Instance Segmentation in 3D Scenes using Semantic Superpoint Tree Networks

Related tags

Deep Learning SSTNet
Overview

SSTNet

PWC PWC

overview Instance Segmentation in 3D Scenes using Semantic Superpoint Tree Networks(ICCV2021) by Zhihao Liang, Zhihao Li, Songcen Xu, Mingkui Tan, Kui Jia*. (*) Corresponding author. [arxiv]

Introduction

Instance segmentation in 3D scenes is fundamental in many applications of scene understanding. It is yet challenging due to the compound factors of data irregularity and uncertainty in the numbers of instances. State-of-the-art methods largely rely on a general pipeline that first learns point-wise features discriminative at semantic and instance levels, followed by a separate step of point grouping for proposing object instances. While promising, they have the shortcomings that (1) the second step is not supervised by the main objective of instance segmentation, and (2) their point-wise feature learning and grouping are less effective to deal with data irregularities, possibly resulting in fragmented segmentations. To address these issues, we propose in this work an end-to-end solution of Semantic Superpoint Tree Network (SSTNet) for proposing object instances from scene points. Key in SSTNet is an intermediate, semantic superpoint tree (SST), which is constructed based on the learned semantic features of superpoints, and which will be traversed and split at intermediate tree nodes for proposals of object instances. We also design in SSTNet a refinement module, termed CliqueNet, to prune superpoints that may be wrongly grouped into instance proposals.

Installation

Requirements

  • Python 3.8.5
  • Pytorch 1.7.1
  • torchvision 0.8.2
  • CUDA 11.1

then install the requirements:

pip install -r requirements.txt

SparseConv

For the SparseConv, please refer PointGroup's spconv to install.

Extension

This project is based on our Gorilla-Lab deep learning toolkit - gorilla-core and 3D toolkit gorilla-3d.

For gorilla-core, you can install it by running:

pip install gorilla-core==0.2.7.6

or building from source(recommend)

git clone https://github.com/Gorilla-Lab-SCUT/gorilla-core
cd gorilla-core
python setup.py install(develop)

For gorilla-3d, you should install it by building from source:

git clone https://github.com/Gorilla-Lab-SCUT/gorilla-3d
cd gorilla-3d
python setup.py develop

Tip: for high-version torch, the BuildExtension may fail by using ninja to build the compile system. If you meet this problem, you can change the BuildExtension in cmdclass={"build_ext": BuildExtension} as cmdclass={"build_ext": BuildExtension}.with_options(use_ninja=False)

Otherwise, this project also need other extension, we use the pointgroup_ops to realize voxelization and use the segmentator to generate superpoints for scannet scene. we use the htree to construct the Semantic Superpoint Tree and the hierarchical node-inheriting relations is realized based on the modified cluster.hierarchy.linkage function from scipy.

  • For pointgroup_ops, we modified the package from PointGroup to let its function calls get rid of the dependence on absolute paths. You can install it by running:
    conda install -c bioconda google-sparsehash 
    cd $PROJECT_ROOT$
    cd sstnet/lib/pointgroup_ops
    python setup.py develop
    Then, you can call the function like:
    import pointgroup_ops
    pointgroup_ops.voxelization
    >>> <function Voxelization.apply>
  • For htree, it can be seen as a supplement to the treelib python package, and I abstract the SST through both of them. You can install it by running:
    cd $PROJECT_ROOT$
    cd sstnet/lib/htree
    python setup.py install

    Tip: The interaction between this piece of code and treelib is a bit messy. I lack time to organize it, which may cause some difficulties for someone in understanding. I am sorry for this. At the same time, I also welcome people to improve it.

  • For cluster, it is originally a sub-module in scipy, the SST construction requires the cluster.hierarchy.linkage to be implemented. However, the origin implementation do not consider the sizes of clustering nodes (each superpoint contains different number of points). To this end, we modify this function and let it support the property mentioned above. So, for used, you can install it by running:
    cd $PROJECT_ROOT$
    cd sstnet/lib/cluster
    python setup.py install
  • For segmentator, please refer here to install. (We wrap the segmentator in ScanNet)

Data Preparation

Please refer to the README.md in data/scannetv2 to realize data preparation.

Training

CUDA_VISIBLE_DEVICES=0 python train.py --config config/default.yaml

You can start a tensorboard session by

tensorboard --logdir=./log --port=6666

Tip: For the directory of logging, please refer the implementation of function gorilla.collect_logger.

