cszyzhang / riconv2 Goto Github PK
View Code? Open in Web Editor NEWThe official source codes for the riconv++ (IJCV2022) paper
License: MIT License
The official source codes for the riconv++ (IJCV2022) paper
License: MIT License
After reading your article, I am reproducing your method. I would like to ask when the source code of the shape retrieval part will be open-sourced?Thank you.
Hi @cszyzhang ,
Thank you for sharing the code.
I want to train and test RIConv++
on ModelNet40
dataset for z/SO(3)
case.
I checked in riconv2/data_utils/ModelNetDataLoader.py
, but did not find any code that applies random rotation to point clouds.
Could you please tell me where in the code do you apply random z
and SO(3)
rotation to ModelNet40 point cloud?
Thank you,
Supriya
Hello!
First of all, congrats to the team for the approach and sharing the code!
After playing around with it and trying to test the part segmentation model on my augmented shapenet dataset I found that I cannot predict just one sample.
Steps done so far:
On prediction I get:
RuntimeError Traceback (most recent call last)
Input In [341], in <cell line: 1>()
----> 1 seg_pred, _ = model(X, to_categorical(cat, num_classes))
File ~\Anaconda3\envs\riconv\lib\site-packages\torch\nn\modules\module.py:1051, in Module._call_impl(self, *input, **kwargs)
1047 # If we don't have any hooks, we want to skip the rest of the logic in
1048 # this function, and just call forward.
1049 if not (self._backward_hooks or self._forward_hooks or self._forward_pre_hooks or _global_backward_hooks
1050 or _global_forward_hooks or _global_forward_pre_hooks):
-> 1051 return forward_call(*input, **kwargs)
1052 # Do not call functions when jit is used
1053 full_backward_hooks, non_full_backward_hooks = [], []
Input In [296], in RIConv2.forward(self, xyz, cls_label)
35 xyz = xyz[:, :, :3]
37 l0_xyz, l0_norm, l0_points = self.sa0(xyz, norm, None)
---> 38 l1_xyz, l1_norm, l1_points = self.sa1(l0_xyz, l0_norm, l0_points)
39 l2_xyz, l2_norm, l2_points = self.sa2(l1_xyz, l1_norm, l1_points)
40 l3_xyz, l3_norm, l3_points = self.sa3(l2_xyz, l2_norm, l2_points)
File ~\Anaconda3\envs\riconv\lib\site-packages\torch\nn\modules\module.py:1051, in Module._call_impl(self, *input, **kwargs)
1047 # If we don't have any hooks, we want to skip the rest of the logic in
1048 # this function, and just call forward.
1049 if not (self._backward_hooks or self._forward_hooks or self._forward_pre_hooks or _global_backward_hooks
1050 or _global_forward_hooks or _global_forward_pre_hooks):
-> 1051 return forward_call(*input, **kwargs)
1052 # Do not call functions when jit is used
1053 full_backward_hooks, non_full_backward_hooks = [], []
File C:\workspace\projects\research\pcl\pcl.segmentation\riconv2\models\riconv2_utils.py:401, in RIConv2SetAbstraction.forward(self, xyz, norm, points)
399 new_xyz, ri_feat, new_norm, idx_ordered = sample_and_group_all(xyz, norm)
400 else:
--> 401 new_xyz, ri_feat, new_norm, idx_ordered = sample_and_group(self.npoint, self.radius, self.nsample, xyz,
402 norm)
404 # lift
405 ri_feat = ri_feat.permute(0, 3, 2, 1)
File C:\workspace\projects\research\pcl\pcl.segmentation\riconv2\models\riconv2_utils.py:321, in sample_and_group(npoint, radius, nsample, xyz, norm)
318 xyz = xyz.contiguous()
319 norm = norm.contiguous()
--> 321 new_xyz, new_norm = sample(npoint, xyz, norm=norm, sampling='fps')
322 idx = group_index(nsample, radius, xyz, new_xyz, group='knn')
324 ri_feat, idx_ordered = RI_features(xyz, norm, new_xyz, new_norm, idx)
File C:\workspace\projects\research\pcl\pcl.segmentation\riconv2\models\riconv2_utils.py:196, in sample(npoint, xyz, norm, sampling)
194 new_xyz = index_points(xyz, fps_idx)
195 if norm is not None:
--> 196 new_norm = index_points(norm, fps_idx)
197 elif sampling == 'random':
198 shuffle = np.arange(xyz.shape[1])
File C:\workspace\projects\research\pcl\pcl.segmentation\riconv2\models\riconv2_utils.py:70, in index_points(points, idx)
68 repeat_shape = list(idx.shape)
69 repeat_shape[0] = 1
---> 70 batch_indices = torch.arange(B, dtype=torch.long).to(device).view(view_shape).repeat(repeat_shape)
72 new_points = points[batch_indices, idx, :]
73 return new_points
RuntimeError: shape '[1, 1]' is invalid for input of size 512
If I load the test dataset as you do in test_partseg.py into a test dataLoader it works perfectly until... I set the batch size to 1 and try it (I then get the same RuntimeError as above).
