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humanpose1 / MS-SVConv

Compute descriptors for 3D point cloud registration using a multi scale sparse voxel architecture
MIT License
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AttributeError: 'Data' object has no attribute 'origin_id' #20

Closed ramdrop closed 2 years ago

ramdrop commented 2 years ago

Hello, when running

poetry run python train.py task=registration models=registration/ms_svconv_base model_name=MS_SVCONV_B2cm_X2_3head data=registration/fragment3dmatch training=sparse_fragment_reg tracker_options.make_submission=True training.epochs=200 eval_frequency=10

I encountered the following error after 10 epochs of training:

Traceback (most recent call last):
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/train.py", line 14, in main
    trainer.train()
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/torch_points3d/trainer.py", line 148, in train
    self._test_epoch(epoch, "val")
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/torch_points3d/trainer.py", line 238, in _test_epoch
    if not self._dataset.has_labels(stage_name) and not self.tracker_options.get("make_submission", False): # No label, no submission -> do nothing
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/torch_points3d/datasets/base_dataset.py", line 391, in has_labels
    sample = dataset[0]
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/torch_points3d/datasets/registration/base3dmatch.py", line 305, in __getitem__
    data = self.get(idx)
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/torch_points3d/datasets/registration/general3dmatch.py", line 289, in get
    return self.get_fragment(idx)
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/torch_points3d/datasets/registration/base_siamese_dataset.py", line 158, in get_fragment
    pair = tracked_matches(data_source, data_target, new_pair)
  File "/LOCAL2/ramdrop/github/point_registration/torch-points3d/torch_points3d/datasets/registration/utils.py", line 308, in tracked_matches
    mask_s = np.isin(pair_np[:, 0], data_s.origin_id.numpy())
AttributeError: 'Data' object has no attribute 'origin_id'

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
wandb: Waiting for W&B process to finish... (failed 1). Press Control-C to abort syncing.
wandb:                                                                                
wandb: 
wandb: Run history:
wandb:      epoch ▁▂▃▃▄▅▆▆▇█
wandb: train_loss █▄▂▁▂▂▃▂▃▂
wandb: 
wandb: Run summary:
wandb:      epoch 10
wandb: train_loss 1.08478
wandb: 
wandb: Synced 3dmatch: https://wandb.ai/ramdrop/registration/runs/3rbevo3m
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 3 other file(s)
wandb: Find logs at: ./outputs/2022-04-27/21-52-40/wandb/run-20220427_215241-3rbevo3m/logs

My system configuration:

