Train_overfitting.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import os\n",
    "import numpy as np\n",
    "import torch\n",
    "from torch import nn\n",
    "from torch.optim import Adam\n",
    "from torch.utils.data import DataLoader\n",
    "from torch.optim.lr_scheduler import ReduceLROnPlateau\n",
    "from scipy.spatial.transform import Rotation as R\n",
    "import time\n",
    "import pickle\n",
    "import argparse\n",
    "from utils import *\n",
    "\n",
    "from deepVCP import DeepVCP\n",
    "from CustomDataset2 import CustomDataset2\n",
    "from deepVCP_loss import deepVCP_loss\n",
    "import matplotlib\n",
    "matplotlib.use('Agg')\n",
    "from matplotlib import pyplot as plt\n",
    "from tqdm import tqdm"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "dataset = 'CustomDataset2'\n",
    "retrain_path = 'store'\n",
    "model_path = 'Optimise_final_model.pt'\n",
    "full_dataset = True"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Params: epochs: 20, batch: 1, lr: 0.001, alpha: 0.5\n",
      "\n",
      "device: cuda\n"
     ]
    }
   ],
   "source": [
    "num_epochs = 20\n",
    "batch_size = 1\n",
    "lr = 0.001\n",
    "# loss balancing factor \n",
    "alpha = 0.5\n",
    "\n",
    "print(f\"Params: epochs: {num_epochs}, batch: {batch_size}, lr: {lr}, alpha: {alpha}\\n\")\n",
    "\n",
    "# check if cuda is available\n",
    "device = 'cuda' if torch.cuda.is_available() else 'cpu'\n",
    "print(f\"device: {device}\")\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Processing bun000_v2.ply\n",
      "(40245, 3)\n",
      "Processing bun045_v2.ply\n",
      "(40091, 3)\n",
      "Processing bun090_v2.ply\n",
      "(30373, 3)\n",
      "Processing bun180_v2.ply\n",
      "(40247, 3)\n",
      "Processing bun270_v2.ply\n",
      "(31697, 3)\n",
      "Processing bun315_v2.ply\n",
      "(35334, 3)\n",
      "# Total clouds 6\n"
     ]
    }
   ],
   "source": [
    "root = 'meshes/'\n",
    "train_data= CustomDataset2(root=root)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Train dataset size:  30\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "DeepVCP(\n",
       "  (FE1): feat_extraction_layer(\n",
       "    (sa1): PointNetSetAbstraction(\n",
       "      (mlp_convs): ModuleList(\n",
       "        (0): Conv2d(3, 16, kernel_size=(1, 1), stride=(1, 1))\n",
       "        (1): Conv2d(16, 16, kernel_size=(1, 1), stride=(1, 1))\n",
       "        (2): Conv2d(16, 32, kernel_size=(1, 1), stride=(1, 1))\n",
       "      )\n",
       "      (mlp_bns): ModuleList(\n",
       "        (0-1): 2 x BatchNorm2d(16, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)\n",
       "        (2): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)\n",
       "      )\n",
       "    )\n",
       "    (sa2): PointNetSetAbstraction(\n",
       "      (mlp_convs): ModuleList(\n",
       "        (0): Conv2d(3, 32, kernel_size=(1, 1), stride=(1, 1))\n",
       "        (1): Conv2d(32, 64, kernel_size=(1, 1), stride=(1, 1))\n",
       "      )\n",
       "      (mlp_bns): ModuleList(\n",
       "        (0): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)\n",
       "        (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)\n",
       "      )\n",
       "    )\n",
       "    (sa3): PointNetSetAbstraction(\n",
       "      (mlp_convs): ModuleList(\n",
       "        (0): Conv2d(3, 64, kernel_size=(1, 1), stride=(1, 1))\n",
       "        (1): Conv2d(64, 32, kernel_size=(1, 1), stride=(1, 1))\n",
       "      )\n",
       "      (mlp_bns): ModuleList(\n",
       "        (0): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)\n",
       "        (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)\n",
       "      )\n",
       "    )\n",
       "  )\n",
       "  (WL): weighting_layer(\n",
       "    (fc1): Sequential(\n",
       "      (0): Linear(in_features=32, out_features=16, bias=True)\n",
       "      (1): ReLU()\n",
       "    )\n",
       "    (fc2): Sequential(\n",
       "      (0): Linear(in_features=16, out_features=8, bias=True)\n",
       "      (1): ReLU()\n",
       "    )\n",
       "    (fc3): Sequential(\n",
       "      (0): Linear(in_features=8, out_features=1, bias=True)\n",
       "      (1): Softplus(beta=1, threshold=20)\n",
       "    )\n",
       "  )\n",
       "  (DFE): feat_embedding_layer(\n",
       "    (fc1): Linear(in_features=35, out_features=32, bias=True)\n",
       "    (fc2): Linear(in_features=32, out_features=32, bias=True)\n",
       "    (fc3): Linear(in_features=32, out_features=32, bias=True)\n",
       "    (max_pool): MaxPool1d(kernel_size=32, stride=32, padding=0, dilation=1, ceil_mode=False)\n",
       "  )\n",
       "  (cpg): cpg(\n",
       "    (conv1): Conv3d(32, 16, kernel_size=(3, 3, 3), stride=(1, 1, 1), padding=(1, 1, 1))\n",
       "    (conv2): Conv3d(16, 4, kernel_size=(3, 3, 3), stride=(1, 1, 1), padding=(1, 1, 1))\n",
       "    (conv3): Conv3d(4, 1, kernel_size=(3, 3, 3), stride=(1, 1, 1), padding=(1, 1, 1))\n",
       "    (softmax): Softmax(dim=-1)\n",
       "  )\n",
       ")"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "train_loader = DataLoader(dataset=train_data, batch_size=batch_size, shuffle=False)\n",
    "\n",
    "num_train = len(train_data)\n",
    "print('Train dataset size: ', num_train)\n",
    "\n",
    "use_normal = dataset == \"modelnet\"\n",
    "\n",
    "# Initialize the model\n",
    "model = DeepVCP(use_normal=use_normal)\n",
    "if torch.cuda.device_count() > 1:\n",
    "    print(\"Let's use\", torch.cuda.device_count(), \"GPUs!\")\n",
    "    # dim = 0 [30, xxx] -> [10, ...], [10, ...], [10, ...] on 3 GPUs\n",
    "    model = nn.DataParallel(model)\n",
    "\n",
    "model.to(device)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "  0%|          | 0/20 [00:00<?, ?it/s]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "epoch #0\n",
      "feature extraction time:  11.372282028198242\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "c:\\Users\\bingwang\\.conda\\envs\\3D\\lib\\site-packages\\torch\\functional.py:504: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at C:\\cb\\pytorch_1000000000000\\work\\aten\\src\\ATen\\native\\TensorShape.cpp:3484.)\n",
      "  return _VF.meshgrid(tensors, **kwargs)  # type: ignore[attr-defined]\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3542,    9, 2699,  ..., 8625, 2389, 1841], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368777275085449\n",
      "Loss: 0.27215408631277443\n",
      "rotation error:  39.490341293767734\n",
      "translation error:  0.47490653265780325\n",
      "--- 22.766135931015015 seconds ---\n",
      "feature extraction time:  11.084944486618042\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03189349174499512\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5413, 2302, 8594,  ..., 7603, 9206, 8733], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063003540039062\n",
      "Loss: 0.2626272534105449\n",
      "rotation error:  43.64061223120855\n",
