jiehonglin/sam-6d

[CVPR2024] Code for "SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation".

sam-6d's Issues

Training/Inference on custom objects and datasets

Hi, this work seems to be really interesting. I was wondering if you can share details on how to go about using this repository for custom objects?

ModuleNotFoundError: No module named 'pointnet2._ext'

My Cuda Version is 11.5

When I ran the 'sh demo.sh', ModuleNotFoundError: No module named 'pointnet2._ext' appeared.

INFO:root:Moving models to cuda done!
INFO:root:Initializing template
/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference_custom.py:83: DeprecationWarning: Starting with ImageIO v3 the behavior of this function will switch to that of iio.v3.imread. To keep the current behavior (and make this warning disappear) use import imageio.v2 as imageio or call imageio.v2.imread directly.
depth = np.array(imageio.imread(depth_path)).astype(np.int32)
set CUDA_VISIBLE_DEVICES as 0
=> creating model ...
Traceback (most recent call last):
File "/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/pointnet2_utils.py", line 26, in
import pointnet2._ext as _ext
ModuleNotFoundError: No module named 'pointnet2._ext'
`

Can you give me any suggestion?

Pose Estimation Model OOM

Hello, I am trying to run SAM6D on a RTX 2080 with 8GB of memory. The demo dataset works fine, but the Pose Estimation Model goes OOM every time I try my cad model as input. It does not matter how many template poses I feed him, it fails even if I give one alone.

Is there a specific part of the code that i can tweak in order to make it (possibly) run on my limited set? Thanks!

License?

Could you please add a license for this code?

help on running

HI,
thank you for your code.
i have to create a task fom a cource in my ML master that ask me to run some pose6d codes . just to find an example traines and run it
i found your models and i would like to ask you if is possible to tell how could i run a trained version of it . my task is to tell for the model the time needed and the score

i am copletly new to computer vision so the goal here is just to get a fisrt idea of the field.

i am running on win11 with cuda 12
your help would be really valuable

thnk you in advanced

It is not realized to Visualize the FastSAM + Why it takes same time before?

Thank you for your Great Work!

It is not realized to Visualize the FastSAM ?

There is no visualization mask.

And I feel that It takes same time either with or without FastSAM. Inference time for PEM be longer.

Before adding the FastSAM Function, Inference time takes 28~30 second.

However, It takes nearly 30 seconds with FastSAM.

Did you change the Batch Size?? Memory usage be lower. Average memory Usage is 2888MB.

Prior to new version, Maximum Memry Usage was 9000MB

Run-time

Congrats for a very nice work!

Can you explain why SAM6D's run-time in the leaderboard for task 4 is faster than task 6 ?

Since according the BOP's rules (at least, this is how CosyPose, MegaPose calculates their run-time), the run-time for Task 4 is the total run-time for (i) 2D detection/segmentation + (ii) run-time for pose estimation for all detections. So, normally Task 4's run-time > Task 6's run-time.

RuntimeError: CUDA error: Unkown error

First thank you for sharing your amazing job!

I did not have any problem using demo.sh to obtain the same results as you, however, when trying the same demo.sh to inference on my own data, first i obtain the corresponding vis_ism.png image of the resulting mask, but when running the pose estimation model, the next error appears:

=> creating model ...
load pre-trained checkpoint from: checkpoints/mae_pretrain_vit_base.pth
=> extracting templates ...
=> loading input data ...
=> running model ...
Traceback (most recent call last):
File "/SAM-6D/Pose_Estimation_Model/run_inference_custom.py", line 291, in
out = model(input_data)
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1501, in _call_impl
return forward_call(*args, **kwargs)
File "/SAM-6D/Pose_Estimation_Model/../Pose_Estimation_Model/model/pose_estimation_model.py", line 32, in forward
geo_embedding_m = self.geo_embedding(torch.cat([bg_point, sparse_pm], dim=1))
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1501, in _call_impl
return forward_call(*args, **kwargs)
File "/SAM-6D/Pose_Estimation_Model/../Pose_Estimation_Model/model/transformer.py", line 337, in forward
d_embeddings = self.embedding(d_indices)
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1501, in _call_impl
return forward_call(*args, **kwargs)
File "/SAM-6D/Pose_Estimation_Model/../Pose_Estimation_Model/model/transformer.py", line 280, in forward
embeddings = torch.cat([sin_embeddings, cos_embeddings], dim=2) # (-1, d_model/2, 2)
RuntimeError: CUDA error: unknown error
CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect.
For debugging consider passing CUDA_LAUNCH_BLOCKING=1.
Compile with TORCH_USE_CUDA_DSA to enable device-side assertions.

I would really appreciate any help with this. Thanks in advance!!

Hello, I want to use CAD model alone for image segmentation, which script should I use

ModuleNotFoundError: No module named 'provider.poses'

There is no poses folder under the provider in the folder Instance_Segmentation_Model

The error is as follows:

Traceback (most recent call last):
  File "/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference_custom.py", line 30, in <module>
    from provider.poses.utils import get_obj_poses_from_template_level, load_index_level_in_level2
ModuleNotFoundError: No module named 'provider.poses'

when the code will be released？

Thanks to you for great work! When the code will be open source

Epoch 1:

How long for training?

Thx for your great work. I have noticed that your trianing cmd included 2 gpus. I wander how long it takes for training on MegaPose datasets and why you only use 2 gpu for training (In MegaPose, they use 32 gpus for training mentioned in main paper)

Problems encountered in pose inference process

作者您好，我又遇到一个问题，我用自己的数据替换了demo的数据，在sam部分执行的非常好，然而在pose预测的过程中出现了问题，这个问题应该是什么问题呢？

load pre-trained checkpoint from: checkpoints/mae_pretrain_vit_base.pth
=> extracting templates ...
=> loading input data ...
Traceback (most recent call last):
File "/SAM-6D/SAM-6D/Pose_Estimation_Model/run_inference_custom.py", line 279, in
input_data, img, whole_pts, model_points, detections = get_test_data(
File "/SAM-6D/SAM-6D/Pose_Estimation_Model/run_inference_custom.py", line 246, in get_test_data
ret_dict['pts'] = torch.stack(all_cloud).cuda()
RuntimeError: stack expects a non-empty TensorList

Long may the SAM-6D!