Inference and Evaluation

CUDA_VISIBLE_DEVICES=0 python test.py --config config/default.yaml --pretrain pretrain.pth --eval
  • --split is the evaluation split of dataset.
  • --save is the action to save instance segmentation results.
  • --eval is the action to evaluate the segmentation results.
  • --semantic is the action to evaluate semantic segmentation only (work on the --eval mode).
  • --log-file is to define the logging file to save evaluation result (default please to refer the gorilla.collect_logger).
  • --visual is the action to save visualization of instance segmentation. (It will be mentioned in the next partion.)

Results on ScanNet Benchmark

Rank 1st on the ScanNet benchmark benchmark

Pretrained

We provide a pretrained model trained on ScanNet(v2) dataset. [Google Drive] [Baidu Cloud] (提取码:f3az) Its performance on ScanNet(v2) validation set is 49.4/64.9/74.4 in terms of mAP/mAP50/mAP25.

Acknowledgement

This repo is built upon several repos, e.g., PointGroup, spconv and ScanNet.

Contact

If you have any questions or suggestions about this repo or paper, please feel free to contact me in issue or email ([email protected]).

TODO

  • Distributed training(not verification)
  • Batch inference
  • Multi-processing for getting superpoints

Citation

If you find this work useful in your research, please cite:

@misc{liang2021instance,
      title={Instance Segmentation in 3D Scenes using Semantic Superpoint Tree Networks}, 
      author={Zhihao Liang and Zhihao Li and Songcen Xu and Mingkui Tan and Kui Jia},
      year={2021},
      eprint={2108.07478},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}
Comments
  • Reproduction of problems in the windows environment

    Reproduction of problems in the windows environment

    Hello, as I am trying to reproduce the model in a windows environment the following problems occur. First problem: google-sparsehash does not install properly on windows. I need to change "conda install -c bioconda google-sparsehash" to "conda install -c jithinpr2 google-sparsehash" and it will work It worked. Second problem: The next problem I have when installing pointgroup_ops "python setup.py develop" is the following: Could you tell me how to solve it?

