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PRBonn / OverlapNet

OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)

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Problem in the first version

ydragon719 opened this issue · comments

commented

I used Ubuntu18.04 to run it in terminl. But when i run the demo2_infer.py , i meet the following problem

2022-11-03 20:27:14.318140: I tensorflow/stream_executor/platform/default/dso_loader.cc:53] Successfully opened dynamic library libcudart.so.11.0
Traceback (most recent call last):
File "/home/ydragon/Downloads/OverlapNet-master/demo/demo2_infer.py", line 15, in
from infer import *
File "/home/ydragon/Downloads/OverlapNet-master/demo/../src/two_heads/infer.py", line 11, in
import keras
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/init.py", line 3, in
from . import utils
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/utils/init.py", line 25, in
from .multi_gpu_utils import multi_gpu_model
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/utils/multi_gpu_utils.py", line 7, in
from ..layers.merge import concatenate
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/layers/init.py", line 4, in
from ..engine import Layer
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/engine/init.py", line 3, in
from .topology import InputSpec
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/engine/topology.py", line 18, in
from .. import initializers
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/initializers/init.py", line 124, in
populate_deserializable_objects()
File "/home/ydragon/anaconda3/envs/tensorflow/lib/python3.9/site-packages/keras/initializers/init.py", line 82, in populate_deserializable_objects
generic_utils.populate_dict_with_module_objects(
AttributeError: module 'keras.utils.generic_utils' has no attribute 'populate_dict_with_module_objects'

Strangely ,I didn't enconter this problem in demo1_gen_data.py with"from utils import *" and " import keras". what's wrong with it in demo2_infer.py and infer.py? Could you help me solve it ? Thank you very much .

commented

Thanks [ydragon719] for you interest in our work !

It could be that this is a keras/tensorflow problem (but I'm not sure). I have found this:
keras-team/keras#14632

commented

Thanks you! I have finished it. But I have a problem for the ground truth of the loop . How do you get the ground truth of the loop close decetion in kitti? The code in the project should be to obtain the true value of the network.