OverlapPredator Training is done with a warning message from the Scikit-Learn library

/home/ssf/.conda/envs/geotransformer/lib/python3.8/site-packages/sklearn/metrics/_classification.py:1245: UndefinedMetricWarning: Precision and F-score are ill-defined and being set to 0.0 due to no predicted samples. Use zero_division parameter to control this behavior. _warn_prf(average, modifier, msg_start, len(result))

Will this warning have an effect on training results?

Dec 26 '23 02:12 LittleFay2

/home/ssf/.conda/envs/geotransformer/lib/python3.8/site-packages/sklearn/metrics/_classification.py:1245: UndefinedMetricWarning: Precision and F-score are ill-defined and being set to 0.0 due to no predicted samples. Use zero_division parameter to control this behavior./home/ssf/.conda/envs/geotransformer/lib/python3.8/site-packages/sklearn/metrics/_classification.py：1245：UndefinedMetricWarning：精度和 F 分数定义不明确，由于没有预测样本，因此设置为 0.0。使用 zero_division 参数来控制此行为。 _warn_prf(average, modifier, msg_start, len(result))_warn_prf（平均值、修饰符、msg_start、len（结果））

Will this warning have an effect on training results?此警告是否会影响训练结果？

Hi, I'm also experiencing this problem and my training loss stays at 0. Have you solved it yet?

Dec 28 '24 07:12 LJX16

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