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Code for "PVN3D: A Deep Point-wise 3D Keypoints Hough Voting Network for 6DoF Pose Estimation", CVPR 2020

License: MIT License

Jupyter Notebook 0.61% Python 87.96% C++ 3.23% Cuda 3.17% Shell 0.24% C 4.79%

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pvn3d's Issues

Live Demo

Hi @ethnhe,
thanks again for your awesome work.

Do you have any code snippets or working code for a live demo (i.e. with a kinect). Would it even be possible?

Could you give me some hints?

Sorry if that's not an actual issue with the project.
Thank you very much.

Error about Dataloader

Because it reports ValueError: current limit exceeds maximum limit, so I change as follow:

rlimit = resource.getrlimit(resource.RLIMIT_NOFILE) # (4096,4096)
# resource.setrlimit(resource.RLIMIT_NOFILE, (30000, rlimit[1]))
resource.setrlimit(resource.RLIMIT_NOFILE, (4096, rlimit[1]))

then when run to for ibs, batch in enumerate(train_loader):, it reports:

Traceback (most recent call last):
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/site-packages/torch/utils/data/dataloader.py", line 724, in _try_get_data
    data = self.data_queue.get(timeout=timeout)
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/multiprocessing/queues.py", line 104, in get
    if not self._poll(timeout):
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/multiprocessing/connection.py", line 257, in poll
    return self._poll(timeout)
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/multiprocessing/connection.py", line 414, in _poll
    r = wait([self], timeout)
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/multiprocessing/connection.py", line 911, in wait
    ready = selector.select(timeout)
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/selectors.py", line 376, in select
    fd_event_list = self._poll.poll(timeout)
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/site-packages/torch/utils/data/_utils/signal_handling.py", line 66, in handler
    _error_if_any_worker_fails()
RuntimeError: DataLoader worker (pid 581) is killed by signal: Segmentation fault. 

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/ouc/TXH/IDEA_code/PVN3D/pvn3d/train/train_linemod_pvn3d.py", line 366, in train
    for ibs, batch in enumerate(train_loader):
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/site-packages/torch/utils/data/dataloader.py", line 804, in __next__
    idx, data = self._get_data()
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/site-packages/torch/utils/data/dataloader.py", line 771, in _get_data
    success, data = self._try_get_data()
  File "/home/ouc/anaconda3/envs/Kiruto/lib/python3.6/site-packages/torch/utils/data/dataloader.py", line 737, in _try_get_data
    raise RuntimeError('DataLoader worker (pid(s) {}) exited unexpectedly'.format(pids_str))
RuntimeError: DataLoader worker (pid(s) 581) exited unexpectedly

I try to set less num_workers and min_batch_size, it not works
when I set num_workers=0, it shows as folow and also not work.

epochs:   0%|          | 0/25 [00:00<?, ?it/s]
train:   0%|          | 0/5000 [00:00<?, ?it/s]{'bn_decay': 0.5,
 'bn_momentum': 0.9,
 'cal_metrics': False,
 'checkpoint': None,
 'cls': 'duck',
 'decay_step': 200000.0,
 'epochs': 1000,
 'eval_net': False,
 'lr': 0.01,
 'lr_decay': 0.5,
 'run_name': 'sem_seg_run_1',
 'test': False,
 'test_occ': False,
 'weight_decay': 0}

Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)

It is the error about my device or version of torch?

demo file requisition

Could you help to offer the "demo.py" to check the results by using the pretrained model?

使用PyPCL替换PythonPCL

朋友你好~我想使用PyPCL替换PythonPCL，以便在conda环境下运行pvn3d。但是我不清楚YcbDataset以及LineModDateset中get_normal()的作用。能否请教你解答一下，我好改成PyPCL版本。

Question about dataloader item_name

I have a simple question about dataloader.

For example, item_name = 'data_syn/003759'
As I understand, this part should be changed int(item_name[5:9]) -> int(item_name[9:15])
Could you comment about this??

PVN3D/pvn3d/datasets/ycb/ycb_dataset.py

Line 186 in 3cfcbe3

if item_name[:8] != 'data_syn' and int(item_name[5:9]) >= 60:

What time will the code be published?

