tandem
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20 hours ago •
tum-vision
tum-vision
Couldn't load MVSNet successfully.INITIALIZE FROM INITIALIZER
Hello,
I get this in logs while running tandem for any dataset,
(tandem) pankhuri@pankhuri-GE76-Raider-11UH:~/tandem/tandem$ ./build/bin/tandem_dataset preset=gui result_folder=/home/pankhuri/tandem-dataset/results files=/home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/images calib=/home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/camera.txt mvsnet_folder=/home/pankhuri/tandem/tandem/exported/tandem mode=1
loading data from /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/images!
loading calibration from /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/camera.txt!
Loading MVSNet from /home/pankhuri/tandem/tandem/exported/tandem/!
PHOTOMETRIC MODE WITHOUT CALIBRATION!
=============== TANDEM Settings: ===============
Setting 'gui':
- no real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- TSDF fusion: yes
- dense tracking on cpu (step=1)
- Pangolin
- Fullscreen: 0
- Mesh: 1
- Smaller Images: 1
Reading Calibration from file /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/camera.txt ... found!
Input resolution: 640 480
In: 436.225021 436.225021 310.162763 256.946041 0.000000
Out: Rectify Crop
Output resolution: 640 480
finding CROP optimal new model!
initial range: x: -0.7181 - 0.7613; y: -0.5949 - 0.5141!
iteration 00001: range: x: -0.7145 - 0.7575; y: -0.5949 - 0.5141!
iteration 00002: range: x: -0.7109 - 0.7537; y: -0.5949 - 0.5141!
iteration 00003: range: x: -0.7109 - 0.7537; y: -0.5919 - 0.5115!
iteration 00004: range: x: -0.7109 - 0.7537; y: -0.5890 - 0.5090!
iteration 00005: range: x: -0.7109 - 0.7537; y: -0.5890 - 0.5090!
Rectified Kamera Matrix:
436.27 0 310.165
0 436.28 256.95
0 0 1
NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file
PhotometricUndistorter: Could not open file!
set timestamps and exposures to zero!
set EXPOSURES to zero!
got 2778 images and 0 timestamps and 0 exposures.!
ImageFolderReader: got 2778 files in /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/images!
using pyramid levels 0 to 3. coarsest resolution: 80 x 60!
START PANGOLIN!
----DRMVSNET Initalizing fusion----
----DRMVSNET Initalizing fusion done----
DrMvsnet torch::cuda::is_vailable == true --> seems good
View Num: 7, ref index: 5
[W BinaryOps.cpp:467] Warning: floor_divide is deprecated, and will be removed in a future version of pytorch. It currently rounds toward 0 (like the 'trunc' function NOT 'floor'). This results in incorrect rounding for negative values.
To keep the current behavior, use torch.div(a, b, rounding_mode='trunc'), or for actual floor division, use torch.div(a, b, rounding_mode='floor'). (function operator())
Correctness:
Depth correct : 0, error: 0.0106286
Confidence correct: 1, error: 0.00296125
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.00295481
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.0029548
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.00295482
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.00295482
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.00295482
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.00295482
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.0029548
Correctness:
Depth correct : 0, error: 0.0106182
Confidence correct: 1, error: 0.00295482
Performance:
CallAsync : 6.655 ms
Ready : 0 ms
GetResult : 116.791 ms
There has been an error. Do not use the model.
Couldn't load MVSNet successfully.INITIALIZE FROM INITIALIZER (2043 pts)!
TANDEM TIMING: ==================
2777 Frames (11.8 fps)
84.59ms per frame;
234.91s total time;
======================
DrFusion::SaveMeshToFile volume_->ExtractMesh (482 ms)
DrFusion::SaveMeshToFile mesh.SaveToFile (17763 ms)
Mesh Saving done!
I can see the 3D reconstruction but this error still exists.
I wish to ask:
- Is anyone else also getting the same error? How do we solve this ?
- Is it related to the warning that floor_divide is deprecated?
- I am not getting good results on other custom datasets with tandem, Can this error affect the 3D reconstruction on a custom synthetic dataset?