      "translation error:  0.46774100815943365\n",
      "--- 22.49175524711609 seconds ---\n",
      "feature extraction time:  10.884829998016357\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6146,  940, 9471,  ..., 4695, 1082, 9349], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066429615020752\n",
      "Loss: 0.2759550332284413\n",
      "rotation error:  61.92465120373675\n",
      "translation error:  0.4582608615651346\n",
      "--- 22.0607008934021 seconds ---\n",
      "feature extraction time:  11.026395082473755\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9482, 9166, 7223,  ...,  473,  321, 7460], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10963320732116699\n",
      "Loss: 0.2569048879682624\n",
      "rotation error:  39.559727392639346\n",
      "translation error:  0.44437037427734444\n",
      "--- 22.254968881607056 seconds ---\n",
      "feature extraction time:  10.735309362411499\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2288, 7560, 9310,  ..., 7140, 8768,  178], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368634223937988\n",
      "Loss: 0.25531831264536714\n",
      "rotation error:  52.748053213101166\n",
      "translation error:  0.42519703686705396\n",
      "--- 21.52956986427307 seconds ---\n",
      "Epoch: [0/20], Batch: 4, Loss: 0.25531831264536714\n",
      "feature extraction time:  10.777916193008423\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3546, 7750, 1207,  ..., 6592, 4586, 7227], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10763955116271973\n",
      "Loss: 0.2626025544007037\n",
      "rotation error:  42.50691647252061\n",
      "translation error:  0.40064267358737155\n",
      "--- 21.890711307525635 seconds ---\n",
      "feature extraction time:  10.836718797683716\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 631, 7154, 6896,  ..., 1437, 4588, 1056], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1008148193359375\n",
      "Loss: 0.21656447199963555\n",
      "rotation error:  49.064693448656016\n",
      "translation error:  0.3621600150119423\n",
      "--- 22.212841749191284 seconds ---\n",
      "feature extraction time:  10.989208459854126\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2524, 3530,   43,  ..., 5190, 8101, 2937], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036531925201416\n",
      "Loss: 0.17483902541840274\n",
      "rotation error:  28.193159189795733\n",
      "translation error:  0.30950967659043954\n",
      "--- 22.196840524673462 seconds ---\n",
      "feature extraction time:  10.56164002418518\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02990269660949707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7908, 9425, 6079,  ..., 6444, 4840, 5213], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268975257873535\n",
      "Loss: 0.1430070463635794\n",
      "rotation error:  37.96386368183013\n",
      "translation error:  0.2470380649383043\n",
      "--- 21.8133647441864 seconds ---\n",
      "feature extraction time:  10.953327894210815\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2951, 5150, 7450,  ..., 5494, 6665, 5795], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169316291809082\n",
      "Loss: 0.07406528233621232\n",
      "rotation error:  32.95919248951177\n",
      "translation error:  0.17622277537446593\n",
      "--- 22.049179792404175 seconds ---\n",
      "Epoch: [0/20], Batch: 9, Loss: 0.07406528233621232\n",
      "feature extraction time:  10.924426555633545\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3916, 1238, 9531,  ..., 3735, 2062, 7415], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860299110412598\n",
      "Loss: 0.04105310204861015\n",
      "rotation error:  55.652460879477445\n",
      "translation error:  0.10261454828962997\n",
      "--- 22.1060049533844 seconds ---\n",
      "feature extraction time:  10.965488195419312\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8140, 3366, 9335,  ..., 7459, 7225, 6314], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.13454985618591309\n",
      "Loss: 0.05715398043256162\n",
      "rotation error:  338.85674826238056\n",
      "translation error:  0.12733415562712808\n",
      "--- 22.17674994468689 seconds ---\n",
      "feature extraction time:  10.878588438034058\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 448, 2804, 6265,  ..., 7569, 8377,  163], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169387817382812\n",
      "Loss: 0.07417054561848246\n",
      "rotation error:  43.476317567253275\n",
      "translation error:  0.15886802509074635\n",
      "--- 22.16587805747986 seconds ---\n",
      "feature extraction time:  10.874648809432983\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5398, 5325,  261,  ..., 7641, 1270, 4578], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11678910255432129\n",
      "Loss: 0.09242938907047425\n",
      "rotation error:  52.50052957392073\n",
      "translation error:  0.16530366443078937\n",
      "--- 21.878997325897217 seconds ---\n",
      "feature extraction time:  10.886655807495117\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790999412536621\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7964, 1515, 9683,  ..., 1445, 3526, 6587], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866976737976074\n",
      "Loss: 0.07078995325142337\n",
      "rotation error:  43.083050308615\n",
      "translation error:  0.155448422851107\n",
      "--- 22.021618843078613 seconds ---\n",
      "Epoch: [0/20], Batch: 14, Loss: 0.07078995325142337\n",
      "feature extraction time:  10.944368600845337\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916648864746094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 502, 2712, 7105,  ..., 6805, 7998, 2336], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0817267894744873\n",
      "Loss: 0.09345670959039726\n",
      "rotation error:  54.16640944311415\n",
      "translation error:  0.12383503354883336\n",
      "--- 21.999366521835327 seconds ---\n",
      "feature extraction time:  10.778010129928589\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3918, 6792, 4520,  ..., 6947, 6903, 6128], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11098647117614746\n",
      "Loss: 0.039199910567100725\n",
      "rotation error:  72.85393916405401\n",
      "translation error:  0.08234946297515292\n",
      "--- 21.90234398841858 seconds ---\n",
      "feature extraction time:  10.810116052627563\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4736, 3982, 8843,  ..., 7461, 5081, 5191], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096336841583252\n",
      "Loss: 0.023604600978700783\n",
      "rotation error:  331.1552133007381\n",
      "translation error:  0.03789660948975467\n",
      "--- 21.978734254837036 seconds ---\n",
      "feature extraction time:  10.920449256896973\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009958744049072266\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4973, 6069, 9347,  ..., 8150, 8230, 5442], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464978218078613\n",