Hi, Congratulations to your remarkable achievements! I'm looking forward to knowing details in your code. So I just want to know What time will the code be published？
Thank you!

how to adjust arguments to fill depth map better?

Hi,
First, thanks for such great work!
I have some confusions about depth map filling process.
Here,you have lots of arguments or constant parameters?
Could u tell me how u adjust them in this work? Could u give me some inferences?Ijust want to modify these params. but don't know how to.

How to test the fps of the program？

Hello author, may I ask how to test the fps of the program？
Can you tell me the general method? I'm doing a comparative test.
Thank you!

About corner keypoints

Hi, @ethnhe , thanks for your excellent work and sharing! Now, I'm confused the coordinates of corner ketpoints. Take ape for example.

In the models_info.yml, the information of ape model is shown as follows:
1: {diameter: 102.09865663, min_x: -37.93430000, min_y: -38.79960000, min_z: -45.88450000, size_x: 75.86860000, size_y: 77.59920000, size_z: 91.76900000}
So, I think that one of the corners should be (min_x, min_y, min_z), that is, ( -37.93430000, -38.79960000, -45.88450000).

But the corners.txt you provide in the /lm_obj_kps/ape folder is shown as follows:

Why the (min_x, min_y, min_z) is (-3.982000052928924561e-02, -4.070999845862388611e-02, -3.513399884104728699e-02) which is different from the obj model information in the models_info.yml?

Sorry for my poor English，I hope I expressed my question clearly! Any answer will be appreciated a lot!

Once again, thanks a lot! I'm looking forward to your reply.

Error setup.py build

Hey, when I am running python3 setup.py build_ext , I get a lot of the following errors :
/home/user/.local/lib/python3.6/site-packages/torch/lib/include/ATen/core/TensorMethods.h:1117:48: required from here
/usr/include/c++/6/tuple:483:67: error: mismatched argument pack lengths while expanding ‘std::is_constructible<_Elements, _UElements&&>’
return _and<is_constructible<_Elements, _UElements&&>...>::value;
^~~~~
/usr/include/c++/6/tuple:484:1: error: body of constexpr function ‘static constexpr bool std::_TC<, _Elements>::_MoveConstructibleTuple() [with _UElements = {std::tuple<at::Tensor, at::Tensor, at::Tensor>}; bool = true; _Elements = {at::Tensor, at::Tensor, at::Tensor}]’ not a return-statement
}

I am using Conda , Cuda Version 10.1 , Ubuntu 18.04. und allready tried different gcc versions ( 4.8 , 5 , 6 , 7) but it never worked. How can I make it work?

Question about CyclicLR - optimizer

Hi, Tethnhe.
Thanks for sharing a good result.

I just follow your process but got a simple error.
Could you share how to solve this error message??

Error from this part:

PVN3D/pvn3d/train/train_ycb_pvn3d.py

Line 466 in 290262b

lr_scheduler = CyclicLR(

Error Message:

root@0522615bcc7b:~/PVN3D/pvn3d# sh eval_ycb.sh
test_dataset_size: 2949
loading pretrained mdl.
==> Loading from checkpoint '/root/PVN3D/pvn3d/train_log/ycb/checkpoints/ycb_pvn3d_best.pth.tar'
==> Done
Traceback (most recent call last):
File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main
"main", mod_spec)
File "/usr/lib/python3.6/runpy.py", line 85, in _run_code
exec(code, run_globals)
File "/root/PVN3D/pvn3d/train/train_ycb_pvn3d.py", line 468, in
mode = 'triangular'
File "/root/PVN3D/pvn3d/lib/utils/warmup_scheduler/scheduler.py", line 240, in init
super().init(optimizer)
File "/usr/local/lib/python3.6/dist-packages/torch/optim/lr_scheduler.py", line 77, in init
self.step()
TypeError: step() missing 1 required positional argument: 'step'

test time on ycb so slow

Why test each picture takes about 1-2 seconds on the data set YCB? so slow。
env：ubuntu16, Quadro RTX 5000

Issue in demo_ycb.sh

Hello,
Thanks a lot for the code. I am getting segmentation fault after running demo_ycb.sh. Below is error on my prompt, Any Idea what I could be missing?

