IndexError: too many indices for array: array is 2-dimensional, but 21 were indexed

When I ran the demo, the following error occurred： Traceback (most recent call last): File "./tools/test_images.py", line 122, in dataset = get_dataset(args.dataset_name) File "/home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/factory.py", line 57, in get_dataset return __sets[name]() File "/home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/factory.py", line 28, in datasets.YCBObject(split)) File "/home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/ycb_object.py", line 75, in init self._extents = self._extents_all[cfg.TRAIN.CLASSES] IndexError: too many indices for array: array is 2-dimensional, but 21 were indexed

The following is the complete part： (pose) ys@ys-System-Product-Name:~/PoseCNN-PyTorch-main$ ./experiments/scripts/demo.sh

set -e
export PYTHONUNBUFFERED=True
PYTHONUNBUFFERED=True
export CUDA_VISIBLE_DEVICES=0
CUDA_VISIBLE_DEVICES=0
./tools/test_images.py --gpu 0 --imgdir data/demo/ --meta data/demo/meta.yml --color 'color.png' --network posecnn --pretrained data/checkpoints/ycb_object/vgg16_ycb_object_self_supervision_epoch_8.checkpoint.pth --dataset ycb_object_test --cfg experiments/cfgs/ycb_object.yml ycb_video_train ycb_video_val ycb_video_keyframe ycb_video_trainval ycb_video_debug ycb_object_train ycb_object_test ycb_self_supervision_train_1 ycb_self_supervision_train_2 ycb_self_supervision_train_3 ycb_self_supervision_train_4 ycb_self_supervision_train_5 ycb_self_supervision_test ycb_self_supervision_all ycb_self_supervision_train_block_median ycb_self_supervision_train_block_median_azure ycb_self_supervision_train_block_median_demo ycb_self_supervision_train_block_median_azure_demo ycb_self_supervision_train_table ycb_self_supervision_debug ycb_self_supervision_train_block ycb_self_supervision_train_block_azure ycb_self_supervision_train_block_big_sim ycb_self_supervision_train_block_median_sim ycb_self_supervision_train_block_small_sim background_coco background_rgbd background_nvidia background_table background_isaac background_texture Called with args: Namespace(background_name=None, cfg_file='experiments/cfgs/ycb_object.yml', codebook=None, color_name='color.png', dataset_name='ycb_object_test', depth_name='*depth.png', gpu_id=0, imgdir='data/demo/', meta_file='data/demo/meta.yml', network_name='posecnn', pretrained='data/checkpoints/ycb_object/vgg16_ycb_object_self_supervision_epoch_8.checkpoint.pth', pretrained_encoder=None, randomize=False) {'INTRINSICS': [618.0172729492188, 0.0, 312.376953125, 0.0, 618.0033569335938, 232.37530517578125, 0.0, 0.0, 1.0]} Using config: {'ANCHOR_RATIOS': (0.5, 1, 2), 'ANCHOR_SCALES': (8, 16, 32), 'BACKGROUND': '', 'CAD': '', 'DATA_PATH': '', 'EPS': 1e-14, 'EXP_DIR': 'ycb_object', 'FEATURE_STRIDE': 16, 'FLIP_X': False, 'FLOW_HEIGHT': 512, 'FLOW_WIDTH': 640, 'GPU_ID': 0, 'INPUT': 'COLOR', 'INTRINSICS': [618.0172729492188, 0.0, 312.376953125, 0.0, 618.0033569335938, 232.37530517578125, 0.0, 0.0, 1.0], 'MODE': 'TRAIN', 'NETWORK': 'VGG16', 'PIXEL_MEANS': array([[[102.9801, 115.9465, 122.7717]]]), 'POSE': '', 'RIG': '', 'RNG_SEED': 3, 'ROOT_DIR': '/home/ys/PoseCNN-PyTorch-main', 'TEST': {'ALIGN_Z_AXIS': False, 'BBOX_REG': True, 'BUILD_CODEBOOK': False, 'CHECK_SIZE': False, 'CLASSES': (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 21), 'DET_THRESHOLD': 0.2, 'GAN': False, 'GEN_DATA': False, 'GLOBAL_SEARCH': False, 'GRID_SIZE': 