(torch-points3d-s_H0q_C5-py3.9) (base) torch-points3d$ pip list
Package                           Version
--------------------------------- ------------
absl-py                           1.0.0
addict                            2.4.0
aiohttp                           3.7.4.post0
alabaster                         0.7.12
antlr4-python3-runtime            4.8
anyio                             3.5.0
appdirs                           1.4.4
argon2-cffi                       21.1.0
async-timeout                     3.0.1
attrs                             21.2.0
autobahn                          21.3.1
Automat                           20.2.0
Babel                             2.9.1
backcall                          0.2.0
backports.entry-points-selectable 1.1.0
beautifulsoup4                    4.11.1
bleach                            4.1.0
cachetools                        4.2.2
certifi                           2021.5.30
cffi                              1.14.6
chardet                           4.0.0
charset-normalizer                2.0.6
click                             8.1.2
constantly                        15.1.0
cryptography                      3.4.8
cycler                            0.10.0
debugpy                           1.4.3
decorator                         5.1.0
defusedxml                        0.7.1
deprecation                       2.1.0
distlib                           0.3.3
docker-pycreds                    0.4.0
docutils                          0.17.1
entrypoints                       0.3
fastjsonschema                    2.15.3
filelock                          3.1.0
gdown                             4.4.0
gitdb                             4.0.7
GitPython                         3.1.27
google-auth                       1.35.0
google-auth-oauthlib              0.4.6
googledrivedownloader             0.4
graphql-core                      1.1
grpcio                            1.44.0
h5py                              3.6.0
hydra-core                        1.0.5
hyperlink                         21.0.0
idna                              3.2
imageio                           2.18.0
imagesize                         1.2.0
importlib-metadata                4.11.3
incremental                       21.3.0
install                           1.3.5
ipykernel                         6.4.1
ipython                           7.28.0
ipython-genutils                  0.2.0
ipywidgets                        7.7.0
isodate                           0.6.0
jedi                              0.18.0
Jinja2                            3.1.1
joblib                            1.0.1
json5                             0.9.6
jsonpatch                         1.32
jsonpointer                       2.1
jsonschema                        4.4.0
jupyter-client                    7.0.3
jupyter-core                      4.8.1
jupyter-packaging                 0.12.0
jupyter-server                    1.16.0
jupyterlab                        3.3.4
jupyterlab-pygments               0.1.2
jupyterlab-server                 2.13.0
jupyterlab-widgets                1.0.2
kiwisolver                        1.3.2
laspy                             2.1.2
lazy-object-proxy                 1.6.0
llvmlite                          0.38.0
Mako                              1.2.0
Markdown                          3.3.6
MarkupSafe                        2.0.1
matplotlib                        3.4.3
matplotlib-inline                 0.1.3
MinkowskiEngine                   0.5.4
mistune                           0.8.4
multidict                         5.1.0
nbclassic                         0.3.7
nbclient                          0.5.4
nbconvert                         6.5.0
nbformat                          5.3.0
nest-asyncio                      1.5.1
networkx                          2.6.3
ninja                             1.10.2.3
notebook                          6.4.4
notebook-shim                     0.1.0
numba                             0.55.1
numpy                             1.19.5
oauthlib                          3.1.1
omegaconf                         2.0.6
open3d                            0.15.2
packaging                         21.0
pandas                            1.4.2
pandocfilters                     1.5.0
param                             1.11.1
parso                             0.8.2
pathtools                         0.1.2
pexpect                           4.8.0
pickleshare                       0.7.5
Pillow                            8.3.2
pip                               22.0.4
platformdirs                      2.4.0
plyfile                           0.7.4
prometheus-client                 0.11.0
promise                           2.3
prompt-toolkit                    3.0.20
protobuf                          3.20.1
psutil                            5.9.0
ptyprocess                        0.7.0
pyasn1                            0.4.8
pyasn1-modules                    0.2.8
pycparser                         2.20
pycuda                            2020.1
Pygments                          2.10.0
pyparsing                         2.4.7
pyquaternion                      0.9.9
pyrsistent                        0.18.0
PySocks                           1.7.1
python-dateutil                   2.8.2
python-louvain                    0.16
pytools                           2022.1.4
pytorch-metric-learning           1.3.0
pytz                              2021.1
pyvista                           0.34.1
PyWavelets                        1.3.0
PyYAML                            5.4.1
pyzmq                             22.3.0
rdflib                            6.1.1
requests                          2.26.0
requests-oauthlib                 1.3.0
rsa                               4.7.2
scikit-image                      0.19.2
scikit-learn                      1.0
scipy                             1.6.1
scooby                            0.5.12
Send2Trash                        1.8.0
sentry-sdk                        1.5.10
setproctitle                      1.2.3
setuptools                        62.1.0
shortuuid                         1.0.8
six                               1.16.0
smmap                             4.0.0
sniffio                           1.2.0
snowballstemmer                   2.1.0
soupsieve                         2.3.2.post1
sphinxcontrib-applehelp           1.0.2
sphinxcontrib-devhelp             1.0.2
sphinxcontrib-htmlhelp            2.0.0
sphinxcontrib-jsmath              1.0.1
sphinxcontrib-qthelp              1.0.3
sphinxcontrib-serializinghtml     1.1.5
tensorboard                       2.8.0
tensorboard-data-server           0.6.1
tensorboard-plugin-wit            1.8.1
terminado                         0.12.1
testpath                          0.5.0
threadpoolctl                     2.2.0
tifffile                          2022.4.22
tinycss2                          1.1.1
tomlkit                           0.10.2
torch                             1.9.0+cu111
torch-cluster                     1.6.0
torch-geometric                   1.7.2
torch-points-kernels              0.7.0
torch-scatter                     2.0.9
torch-sparse                      0.6.12
torch-spline-conv                 1.2.1
torchaudio                        0.9.0
torchfile                         0.1.0
torchnet                          0.0.4
torchsparse                       1.4.0
torchvision                       0.10.0+cu111
tornado                           6.1
tqdm                              4.64.0
traitlets                         5.1.0
Twisted                           21.7.0
txaio                             21.2.1
typing-extensions                 3.10.0.2
urllib3                           1.26.7
visdom                            0.1.8.9
vtk                               9.1.0
wandb                             0.12.15
wcwidth                           0.2.5
webencodings                      0.5.1
websocket-client                  1.2.1
Werkzeug                          2.1.1
wheel                             0.37.1
widgetsnbextension                3.6.0
wrapt                             1.12.1
wslink                            1.0.7
yacs                              0.1.8
yapf                              0.32.0
yarl                              1.6.3
zipp                              3.8.0
zope.interface                    5.4.0

Do you have any idea how to solve it?

humanpose1 commented 2 years ago

I think the problem comes from the validation step. No transformation is defined in the conf file. Can you try this conf file ?

humanpose1 commented 2 years ago

The command poetry run python train.py task=registration models=registration/ms_svconv_base model_name=MS_SVCONV_B2cm_X2_3head data=registration/fragment3dmatch_sparse training=sparse_fragment_reg tracker_options.make_submission=True training.epochs=200 eval_frequency=10

ramdrop commented 2 years ago

Thanks very much, it works. But I am a bit confused: in the paper you said

to generate these point clouds, we use TSDF fusion from 50 depth images

but this data configuration leads to a data preprocessing which uses 101 frames to compose a fragment.

The command poetry run python train.py task=registration models=registration/ms_svconv_base model_name=MS_SVCONV_B2cm_X2_3head data=registration/fragment3dmatch_sparse training=sparse_fragment_reg tracker_options.make_submission=True training.epochs=200 eval_frequency=10

Do I understand it right?

humanpose1 commented 2 years ago

Yes, you are right. I changed the configuration file to use 50 frames to compose a fragment, I did not update the conf file