csiro-robotics / Wild-Places

🏞️ [IEEE ICRA2023] The official repository for paper "Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments" To appear in 2023 IEEE International Conference on Robotics and Automation (ICRA)
https://csiro-robotics.github.io/Wild-Places/
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LoGG3D_net Checkpoint mismatch #3

Closed uljad closed 1 year ago

uljad commented 1 year ago

Thank you for the great dataset and the documentation. I am trying to replicate the LoGG3D evaluation but when I load the checkpoint there appear to be size mismathces that cause the following RunTime Errors:

RuntimeError: Error(s) in loading state_dict for LOGG3D:
        size mismatch for spvcnn.classifier.0.weight: copying a param with shape torch.Size([32, 61]) from checkpoint, the shape in current model is torch.Size([16, 61]).
        size mismatch for spvcnn.classifier.0.bias: copying a param with shape torch.Size([32]) from checkpoint, the shape in current model is torch.Size([16]).
        size mismatch for sop.fc1.weight: copying a param with shape torch.Size([512, 1024]) from checkpoint, the shape in current model is torch.Size([128, 256]).
        size mismatch for sop.fc1.bias: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([128]).
        size mismatch for sop.fc2.weight: copying a param with shape torch.Size([256, 512]) from checkpoint, the shape in current model is torch.Size([64, 128]).
        size mismatch for sop.fc2.bias: copying a param with shape torch.Size([256]) from checkpoint, the shape in current model is torch.Size([64]).
peymmo commented 1 year ago

@kavisha725 could you please address this comment.

kavisha725 commented 1 year ago

Thanks for your interest. Please check the latest commit in the LoGG3D repository. To load the wild-places checkpoint, change the feature_dim parameter here to 32 when you initialize the LoGG3D model.

uljad commented 1 year ago

Yes I did that and it worked. Thank you!