      "Loss: 0.015499640470489778\n",
      "rotation error:  51.39668526038758\n",
      "translation error:  0.03471424813283506\n",
      "--- 22.141120433807373 seconds ---\n",
      "feature extraction time:  10.81081485748291\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5787, 5948, 4711,  ..., 6101, 5448, 3181], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162686347961426\n",
      "Loss: 0.02550825338011013\n",
      "rotation error:  68.11767359977908\n",
      "translation error:  0.06411363369875521\n",
      "--- 22.11298656463623 seconds ---\n",
      "Epoch: [0/20], Batch: 19, Loss: 0.02550825338011013\n",
      "feature extraction time:  11.028228044509888\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02690887451171875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4974,  658, 9980,  ..., 5251, 8425, 7777], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166049003601074\n",
      "Loss: 0.04486942788566296\n",
      "rotation error:  42.34610846842664\n",
      "translation error:  0.08454668323340099\n",
      "--- 22.286659479141235 seconds ---\n",
      "feature extraction time:  10.879788875579834\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8805, 1674, 7527,  ..., 8996, 3032,  232], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.102081298828125\n",
      "Loss: 0.07152750158904529\n",
      "rotation error:  26.85485855077069\n",
      "translation error:  0.10086611726449808\n",
      "--- 22.117597818374634 seconds ---\n",
      "feature extraction time:  10.846699237823486\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3266, 9759, 1696,  ...,  836, 8429, 2208], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877065658569336\n",
      "Loss: 0.06310338718228917\n",
      "rotation error:  48.517069250371435\n",
      "translation error:  0.1016349599934684\n",
      "--- 21.80003809928894 seconds ---\n",
      "feature extraction time:  10.94864010810852\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7628, 7652, 1701,  ..., 5970, 5435, 3640], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08247137069702148\n",
      "Loss: 0.05040909335679802\n",
      "rotation error:  23.70176539286545\n",
      "translation error:  0.09278655843768342\n",
      "--- 22.214680194854736 seconds ---\n",
      "feature extraction time:  10.908734560012817\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2901, 4972, 9260,  ..., 3073, 2751, 3362], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1225898265838623\n",
      "Loss: 0.03656864733398253\n",
      "rotation error:  64.66325821622738\n",
      "translation error:  0.07143884695672623\n",
      "--- 21.935845375061035 seconds ---\n",
      "Epoch: [0/20], Batch: 24, Loss: 0.03656864733398253\n",
      "feature extraction time:  10.820946216583252\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4905, 2330, 1893,  ..., 6867, 6989,  437], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970069885253906\n",
      "Loss: 0.049685763000129\n",
      "rotation error:  299.3428593022569\n",
      "translation error:  0.05771841911374323\n",
      "--- 22.040404081344604 seconds ---\n",
      "feature extraction time:  10.99919319152832\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1549, 4216, 7824,  ..., 7384, 1550, 5724], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.030612426105590968\n",
      "rotation error:  320.6589502637371\n",
      "translation error:  0.04656158393098855\n",
      "--- 22.162838220596313 seconds ---\n",
      "feature extraction time:  10.997201204299927\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7450, 2921, 9936,  ..., 9471, 8908, 9387], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262273788452148\n",
      "Loss: 0.029133952144535465\n",
      "rotation error:  43.32442800097651\n",
      "translation error:  0.05855537455112098\n",
      "--- 22.20170783996582 seconds ---\n",
      "feature extraction time:  10.87289810180664\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9673, 2324, 3246,  ..., 2327, 2859, 9410], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.018520529731681806\n",
      "rotation error:  48.5032295844317\n",
      "translation error:  0.052347751254025826\n",
      "--- 22.047505140304565 seconds ---\n",
      "feature extraction time:  10.912484169006348\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691030502319336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "  5%|▌         | 1/20 [11:02<3:29:54, 662.88s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6352, 6760, 7495,  ..., 4518, 9850, 3374], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564661026000977\n",
      "Loss: 0.02839139061696496\n",
      "rotation error:  60.91031040204419\n",
      "translation error:  0.052281636713803245\n",
      "--- 21.997391939163208 seconds ---\n",
      "Epoch: [0/20], Batch: 29, Loss: 0.02839139061696496\n",
      "loss epoch [0.27215408631277443, 0.2626272534105449, 0.2759550332284413, 0.2569048879682624, 0.25531831264536714, 0.2626025544007037, 0.21656447199963555, 0.17483902541840274, 0.1430070463635794, 0.07406528233621232, 0.04105310204861015, 0.05715398043256162, 0.07417054561848246, 0.09242938907047425, 0.07078995325142337, 0.09345670959039726, 0.039199910567100725, 0.023604600978700783, 0.015499640470489778, 0.02550825338011013, 0.04486942788566296, 0.07152750158904529, 0.06310338718228917, 0.05040909335679802, 0.03656864733398253, 0.049685763000129, 0.030612426105590968, 0.029133952144535465, 0.018520529731681806, 0.02839139061696496]\n",
      "epoch #1\n",
      "feature extraction time:  10.893889665603638\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8659, 1854, 3195,  ..., 6122, 4138, 5063], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966659545898438\n",
      "Loss: 0.04568846820467607\n",
      "rotation error:  45.3817647542402\n",
      "translation error:  0.04599472137523716\n",
      "--- 22.115737438201904 seconds ---\n",
      "feature extraction time:  10.902517557144165\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029899120330810547\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1136, 5297, 1133,  ..., 1658,   67, 2714], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966659545898438\n",
      "Loss: 0.012761129136200616\n",
      "rotation error:  15.545077716085412\n",
      "translation error:  0.03545396579860879\n",
      "--- 22.213765382766724 seconds ---\n",
      "feature extraction time:  10.903516292572021\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027907371520996094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9798, 1795, 9829,  ..., 7725, 5639,  571], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.010121664667826272\n",
      "rotation error:  48.22572143344294\n",
      "translation error:  0.03381013415218438\n",
      "--- 22.07015037536621 seconds ---\n",