With batchsize > 1:
Now setting batchsize = 1:
I hope you can help me with this.
Thanks in advance.
Best regards,
Raphael Espanha
How to train using only xyz?
Hi, thanks for your open source code firstly, but I met a problem that "No module named 'pointnet2_cuda'" even though I had run the setup.py without any errors. I 'll appreciate it if you can solve my problem.
There might be several errors triggered by the depreciated THC
library.
Emitting ninja build file /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/9] c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/ball_query.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/ball_query.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/ball_query.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
FAILED: /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/ball_query.o
c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/ball_query.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/ball_query.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/ball_query.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/home/ran/PycharmProjects/riconv2/models/pointnet2/src/ball_query.cpp:3:10: fatal error: THC/THC.h: No such file or directory
#include <THC/THC.h>
^~~~~~~~~~~
compilation terminated.
[2/9] c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/group_points.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/group_points.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/group_points.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
FAILED: /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/group_points.o
c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/group_points.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/group_points.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/group_points.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/home/ran/PycharmProjects/riconv2/models/pointnet2/src/group_points.cpp:5:10: fatal error: THC/THC.h: No such file or directory
#include <THC/THC.h>
^~~~~~~~~~~
compilation terminated.
[3/9] c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/interpolate.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/interpolate.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/interpolate.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
FAILED: /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/interpolate.o
c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/interpolate.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/interpolate.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/interpolate.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/home/ran/PycharmProjects/riconv2/models/pointnet2/src/interpolate.cpp:3:10: fatal error: THC/THC.h: No such file or directory
#include <THC/THC.h>
^~~~~~~~~~~
compilation terminated.
[4/9] c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/sampling.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/sampling.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/sampling.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
FAILED: /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/sampling.o
c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/sampling.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/sampling.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/sampling.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/home/ran/PycharmProjects/riconv2/models/pointnet2/src/sampling.cpp:4:10: fatal error: THC/THC.h: No such file or directory
#include <THC/THC.h>
^~~~~~~~~~~
compilation terminated.
[5/9] c++ -MMD -MF /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/pointnet2_api.o.d -pthread -B /home/ran/miniconda3/envs/icra_gpr_s3e/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/pointnet2_api.cpp -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/pointnet2_api.o -g -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++14
cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
[6/9] /usr/local/cuda/bin/nvcc -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/interpolate_gpu.cu -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/interpolate_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O2 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++14
[7/9] /usr/local/cuda/bin/nvcc -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/ball_query_gpu.cu -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/ball_query_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O2 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++14
[8/9] /usr/local/cuda/bin/nvcc -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/group_points_gpu.cu -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/group_points_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O2 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++14
[9/9] /usr/local/cuda/bin/nvcc -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/torch/csrc/api/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/TH -I/home/ran/miniconda3/envs/icra_gpr_s3e/lib/python3.8/site-packages/torch/include/THC -I/usr/local/cuda/include -I/home/ran/miniconda3/envs/icra_gpr_s3e/include/python3.8 -c -c /home/ran/PycharmProjects/riconv2/models/pointnet2/src/sampling_gpu.cu -o /home/ran/PycharmProjects/riconv2/models/pointnet2/build/temp.linux-x86_64-3.8/src/sampling_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O2 -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=pointnet2_cuda -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++14
ninja: build stopped: subcommand failed.
error: ‘getCurrentCUDAStream’ is not a member of ‘at::cuda’ cudaStream_t stream = at::cuda::getCurrentCUDAStream();
Thank you for sharing the code.
I have a question about the LRA calculation.
Why didn't you remove the sign ambiguity of the eigen vectors like SHOT feature?
Is there any reason?
I am a student and recently I was learning about rotation invariance of point clouds. After reading your article, I benefited a lot, but I have a few questions about the experiments. Why doesn't any rotation transformations exist on dataset class, and what kind of rotation augmentation used on training for the pretrained models. Thanks a lot.
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