sh demo_ycb.sh
/is/sg2/ghegde/Project/PVN3D/pvn3d/common.py:134: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
self.lm_r_lst = yaml.load(lm_r_file)
test_dataset_size: 2949
loading pretrained mdl.
==> Loading from checkpoint 'train_log/ycb/checkpoints/ycb_pvn3d_best.pth.tar'
==> Done
val: 0it [00:00, ?it/s]/is/sg2/ghegde/install/conda/envs/pcl/lib/python3.6/site-packages/torch/nn/functional.py:2457: UserWarning: nn.functional.upsample is deprecated. Use nn.functional.interpolate instead.
warnings.warn("nn.functional.upsample is deprecated. Use nn.functional.interpolate instead.")
/is/sg2/ghegde/install/conda/envs/pcl/lib/python3.6/site-packages/torch/nn/functional.py:2539: UserWarning: Default upsampling behavior when mode=bilinear is changed to align_corners=False since 0.4.0. Please specify align_corners=True if the old behavior is desired. See the documentation of nn.Upsample for details.
"See the documentation of nn.Upsample for details.".format(mode))
/is/sg2/ghegde/install/conda/envs/pcl/lib/python3.6/site-packages/torch/nn/modules/container.py:92: UserWarning: Implicit dimension choice for log_softmax has been deprecated. Change the call to include dim=X as an argument.
input = module(input)
Segmentation fault

Why big loss?

Hey @ethnhe I hope you can help me again.
I have created my own dataset in the structure of ycb and started to train it. My depth images are created in NDDS and are in cm, so i took factor_depth = 100, is this correct?
What can be another reason of this high loss and what would be a "good" result?

Pose Prediction

Hi,

i trained PVN3D on my own dataset (generated with NDDS). I'm trying to visualize it with your demo.py script. It works, but the pose is wrong.
Here are some examples:

My Dataset:

Do you have any idea what could have gone wrong? If you need any more information about the dataset, just let me know.

I'd be really grateful if you could help me out.
Thank you

setup in branch:problems with cuda

Hi,
after switching to Ubuntu 18.4 and following the steps from the branch (https://github.com/ethnhe/PVN3D/tree/pytorch-1.5) I get the following Error after running python3 setup.py build_ext:

THCudaCheck FAIL file=/pytorch/aten/src/THC/THCGeneral.cpp line=47 error=100 : no CUDA-capable device is detected
Traceback (most recent call last):
  File "setup.py", line 30, in <module>
    'build_ext': BuildExtension
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/setuptools/__init__.py", line 153, in setup
    return distutils.core.setup(**attrs)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/core.py", line 148, in setup
    dist.run_commands()
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/dist.py", line 955, in run_commands
    self.run_command(cmd)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/dist.py", line 974, in run_command
    cmd_obj.run()
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/setuptools/command/build_ext.py", line 79, in run
    _build_ext.run(self)
  File "/home/benjamin/.local/lib/python3.6/site-packages/Cython/Distutils/old_build_ext.py", line 186, in run
    _build_ext.build_ext.run(self)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/command/build_ext.py", line 339, in run
    self.build_extensions()
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 649, in build_extensions
    build_ext.build_extensions(self)
  File "/home/benjamin/.local/lib/python3.6/site-packages/Cython/Distutils/old_build_ext.py", line 195, in build_extensions
    _build_ext.build_ext.build_extensions(self)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/command/build_ext.py", line 448, in build_extensions
    self._build_extensions_serial()
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/command/build_ext.py", line 473, in _build_extensions_serial
    self.build_extension(ext)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/setuptools/command/build_ext.py", line 196, in build_extension
    _build_ext.build_extension(self, ext)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/command/build_ext.py", line 533, in build_extension
    depends=ext.depends)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/distutils/ccompiler.py", line 574, in compile
    self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 396, in unix_wrap_single_compile
    cflags = unix_cuda_flags(cflags)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 372, in unix_cuda_flags
    cflags + _get_cuda_arch_flags(cflags))
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 1400, in _get_cuda_arch_flags
    capability = torch.cuda.get_device_capability()
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/torch/cuda/__init__.py", line 309, in get_device_capability
    prop = get_device_properties(device)
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/torch/cuda/__init__.py", line 314, in get_device_properties
    _lazy_init()  # will define _get_device_properties
  File "/home/benjamin/anaconda3/envs/pvn3d_b/lib/python3.6/site-packages/torch/cuda/__init__.py", line 190, in _lazy_init
    torch._C._cuda_init()
RuntimeError: cuda runtime error (100) : no CUDA-capable device is detected at /pytorch/aten/src/THC/THCGeneral.cpp:47

The message no CUDA-capable device is detected surprises me since I did follow the steps for the CUDA installatio.