      "feature extraction time:  10.730093955993652\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7000, 8100, 9199,  ..., 5035, 7143, 1624], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09753727912902832\n",
      "Loss: 0.011571962497832801\n",
      "rotation error:  16.791582500614023\n",
      "translation error:  0.03275465329888053\n",
      "--- 21.87264323234558 seconds ---\n",
      "feature extraction time:  10.933646440505981\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916410446166992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1038,  212,  320,  ..., 8983, 7579, 6929], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970069885253906\n",
      "Loss: 0.026447941967756263\n",
      "rotation error:  43.15334515759214\n",
      "translation error:  0.0371432125310662\n",
      "--- 22.115230798721313 seconds ---\n",
      "Epoch: [1/20], Batch: 4, Loss: 0.026447941967756263\n",
      "feature extraction time:  10.899527072906494\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903722763061523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2465, 2887, 7428,  ..., 3335, 6241, 3261], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12159204483032227\n",
      "Loss: 0.026090647680229673\n",
      "rotation error:  66.164282048243\n",
      "translation error:  0.04976838774470889\n",
      "--- 21.998473405838013 seconds ---\n",
      "feature extraction time:  11.007291316986084\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9876, 6599, 6108,  ..., 7269, 5154,  145], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667634963989258\n",
      "Loss: 0.02186965756519354\n",
      "rotation error:  73.04062585686312\n",
      "translation error:  0.04896231653451633\n",
      "--- 22.334548234939575 seconds ---\n",
      "feature extraction time:  11.060987949371338\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913000106811523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1389, 8189, 1326,  ...,  718, 6974, 5916], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.02676050733153218\n",
      "rotation error:  17.66152361095806\n",
      "translation error:  0.060257726453311934\n",
      "--- 22.315497875213623 seconds ---\n",
      "feature extraction time:  10.949360132217407\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6217, 7284, 4467,  ..., 9626,  502, 6370], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564589500427246\n",
      "Loss: 0.03915574585317827\n",
      "rotation error:  45.81839563573698\n",
      "translation error:  0.04511585087149836\n",
      "--- 22.220996141433716 seconds ---\n",
      "feature extraction time:  10.68530797958374\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7328,  271,  221,  ..., 7353, 8049,   23], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.02810654745781182\n",
      "rotation error:  41.056451923176\n",
      "translation error:  0.04456123537314917\n",
      "--- 22.00642991065979 seconds ---\n",
      "Epoch: [1/20], Batch: 9, Loss: 0.02810654745781182\n",
      "feature extraction time:  11.086910009384155\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027905702590942383\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5820, 4222, 2074,  ...,  732, 7652, 1894], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262297630310059\n",
      "Loss: 0.015405710577113513\n",
      "rotation error:  45.65678234730668\n",
      "translation error:  0.02956077873891783\n",
      "--- 22.29930806159973 seconds ---\n",
      "feature extraction time:  10.976360082626343\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3949, 7095,   56,  ..., 1707, 4861, 1711], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767341613769531\n",
      "Loss: 0.010516170716419294\n",
      "rotation error:  27.212294641001588\n",
      "translation error:  0.0286287590669853\n",
      "--- 22.162933111190796 seconds ---\n",
      "feature extraction time:  11.03707242012024\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5489,  895, 2692,  ..., 5972, 5589, 4387], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1027531623840332\n",
      "Loss: 0.0346670137914504\n",
      "rotation error:  236.7217128973762\n",
      "translation error:  0.01875896849519491\n",
      "--- 22.33345317840576 seconds ---\n",
      "feature extraction time:  10.944382905960083\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2866, 5644, 3015,  ..., 1956, 5518, 3415], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10763978958129883\n",
      "Loss: 0.026853243332122623\n",
      "rotation error:  61.22771376565316\n",
      "translation error:  0.011710830027751576\n",
      "--- 22.090092182159424 seconds ---\n",
      "feature extraction time:  10.637409210205078\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5260, 3018, 2964,  ..., 3836, 7607, 6680], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1137385368347168\n",
      "Loss: 0.02967634155817417\n",
      "rotation error:  58.99002144511345\n",
      "translation error:  0.017088347174219202\n",
      "--- 21.643810033798218 seconds ---\n",
      "Epoch: [1/20], Batch: 14, Loss: 0.02967634155817417\n",
      "feature extraction time:  10.938402652740479\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027905941009521484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5785, 7179, 1546,  ..., 1245, 3202, 6305], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465073585510254\n",
      "Loss: 0.02037993821544082\n",
      "rotation error:  329.90645111003397\n",
      "translation error:  0.013078240013655632\n",
      "--- 21.992608070373535 seconds ---\n",
      "feature extraction time:  10.897539615631104\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1276,  801, 6424,  ..., 6972, 1890, 6487], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561322212219238\n",
      "Loss: 0.030125084030481416\n",
      "rotation error:  450.75222488887374\n",
      "translation error:  0.023557029986740256\n",
      "--- 21.818064212799072 seconds ---\n",
      "feature extraction time:  10.854684352874756\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5874, 7397, 3227,  ..., 5786, 4789, 1734], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10590291023254395\n",
      "Loss: 0.033549867511366016\n",
      "rotation error:  57.63360596553278\n",
      "translation error:  0.033411239131308265\n",
      "--- 21.759472608566284 seconds ---\n",
      "feature extraction time:  10.84878420829773\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 716, 7224,  604,  ..., 7757, 8535, 8702], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670926094055176\n",
      "Loss: 0.03441587532639362\n",
      "rotation error:  40.365963106166625\n",
      "translation error:  0.03843934487156598\n",
      "--- 22.097485303878784 seconds ---\n",
      "feature extraction time:  11.141992568969727\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2020, 4183, 8339,  ..., 5575, 3953, 1747], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08072996139526367\n",
