feat and fix

README.md

@@ -32,7 +32,7 @@ The code is only tested on Ubuntu, we will soon test it on Windows system.
 Install [anaconda](https://www.anaconda.com/) or [miniconda](https://docs.conda.io/en/latest/miniconda.html). Supposing that the name `vtaco` is used for conda environment:
 
 ```shell
-conda create -y -n vtaco python=3.6.7
+conda create -y -n vtaco python=3.8
 conda activate vtaco
 ```
 
@@ -42,13 +42,6 @@ Then, install dependencies with `pip install`
 pip install -r requirements.txt
 ```
 
-Next, compile the extension modules.
-You can do this via
-
-```shell
-python setup.py build_ext --inplace
-```
-
 ## With Docker
 
 Install Docker under the [instructions](https://docs.docker.com/get-started/). Supposing hat the tag `vtaco-train` is used for docker image:

configs/VTacO/VTacO_YCB.yaml

@@ -63,7 +63,7 @@ model:
   encoder_t2d: True
   encoder_t2d_kwargs:
     pretrained: True
-    model_file: ../../tactile/test/model_best.pt # NOTE: replace this with actual path
+    model_file: ../../tactile/test/model.pt # NOTE: replace this with actual path
 
     encoder_img: UNet
     encoder_img_kwargs:
@@ -96,11 +96,11 @@ model:
   c_dim: 32
 
 training:
-  out_dir: out/VTacO/AKB_001
+  out_dir: out/VTacO/YCB
   opt: Adam
   lr: 0.0001
-  gpu: 0
-  batch_size: 4
+  gpu: 1
+  batch_size: 3
   model_selection_metric: iou
   model_selection_mode: maximize
   print_every: 100

configs/VTacOH/VTacOH_YCB.yaml

@@ -69,7 +69,7 @@ model:
   c_dim: 32
 
 training:
-  out_dir: out/VTacOH/AKB_001
+  out_dir: out/VTacOH/YCB
   opt: Adam
   lr: 0.0001
   gpu: 0

manifests/Dockerfile

@@ -1,21 +1,29 @@
-FROM nvidia/cuda:10.1-base-ubuntu18.04
+FROM nvidia/cuda:11.6.2-base-ubuntu20.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 
+# Optional: change mirror
+RUN sed -i 's/http:\/\/archive.ubuntu.com/https:\/\/mirror.sjtu.edu.cn/g' /etc/apt/sources.list
+
 RUN apt-get update && \
-    apt-get install -y python3.6 python3-pip git vim htop libsm6 libxext6 libxrender-dev && \
+    apt-get install -y python3.8 python3-pip git vim htop libsm6 libxext6 libxrender-dev libgl1-mesa-glx libglib2.0-dev && \
     update-alternatives --install /usr/bin/python python /usr/bin/python3 1 && \
     update-alternatives --install /usr/bin/pip pip /usr/bin/pip3 1 && \
     pip install --upgrade pip
 
 COPY requirements.txt /tmp/requirements.txt
+
+# Optional: change pip mirror
+RUN pip config set global.index-url https://mirror.sjtu.edu.cn/pypi/web/simple
+
+# Install required packages
 RUN pip install -r /tmp/requirements.txt && \
     rm /tmp/requirements.txt
 
 WORKDIR /opt/vtaco
 COPY . /opt/vtaco/
-RUN python setup.py build_ext --inplace
 
 ENV JUPYTER_ALLOW_ROOT=1
+ENV SHELL=/bin/bash
 
-CMD ["jupyter-lab",  "--ip=0.0.0.0",  "--ip=0.0.0.0", "--allow-root" ]
+CMD ["jupyter-lab",  "--ip=0.0.0.0", "--allow-root" ]

requirements.txt

@@ -1,33 +1,30 @@
-numpy==1.19.5
-cython==0.29.2
-trimesh==2.37.7
-
+numpy==1.23.5
+cython
+trimesh
 chumpy
 scipy
 scikit-image
 matplotlib
 pandas
-
 pillow
 imageio
-opencv-python==3.4.0.14
-
+opencv-python
 plyfile
 libigl
-
 rtree
 pybullet
 tqdm
 h5py
-pyyaml==3.13 # TODO: Need Upgrade
+pyyaml
+tensorboard
+tensorboardX
+jupyterlab
+pykdtree
 
---find-links=https://download.pytorch.org/whl/torch_stable.html
-torch==1.4.0+cu100
-torchvision==0.5.0+cu100
+--extra-index-url=https://download.pytorch.org/whl/cu116
+torch==1.13.0+cu116
+torchvision==0.14.0+cu116
 
---find-links=https://pytorch-geometric.com/whl/torch-1.4.0+cu100.html
-torch_scatter==2.0.4
-tensorboardX==1.4
+--find-links=https://data.pyg.org/whl/torch-1.13.0+cu116.html
+torch_scatter==2.0.9
 
-tensorboard
-jupyterlab