Jiehong is the best!

Timeline for Code Release

May I ask for a rough timeline for releasing the code?

blenderproc run error

When I run demo.sh and input below:

blenderproc run render_custom_templates.py --output_dir $OUTPUT_DIR --cad_path $CAD_PATH #--colorize True

it occured a error immediately.
Is that a network problem or ? The log is below.

Warning: Changed install path from /home_local/lcj... to /home/lcj..., there is no /home_local/ on this machine.
Downloading blender from https://download.blender.org/release/Blender3.3/blender-3.3.1-linux-x64.tar.xz
Traceback (most recent call last):
  File "/home/lcj/anaconda3/envs/sam6d/bin/blenderproc", line 8, in <module>
    sys.exit(cli())
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/site-packages/blenderproc/command_line.py", line 149, in cli
    blender_run_path, major_version = InstallUtility.make_sure_blender_is_installed(custom_blender_path,
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/utility/InstallUtility.py", line 179, in make_sure_blender_is_installed
    raise e
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/utility/InstallUtility.py", line 163, in make_sure_blender_is_installed
    file_tmp = urlretrieve(url, None, DownloadProgressBar())[0]
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/urllib/request.py", line 239, in urlretrieve
    with contextlib.closing(urlopen(url, data)) as fp:
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/urllib/request.py", line 214, in urlopen
    return opener.open(url, data, timeout)
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/urllib/request.py", line 523, in open
    response = meth(req, response)
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/urllib/request.py", line 632, in http_response
    response = self.parent.error(
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/urllib/request.py", line 561, in error
    return self._call_chain(*args)
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/urllib/request.py", line 494, in _call_chain
    result = func(*args)
  File "/home/lcj/anaconda3/envs/sam6d/lib/python3.9/urllib/request.py", line 641, in http_error_default
    raise HTTPError(req.full_url, code, msg, hdrs, fp)
urllib.error.HTTPError: HTTP Error 403: Forbidden

Performance doubts of a noob

Really good job! Just managed to run it locally. I am really a noob in this field and my final goal is to have a code that allows me to infer real time the pose of an object. Looking at the performance of this type of algorithms, it seems like they take a lot of time to compute. In other words, if I'd like to run the provided code and see how it performs on a video or webcam, I would have to run this steps:

python run_inference_custom.py --output_dir $OUTPUT_DIR --cad_path $CAD_PATH --rgb_path $RGB_PATH --depth_path $DEPTH_PATH --cam_path $CAMERA_PATH
export SEG_PATH=$OUTPUT_DIR/sam6d_results/detection_ism.json
cd ../Pose_Estimation_Model
python run_inference_custom.py --output_dir $OUTPUT_DIR --cad_path $CAD_PATH --rgb_path $RGB_PATH --depth_path $DEPTH_PATH --cam_path $CAMERA_PATH --seg_path $SEG_PATH

for every frame, right? Right now it takes a few seconds every time I do this two lines, so I guess that by running real time is not that realistic. Any feedback would be great!

error install pointnet2

(sam6d) mona@ada:/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2$ python setup.py install
running install
/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py:66: EasyInstallDeprecationWarning: easy_install command is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` and ``easy_install``.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://github.com/pypa/setuptools/issues/917 for details.
        ********************************************************************************