Thank you,
Hello,
I get this in logs while running tandem for any dataset,
(tandem) pankhuri@pankhuri-GE76-Raider-11UH:~/tandem/tandem$ ./build/bin/tandem_dataset preset=gui result_folder=/home/pankhuri/tandem-dataset/results files=/home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/images calib=/home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/camera.txt mvsnet_folder=/home/pankhuri/tandem/tandem/exported/tandem mode=1 loading data from /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/images! loading calibration from /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/camera.txt! Loading MVSNet from /home/pankhuri/tandem/tandem/exported/tandem/! PHOTOMETRIC MODE WITHOUT CALIBRATION! =============== TANDEM Settings: =============== Setting 'gui': - no real-time enforcing - 2000 active points - 5-7 active frames - 1-6 LM iteration each KF - TSDF fusion: yes - dense tracking on cpu (step=1) - Pangolin - Fullscreen: 0 - Mesh: 1 - Smaller Images: 1 Reading Calibration from file /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/camera.txt ... found! Input resolution: 640 480 In: 436.225021 436.225021 310.162763 256.946041 0.000000 Out: Rectify Crop Output resolution: 640 480 finding CROP optimal new model! initial range: x: -0.7181 - 0.7613; y: -0.5949 - 0.5141! iteration 00001: range: x: -0.7145 - 0.7575; y: -0.5949 - 0.5141! iteration 00002: range: x: -0.7109 - 0.7537; y: -0.5949 - 0.5141! iteration 00003: range: x: -0.7109 - 0.7537; y: -0.5919 - 0.5115! iteration 00004: range: x: -0.7109 - 0.7537; y: -0.5890 - 0.5090! iteration 00005: range: x: -0.7109 - 0.7537; y: -0.5890 - 0.5090! Rectified Kamera Matrix: 436.27 0 310.165 0 436.28 256.95 0 0 1 NO PHOTOMETRIC Calibration! Reading Photometric Calibration from file PhotometricUndistorter: Could not open file! set timestamps and exposures to zero! set EXPOSURES to zero! got 2778 images and 0 timestamps and 0 exposures.! ImageFolderReader: got 2778 files in /home/pankhuri/tandem-dataset/euroc_tandem_format/V1_01_easy/images! using pyramid levels 0 to 3. coarsest resolution: 80 x 60! START PANGOLIN! ----DRMVSNET Initalizing fusion---- ----DRMVSNET Initalizing fusion done---- DrMvsnet torch::cuda::is_vailable == true --> seems good View Num: 7, ref index: 5 [W BinaryOps.cpp:467] Warning: floor_divide is deprecated, and will be removed in a future version of pytorch. It currently rounds toward 0 (like the 'trunc' function NOT 'floor'). This results in incorrect rounding for negative values. To keep the current behavior, use torch.div(a, b, rounding_mode='trunc'), or for actual floor division, use torch.div(a, b, rounding_mode='floor'). (function operator()) Correctness: Depth correct : 0, error: 0.0106286 Confidence correct: 1, error: 0.00296125 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.00295481 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.0029548 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.00295482 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.00295482 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.00295482 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.00295482 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.0029548 Correctness: Depth correct : 0, error: 0.0106182 Confidence correct: 1, error: 0.00295482 Performance: CallAsync : 6.655 ms Ready : 0 ms GetResult : 116.791 ms There has been an error. Do not use the model. Couldn't load MVSNet successfully.INITIALIZE FROM INITIALIZER (2043 pts)! TANDEM TIMING: ================== 2777 Frames (11.8 fps) 84.59ms per frame; 234.91s total time; ====================== DrFusion::SaveMeshToFile volume_->ExtractMesh (482 ms) DrFusion::SaveMeshToFile mesh.SaveToFile (17763 ms) Mesh Saving done!I can see the 3D reconstruction but this error still exists.
I wish to ask:
- Is anyone else also getting the same error? How do we solve this ?
- Is it related to the warning that floor_divide is deprecated?
- I am not getting good results on other custom datasets with tandem, Can this error affect the 3D reconstruction on a custom synthetic dataset?
Thank you,
HI @pankhurivanjani , did you figure this out?
@pankhurivanjani or @pytholic, were either of you able to figure this out? Also currently stuck on trying to figure out why this, coupled with an eventual segmentation fault, is happening...
EDIT: I still get the error message regarding MVSNet, but I was able to generate a mesh regardless after getting past the segmentation fault using the advice here.