Segmentation fault (core dumped)

Hey, thanks for your great work! When I run "pip3 -install requirements.txt" I get the following error at the end :

Installing collected packages: six, numpy, h5py, torch, pillow, torchvision, pyyaml, pprint, enum34, future, scipy, opencv-contrib-python, python-dateutil, cycler, kiwisolver, pyparsing, matplotlib, transforms3d, decorator, networkx, PyWavelets, scikit-image, lmdb, setuptools, pycparser, cffi, easydict, plyfile, cython, triangle, glumpy
Successfully installed PyWavelets-1.1.1 cffi-1.11.5 cycler-0.10.0 cython-0.29.17 decorator-4.4.2 easydict-1.7 enum34-1.1.10 future-0.18.2 glumpy-1.0.6 h5py-2.10.0 kiwisolver-1.2.0 lmdb-0.98 matplotlib-3.1.1 networkx-2.4 numpy-1.18.4 opencv-contrib-python-3.4.2.16 pillow-7.1.2 plyfile-0.6 pprint-0.1 pycparser-2.20 pyparsing-2.4.7 python-dateutil-2.8.1 pyyaml-5.3.1 scikit-image-0.13.1 scipy-1.3.1 setuptools-46.4.0 six-1.14.0 torch-1.5.0 torchvision-0.4.0 transforms3d-0.3.1 triangle-20200424
Segmentation fault (core dumped)

I am using Ubuntu 18.04 , Python 3.7 and gcc version 7.5.0 if it matters :)
Would be really nice if someone could help me

Error about 'neupeak'

I install all requirement.txt and trypip isntall neupeakandeconda install neupeak, but both not work, how can I do to instll it ?

Why Linemod need many weights but ycb only need one?

as title, looking forward ot your reply

Multi GPU training

Do the train scripts run on multiple GPUs by-default or do i have to make certain changes for that?

Can you suggest those changes if they are not many?

Thanks in advance.

Is comparison with other methods on LineMod fair?

Hi,
I really like the paper and thanks for open-sourcing the code. As explained in #3, a different model is trained for each object category on LineMod. However, I am confused whether the comparison with other methods (specifically DenseFusion and DeepIM) on LineMod is fair. This is because, other methods seem to use a single model during test time. Hence, object category needs to be inferred by the model at test time. I would very much appreciate if you can please correct my understanding.
Thanks!

RuntimeError: CUDA out of memory. just on documented ape training of Linemod

As new person to the pytorch/6d-pose estimation world, I finally got PVD3D set up after some issues. When I try to just run the normal training python3 -m train.train_linemod_pvn3d --cls ape it very quickly uses up all my GPU memory. I've tried setting the batch size to 1 in the linemod/dataset_config/models_info.yml and in common.py, but I always get the exact same behavior. It's as if the actual batch size is computed elsewhere, and I don't have control over it. Any help you might provide is greatly appreciated.

Problem with Training , class or object 'NoneType'

Hey @ethnhe , I have some problems while running the training for my own dataset. I think I adjusted the dataset in the correct way so that it matches the structure of the ycb dataset. While running python3 -m datasets.ycb.preprocess_testset or python3 -m datasets.ycb.ycb_dataset I always get an error with 'NoneType' class or object.

Do you have an idea what is wrong ?

CUDA out of memory for my own trained checkpoint files

This is strange but, i have been able to run all the checkpoint files provided by you, on my NVIDIA QUADRO T1000 4GiB, with a reasonable frame rate(2 FPS.)
Then i trained using your training scripts on my own data and now while loading the checkpoint files i generated, the same GPU gives OUT OF MEMORY error. How is this possible if the model is the same ? And also, i tried running this same checkpoint on the other powerful SLURM GPUS( 2 , 32GiB NVIDIA Tesla V100s ), that i used for training. And the inference time was as bad 11s / it for test minbatch size = 1

I also checked my own data, the images i have are almost equal size in KBs to LINEMOD images. I am suspecting i might be doing something wrong while training.

