.15.0) (2.0.1) Requirement already satisfied: asttokens>=2.1.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from stack-data->ipython<8.13->kaolin==0.15.0) (2.4.1) Requirement already satisfied: pure-eval in /opt/conda/envs/my/lib/python3.8/site-packages (from stack-data->ipython<8.13->kaolin==0.15.0) (0.2.2) Requirement already satisfied: packaging>=17.0 in /opt/conda/envs/my/lib/python3.8/site-packages (from marshmallow<4.0.0,>=3.18.0->dataclasses-json>=0.0.25->pygltflib->kaolin==0.15.0) (24.0) Requirement already satisfied: mypy-extensions>=0.3.0 in /opt/conda/envs/my/lib/python3.8/site-packages/mypy_extensions-1.0.0-py3.8.egg (from typing-inspect<1,>=0.4.0->dataclasses-json>=0.0.25->pygltflib->kaolin==0.15.0) (1.0.0) Installing collected packages: kaolin Running setup.py develop for kaolin Successfully installed kaolin-0.15.0 WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv Obtaining file:///workspace/bundlesdf/mycuda Preparing metadata (setup.py) ... done Installing collected packages: common Running setup.py develop for common Successfully installed common-0.0.0 WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv
wenbowen123
(my) root@5f6626e587fd:/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/ali/Downloads/FoundationPose/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:
[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:
[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@5f6626e587fd:/workspace#