!!
  self.initialize_options()
running bdist_egg
running egg_info
creating pointnet2.egg-info
writing pointnet2.egg-info/PKG-INFO
writing dependency_links to pointnet2.egg-info/dependency_links.txt
writing top-level names to pointnet2.egg-info/top_level.txt
writing manifest file 'pointnet2.egg-info/SOURCES.txt'
reading manifest file 'pointnet2.egg-info/SOURCES.txt'
writing manifest file 'pointnet2.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_ext
/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py:388: UserWarning: The detected CUDA version (11.8) has a minor version mismatch with the version that was used to compile PyTorch (11.7). Most likely this shouldn't be a problem.
  warnings.warn(CUDA_MISMATCH_WARN.format(cuda_str_version, torch.version.cuda))
/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py:398: UserWarning: There are no g++ version bounds defined for CUDA version 11.8
  warnings.warn(f'There are no {compiler_name} version bounds defined for CUDA version {cuda_str_version}')
building 'pointnet2._ext' extension
creating /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build
creating /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39
creating /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src
creating /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src
Emitting ninja build file /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/9] c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o 
c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points.cpp:6:10: fatal error: group_points.h: No such file or directory
    6 | #include "group_points.h"
      |          ^~~~~~~~~~~~~~~~
compilation terminated.
[2/9] c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o 
c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling.cpp:6:10: fatal error: sampling.h: No such file or directory
    6 | #include "sampling.h"
      |          ^~~~~~~~~~~~
compilation terminated.
[3/9] c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o 
c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query.cpp:6:10: fatal error: ball_query.h: No such file or directory
    6 | #include "ball_query.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[4/9] c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o 
c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate.cpp:6:10: fatal error: interpolate.h: No such file or directory
    6 | #include "interpolate.h"
      |          ^~~~~~~~~~~~~~~
compilation terminated.
[5/9] c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/bindings.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o 
c++ -MMD -MF /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o.d -pthread -B /home/mona/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /home/mona/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/bindings.cpp -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/bindings.cpp:6:10: fatal error: ball_query.h: No such file or directory
    6 | #include "ball_query.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[6/9] /usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points_gpu.o 
/usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points_gpu.cu:9:10: fatal error: cuda_utils.h: No such file or directory
    9 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[7/9] /usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling_gpu.o 
/usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling_gpu.cu:9:10: fatal error: cuda_utils.h: No such file or directory
    9 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[8/9] /usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query_gpu.o 
/usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query_gpu.cu:10:10: fatal error: cuda_utils.h: No such file or directory
   10 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[9/9] /usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
FAILED: /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate_gpu.o 
/usr/local/cuda-11.8/bin/nvcc  -I_ext_src/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.8/include -I/home/mona/anaconda3/envs/sam6d/include/python3.9 -c -c /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate_gpu.cu -o /data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_86,code=compute_86 -gencode=arch=compute_86,code=sm_86 -std=c++17
/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate_gpu.cu:10:10: fatal error: cuda_utils.h: No such file or directory
   10 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
ninja: build stopped: subcommand failed.
Traceback (most recent call last):
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1893, in _run_ninja_build
    subprocess.run(
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/subprocess.py", line 528, 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 "/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/setup.py", line 16, in <module>
    setup(
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/__init__.py", line 104, in setup
    return distutils.core.setup(**attrs)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/core.py", line 185, in setup
    return run_commands(dist)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/core.py", line 201, in run_commands
    dist.run_commands()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
    self.run_command(cmd)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 967, in run_command
    super().run_command(command)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/install.py", line 87, in run
    self.do_egg_install()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/install.py", line 139, in do_egg_install
    self.run_command('bdist_egg')
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
    self.distribution.run_command(command)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 967, in run_command
    super().run_command(command)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/bdist_egg.py", line 167, in run
    cmd = self.call_command('install_lib', warn_dir=0)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/bdist_egg.py", line 153, in call_command
    self.run_command(cmdname)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
    self.distribution.run_command(command)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 967, in run_command
    super().run_command(command)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/install_lib.py", line 11, in run
    self.build()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/install_lib.py", line 111, in build
    self.run_command('build_ext')
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
    self.distribution.run_command(command)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 967, in run_command
    super().run_command(command)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 91, in run
    _build_ext.run(self)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 345, in run
    self.build_extensions()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 843, in build_extensions
    build_ext.build_extensions(self)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 467, in build_extensions
    self._build_extensions_serial()
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 493, in _build_extensions_serial
    self.build_extension(ext)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 252, in build_extension
    _build_ext.build_extension(self, ext)
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 548, in build_extension
    objects = self.compiler.compile(
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 658, in unix_wrap_ninja_compile
    _write_ninja_file_and_compile_objects(
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1574, in _write_ninja_file_and_compile_objects
    _run_ninja_build(
  File "/home/mona/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1909, in _run_ninja_build
    raise RuntimeError(message) from e
RuntimeError: Error compiling objects for extension

Since prepare.sh didn't work I am running its command one by one after activating the environment. That didn't work too.

Out of memory exception on RTX 3060

Hi,
Thanks for sharing this code.
I am having a problem when executing the "demo.sh" script:

torch.cuda.OutOfMemoryError: CUDA out of memory. Tried to allocate 1024.00 MiB (GPU 0; 5.80 GiB total capacity; 4.81 GiB already allocated; 724.81 MiB free; 4.92 GiB reserved in total by PyTorch) If reserved memory is >> allocated memory try setting max_split_size_mb to avoid fragmentation.  See documentation for Memory Management and PYTORCH_CUDA_ALLOC_CONF
set CUDA_VISIBLE_DEVICES as 0

I've tried to change the points_per_batch value in the automatic_mask_generator.py file, but it didn't solve the problem.

Is it because this algorithm requires more than 8 GB memory on the GPU?

I am using RTX 3060 with 8GB RAM.

ERROR: Empty array in ISM inference script

Hello,

My datasets are in BOP format. I render all my models from render_bop_templates.py
. When I run_inference.py. I get the following error.

media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/bin/python /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference.py 
INFO:pytorch_lightning.utilities.rank_zero:ModelCheckpoint(save_last=True, save_top_k=-1, monitor=None) will duplicate the last checkpoint saved.
INFO:pytorch_lightning.utilities.rank_zero:Using 16bit native Automatic Mixed Precision (AMP)
INFO:pytorch_lightning.utilities.rank_zero:GPU available: True (cuda), used: True
INFO:pytorch_lightning.utilities.rank_zero:TPU available: False, using: 0 TPU cores
INFO:pytorch_lightning.utilities.rank_zero:IPU available: False, using: 0 IPUs
INFO:pytorch_lightning.utilities.rank_zero:HPU available: False, using: 0 HPUs
INFO:lightning_lite.utilities.seed:Global seed set to 2023
INFO:lightning_lite.utilities.seed:Global seed set to 2023
Loading metaData: 100%|██████████| 2/2 [00:00<00:00, 154.45it/s]
Loading metaData: 100%|██████████| 1/1 [00:00<00:00, 81.16it/s]
Finding nearest rendering close to template poses:   0%|          | 0/10 [00:00<?, ?it/s]
Error executing job with overrides: []
Traceback (most recent call last):
  File "/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference.py", line 83, in <module>
    run_inference()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/main.py", line 94, in decorated_main
    _run_hydra(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 394, in _run_hydra
    _run_app(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 457, in _run_app
    run_and_report(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 223, in run_and_report
    raise ex
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 220, in run_and_report
    return func()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 458, in <lambda>
    lambda: hydra.run(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/hydra.py", line 132, in run
    _ = ret.return_value
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/core/utils.py", line 260, in return_value
    raise self._return_value
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/core/utils.py", line 186, in run_job
    ret.return_value = task_function(task_cfg)
  File "/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference.py", line 63, in run_inference
    ref_dataset.load_processed_metaData(reset_metaData=True)
  File "/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Instance_Segmentation_Model/provider/bop_pbr.py", line 177, in load_processed_metaData
    selected_index_obj = np.random.choice(selected_index_obj, 5000)
  File "numpy/random/mtrand.pyx", line 951, in numpy.random.mtrand.RandomState.choice
ValueError: 'a' cannot be empty unless no samples are taken

Please help me with the following issue.