Use of code

Hello authors of PVN3D,
I was wondering what the terms of usage for your code are, as I can't see a licence on any file in the git repository.

Could you please clarify the licence type? Is it open source/ MIT licensing?

Thank you!

Time and Space Complexity

Thanks for your excellent work and sharing!
Could you summarize space and time complexity of PVN3D, please? PVN3D seems to achieve real time performance, right? Any quantitative metric?

Besides, my training procedure is slightly inefficient. As exmaple, the training of --cls ape is conducted on two Tesla t4 GPUs, each with 16 G memory. Detailed training paremeters remain unchanged except the self.mini_batch_size and self.val_mini_batch_size (default 24 to 8).
Unacceptably, the total training time may take around 10 days for just the class ape. So I'd like to confirm if any problems occured in my training stage.

Thanks again! And great appreciation for any help!

could you provide your code of train the dataset linemod and the pretained model?

sorry to bother you , could you provide your code of train the dataset linemod and the pretained model, thank you for advance.

problem with setup.py

Hello,

thank you for this amazing code. But I have some problems running "python3 setup.py build_ext", maybe you can help me to fix this?

My system:

Ubuntu 18.04
CUDA 9.1
Python 3.7.6
gcc 7.5.0.

My installation

I installed the requirements as instructed (but changed yaml to pyyaml, otherwise pip can't find the package). I also installed tkinter and python-pcl based on pcl 1.8.1.

The Error-Message

I get the following error, when I try to use "python3 setup.py build_ext":

running build_ext  
building 'pointnet2_utils._ext' extension  
gcc -pthread -B /home/katharina/anaconda3/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/katharina/anaconda3/lib/python3.7/site-packages/torch/lib/include -I/home/katharina/anaconda3/lib/python3.7/site-packages/torch/lib/include/TH -I/home/katharina/anaconda3/lib/python3.7/site-packages/torch/lib/include/THC -I/usr/include -I/home/katharina/anaconda3/include/python3.7m -c ./pvn3d/_ext-src/src/interpolate.cpp -o build/temp.linux-x86_64-3.7/./pvn3d/_ext-src/src/interpolate.o -O2 -I./pvn3d/_ext-src/include -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++11
cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
In file included from ./pvn3d/_ext-src/include/interpolate.h:3:0,
                 from ./pvn3d/_ext-src/src/interpolate.cpp:1:
/home/katharina/anaconda3/lib/python3.7/site-packages/torch/lib/include/torch/extension.h:4:10: fatal error: torch/all.h: Datei oder Verzeichnis nicht gefunden
 #include <torch/all.h>
          ^~~~~~~~~~~~~
compilation terminated.
error: command 'gcc' failed with exit status 1

It seems to be a problem with a missing torch file, but I am using torch-version 0.4.1post2 as you mentioned in requirements.txt

Own Dataset

Hey Guys, great Code and Paper. I stumbled upon this a few weeks ago and got some really good results with the linemod classes. But now I want to try it for my own objects, can someone please explain the best way how to obtain the meshes , poses and so on for the training of my own dataset?
Greetings Michael

How to get the input patch in the paper

YCB Dataset Infos

Hi,
i'm trying to train pvn3d on my own synthetic dataset, which i created with NDDS by Nvidia (Unreal Engine).
Could you give me some further information about the:
-corners.txt and farthest.txt in /pvn3d/datasets/ycb/object_kps/ https://github.com/ethnhe/PVN3D/tree/master/pvn3d/datasets/ycb/ycb_object_kps/002_master_chef_can and
-radius.txt in /pvn3d/datasets/ycb/dataset_config https://github.com/ethnhe/PVN3D/blob/master/pvn3d/datasets/ycb/dataset_config/radius.txt

Thank you so much.

sorry to bother you again, when i execute the command of "CUDA_VISIBLE_DEVICES=0 python3 -m train.train_linemod_pvn3d --cls cat", the following error occured:

A problem about add_real_back

Hi~
I find a problem (maybe an error) about your code:
in add_real_back function:
dpt = dpt * (dpt_msk > 0).astype(dpt.dtype) +
dpt_back * (dpt_msk <=0).astype(dpt.dtype)

Here dpt is the rendered image, the cam_scale of which is 1.0, while dpt_back is a real image, the cam_scale of which is 1000.0.
I wonder whether they can be added up directly?

models_info.yml

Hey @ethnhe , thanks for your great Code.
I want to try PVN3D aswell with a Costum Dataset and saw another issue about the models_info.yml file. Can you explain where the values min_x , min_y , min_z and diameter come from?
Because the min_x , min_y and min_z are not equal with the min_x , min_y and min_z in the mesh-files for the linemod objects. And the diameter is also not the diagonal in the boundingboxes

conda 環境執行PVN3D

Installation中的其餘套件都安裝成功，
一直嘗試安裝python-pcl，但還是無法成功，以致執行PVN3D後得到下圖的error message:

想請問有其他可以代替python-pcl的package嗎?

python3 setup.py build_ext Error

./pvn3d/_ext-src/src/interpolate.cpp:95:40: error: ‘AT_CHECK’ was not declared in this scope
AT_CHECK(false, "CPU not supported");
^
error: command 'gcc' failed with exit status 1

how to solve it?

What equipment does the author use for training？Time consuming

got "double free or corruption" while testing

got:

double free or corruption (out)
Aborted (core dumped)

while testing:
$ python3 -m demo -dataset linemod -checkpoint $tst_mdl -cls $cls

Does anyone know how to fix it?

nvcc and gcc version

Hey guys, I have problems to get this awesome paper working.
Could you please write which nvcc version and gcc version you used?

ImportError: cannot import name '_ext' from 'pvn3d.lib.pointnet2_utils'

File "/home/cvzw/wym_ssh/PVN3D/pvn3d/lib/pointnet2_utils/pointnet2_utils.py", line 20, in
from pvn3d.lib.pointnet2_utils import _ext
ImportError: cannot import name '_ext' from 'pvn3d.lib.pointnet2_utils' (/home/cvzw/wym_ssh/PVN3D/pvn3d/lib/pointnet2_utils/init.py)

请问这个问题怎么解决，pytorch1.5版本的代码里的

Is the test results normal?

Hi~
I use your training weights (ape_pvn3d_best.pth.tar) to test some results.
For the real images, the test results are quite awesome:

But for rendered images, the results are shown as follows:

For rendered images with real background, the results are shown as follows:

I am not sure whether the results are normal? And does your training weights( pvn3d_best.pth.tar) use rendered images for training?

about the meanshift

Hi, @ethnhe
This is really nice work.
However, there seems to be a bug in meanshift_pytorch.py--》class MeanShiftTorch--》func fit
it seems that the "while True" cycling does not work. It seems that if I delete this cycle, and replace it with "Ar = A.view(1, N, c).repeat(N, 1, 1)", the result will not be changed.

Problem with last installation step

Hello,

when running python setup.py build_ext i get the following error:

C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\utils\cpp_extension.py:270: UserWarning: Error checking compiler version for cl: [WinError 2] Das System kann die angegebene Datei nicht finden
  warnings.warn('Error checking compiler version for {}: {}'.format(compiler, error))
building 'pointnet2_utils._ext' extension
Emitting ninja build file C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/9] cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\ball_query.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\ball_query.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/ball_query.obj
cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\ball_query.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\ball_query.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\ball_query.cpp(1): fatal error C1083: Datei (Include) kann nicht geöffnet werden: "ball_query.h": No such file or directory
[2/9] cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\sampling.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\sampling.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/sampling.obj
cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\sampling.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\sampling.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\sampling.cpp(1): fatal error C1083: Datei (Include) kann nicht geöffnet werden: "sampling.h": No such file or directory
[3/9] cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\bindings.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\bindings.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/bindings.obj
cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\bindings.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\bindings.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\bindings.cpp(1): fatal error C1083: Datei (Include) kann nicht geöffnet werden: "ball_query.h": No such file or directory
[4/9] cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\interpolate.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\interpolate.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/interpolate.obj
cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\interpolate.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\interpolate.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\interpolate.cpp(1): fatal error C1083: Datei (Include) kann nicht geöffnet werden: "interpolate.h": No such file or directory
[5/9] cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\group_points.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\group_points.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/group_points.obj
cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\group_points.cpp /FoC:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\group_points.obj -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14
C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\group_points.cpp(1): fatal error C1083: Datei (Include) kann nicht geöffnet werden: "group_points.h": No such file or directory
[6/9] C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\interpolate_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\interpolate_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/interpolate_gpu.obj
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\interpolate_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\interpolate_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/pvn3d/_ext-src/src/interpolate_gpu.cu(5): fatal error C1083: Datei (Include) kann nicht ge÷ffnet werden: "cuda_utils.h": No such file or directory
interpolate_gpu.cu
[7/9] C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\group_points_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\group_points_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/group_points_gpu.obj
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\group_points_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\group_points_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/pvn3d/_ext-src/src/group_points_gpu.cu(4): fatal error C1083: Datei (Include) kann nicht ge÷ffnet werden: "cuda_utils.h": No such file or directory
group_points_gpu.cu
[8/9] C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\ball_query_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\ball_query_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/ball_query_gpu.obj
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\ball_query_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\ball_query_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/pvn3d/_ext-src/src/ball_query_gpu.cu(5): fatal error C1083: Datei (Include) kann nicht ge÷ffnet werden: "cuda_utils.h": No such file or directory
ball_query_gpu.cu
[9/9] C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\sampling_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\sampling_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
FAILED: C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/build/temp.win-amd64-3.6/Release/pvn3d/_ext-src/src/sampling_gpu.obj
C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\bin\nvcc -Xcompiler /MD -Xcompiler /wd4819 -Xcompiler /wd4251 -Xcompiler /wd4244 -Xcompiler /wd4267 -Xcompiler /wd4275 -Xcompiler /wd4018 -Xcompiler /wd4190 -Xcompiler /EHsc -Xcudafe --diag_suppress=base_class_has_different_dll_interface -Xcudafe --diag_suppress=field_without_dll_interface -Xcudafe --diag_suppress=dll_interface_conflict_none_assumed -Xcudafe --diag_suppress=dll_interface_conflict_dllexport_assumed -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\torch\csrc\api\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\TH -IC:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.1\include" -IC:\Users\Boche\anaconda3\envs\pvn3d36\include -IC:\Users\Boche\anaconda3\envs\pvn3d36\include "-IC:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.6.1\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.16299.0\cppwinrt" -c C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\pvn3d\_ext-src\src\sampling_gpu.cu -o C:\Users\Boche\Desktop\Bachelorarbeit\Implementation\PVN3D\build\temp.win-amd64-3.6\Release\pvn3d/_ext-src/src\sampling_gpu.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -O2 -I./pvn3d/_ext-src/include -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_52,code=sm_52
C:/Users/Boche/Desktop/Bachelorarbeit/Implementation/PVN3D/pvn3d/_ext-src/src/sampling_gpu.cu(4): fatal error C1083: Datei (Include) kann nicht ge÷ffnet werden: "cuda_utils.h": No such file or directory
sampling_gpu.cu
ninja: build stopped: subcommand failed.
Traceback (most recent call last):
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\utils\cpp_extension.py", line 1515, in _run_ninja_build
    env=env)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\subprocess.py", line 438, in run
    output=stdout, stderr=stderr)
subprocess.CalledProcessError: Command '['ninja', '-v']' returned non-zero exit status 1.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "setup.py", line 30, in <module>
    'build_ext': BuildExtension
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\setuptools\__init__.py", line 163, in setup
    return distutils.core.setup(**attrs)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\distutils\core.py", line 148, in setup
    dist.run_commands()
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\distutils\dist.py", line 955, in run_commands
    self.run_command(cmd)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\distutils\dist.py", line 974, in run_command
    cmd_obj.run()
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\setuptools\command\build_ext.py", line 87, in run
    _build_ext.run(self)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\Cython\Distutils\old_build_ext.py", line 186, in run
    _build_ext.build_ext.run(self)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\distutils\command\build_ext.py", line 339, in run
    self.build_extensions()
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\utils\cpp_extension.py", line 649, in build_extensions
    build_ext.build_extensions(self)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\Cython\Distutils\old_build_ext.py", line 195, in build_extensions
    _build_ext.build_ext.build_extensions(self)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\distutils\command\build_ext.py", line 448, in build_extensions
    self._build_extensions_serial()
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\distutils\command\build_ext.py", line 473, in _build_extensions_serial
    self.build_extension(ext)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\setuptools\command\build_ext.py", line 208, in build_extension
    _build_ext.build_extension(self, ext)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\distutils\command\build_ext.py", line 533, in build_extension
    depends=ext.depends)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\utils\cpp_extension.py", line 631, in win_wrap_ninja_compile
    with_cuda=with_cuda)
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\utils\cpp_extension.py", line 1233, in _write_ninja_file_and_compile_objects
    error_prefix='Error compiling objects for extension')
  File "C:\Users\Boche\anaconda3\envs\pvn3d36\lib\site-packages\torch\utils\cpp_extension.py", line 1529, in _run_ninja_build
    raise RuntimeError(message)
RuntimeError: Error compiling objects for extension