      "Loss: 0.027837107744451257\n",
      "rotation error:  50.146688347094305\n",
      "translation error:  0.03620139644945356\n",
      "--- 22.076447010040283 seconds ---\n",
      "Epoch: [1/20], Batch: 19, Loss: 0.027837107744451257\n",
      "feature extraction time:  11.019133806228638\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691030502319336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7823, 8093, 7689,  ..., 4182, 3260, 8450], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11361980438232422\n",
      "Loss: 0.022633118488750593\n",
      "rotation error:  352.05776814579013\n",
      "translation error:  0.011326724488389964\n",
      "--- 22.05919623374939 seconds ---\n",
      "feature extraction time:  11.042282104492188\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6947, 5980, 1415,  ..., 7520, 4352, 2506], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867024421691895\n",
      "Loss: 0.01834075761946156\n",
      "rotation error:  48.46332281766452\n",
      "translation error:  0.016426127279507114\n",
      "--- 22.170172929763794 seconds ---\n",
      "feature extraction time:  10.915517807006836\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9565, 7988, 1072,  ..., 4962, 5071, 6758], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362004280090332\n",
      "Loss: 0.03634611324726036\n",
      "rotation error:  255.69542053968257\n",
      "translation error:  0.036690279942036025\n",
      "--- 22.214847087860107 seconds ---\n",
      "feature extraction time:  10.836746215820312\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8883, 7990, 2775,  ..., 5647, 1585, 8186], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970069885253906\n",
      "Loss: 0.012606727456156357\n",
      "rotation error:  253.42639014603134\n",
      "translation error:  0.037943829770403704\n",
      "--- 21.973600387573242 seconds ---\n",
      "feature extraction time:  11.040148496627808\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2209,  562, 1234,  ..., 9816, 4160, 3332], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564661026000977\n",
      "Loss: 0.02467629764933281\n",
      "rotation error:  59.05394484220469\n",
      "translation error:  0.036199846625158356\n",
      "--- 22.470272541046143 seconds ---\n",
      "Epoch: [1/20], Batch: 24, Loss: 0.02467629764933281\n",
      "feature extraction time:  10.936789751052856\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903961181640625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2355, 5230, 3735,  ..., 8900, 4845, 9827], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.024635690154645153\n",
      "rotation error:  277.7009928661081\n",
      "translation error:  0.045596901651636774\n",
      "--- 22.169212818145752 seconds ---\n",
      "feature extraction time:  11.021129846572876\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3611, 1443, 9929,  ..., 1060, 4292, 5681], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368729591369629\n",
      "Loss: 0.030987755904657934\n",
      "rotation error:  45.96784946438727\n",
      "translation error:  0.048108293972278234\n",
      "--- 22.25255584716797 seconds ---\n",
      "feature extraction time:  11.069965839385986\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1649, 2433, 9072,  ..., 6332, 8721, 3512], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066413879394531\n",
      "Loss: 0.028752928946505163\n",
      "rotation error:  54.23550075963223\n",
      "translation error:  0.03962596569052203\n",
      "--- 22.326308488845825 seconds ---\n",
      "feature extraction time:  10.950492143630981\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900550842285156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7031, 5261, 4439,  ..., 8902, 1866, 5396], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09416675567626953\n",
      "Loss: 0.016675860618729905\n",
      "rotation error:  317.8591991147716\n",
      "translation error:  0.03303686031091242\n",
      "--- 22.18141460418701 seconds ---\n",
      "feature extraction time:  10.846715450286865\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027905941009521484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 10%|█         | 2/20 [22:06<3:18:57, 663.18s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3020, 9258, 5486,  ..., 2582, 5427, 6564], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10842609405517578\n",
      "Loss: 0.018983140298821727\n",
      "rotation error:  44.24672326662384\n",
      "translation error:  0.029458435148865814\n",
      "--- 22.244384050369263 seconds ---\n",
      "Epoch: [1/20], Batch: 29, Loss: 0.018983140298821727\n",
      "loss epoch [0.04568846820467607, 0.012761129136200616, 0.010121664667826272, 0.011571962497832801, 0.026447941967756263, 0.026090647680229673, 0.02186965756519354, 0.02676050733153218, 0.03915574585317827, 0.02810654745781182, 0.015405710577113513, 0.010516170716419294, 0.0346670137914504, 0.026853243332122623, 0.02967634155817417, 0.02037993821544082, 0.030125084030481416, 0.033549867511366016, 0.03441587532639362, 0.027837107744451257, 0.022633118488750593, 0.01834075761946156, 0.03634611324726036, 0.012606727456156357, 0.02467629764933281, 0.024635690154645153, 0.030987755904657934, 0.028752928946505163, 0.016675860618729905, 0.018983140298821727]\n",
      "epoch #2\n",
      "feature extraction time:  10.845783948898315\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029899120330810547\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5072, 5969, 6620,  ..., 6338, 6525,  706], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166001319885254\n",
      "Loss: 0.02654265852315514\n",
      "rotation error:  74.03481259673906\n",
      "translation error:  0.040571526294650405\n",
      "--- 22.2039315700531 seconds ---\n",
      "feature extraction time:  11.040066242218018\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3784,    4, 3266,  ..., 2205, 3381, 3969], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11661124229431152\n",
      "Loss: 0.04564492406069811\n",
      "rotation error:  47.992103613607505\n",
      "translation error:  0.05181556329004109\n",
      "--- 22.16385269165039 seconds ---\n",
      "feature extraction time:  11.042380571365356\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8843, 9330, 8787,  ..., 5011,  179, 7070], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10108017921447754\n",
      "Loss: 0.036653326705654896\n",
      "rotation error:  275.67743738490753\n",
      "translation error:  0.06023970528755018\n",
      "--- 22.204694271087646 seconds ---\n",
      "feature extraction time:  10.818806409835815\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3587, 7876,   49,  ..., 6533, 9441, 3901], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568047523498535\n",
      "Loss: 0.02693318010646642\n",
      "rotation error:  26.50767692184212\n",