    (pto171) E:***\SSTNet\sstnet\lib\pointgroup_ops>python setup.py develop running develop running egg_info writing pointgroup_ops.egg-info\PKG-INFO writing dependency_links to pointgroup_ops.egg-info\dependency_links.txt writing top-level names to pointgroup_ops.egg-info\top_level.txt reading manifest file 'pointgroup_ops.egg-info\SOURCES.txt' writing manifest file 'pointgroup_ops.egg-info\SOURCES.txt' running build_ext ----windows operation system E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\utils\cpp_extension.py:301: UserWarning: Error checking compiler version for cl: name 'compiler_info' is not defined warnings.warn('Error checking compiler version for {}: {}'.format(compiler, error)) building 'pointgroup_ops.pointgroup_ops_ext' extension ----windows operation system Emitting ninja build file E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\build\temp.win-amd64-3.8\Release\build.ninja... Compiling objects... Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N) [1/3] C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\bin\nvcc --use-local-env -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 -DWITH_CUDA -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\TH -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include" -IE:\ProgramData\Anaconda3\envs\pto171\include -IE:\ProgramData\Anaconda3\envs\pto171\include "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\ATLMFC\include" "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\cppwinrt" -c E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\cuda.cu -o E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\build\temp.win-amd64-3.8\Release\pointgroup_ops\src\cuda.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=pointgroup_ops_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=sm_86 FAILED: E:/Fraunhofer_Fan/SSTNet/sstnet/lib/pointgroup_ops/build/temp.win-amd64-3.8/Release/pointgroup_ops/src/cuda.obj C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\bin\nvcc --use-local-env -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 -DWITH_CUDA -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\TH -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include" -IE:\ProgramData\Anaconda3\envs\pto171\include -IE:\ProgramData\Anaconda3\envs\pto171\include "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\ATLMFC\include" "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\cppwinrt" -c E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\cuda.cu -o E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\build\temp.win-amd64-3.8\Release\pointgroup_ops\src\cuda.obj -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=pointgroup_ops_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=sm_86 E:/ProgramData/Anaconda3/envs/pto171/include\sparsehash/dense_hash_map(106): fatal error C1083: 无法打开包括文件: “tr1/functional”: No such file or directory cuda.cu [2/3] cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -DWITH_CUDA -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\TH -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include" -IE:\ProgramData\Anaconda3\envs\pto171\include -IE:\ProgramData\Anaconda3\envs\pto171\include "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\ATLMFC\include" "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\cppwinrt" -c E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\pointgroup_ops_api.cpp /FoE:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\build\temp.win-amd64-3.8\Release\pointgroup_ops\src\pointgroup_ops_api.obj -g -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=pointgroup_ops_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14 FAILED: E:/Fraunhofer_Fan/SSTNet/sstnet/lib/pointgroup_ops/build/temp.win-amd64-3.8/Release/pointgroup_ops/src/pointgroup_ops_api.obj cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -DWITH_CUDA -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\TH -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include" -IE:\ProgramData\Anaconda3\envs\pto171\include -IE:\ProgramData\Anaconda3\envs\pto171\include "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\ATLMFC\include" "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\cppwinrt" -c E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\pointgroup_ops_api.cpp /FoE:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\build\temp.win-amd64-3.8\Release\pointgroup_ops\src\pointgroup_ops_api.obj -g -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=pointgroup_ops_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14 cl: 命令行 warning D9002 :忽略未知选项“-g” 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/extension.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/all.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/cuda.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/WindowsTorchApiMacro.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\c10/macros/Export.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\c10/macros/cmake_macros.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstdint 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\yvals_core.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vcruntime.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\sal.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\concurrencysal.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vadefs.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\xkeycheck.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\stdint.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstddef 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\stddef.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\xtr1common 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader/stateful.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader/base.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader_options.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/arg.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\utility 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\type_traits 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\xstddef 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstdlib 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\math.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_math.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\stdlib.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_malloc.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_search.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_wstdlib.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual 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E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/descr.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/internals.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\options.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/class.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/init.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11/stl.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\valarray 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/autograd/python_variable.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/THP_export.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/python_tuples.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/Exceptions.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/auto_gil.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/jit/runtime/jit_exception.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\ATen/detail/FunctionTraits.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/object_ptr.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/python_numbers.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/tensor_numpy.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/Generator.h 注意: 包含文件: E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\pointgroup_ops.h 注意: 包含文件: E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\datatype/datatype.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\google/dense_hash_map 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/dense_hash_map 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/densehashtable.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\assert.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/hashtable-common.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\assert.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/libc_allocator_with_realloc.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/type_traits.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/template_util.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/dense_hash_map(106): fatal error C1083: 无法打开包括文件: “tr1/functional”: No such file or directory [3/3] cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -DWITH_CUDA -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\TH -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include" -IE:\ProgramData\Anaconda3\envs\pto171\include -IE:\ProgramData\Anaconda3\envs\pto171\include "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\ATLMFC\include" "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\cppwinrt" -c E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\pointgroup_ops.cpp /FoE:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\build\temp.win-amd64-3.8\Release\pointgroup_ops\src\pointgroup_ops.obj -g -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=pointgroup_ops_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14 FAILED: E:/Fraunhofer_Fan/SSTNet/sstnet/lib/pointgroup_ops/build/temp.win-amd64-3.8/Release/pointgroup_ops/src/pointgroup_ops.obj cl /showIncludes /nologo /Ox /W3 /GL /DNDEBUG /MD /MD /wd4819 /wd4251 /wd4244 /wd4267 /wd4275 /wd4018 /wd4190 /EHsc -DWITH_CUDA -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\TH -IE:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\THC "-IC:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include" -IE:\ProgramData\Anaconda3\envs\pto171\include -IE:\ProgramData\Anaconda3\envs\pto171\include "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\ATLMFC\include" "-IE:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\cppwinrt" -c E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\pointgroup_ops.cpp /FoE:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\build\temp.win-amd64-3.8\Release\pointgroup_ops\src\pointgroup_ops.obj -g -DTORCH_API_INCLUDE_EXTENSION_H -DTORCH_EXTENSION_NAME=pointgroup_ops_ext -D_GLIBCXX_USE_CXX11_ABI=0 /std:c++14 cl: 命令行 warning D9002 :忽略未知选项“-g” 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\cuda.