ERROR: Hydra config path

Hello,
I am getting the following error for the ISM inference script. I have a custom dataset in BOP format. I added the required data in yaml files. Please help me with the error.

/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/bin/python /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference.py 
INFO:pytorch_lightning.utilities.rank_zero:ModelCheckpoint(save_last=True, save_top_k=-1, monitor=None) will duplicate the last checkpoint saved.
INFO:pytorch_lightning.utilities.rank_zero:Using 16bit native Automatic Mixed Precision (AMP)
INFO:pytorch_lightning.utilities.rank_zero:GPU available: True (cuda), used: True
INFO:pytorch_lightning.utilities.rank_zero:TPU available: False, using: 0 TPU cores
INFO:pytorch_lightning.utilities.rank_zero:IPU available: False, using: 0 IPUs
INFO:pytorch_lightning.utilities.rank_zero:HPU available: False, using: 0 HPUs
INFO:lightning_lite.utilities.seed:Global seed set to 2023
INFO:lightning_lite.utilities.seed:Global seed set to 2023
Loading metaData: 100%|██████████| 1/1 [00:00<00:00, 100.28it/s]
Loading metaData: 100%|██████████| 1/1 [00:00<00:00, 81.84it/s]
Finding nearest rendering close to template poses: 0it [00:00, ?it/s]
INFO:lightning_lite.utilities.seed:[rank: 0] Global seed set to 2023
INFO:lightning_lite.utilities.distributed:Initializing distributed: GLOBAL_RANK: 0, MEMBER: 1/2
Traceback (most recent call last):
  File "/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference.py", line 83, in <module>
    run_inference()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/main.py", line 94, in decorated_main
    _run_hydra(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 394, in _run_hydra
    _run_app(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 457, in _run_app
    run_and_report(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 223, in run_and_report
    raise ex
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 220, in run_and_report
    return func()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/utils.py", line 458, in <lambda>
    lambda: hydra.run(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/hydra.py", line 105, in run
    cfg = self.compose_config(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/hydra.py", line 594, in compose_config
    cfg = self.config_loader.load_configuration(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/config_loader_impl.py", line 142, in load_configuration
    return self._load_configuration_impl(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/config_loader_impl.py", line 253, in _load_configuration_impl
    defaults_list = create_defaults_list(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/defaults_list.py", line 745, in create_defaults_list
    defaults, tree = _create_defaults_list(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/defaults_list.py", line 715, in _create_defaults_list
    defaults_tree = _create_defaults_tree(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/defaults_list.py", line 356, in _create_defaults_tree
    ret = _create_defaults_tree_impl(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/defaults_list.py", line 457, in _create_defaults_tree_impl
    return _expand_virtual_root(repo, root, overrides, skip_missing)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/defaults_list.py", line 280, in _expand_virtual_root
    subtree = _create_defaults_tree_impl(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/defaults_list.py", line 464, in _create_defaults_tree_impl
    config_not_found_error(repo=repo, tree=root)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/hydra/_internal/defaults_list.py", line 799, in config_not_found_error
    raise MissingConfigException(
hydra.errors.MissingConfigException: Cannot find primary config 'config.yaml'. Check that it's in your config search path.

Config search path:
	provider=hydra, path=pkg://hydra.conf
	provider=main, path=file:///media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Instance_Segmentation_Model
	provider=hydra-colorlog, path=pkg://hydra_plugins.hydra_colorlog.conf
	provider=schema, path=structured://

There are many instances of the same in a scene, how do you separate them all

Hello, When there are many different instances of the same object in the scene, how do you estimate their attitude?

dataset PATH problem

hi
would you please show me your datasets path of BOP for testing? i wanna an example
i met a problem like this :
####################
Error executing job with overrides: ['dataset_name=lmo', 'model=ISM_fastsam']
Error in call to target 'provider.bop_pbr.BOPTemplatePBR':
FileNotFoundError(2, 'No such file or directory')
full_key: data.reference_dataloader
#####################

run error

Hello, when I was running demo.sh, I encountered this error message. The environment for cv2 has already been installed

SAM-6D/SAM-6D/Render$ blenderproc run render_custom_templates.py --output_dir $OUTPUT_DIR --cad_path $CAD_PATH
Warning: Changed install path from /home_local/rodney... to /home/rodney..., there is no /home_local/ on this machine.
Using blender in /home/rodney/blender/blender-3.3.1-linux-x64
Using temporary directory: /dev/shm/blender_proc_b6ae4c30e8eb4d10a58d023f21318086
Blender 3.3.1 (hash b292cfe5a936 built 2022-10-05 00:14:35)
Error: Python: Traceback (most recent call last):
File "/home/rodney/rodney/SAM-6D/SAM-6D/Render/render_custom_templates.py", line 1, in
import blenderproc as bproc
File "/home/rodney/.conda/envs/sam6d/lib/python3.9/site-packages/blenderproc/init.py", line 21, in
from .api import loader
File "/home/rodney/.conda/envs/sam6d/lib/python3.9/site-packages/blenderproc/api/loader/init.py", line 1, in
from blenderproc.python.loader.AMASSLoader import load_AMASS
File "/home/rodney/.conda/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/loader/AMASSLoader.py", line 15, in
from blenderproc.python.types.MeshObjectUtility import MeshObject
File "/home/rodney/.conda/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/types/MeshObjectUtility.py", line 16, in
from blenderproc.python.utility.BlenderUtility import get_all_blender_mesh_objects
File "/home/rodney/.conda/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/utility/BlenderUtility.py", line 12, in
import cv2
ModuleNotFoundError: No module named 'cv2'

Error: script failed, file: 'render_custom_templates.py', exiting.
Cleaning temporary directory

OOM Problem

Hello, I encountered an issue while running PEM in demo.sh with my custom CAD model, which has numerous vertices and planes. This model is more memory-efficient compared to the example model provided.