      "translation error:  0.05956148966206238\n",
      "--- 22.085153102874756 seconds ---\n",
      "feature extraction time:  10.977470397949219\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9678, 5497, 5490,  ..., 9138,  946, 7657], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.03370382818798216\n",
      "rotation error:  75.7831765284059\n",
      "translation error:  0.057331551161312236\n",
      "--- 22.266741514205933 seconds ---\n",
      "Epoch: [2/20], Batch: 4, Loss: 0.03370382818798216\n",
      "feature extraction time:  10.864690065383911\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1475, 9327, 2348,  ..., 4511, 1110, 7624], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166049003601074\n",
      "Loss: 0.029663301491645696\n",
      "rotation error:  185.28201643413928\n",
      "translation error:  0.034466124114012474\n",
      "--- 22.142001390457153 seconds ---\n",
      "feature extraction time:  10.863692283630371\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2981, 9155, 5021,  ..., 9039, 3778, 8607], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.038137891323431344\n",
      "rotation error:  70.66328405876507\n",
      "translation error:  0.011948035011934921\n",
      "--- 22.045323133468628 seconds ---\n",
      "feature extraction time:  10.737331628799438\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913238525390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 136, 8013, 2424,  ..., 7230, 4010, 2912], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568047523498535\n",
      "Loss: 0.02296433344886259\n",
      "rotation error:  73.55749810271485\n",
      "translation error:  0.00996899139708457\n",
      "--- 21.939893007278442 seconds ---\n",
      "feature extraction time:  10.896584033966064\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6617, 6707, 8076,  ..., 9733, 6484, 9039], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.045562064355537446\n",
      "rotation error:  100.53930890231524\n",
      "translation error:  0.029199996646502933\n",
      "--- 22.078360319137573 seconds ---\n",
      "feature extraction time:  10.938560724258423\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 117, 2987, 8211,  ..., 2794, 5643, 6617], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767436981201172\n",
      "Loss: 0.04029032078102505\n",
      "rotation error:  33.8504850839816\n",
      "translation error:  0.045923401264989845\n",
      "--- 22.117201566696167 seconds ---\n",
      "Epoch: [2/20], Batch: 9, Loss: 0.04029032078102505\n",
      "feature extraction time:  10.906628370285034\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03089594841003418\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7953, 8435, 9411,  ..., 1200, 2305, 8586], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.029167343392451653\n",
      "rotation error:  42.76817037895593\n",
      "translation error:  0.04132397799569766\n",
      "--- 22.166041135787964 seconds ---\n",
      "feature extraction time:  10.821987390518188\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6872, 1182, 2637,  ..., 7691, 8803, 4109], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036536693572998\n",
      "Loss: 0.017023859978664534\n",
      "rotation error:  78.21574727292294\n",
      "translation error:  0.03370862705714231\n",
      "--- 21.830588340759277 seconds ---\n",
      "feature extraction time:  10.853749752044678\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029903173446655273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3030, 1294, 3939,  ..., 4508, 9545, 8165], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863685607910156\n",
      "Loss: 0.024965274848978213\n",
      "rotation error:  66.29227628112429\n",
      "translation error:  0.020660837903915482\n",
      "--- 22.11625909805298 seconds ---\n",
      "feature extraction time:  11.018176555633545\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2946, 3817,   36,  ..., 5146, 8192, 4588], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1146705150604248\n",
      "Loss: 0.014393721395655241\n",
      "rotation error:  28.25946328096105\n",
      "translation error:  0.02628572601327765\n",
      "--- 22.091286182403564 seconds ---\n",
      "feature extraction time:  11.036117315292358\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2719, 5121, 1309,  ..., 7573, 2758, 7237], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1255807876586914\n",
      "Loss: 0.015556347940332196\n",
      "rotation error:  27.506283010650545\n",
      "translation error:  0.029088350734265203\n",
      "--- 22.321401596069336 seconds ---\n",
      "Epoch: [2/20], Batch: 14, Loss: 0.015556347940332196\n",
      "feature extraction time:  11.02914309501648\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02690911293029785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1113, 7758, 1014,  ..., 9900, 1544, 4398], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.03502335742532366\n",
      "rotation error:  44.63812831557833\n",
      "translation error:  0.02933647542563973\n",
      "--- 22.286706924438477 seconds ---\n",
      "feature extraction time:  11.038283586502075\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027907371520996094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1782, 2961, 9456,  ..., 7873, 1532, 3763], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866952896118164\n",
      "Loss: 0.023208722085231948\n",
      "rotation error:  39.93808441016015\n",
      "translation error:  0.02083158085371104\n",
      "--- 22.333535194396973 seconds ---\n",
      "feature extraction time:  11.001230001449585\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8918, 4535, 7079,  ..., 1804, 8461, 4061], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966731071472168\n",
      "Loss: 0.0212899967720644\n",
      "rotation error:  118.27310719800629\n",
      "translation error:  0.01624332771103593\n",
      "--- 22.279528617858887 seconds ---\n",
      "feature extraction time:  10.88760495185852\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903961181640625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8554, 8870, 3917,  ..., 1747,    7,  575], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671092987060547\n",
      "Loss: 0.02771889507081896\n",
      "rotation error:  55.497106727307695\n",
      "translation error:  0.007628199547366742\n",
      "--- 22.168248891830444 seconds ---\n",
      "feature extraction time:  11.051060676574707\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028906822204589844\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8990,  472, 3309,  ..., 6403, 7629, 7665], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568071365356445\n",
      "Loss: 0.016112979741246362\n",
      "rotation error:  26.30189304079532\n",
      "translation error:  0.009721229609048893\n",
      "--- 22.270724296569824 seconds ---\n",
      "Epoch: [2/20], Batch: 19, Loss: 0.016112979741246362\n",