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\stdlib.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vcruntime.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\sal.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\concurrencysal.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vadefs.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_malloc.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_search.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\stddef.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_wstdlib.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\limits.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\cuda_runtime.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\crt/host_config.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\builtin_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\device_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\crt/host_defines.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\driver_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\crt/host_defines.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\vector_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\crt/host_defines.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\surface_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\driver_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\texture_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\driver_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\vector_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\library_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\channel_descriptor.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\cuda_runtime_api.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\crt/host_defines.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\builtin_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\device_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\driver_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\surface_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\texture_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\vector_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\cuda_device_runtime_api.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\cuda_runtime_api.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\driver_functions.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\builtin_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\device_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\driver_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\surface_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\texture_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\vector_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\crt/host_defines.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\driver_types.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\crt/host_defines.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\vector_functions.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\cuda_runtime_api.h 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\vector_functions.hpp 注意: 包含文件: C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include\cuda_runtime_api.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/extension.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/all.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/cuda.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/WindowsTorchApiMacro.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\c10/macros/Export.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\c10/macros/cmake_macros.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstdint 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\yvals_core.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\xkeycheck.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\stdint.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstddef 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\xtr1common 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader/stateful.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader/base.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/data/dataloader_options.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/arg.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\utility 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\type_traits 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\xstddef 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstdlib 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\math.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_math.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\initializer_list 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch\csrc\api\include\torch/types.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\ATen/ATen.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\c10/core/Allocator.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\memory 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\exception 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\yvals.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\crtdbg.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vcruntime_new_debug.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vcruntime_new.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\crtdefs.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\use_ansi.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\malloc.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vcruntime_exception.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\eh.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_terminate.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\iosfwd 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstdio 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\stdio.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_wstdio.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_stdio_config.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cstring 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\string.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_memory.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_memcpy_s.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\errno.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\vcruntime_string.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\corecrt_wstring.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\cwchar 注意: 包含文件: C:\Program Files (x86)\Windows 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E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/common.h(106): warning C4005: “HAVE_SNPRINTF”: 宏重定义 E:\ProgramData\Anaconda3\envs\pto171\include\pyerrors.h(315): note: 参见“HAVE_SNPRINTF”的前一个定义 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\frameobject.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\buffer_info.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/typeid.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/descr.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/internals.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\options.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/class.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11\detail/init.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\pybind11/stl.h 注意: 包含文件: E:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\valarray 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/autograd/python_variable.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/THP_export.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/python_tuples.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/Exceptions.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/auto_gil.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/jit/runtime/jit_exception.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\ATen/detail/FunctionTraits.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/object_ptr.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/python_numbers.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/utils/tensor_numpy.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\include\torch/csrc/Generator.h 注意: 包含文件: E:\Fraunhofer_Fan\SSTNet\sstnet\lib\pointgroup_ops\pointgroup_ops\src\datatype\datatype.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\google/dense_hash_map 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/dense_hash_map 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/densehashtable.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\assert.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/hashtable-common.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: C:\Program Files (x86)\Windows Kits\10\include\10.0.19041.0\ucrt\assert.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/libc_allocator_with_realloc.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/type_traits.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/template_util.h 注意: 包含文件: E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/internal/sparseconfig.h E:\ProgramData\Anaconda3\envs\pto171\include\sparsehash/dense_hash_map(106): fatal error C1083: 无法打开包括文件: “tr1/functional”: No such file or directory ninja: build stopped: subcommand failed. Traceback (most recent call last): File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\utils\cpp_extension.py", line 1547, in _run_ninja_build subprocess.run( File "E:\ProgramData\Anaconda3\envs\pto171\lib\subprocess.py", line 512, in run raise CalledProcessError(retcode, process.args, subprocess.CalledProcessError: Command '['ninja', '-v']' returned non-zero exit status 1.