'torch.cuda.OutOfMemoryError: CUDA out of memory. Tried to allocate 3.59 GiB (GPU 0; 11.75 GiB total capacity; 9.03 GiB already allocated; 1.38 GiB free; 9.82 GiB reserved in total by PyTorch) If reserved memory is >> allocated memory try setting max_split_size_mb to avoid fragmentation. See documentation for Memory Management and PYTORCH_CUDA_ALLOC_CONF`

errorlog.txt

However, I encountered an 'Out of Memory' (OOM) error. To resolve this, I would like to fix the /Pose_Estimation_Model/config/base.yaml. Could you guide me on how to adjust the hyper parameter?

Otherwise, Can I reduce the batch Size?

SAM6D - RGB only

On both Website it states a version of SAM6D that is only based on RGB, no depth.

Could you please also share that version?

https://bop.felk.cvut.cz/sub_info/8001/

Error: StructRNA of type Material has been removed

Hello,
My dataset are bigger objects used in warehousing. eg: Pallet, small containers (KLT) and they are texture-less.

The render script is working fine for some objects. I am facing the following issues for few objects:

Warning: Changed install path from /home_local/gouda... to /home/gouda..., there is no /home_local/ on this machine.
Using blender in /home/gouda/blender/blender-3.5.1-linux-x64
Using temporary directory: /dev/shm/blender_proc_18333dbbd3934aa29c62eb0ada41cdab
Blender 3.5.1 (hash e1ccd9d4a1d3 built 2023-04-24 23:31:15)
/home/gouda/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:500: UserWarning: The value of the smallest subnormal for <class 'numpy.float64'> type is zero.
  setattr(self, word, getattr(machar, word).flat[0])
/home/gouda/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:89: UserWarning: The value of the smallest subnormal for <class 'numpy.float64'> type is zero.
  return self._float_to_str(self.smallest_subnormal)
/home/gouda/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:500: UserWarning: The value of the smallest subnormal for <class 'numpy.float32'> type is zero.
  setattr(self, word, getattr(machar, word).flat[0])
/home/gouda/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:89: UserWarning: The value of the smallest subnormal for <class 'numpy.float32'> type is zero.
  return self._float_to_str(self.smallest_subnormal)
Selecting render devices...
Device NVIDIA TITAN Xp of type OPTIX found and used.
Device NVIDIA TITAN Xp of type OPTIX found and used.
Device Intel Core i9-7940X CPU @ 3.10GHz of type CPU found and used.

Successfully imported '/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Data/Example/big_robots_6d/pallet.ply' in 0.004 sec
Rendering 1 frames of colors...
Finished rendering after 0.851 seconds
Rendering 1 frames of nocs...
Finished rendering after 0.082 seconds

Successfully imported '/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Data/Example/big_robots_6d/pallet.ply' in 0.012 sec
Warning! Detected output entries with duplicate keys and paths
Rendering 1 frames of colors...
Finished rendering after 0.667 seconds
Error: Python: Traceback (most recent call last):
  File "/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Render/render_custom_templates.py", line 79, in <module>
    data.update(bproc.renderer.render_nocs())
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/renderer/NOCSRendererUtility.py", line 35, in render_nocs
    with UndoAfterExecution():
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/utility/Utility.py", line 487, in __enter__
    self.struct_instances = get_instances()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/types/StructUtilityFunctions.py", line 22, in get_instances
    instances.append((instance.get_name(), instance))
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/blenderproc/python/types/StructUtility.py", line 50, in get_name
    return self.blender_obj.name
ReferenceError: StructRNA of type Material has been removed

Error: script failed, file: 'render_custom_templates.py', exiting.
Cleaning temporary directory

It renders one frame and then throws an error. Please help me to solve the error and If you need further information please let me know.

Regarding errors in loading the Sam6d model

作者您好，我copy了您的docker，然而在跑demo.sh的时候，姿态估计程序遇到了如下问题，能否帮忙解答一下，不胜感激！

Traceback (most recent call last):
File "/SAM-6D/SAM-6D/Pose_Estimation_Model/run_inference_custom.py", line 266, in
model = MODEL.Net(cfg.model)
File "/SAM-6D/SAM-6D/Pose_Estimation_Model/../Pose_Estimation_Model/model/pose_estimation_model.py", line 18, in init
self.feature_extraction = ViTEncoder(cfg.feature_extraction, self.fine_npoint)
File "/SAM-6D/SAM-6D/Pose_Estimation_Model/../Pose_Estimation_Model/model/feature_extraction.py", line 126, in init
self.rgb_net = ViT_AE(cfg)
File "/SAM-6D/SAM-6D/Pose_Estimation_Model/../Pose_Estimation_Model/model/feature_extraction.py", line 83, in init
model_zoo.load_url('https://dl.fbaipublicfiles.com/mae/pretrain/mae_pretrain_'+ self.vit_type +'.pth', 'checkpoints')
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/torch/hub.py", line 750, in load_state_dict_from_url
return torch.load(cached_file, map_location=map_location)
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/torch/serialization.py", line 797, in load
with _open_zipfile_reader(opened_file) as opened_zipfile:
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/torch/serialization.py", line 283, in init
super().init(torch._C.PyTorchFileReader(name_or_buffer))
RuntimeError: PytorchStreamReader failed reading zip archive: failed finding central directory

.obj format

Hello, thanks for the great work! Can the format of 'mesh' be .obj?

bug in sh prepare.sh

(base) mona@ada:/data/SAM-6D/SAM-6D$ sh prepare.sh

done
#
# To activate this environment, use
#
#     $ conda activate sam6d
#
# To deactivate an active environment, use
#
#     $ conda deactivate


CondaError: Run 'conda init' before 'conda activate'