I did not find the .obj-files that are mentioned in the "FAILED:" lines above. I did follow all the setup steps for Pointnet_2 ( https://github.com/erikwijmans/Pointnet2_PyTorch ) so I'm not sure what I missed.

I would appreciate if someone could help me.

OS: Windows 10
Python: 3.6.10
Cuda: 10.1

Checkpoint File shared link not publicly accessable

Hi,

The share-point link for trained checkpoints keeps asking for user-access. Are they private? If yes, can you share them with [email protected] ? I am trying to replicate your work for University research.It'll be very kind of you. Thanks in advance.

Training other datasets with pvn3d

Hi,
I would like to train other datasets using pvn3d.
The datasets are given here https://bop.felk.cvut.cz/datasets/.
As a first step I would like to train the "tless" dataset.
I'm not quite sure yet, how I would go about doing that.

Could somebody help me understand how I would have to change the format of the tless dataset or how and where I would have to adjust the code so that training on the tless dataset would be possible?

variable "classes_rgbd" got all zero for YCB

while testing PVN3D on YCB Video Dataset, the variable "classes_rgbd" got all zeros with shape [1, 12288], and then got error

"File "/data/hdd1/PVN3D/pvn3d/lib/utils/pvn3d_eval_utils.py", line 56, in cal_frame_poses
n_ctrs, _ = ctrs.size()
ValueError: not enough values to unpack (expected 2, got 1)
"

For Linemod dataset there's no such problem, and the variable "classes_rgbd" is not all zeros.

RuntimeError: CPU not supported (furthest_point_sampling at ./pvn3d/_ext-src/src/sampling.cpp:82)

errors occured when data flow into pointnet++
just here: pcld_emb = self.pointnet2(pointcloud)

what different between v1 and v2?

Hello, thank you for your work.
I find the score of Linemod's ADD(S) (Table 3) in v2 is better than v1, have you made any changes?

when run python3 setup.py build_ext, some errors happen

Environment:
Ubuntu 16.04
gcc 5.4.0
g++ 5.4.0
when I try to run run python3 setup.py build_ext. It said

./pvn3d/_ext-src/src/group_points.cpp:56:40:
error: ‘AT_CHECK’ was not declared in this scope
AT_CHECK(false, "CPU not supported"); ^
error: command 'gcc' failed with exit status 1

I have found so many ways to try to solve it.but it still didn't work.Please help me

Adjusting Batchsize ?

When running python3 -m train.train_linemod_pvn3d --cls ape I get the following error:
RuntimeError: CUDA out of memory. Tried to allocate 1.76 GiB (GPU 0; 23.62 GiB total capacity; 19.67 GiB already allocated; 815.44 MiB free; 1.94 MiB cached)

The only other process running on the GPU is a python process which takes up 2317 MiB out of 23.62 GiB. There has to be a way to run PVN3D without taking up 20 GiB, right? Maybe by specifying a BATCH_SIZE somewhere?
I'm new to the CUDA world so I'm not sure how or where I would have to adjust/specify that.
Could somebody help me with that?

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