    The above exception was the direct cause of the following exception:

    Traceback (most recent call last): File "setup.py", line 42, in setup( File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\setuptools_init_.py", line 153, in setup return distutils.core.setup(**attrs) File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\core.py", line 148, in setup dist.run_commands() File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\dist.py", line 966, in run_commands self.run_command(cmd) File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\dist.py", line 985, in run_command cmd_obj.run() File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\setuptools\command\develop.py", line 34, in run self.install_for_development() File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\setuptools\command\develop.py", line 114, in install_for_development self.run_command('build_ext') File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\cmd.py", line 313, in run_command self.distribution.run_command(command) File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\dist.py", line 985, in run_command cmd_obj.run() File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\setuptools\command\build_ext.py", line 79, in run _build_ext.run(self) File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\Cython\Distutils\old_build_ext.py", line 186, in run _build_ext.build_ext.run(self) File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\command\build_ext.py", line 340, in run self.build_extensions() File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\utils\cpp_extension.py", line 684, in build_extensions build_ext.build_extensions(self) File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\Cython\Distutils\old_build_ext.py", line 195, in build_extensions _build_ext.build_ext.build_extensions(self) File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\command\build_ext.py", line 449, in build_extensions self._build_extensions_serial() File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\command\build_ext.py", line 474, in _build_extensions_serial self.build_extension(ext) File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\setuptools\command\build_ext.py", line 202, in build_extension _build_ext.build_extension(self, ext) File "E:\ProgramData\Anaconda3\envs\pto171\lib\distutils\command\build_ext.py", line 528, in build_extension objects = self.compiler.compile(sources, File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\utils\cpp_extension.py", line 657, in win_wrap_ninja_compile _write_ninja_file_and_compile_objects( File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\utils\cpp_extension.py", line 1264, in _write_ninja_file_and_compile_objects _run_ninja_build( File "E:\ProgramData\Anaconda3\envs\pto171\lib\site-packages\torch\utils\cpp_extension.py", line 1569, in _run_ninja_build raise RuntimeError(message) from e RuntimeError: Error compiling objects for extension

    opened by Fan-QY 8
  • scene_name.txt_sem_label.npy

    scene_name.txt_sem_label.npy

    Hi,

    Thanks again for releasing the source code. I have one more question regarding the gorilla-3d evaluator: For line 212 in "test.py" that evaluator.process(inputs, outputs), the gorilla-3d evaluator tries to read gt labels expected to be saved in "scene_name.txt_sem_label.npy" files. Where actually can I get those files? Seems that the "prepare_data.sh" does not generate such gt files as well. Thank!

    bug 
    opened by Changyangli 4
  • Spconv Installation

    Spconv Installation

    Hi,

    Thank you for sharing this amazing project! I have a question regarding the installation of Spconv. I set up my env according to the requirements (pytorch 1.7.1, cuda 11, and I installed cudnn 8.2.1). I saw that the Spconv repo is kind of old, and when I try to install following the instructions, seems that cudnn 8.2.1 is not recognizable. Have you got this issue before? Thanks!

    opened by Changyangli 1
  • Inference with own scene data?

    Inference with own scene data?

    Hi, this a great job, thank you!

    I'd like to ask if I get some point cloud data from scanning a scene by myself, then can I use SSTNet for inference or how?

    So far I see that I can only do evaluation on ScanNet.

    Thx.

    opened by NonoHh 0
  • The number of observations cannot be determined on an empty distance matrix.

    The number of observations cannot be determined on an empty distance matrix.

    Thanks for sharing your source code! I am trying SSTNet to train S3DIS dataset, I have encountered an error and can't find how to get it wrong, I hope the author has time to help me solve it. Here is my error message.

    Traceback (most recent call last):
      File "/home/deep/3D-Instance-Segmentation/SSTNet-workspace/SSTNet/train.py", line 311, in <module>
        gorilla.launch(
      File "/home/deep/anaconda3/envs/SSTNet/lib/python3.8/site-packages/gorilla/core/launch.py", line 72, in launch
        main_func(*args)
      File "/home/deep/3D-Instance-Segmentation/SSTNet-workspace/SSTNet/train.py", line 301, in main
        do_train(model, cfg, logger)
      File "/home/deep/3D-Instance-Segmentation/SSTNet-workspace/SSTNet/train.py", line 130, in do_train
        ret = model(input_,
      File "/home/deep/anaconda3/envs/SSTNet/lib/python3.8/site-packages/torch/nn/modules/module.py", line 727, in _call_impl
        result = self.forward(*input, **kwargs)
      File "/home/deep/3D-Instance-Segmentation/SSTNet-workspace/SSTNet/sstnet/model/sstnet.py", line 429, in forward
        self.hierarchical_fusion_step(superpoint,
      File "/home/deep/3D-Instance-Segmentation/SSTNet-workspace/SSTNet/sstnet/model/sstnet.py", line 276, in hierarchical_fusion_step
        hierarchical_tree_list, tree_list, fusion_features_list, fusion_labels_list, nodes_list = build_hierarchical_tree(
      File "/home/deep/3D-Instance-Segmentation/SSTNet-workspace/SSTNet/sstnet/model/func_helper.py", line 66, in build_hierarchical_tree
        tree_connection = linkage(affinity_np, method="average", with_observation=True)
      File "/home/deep/anaconda3/envs/SSTNet/lib/python3.8/site-packages/cluster/hierarchy.py", line 1065, in linkage
        n = int(distance.num_obs_y(y))
      File "/home/deep/anaconda3/envs/SSTNet/lib/python3.8/site-packages/scipy/spatial/distance.py", line 2572, in num_obs_y
        raise ValueError("The number of observations cannot be determined on "
    ValueError: The number of observations cannot be determined on an empty distance matrix.
    