Traceback (most recent call last):
  File "/data/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/setup.py", line 7, in <module>
    from torch.utils.cpp_extension import BuildExtension, CUDAExtension
ModuleNotFoundError: No module named 'torch'
Traceback (most recent call last):
  File "/data/SAM-6D/SAM-6D/Instance_Segmentation_Model/download_sam.py", line 10, in <module>
    import hydra
ModuleNotFoundError: No module named 'hydra'
Traceback (most recent call last):
  File "/data/SAM-6D/SAM-6D/Instance_Segmentation_Model/download_fastsam.py", line 10, in <module>
    import hydra
ModuleNotFoundError: No module named 'hydra'
Traceback (most recent call last):
  File "/data/SAM-6D/SAM-6D/Instance_Segmentation_Model/download_dinov2.py", line 10, in <module>
    import hydra
ModuleNotFoundError: No module named 'hydra'
sh: 1: gdown: not found

Can you provide a demo for estimating poses for objects you haven't seen before?

great work!

How to obtain a cad model?

Hi, I am wondering how to obtain a cad model of a novel object?

Docker + No such file: '/workspace/SAM-6D/SAM-6D/Pose_Estimation_Model/Data/Example/outputs/templates/rgb_0.png'

Hello, thank you for sharing your work!
I am eager to run the demo and test it, but I am encountering some issues.

This in my log when i run the demo (after having prepared the environment):

(sam6d) root@4e857b3a8101:/workspace/SAM-6D/SAM-6D# bash demo.sh
Warning: Changed install path from /home_local/root... to /root..., there is no /home_local/ on this machine.
Using blender in /root/blender/blender-3.5.1-linux-x64
Using temporary directory: /dev/shm/blender_proc_a4853766307743d9950cdd915122e0f6
Blender 3.5.1 (hash e1ccd9d4a1d3 built 2023-04-24 23:31:15)
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4732:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4732:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4732:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5220:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2642:(snd_pcm_open_noupdate) Unknown PCM default
/root/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:500: UserWarning: The value of the smallest subnormal for <class 'numpy.float64'> type is zero.
setattr(self, word, getattr(machar, word).flat[0])
/root/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:89: UserWarning: The value of the smallest subnormal for <class 'numpy.float64'> type is zero.
return self._float_to_str(self.smallest_subnormal)
/root/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:500: UserWarning: The value of the smallest subnormal for <class 'numpy.float32'> type is zero.
setattr(self, word, getattr(machar, word).flat[0])
/root/blender/blender-3.5.1-linux-x64/3.5/python/lib/python3.10/site-packages/numpy/core/getlimits.py:89: UserWarning: The value of the smallest subnormal for <class 'numpy.float32'> type is zero.
return self._float_to_str(self.smallest_subnormal)
Selecting render devices...
Device NVIDIA GeForce RTX 2080 of type CUDA found and used.
Device Intel Core i7-9700K CPU @ 3.60GHz of type CPU found and used.
Error: Python: Traceback (most recent call last):
File "/workspace/SAM-6D/SAM-6D/Render/render_custom_templates.py", line 42, in
scale = get_norm_info(args.cad_path)
File "/workspace/SAM-6D/SAM-6D/Render/render_custom_templates.py", line 24, in get_norm_info
mesh = trimesh.load(mesh_path, force='mesh')
File "/root/blender/blender-3.5.1-linux-x64/custom-python-packages/lib/python3.10/site-packages/trimesh/exchange/load.py", line 116, in load
) = parse_file_args(file_obj=file_obj,
File "/root/blender/blender-3.5.1-linux-x64/custom-python-packages/lib/python3.10/site-packages/trimesh/exchange/load.py", line 630, in parse_file_args
raise ValueError('string is not a file: {}'.format(file_obj))
ValueError: string is not a file: Data/Example/obj_000005.ply

Error: script failed, file: 'render_custom_templates.py', exiting.
Cleaning temporary directory
INFO:root:Initializing model
INFO:torch.distributed.nn.jit.instantiator:Created a temporary directory at /tmp/tmpsnisnid3
INFO:torch.distributed.nn.jit.instantiator:Writing /tmp/tmpsnisnid3/_remote_module_non_scriptable.py
INFO:root:Loading SAM model from ./checkpoints/segment-anything/
INFO:root:Init CustomSamAutomaticMaskGenerator done!
INFO:dinov2:using MLP layer as FFN
INFO:root:Init CustomDINOv2 done!
INFO:root:Init CustomDINOv2 with full size=640 and proposal size=224 done!
INFO:root:Init CNOS done!
INFO:root:Moving models to cuda done!
INFO:root:Initializing template
Traceback (most recent call last):
File "/workspace/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference_custom.py", line 212, in
run_inference(
File "/workspace/SAM-6D/SAM-6D/Instance_Segmentation_Model/run_inference_custom.py", line 128, in run_inference
templates = torch.stack(templates).permute(0, 3, 1, 2)
RuntimeError: stack expects a non-empty TensorList
set CUDA_VISIBLE_DEVICES as 0
=> creating model ...
load pre-trained checkpoint from: checkpoints/mae_pretrain_vit_base.pth
=> extracting templates ...
Traceback (most recent call last):
File "/workspace/SAM-6D/SAM-6D/Pose_Estimation_Model/run_inference_custom.py", line 276, in
all_tem, all_tem_pts, all_tem_choose = get_templates(tem_path, cfg.test_dataset)
File "/workspace/SAM-6D/SAM-6D/Pose_Estimation_Model/run_inference_custom.py", line 160, in get_templates
tem, tem_choose, tem_pts = _get_template(path, cfg, i)
File "/workspace/SAM-6D/SAM-6D/Pose_Estimation_Model/run_inference_custom.py", line 124, in _get_template
rgb = load_im(rgb_path).astype(np.uint8)
File "/workspace/SAM-6D/SAM-6D/Pose_Estimation_Model/../Pose_Estimation_Model/utils/data_utils.py", line 15, in load_im
im = imageio.imread(path)
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/imageio/init.py", line 97, in imread
return imread_v2(uri, format=format, **kwargs)
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/imageio/v2.py", line 359, in imread
with imopen(uri, "ri", **imopen_args) as file:
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/imageio/core/imopen.py", line 113, in imopen
request = Request(uri, io_mode, format_hint=format_hint, extension=extension)
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/imageio/core/request.py", line 247, in init
self._parse_uri(uri)
File "/opt/conda/envs/sam6d/lib/python3.9/site-packages/imageio/core/request.py", line 407, in _parse_uri
raise FileNotFoundError("No such file: '%s'" % fn)
FileNotFoundError: No such file: '/workspace/SAM-6D/SAM-6D/Pose_Estimation_Model/Data/Example/outputs/templates/rgb_0.png'

