Issue with register.py file and Inquiry Regarding Code Adjustment

[CYXYZ]

Dear Vivek,

I hope this email finds you well. I am writing to address an issue I encountered while working with the register.py file in both the main and refactor-se3 branches of our project.

Specifically, I noticed that when I attempt to input the parameterization "euler_angles," an error occurs, as follows:

Traceback (most recent call last):
  File "/home/data/cyx/autodl-tmp/DiffPose-main/experiments/deepfluoro/register.py", line 381, in <module>
    main(id_number, parameterization=parameterization)
  File "/home/data/cyx/autodl-tmp/DiffPose-main/experiments/deepfluoro/register.py", line 348, in main
    df = registration.run(idx)
         ^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/autodl-tmp/DiffPose-main/experiments/deepfluoro/register.py", line 189, in run
    registration = self.initialize_registration(img)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/autodl-tmp/DiffPose-main/experiments/deepfluoro/register.py", line 124, in initialize_registration
    return SparseRegistration(
           ^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/preop/lib/python3.11/site-packages/diffpose/registration.py", line 99, in __init__
    rotation, translation = convert(
                            ^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/preop/lib/python3.11/site-packages/diffpose/calibration.py", line 119, in convert
    transform.get_rotation(output_parameterization, output_convention),
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/preop/lib/python3.11/site-packages/diffpose/calibration.py", line 52, in get_rotation
    R = convert_so3(R, "matrix", parameterization, None, convention)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/preop/lib/python3.11/site-packages/diffdrr/utils.py", line 91, in convert
    return _convert_from_rotation_matrix(
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/preop/lib/python3.11/site-packages/diffdrr/utils.py", line 126, in _convert_from_rotation_matrix
    rotation = matrix_to_euler_angles(matrix, convention)
               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/preop/lib/python3.11/site-packages/diffdrr/utils.py", line 419, in matrix_to_euler_angles
    if len(convention) != 3:
       ^^^^^^^^^^^^^^^
TypeError: object of type 'NoneType' has no len()

This issue seems to persist regardless of the branch I am working in(main and refactor-se3). Upon further investigation, I realized that the code snippet provided below is likely the cause of the error:

id_numbers = [1, 2, 3, 4, 5, 6]
parameterizations = [
    "se3_log_map",
    "so3_log_map",
    "axis_angle",
    "euler_angles",
    "quaternion",
    "rotation_6d",
    "rotation_10d",
    "quaternion_adjugate",
]
id_numbers = [i for i, _ in product(id_numbers, parameterizations)]
parameterizations = [p for _, p in product(id_numbers, parameterizations)]

Moreover, I am considering using alternative parameterizations in the train.py file. Would it be necessary to modify the function signature in train.py, particularly the parameterization argument, to accommodate these changes? For instance, should I change parameterization="se3_log_map" to parameterization="euler_angles" ?

def main(
    id_number,
    height=256,
    restart=None,
    model_name="resnet18",
    parameterization="se3_log_map",
    convention=None,
    lr=1e-1,
    batch_size=4,
    n_epochs=400,
    n_batches_per_epoch=100,
):

Could you kindly provide guidance on how to resolve the aforementioned issue? I would greatly appreciate your assistance in this matter.

Thank you for your attention to this matter.

Best regards,

[CYXYZ]

I've found that when I use parameterizations = ["quaternion"], other errors occur, as follows:

(diffpose_copy) (base) cyx@server1:~/autodl-tmp/DiffPose_copy/experiments/deepfluoro$ python register.py
main
ckpt se3_log_map
  0%|                                                                       | 0/111 [00:00<?, ?it/s]convention None
  0%|                                                                       | 0/111 [00:00<?, ?it/s]
Traceback (most recent call last):
  File "/home/data/cyx/autodl-tmp/DiffPose_copy/experiments/deepfluoro/register.py", line 325, in <module>
    main(id_number, parameterization=parameterization)
  File "/home/data/cyx/autodl-tmp/DiffPose_copy/experiments/deepfluoro/register.py", line 290, in main
    df = registration.run(idx)
         ^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/autodl-tmp/DiffPose_copy/experiments/deepfluoro/register.py", line 143, in run
    param, geo, tre = self.evaluate(registration)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/autodl-tmp/DiffPose_copy/experiments/deepfluoro/register.py", line 109, in evaluate
    est_pose = registration.get_current_pose()
               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/diffpose_copy/lib/python3.12/site-packages/diffpose/registration.py", line 248, in get_current_pose
    return convert(self.rotation, 
           ^^^^^^^^^^^^^^^^^^^^^^
  File "/home/data/cyx/miniconda3/envs/diffpose_copy/lib/python3.12/site-packages/diffdrr/pose.py", line 148, in convert
    return convert(matrix, parameterization="matrix")
                   ^^^^^^
UnboundLocalError: cannot access local variable 'matrix' where it is not associated with a value

[eigenvivek]

Hi @CYXYZ sorry for the slow response on this. I am working on a big update to DiffDRR (you can track it here), and am waiting to update DiffPose until this is completed. Thank you for your patience.