      "feature extraction time:  11.00222134590149\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 911, 5667, 2063,  ..., 3175, 1547, 5779], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09062528610229492\n",
      "Loss: 0.026807941075987343\n",
      "rotation error:  40.76387218770168\n",
      "translation error:  0.02222975338097468\n",
      "--- 22.01248788833618 seconds ---\n",
      "feature extraction time:  10.918500423431396\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 121,  684,  471,  ..., 5853, 9444, 9888], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465073585510254\n",
      "Loss: 0.02025634581992875\n",
      "rotation error:  337.7810992596741\n",
      "translation error:  0.03863611092681052\n",
      "--- 22.187829971313477 seconds ---\n",
      "feature extraction time:  10.85092544555664\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8271, 4376, 4769,  ..., 8341,  604, 3364], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162662506103516\n",
      "Loss: 0.009273274564515363\n",
      "rotation error:  318.16809432340085\n",
      "translation error:  0.035828554613863285\n",
      "--- 22.192041158676147 seconds ---\n",
      "feature extraction time:  11.0381019115448\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1504, 8201, 2593,  ..., 7705, 1247,  165], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866976737976074\n",
      "Loss: 0.027105507148171046\n",
      "rotation error:  50.70855200242141\n",
      "translation error:  0.02918351482170992\n",
      "--- 22.385250329971313 seconds ---\n",
      "feature extraction time:  11.06600832939148\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3673, 8842, 2705,  ..., 4106, 1831,   15], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10999846458435059\n",
      "Loss: 0.042486082906728555\n",
      "rotation error:  77.88731894832351\n",
      "translation error:  0.03190323199553162\n",
      "--- 22.233056783676147 seconds ---\n",
      "Epoch: [2/20], Batch: 24, Loss: 0.042486082906728555\n",
      "feature extraction time:  10.797107458114624\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5073, 4843, 9080,  ..., 4736,  259, 7965], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564708709716797\n",
      "Loss: 0.032883941683185765\n",
      "rotation error:  335.13669181697486\n",
      "translation error:  0.04665305205973422\n",
      "--- 22.03753423690796 seconds ---\n",
      "feature extraction time:  10.99044418334961\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7392, 1085, 3282,  ..., 4020, 1649, 3497], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066342353820801\n",
      "Loss: 0.03886082783852433\n",
      "rotation error:  337.59922554922315\n",
      "translation error:  0.04047889752213253\n",
      "--- 22.2199068069458 seconds ---\n",
      "feature extraction time:  10.975310802459717\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2171, 4794, 7681,  ..., 1512, 9118, 8846], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066342353820801\n",
      "Loss: 0.03882859097113296\n",
      "rotation error:  36.74948804773743\n",
      "translation error:  0.033335057563809015\n",
      "--- 22.13049054145813 seconds ---\n",
      "feature extraction time:  10.977516889572144\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4670, 8586, 3355,  ..., 6441, 1108,  556], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069681167602539\n",
      "Loss: 0.026744785600066115\n",
      "rotation error:  347.7460546927791\n",
      "translation error:  0.025941110092821656\n",
      "--- 21.90598464012146 seconds ---\n",
      "feature extraction time:  11.07896614074707\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02690863609313965\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 15%|█▌        | 3/20 [33:11<3:08:03, 663.73s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2763, 4595, 8770,  ..., 8875,  562,  271], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09343242645263672\n",
      "Loss: 0.021511585208157057\n",
      "rotation error:  60.10495370988108\n",
      "translation error:  0.0199224900767446\n",
      "--- 22.303500175476074 seconds ---\n",
      "Epoch: [2/20], Batch: 29, Loss: 0.021511585208157057\n",
      "loss epoch [0.02654265852315514, 0.04564492406069811, 0.036653326705654896, 0.02693318010646642, 0.03370382818798216, 0.029663301491645696, 0.038137891323431344, 0.02296433344886259, 0.045562064355537446, 0.04029032078102505, 0.029167343392451653, 0.017023859978664534, 0.024965274848978213, 0.014393721395655241, 0.015556347940332196, 0.03502335742532366, 0.023208722085231948, 0.0212899967720644, 0.02771889507081896, 0.016112979741246362, 0.026807941075987343, 0.02025634581992875, 0.009273274564515363, 0.027105507148171046, 0.042486082906728555, 0.032883941683185765, 0.03886082783852433, 0.03882859097113296, 0.026744785600066115, 0.021511585208157057]\n",
      "epoch #3\n",
      "feature extraction time:  11.0052490234375\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02789449691772461\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2574, 2792, 2670,  ..., 1628, 4332, 1035], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10973095893859863\n",
      "Loss: 0.018228114065411007\n",
      "rotation error:  43.448237954900286\n",
      "translation error:  0.02773005711089095\n",
      "--- 22.303709506988525 seconds ---\n",
      "feature extraction time:  10.944648265838623\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029899120330810547\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5300, 7320, 9637,  ..., 7704, 4134, 2885], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667706489562988\n",
      "Loss: 0.030171642659002254\n",
      "rotation error:  54.6011762545702\n",
      "translation error:  0.02703941775487817\n",
      "--- 22.11131501197815 seconds ---\n",
      "feature extraction time:  11.066999435424805\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027905941009521484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9829, 3074,  656,  ..., 4450, 7640, 2756], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09189867973327637\n",
      "Loss: 0.031736207925020556\n",
      "rotation error:  127.55892111093695\n",
      "translation error:  0.027094824556753907\n",
      "--- 22.35958766937256 seconds ---\n",
      "feature extraction time:  11.022188186645508\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2012, 3445, 7896,  ...,  418, 7134, 1830], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877072811126709\n",
      "Loss: 0.030159834338511424\n",
      "rotation error:  311.2663311301915\n",
      "translation error:  0.017481250009527407\n",
      "--- 22.296494722366333 seconds ---\n",
      "feature extraction time:  10.944409370422363\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9618, 2778, 2562,  ..., 4641, 6476, 8737], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066413879394531\n",
      "Loss: 0.010727888925925891\n",