I have already seen a similar issue in #11 but I have libxrender already installed.
It might be good to mention that I am running it on a docker container with Ubuntu 20.04 and cuda 11.7

Would you consider providing a docker image for running your code?

Thanks

pointnet2 compile error

Hello,
I am using Ubuntu 20.04.6 LTS with CUDA 11.7. I am facing the following error during the setup. can you please help me to solve it.

`(sam6d) gouda@porthos-AORUS:/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2$ python setup.py install
running install
/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py:66: EasyInstallDeprecationWarning: easy_install command is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` and ``easy_install``.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://github.com/pypa/setuptools/issues/917 for details.
        ********************************************************************************

!!
  self.initialize_options()
running bdist_egg
running egg_info
writing pointnet2.egg-info/PKG-INFO
writing dependency_links to pointnet2.egg-info/dependency_links.txt
writing top-level names to pointnet2.egg-info/top_level.txt
reading manifest file 'pointnet2.egg-info/SOURCES.txt'
writing manifest file 'pointnet2.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_ext
building 'pointnet2._ext' extension
Emitting ninja build file /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/build.ninja...
Compiling objects...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
[1/9] c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/bindings.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o 
c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/bindings.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/bindings.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/bindings.cpp:6:10: fatal error: ball_query.h: No such file or directory
    6 | #include "ball_query.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[2/9] c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o 
c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query.cpp:6:10: fatal error: ball_query.h: No such file or directory
    6 | #include "ball_query.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[3/9] c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o 
c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points.cpp:6:10: fatal error: group_points.h: No such file or directory
    6 | #include "group_points.h"
      |          ^~~~~~~~~~~~~~~~
compilation terminated.
[4/9] c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o 
c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling.cpp:6:10: fatal error: sampling.h: No such file or directory
    6 | #include "sampling.h"
      |          ^~~~~~~~~~~~
compilation terminated.
[5/9] c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o 
c++ -MMD -MF /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o.d -pthread -B /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -O2 -isystem /media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include -fPIC -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate.cpp -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate.o -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate.cpp:6:10: fatal error: interpolate.h: No such file or directory
    6 | #include "interpolate.h"
      |          ^~~~~~~~~~~~~~~
compilation terminated.
[6/9] /usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points_gpu.o 
/usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/group_points_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/group_points_gpu.cu:9:10: fatal error: cuda_utils.h: No such file or directory
    9 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[7/9] /usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate_gpu.o 
/usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/interpolate_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/interpolate_gpu.cu:10:10: fatal error: cuda_utils.h: No such file or directory
   10 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[8/9] /usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling_gpu.o 
/usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/sampling_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/sampling_gpu.cu:9:10: fatal error: cuda_utils.h: No such file or directory
    9 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
[9/9] /usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
FAILED: /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query_gpu.o 
/usr/local/cuda-11.7/bin/nvcc  -I_ext_src/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/torch/csrc/api/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/TH -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/include/THC -I/usr/local/cuda-11.7/include -I/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/include/python3.9 -c -c /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query_gpu.cu -o /media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/build/temp.linux-x86_64-cpython-39/_ext_src/src/ball_query_gpu.o -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_BFLOAT16_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --expt-relaxed-constexpr --compiler-options ''"'"'-fPIC'"'"'' -O3 -DCUDA_HAS_FP16=1 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ -DTORCH_API_INCLUDE_EXTENSION_H '-DPYBIND11_COMPILER_TYPE="_gcc"' '-DPYBIND11_STDLIB="_libstdcpp"' '-DPYBIND11_BUILD_ABI="_cxxabi1011"' -DTORCH_EXTENSION_NAME=_ext -D_GLIBCXX_USE_CXX11_ABI=0 -gencode=arch=compute_61,code=compute_61 -gencode=arch=compute_61,code=sm_61 -std=c++17
/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/_ext_src/src/ball_query_gpu.cu:10:10: fatal error: cuda_utils.h: No such file or directory
   10 | #include "cuda_utils.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
ninja: build stopped: subcommand failed.
Traceback (most recent call last):
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1893, in _run_ninja_build
    subprocess.run(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/subprocess.py", line 528, 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 "/media/gouda/3C448DDD448D99F2/segmentation/SAM-6D/SAM-6D/Pose_Estimation_Model/model/pointnet2/setup.py", line 16, in <module>
    setup(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/__init__.py", line 103, in setup
    return distutils.core.setup(**attrs)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/core.py", line 185, in setup
    return run_commands(dist)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/core.py", line 201, in run_commands
    dist.run_commands()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 969, in run_commands
    self.run_command(cmd)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 963, in run_command
    super().run_command(command)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/install.py", line 85, in run
    self.do_egg_install()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/install.py", line 137, in do_egg_install
    self.run_command('bdist_egg')
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
    self.distribution.run_command(command)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 963, in run_command
    super().run_command(command)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/bdist_egg.py", line 167, in run
    cmd = self.call_command('install_lib', warn_dir=0)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/bdist_egg.py", line 153, in call_command
    self.run_command(cmdname)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
    self.distribution.run_command(command)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 963, in run_command
    super().run_command(command)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/install_lib.py", line 11, in run
    self.build()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/install_lib.py", line 111, in build
    self.run_command('build_ext')
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/cmd.py", line 318, in run_command
    self.distribution.run_command(command)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/dist.py", line 963, in run_command
    super().run_command(command)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/dist.py", line 988, in run_command
    cmd_obj.run()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 89, in run
    _build_ext.run(self)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 345, in run
    self.build_extensions()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 843, in build_extensions
    build_ext.build_extensions(self)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 467, in build_extensions
    self._build_extensions_serial()
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 493, in _build_extensions_serial
    self.build_extension(ext)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/command/build_ext.py", line 250, in build_extension
    _build_ext.build_extension(self, ext)
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/setuptools/_distutils/command/build_ext.py", line 548, in build_extension
    objects = self.compiler.compile(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 658, in unix_wrap_ninja_compile
    _write_ninja_file_and_compile_objects(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1574, in _write_ninja_file_and_compile_objects
    _run_ninja_build(
  File "/media/gouda/3C448DDD448D99F2/anaconda3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py", line 1909, in _run_ninja_build
    raise RuntimeError(message) from e`

