OverlapPredator export the model to torchscript?

Could we export such model to torchscript? I found that it has error due to calling c++ function grid_subsampling and cpp_neighbors

Oct 16 '23 17:10 keepgoing2996

Hi there, I'm currently exploring the model and I've encountered an issue: the links to download the data and weights files seem to be unavailable. If you happen to have these files, could you please share them with me at [email protected]? I'd greatly appreciate your assistance. Thank you so much!!

Mar 16 '25 11:03 jun3333333

Hello, I encountered a FileNotFoundError after running: [Errno 2] No such file or directory: 'snapshot/indoor/est_traj/3DMatch/250/7-scenes-redkitchen/est.log'， There should be no predicted samples. If you have, please send a snapshot to my email: [email protected]

Mar 20 '25 07:03 jun3333333

snapshot/indoor/est_traj/3DMatch/250 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/250 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/500 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/500 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/1000 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/1000 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/2500 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/2500 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/5000 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/5000 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList (pytorch1) user@user-System-Product-Name:~/OverlapPredator.Mink-master$ for N_POINTS in 250 500 1000 2500 5000 do python scripts/evaluate_predator.py --source_path snapshot/indoor/3DMatch --n_points $N_POINTS --benchmark 3DMatch --exp_dir snapshot/indoor/est_traj --sampling prob done snapshot/indoor/est_traj/3DMatch/250 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/500 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/1000 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/2500 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/5000 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0

Mar 21 '25 13:03 jun3333333

Hello author, I use my own source cloud and target cloud files to run demo.py for registration, the effect is not very good, may I ask how I can improve my registration effect？，Please send it to my email：[email protected]

May 16 '25 00:05 jun3333333