256, 'HOUGH_INLIER_THRESHOLD': 0.9, 'HOUGH_LABEL_THRESHOLD': 400, 'HOUGH_SKIP_PIXELS': 10, 'HOUGH_VOTING_THRESHOLD': 10, 'IMS_PER_BATCH': 1, 'ITERNUM': 4, 'MEAN_SHIFT': False, 'NMS': 0.3, 'NUM_LOST': 3, 'NUM_SDF_ITERATIONS_INIT': 100, 'NUM_SDF_ITERATIONS_TRACKING': 50, 'POSE_CODEBOOK': False, 'POSE_REFINE': True, 'POSE_REG': False, 'POSE_SDF': True, 'RANSAC': False, 'ROS_CAMERA': 'D435', 'RPN_NMS_THRESH': 0.7, 'RPN_POST_NMS_TOP_N': 300, 'RPN_PRE_NMS_TOP_N': 6000, 'SCALES_BASE': (1.0,), 'SDF_ROTATION_REG': 10.0, 'SDF_TRANSLATION_REG': 1000.0, 'SEGMENTATION': True, 'SINGLE_FRAME': True, 'SYMMETRY': (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1), 'SYNTHESIZE': True, 'VERTEX_REG_2D': False, 'VERTEX_REG_3D': False, 'VISUALIZE': True}, 'TRAIN': {'ADAPT': False, 'ADAPT_NUM': 400, 'ADAPT_RATIO': 1, 'ADAPT_ROOT': '', 'ADAPT_WEIGHT': 0.1, 'ADD_NOISE': True, 'AFFINE': False, 'BATCH_SIZE': 128, 'BBOX_INSIDE_WEIGHTS': (1.0, 1.0, 1.0, 1.0), 'BBOX_NORMALIZE_MEANS': (0.0, 0.0, 0.0, 0.0), 'BBOX_NORMALIZE_STDS': (0.1, 0.1, 0.2, 0.2), 'BBOX_NORMALIZE_TARGETS': True, 'BBOX_NORMALIZE_TARGETS_PRECOMPUTED': True, 'BETA': 0.999, 'BG_THRESH_HI': 0.5, 'BG_THRESH_LO': 0.1, 'BOOSTRAP_PIXELS': 20, 'BOX_W': 1.0, 'CHROMATIC': True, 'CLASSES': (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 21), 'DISPLAY': 20, 'FG_FRACTION': 0.25, 'FG_THRESH': 0.5, 'FG_THRESH_POSE': 0.5, 'FREEZE_LAYERS': True, 'GAMMA': 0.1, 'GAN': False, 'GPUNUM': 1, 'GRID_SIZE': 256, 'HARD_ANGLE': 5.0, 'HARD_LABEL_SAMPLING': 0.0, 'HARD_LABEL_THRESHOLD': 0.9, 'HAS_RPN': True, 'HEATUP': 4, 'HOUGH_INLIER_THRESHOLD': 0.9, 'HOUGH_LABEL_THRESHOLD': 100, 'HOUGH_SKIP_PIXELS': 10, 'HOUGH_VOTING_THRESHOLD': 10, 'IMS_PER_BATCH': 2, 'ITERNUM': 4, 'ITERS': 0, 'LABEL_W': 1.0, 'LEARNING_RATE': 0.001, 'MATCHING': False, 'MAX_ITERS_PER_EPOCH': 1000000, 'MILESTONES': (3,), 'MOMENTUM': 0.9, 'NOISE_LEVEL': 0.05, 'NUM_STEPS': 5, 'NUM_UNITS': 64, 'OPTIMIZER': 'MOMENTUM', 'POSE_REG': True, 'POSE_W': 1.0, 'RPN_BATCHSIZE': 256, 'RPN_BBOX_INSIDE_WEIGHTS': (1.0, 1.0, 1.0, 1.0), 'RPN_CLOBBER_POSITIVES': False, 'RPN_FG_FRACTION': 0.5, 'RPN_NEGATIVE_OVERLAP': 0.3, 'RPN_NMS_THRESH': 0.7, 'RPN_POSITIVE_OVERLAP': 0.7, 'RPN_POSITIVE_WEIGHT': -1.0, 'RPN_POST_NMS_TOP_N': 2000, 'RPN_PRE_NMS_TOP_N': 12000, 'SCALES_BASE': (1.0,), 'SEGMENTATION': True, 'SINGLE_FRAME': False, 'SLIM': False, 'SNAPSHOT_EPOCHS': 1, 'SNAPSHOT_INFIX': 'ycb_object', 'SNAPSHOT_PREFIX': 'vgg16', 'SYMMETRY': (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1), 'SYMSIZE': 0, 'SYNITER': 0, 'SYNNUM': 40000, 'SYNROOT': '/home/yuxiang/Projects/Deep_Pose/data/LOV/data_syn/', 'SYNTHESIZE': True, 'SYN_BACKGROUND_AFFINE': False, 'SYN_BACKGROUND_CONSTANT_PROB': 0.1, 'SYN_BACKGROUND_SPECIFIC': True, 'SYN_BACKGROUND_SUBTRACT_MEAN': True, 'SYN_BOUND': 0.3, 'SYN_CLASS_INDEX': 1, 'SYN_CROP': False, 'SYN_CROP_SIZE': 224, 'SYN_HEIGHT': 480, 'SYN_MAX_OBJECT': 8, 'SYN_MIN_OBJECT': 5, 'SYN_ONLINE': False, 'SYN_RATIO': 5, 'SYN_SAMPLE_DISTRACTOR': True, 'SYN_SAMPLE_OBJECT': True, 'SYN_SAMPLE_POSE': False, 'SYN_STD_ROTATION': 15, 'SYN_STD_TRANSLATION': 0.05, 'SYN_TABLE_PROB': 0.8, 'SYN_TFAR': 1.6, 'SYN_TNEAR': 0.5, 'SYN_WIDTH': 640, 'TRAINABLE': True, 'UNIFORM_POSE_INTERVAL': 15, 'USE_FLIPPED': False, 'USE_GT': False, 'VERTEX_REG': True, 'VERTEX_REG_DELTA': False, 'VERTEX_W': 1.0, 'VERTEX_W_INSIDE': 10.0, 'VISUALIZE': False, 'WEIGHT_DECAY': 0.0001}, 'USE_GPU_NMS': True, 'gpu_id': 0, 'instance_id': 0} GPU device 0 /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/002_master_chef_can/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/003_cracker_box/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/004_sugar_box/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/005_tomato_soup_can/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/006_mustard_bottle/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/007_tuna_fish_can/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/008_pudding_box/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/009_gelatin_box/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/010_potted_meat_can/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/011_banana/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/019_pitcher_base/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/021_bleach_cleanser/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/024_bowl/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/025_mug/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/035_power_drill/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/036_wood_block/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/037_scissors/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/040_large_marker/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/051_large_clamp/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/052_extra_large_clamp/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/061_foam_brick/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/holiday_cup1/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/holiday_cup2/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/sanning_mug/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/001_chips_can/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_red_big/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_green_big/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_blue_big/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_yellow_big/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_red_small/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_green_small/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_blue_small/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_yellow_small/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_red_median/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_green_median/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_blue_median/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/block_yellow_median/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/fusion_duplo_dude/points.xyz /home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/../../data/models/cabinet_handle/points.xyz Traceback (most recent call last): File "./tools/test_images.py", line 122, in dataset = get_dataset(args.dataset_name) File "/home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/factory.py", line 57, in get_dataset return __sets[name]() File "/home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/factory.py", line 28, in datasets.YCBObject(split)) File "/home/ys/PoseCNN-PyTorch-main/tools/../lib/datasets/ycb_object.py", line 75, in init self._extents = self._extents_all[cfg.TRAIN.CLASSES] IndexError: too many indices for array: array is 2-dimensional, but 21 were indexed

real 0m3.996s user 0m3.744s sys 0m1.939s

NVlabs / PoseCNN-PyTorch

IndexError: too many indices for array: array is 2-dimensional, but 21 were indexed #46