feature request for batch inference on all frames of a video

Assuming the CAD model and camera.json doesn't change, could you please share the code for batch script on all frames of a video?

No module named 'trimesh'

I HAVE INSTALLED this package, but script still can not find it

File "", line 1, in
File "H:\SAM-6D\venv\lib\site-packages\blenderproc\scripts\quickstart.py", line 11, in
import blenderproc as bproc
File "H:\SAM-6D\venv\lib\site-packages\blenderproc_init_.py", line 21, in
from .api import loader
File "H:\SAM-6D\venv\lib\site-packages\blenderproc\api\loader_init_.py", line 1, in
from blenderproc.python.loader.AMASSLoader import load_AMASS
File "H:\SAM-6D\venv\lib\site-packages\blenderproc\python\loader\AMASSLoader.py", line 15, in
from blenderproc.python.types.MeshObjectUtility import MeshObject
File "H:\SAM-6D\venv\lib\site-packages\blenderproc\python\types\MeshObjectUtility.py", line 12, in
from trimesh import Trimesh
ModuleNotFoundError: No module named 'trimesh'

Run demo.sh error:torch.cuda.OutOfMemoryError: CUDA out of memory.

when I run demo.sh, Instance_Segmentation_Model/run_inference_custom.py was an error.

Question for the row_idx

Hello,

First off, I'd like to express my appreciation for your impressive work on this project. I've come across something in the code that I'm curious about and hoped you could provide some insight. Specifically, I'm referring to the part where the row index is divided by the height during index calculation. Could you elaborate on the rationale behind this approach?

SAM-6D/SAM-6D/Pose_Estimation_Model/utils/data_utils.py

Line 120 in fca43b6

row_idx = choose // crop_h

Thank you for your time and for sharing your work with the community.

RuntimeError: stack expects a non-empty TensorList

How can I access the experimental results of '2D segmentation of unseen objects on BOP' under pure RGB settings?

How can I access the experimental results of '2D segmentation of unseen objects on BOP' under pure RGB settings?

How can i inference my data?

How can i inference my data?

Fails when building PointNet2 (CUDA error)

Hey,
Thanks a lot for sharing the source code.

I have problems when running the prepare.sh file, mostly related to the CUDA version. Here is the main error:

/home/matteomastro/miniforge3/envs/sam6d/lib/python3.9/site-packages/torch/utils/cpp_extension.py:388: UserWarning: The detected CUDA version (11.5) has a minor version mismatch with the version that was used to compile PyTorch (11.7). Most likely this shouldn't be a problem.
  warnings.warn(CUDA_MISMATCH_WARN.format(cuda_str_version, torch.version.cuda))
building 'pointnet2._ext' extension

and after that I get a bunch of ninja-build error (missing header files and stuff). The problem seems to be related only to PointNet2, the rest of the build goes smooth. When running the demo.sh I get errors because PointNet is missing.

I'm running on Ubuntu 22.04, nvcc --version returns:

Cuda compilation tools, release 11.5, V11.5.119

while, nvidia-smi returns:

...
 NVIDIA-SMI 545.30                 Driver Version: 546.09       CUDA Version: 12.3
...

Do you have any idea what could be wrong? I get the same problem on multiple machines. Let me know if you need the full error log.
Thanks for your help!

Instance Segmentation Results

Can you offer the SAM or FastSAM result json file?
Because I follow the instance segmentation instructions and i can't reproduce the results in the paper.

Missing demo files

Hi Jiehong, thanks for your great work. However, when I run the demo.sh, it tells that there is a missing file. Could you please help me with it?

Regarding the Blenderproc library's replacement library

Hello author, is there a replacement library for the blenderproc library? I tried using a Python interpreter to call the rendeer_custom_templates.py file and found that the lines were different. Is there any library that can effectively replace the blenderproc library?
Error:
raise RuntimeError("\n###############\nThis script can only be run by "blenderproc run", instead of calling:"

FileNotFoundError: No such file: '/SAM-6D/SAM-6D/Pose_Estimation_Model/Data/Example/outputs/templates/rgb_0.png'

I have been following the instructions and encountered this error.

It seems the file path are not updated accordingly in the codebase.

The error screenshot is attached.

Custom Data, vis_pem.png not matching.

Hello, I'm struggling to adapt the sam-6d on my custom data.

ISM is work perfectly. But PEM is abnormal.

why this PEM precision is worst?

My 3D Model is normal.

Can you suggest some idea?
@JiehongLin

SAM-6D without intrinsic camera parameter

Is there any way we could run SAM-6D without intrinsic camera parameter?

prepare.sh will stuck

in the prepare.sh, after the conda env is created, it is not activated, which will cause the error