    This is the configuration file corresponding to my S3DIS.

    task: train  # train, test
    seed: 123
    
    data:
      ignore_label: -100
      mode: 4 # 4=mean
    
      # train mode
      epochs: 512
      save_freq: 8  # also eval_freq
    
      # test mode
      test_seed: 567
      test_workers: 8 # data loader workers
    
      TEST_NMS_THRESH: 0.3
      TEST_SCORE_THRESH: 0.00
      TEST_NPOINT_THRESH: 100
    
      split: val
      test_epoch: 512
    
    dataloader:
      batch_size: 4
      num_workers: 8 # data loader workers
    
    dataset:
      ignore_label: -100
      type: S3DISInst
      data_root: data/s3dis
      data_dir: inputs_sample
      full_scale: [128, 512]
      scale: 50   # voxel_size = 1 / scale, scale 50(2cm)
      max_npoint: 40000
      task: train
      train_area: [ 1,2,3,4,6 ]
      test_area: [ 5 ]
      with_elastic: False
      prefetch_superpoints: False
    
    model:
      type: SSTNet
      input_channel: 3
      use_coords: True
      blocks: 5
      block_reps: 2
      media: 32 # 16 or 32
      classes: 20
      score_scale: 50 # the minimal voxel size is 2cm
      score_fullscale: 14
      score_mode: 4 # mean
      detach: True
      affinity_weight: [1.0, 1.0]
      with_refine: False
      fusion_epochs: 128
      score_epochs: 160
      fix_module: []
    
    loss:
      type: SSTLoss
      ignore_label: -100
      fusion_epochs: 128
      score_epochs: 160
      bg_thresh: 0.25
      fg_thresh: 0.75
      semantic_dice: True
      loss_weight: [1.0, 1.0, 1.0, 1.0, 1.0] # semantic_loss, offset_norm_loss, offset_dir_loss, score_loss
    
    # optimizer
    optimizer:
      lr: 0.001
      # type: Adam
      type: AdamW
      weight_decay: 0.0001
      # amsgrad: False
    
    # lr_scheduler
    lr_scheduler:
      type: PolyLR
      # max_iters: 153600
      # max_iters: 614912
      max_iters: 512
      power: 0.9
      constant_ending: 0.0
    
    opened by yangxin6 0
  • SparseConvTensor attribute is missing for spconv at runtime

    SparseConvTensor attribute is missing for spconv at runtime

    Thank you very much for sharing this project. Here is a problem that I need to ask you. I debugged it myself and didn't solve it. Do you know the cause of this error?The specific error message is"AttributeError: module 'spconv' has no attribute 'SparseConvTensor'"

    opened by choubaoy 2
  • Test.py for S3DIS dataset

    Test.py for S3DIS dataset

    Can I use the same test.py file for evaluation on S3DIS dataset? If not can you please provide me the test.py for S3DIS dataset. Thank you in advance.

    opened by SijanNeupane49 0
  • Can the original scenes be removed from the results of the test?

    Can the original scenes be removed from the results of the test?

    Hi, the .ply file generated by running test.py with the parameters passed in via --visual includes the data from the original scene, I would like to ask you how to modify the code so that the generated .ply file contains only the predicted results (without the original scene), I look forward to your reply.

    opened by Naruto-xsl 1
  • KeyError: 'S3DISInst' not in the datasets registry'

    KeyError: 'S3DISInst' not in the datasets registry'

    I copied the gorilla-3d/gorilla3d/datasets/s3dis/s3dis_inst.py file and put it inside SSTNet/sstnet/data/. I also changed the init.py accordingly. In addition to that, I changed the config.dataset.type to S3DISInst. However, I get the following error while trying to train the model. Screenshot from 2022-02-12 21-41-09

    opened by SijanNeupane49 0
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