      "rotation error:  17.603996726305436\n",
      "translation error:  0.014969351868402163\n",
      "--- 22.03736400604248 seconds ---\n",
      "Epoch: [3/20], Batch: 4, Loss: 0.010727888925925891\n",
      "feature extraction time:  10.799891948699951\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027905941009521484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  66, 5339, 2884,  ..., 3005, 5362, 5153], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970117568969727\n",
      "Loss: 0.048606673431997593\n",
      "rotation error:  47.963572477158166\n",
      "translation error:  0.0272517055951575\n",
      "--- 21.907755136489868 seconds ---\n",
      "feature extraction time:  10.84086012840271\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6714, 1840,  521,  ..., 2591,  153, 6814], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.030683719543462887\n",
      "rotation error:  35.683681262281496\n",
      "translation error:  0.03997018963756444\n",
      "--- 22.035433292388916 seconds ---\n",
      "feature extraction time:  10.989259719848633\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909589767456055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6591, 9297, 1039,  ..., 5372, 1092, 2422], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09696388244628906\n",
      "Loss: 0.0373445420149885\n",
      "rotation error:  77.47092455682504\n",
      "translation error:  0.04183410116917486\n",
      "--- 22.099647998809814 seconds ---\n",
      "feature extraction time:  11.032116413116455\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6392, 9921, 7263,  ..., 5368, 1991, 6640], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966731071472168\n",
      "Loss: 0.02326113207447663\n",
      "rotation error:  26.728129855772266\n",
      "translation error:  0.04056701753765064\n",
      "--- 22.15293574333191 seconds ---\n",
      "feature extraction time:  11.00022268295288\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1629,  516, 8516,  ..., 6945, 2752, 1799], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10524463653564453\n",
      "Loss: 0.03416133748860343\n",
      "rotation error:  345.4498537254467\n",
      "translation error:  0.03040736822701094\n",
      "--- 22.281171798706055 seconds ---\n",
      "Epoch: [3/20], Batch: 9, Loss: 0.03416133748860343\n",
      "feature extraction time:  10.981285810470581\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902530670166016\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2999, 1445, 4517,  ..., 4991, 3615, 3378], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867024421691895\n",
      "Loss: 0.030813135441424472\n",
      "rotation error:  52.51619336628885\n",
      "translation error:  0.03753450063748828\n",
      "--- 22.056391716003418 seconds ---\n",
      "feature extraction time:  10.963346004486084\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691054344177246\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6863, 3360, 2269,  ..., 9431, 3131, 7693], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.024867373605169354\n",
      "rotation error:  28.86086418452835\n",
      "translation error:  0.05196093978861937\n",
      "--- 22.100112438201904 seconds ---\n",
      "feature extraction time:  10.807865381240845\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4888,  987, 7818,  ..., 5455, 1865, 7034], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468364715576172\n",
      "Loss: 0.026650875400917394\n",
      "rotation error:  289.54375391092816\n",
      "translation error:  0.06828555820910587\n",
      "--- 22.085161685943604 seconds ---\n",
      "feature extraction time:  10.999359130859375\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6688, 4071, 1748,  ..., 4501, 5867, 7882], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461567878723145\n",
      "Loss: 0.03226621337205414\n",
      "rotation error:  21.943969309569827\n",
      "translation error:  0.07084450109313378\n",
      "--- 22.321505546569824 seconds ---\n",
      "feature extraction time:  10.923478603363037\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9327, 5297, 7318,  ..., 3603, 8977, 5863], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362099647521973\n",
      "Loss: 0.04696063649407213\n",
      "rotation error:  117.51137799975164\n",
      "translation error:  0.06951024484186782\n",
      "--- 22.192842960357666 seconds ---\n",
      "Epoch: [3/20], Batch: 14, Loss: 0.04696063649407213\n",
      "feature extraction time:  10.750240087509155\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903722763061523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9882,  750, 2359,  ..., 6295, 6711, 1718], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265731811523438\n",
      "Loss: 0.03705485639180757\n",
      "rotation error:  48.740407235285744\n",
      "translation error:  0.06087357295548253\n",
      "--- 22.078362941741943 seconds ---\n",
      "feature extraction time:  11.0341055393219\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4245, 2662, 2005,  ..., 1866, 1865, 1220], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461710929870605\n",
      "Loss: 0.026291717183869395\n",
      "rotation error:  50.697359077051004\n",
      "translation error:  0.052132499855080956\n",
      "--- 22.21771264076233 seconds ---\n",
      "feature extraction time:  11.066995859146118\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909589767456055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5007, 9497, 1896,  ..., 5806,  109, 7188], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265707969665527\n",
      "Loss: 0.037553580196473126\n",
      "rotation error:  48.96987893581242\n",
      "translation error:  0.05174552327522271\n",
      "--- 22.36621594429016 seconds ---\n",
      "feature extraction time:  10.870652198791504\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  11, 8007, 9275,  ..., 5565, 5385, 7217], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767270088195801\n",
      "Loss: 0.016004682531298955\n",
      "rotation error:  35.27994339772209\n",
      "translation error:  0.0525904929636672\n",
      "--- 22.048278093338013 seconds ---\n",
      "feature extraction time:  11.020152568817139\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1505, 8652, 8398,  ..., 8255,  504, 6903], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465002059936523\n",
      "Loss: 0.06110417711379097\n",
      "rotation error:  78.7958805801413\n",
      "translation error:  0.07443003484909308\n",
      "--- 22.291465759277344 seconds ---\n",
      "Epoch: [3/20], Batch: 19, Loss: 0.06110417711379097\n",
      "feature extraction time:  10.977295637130737\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028904199600219727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7975, 4186, 2336,  ..., 1373, 6369, 7973], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1317138671875\n",
      "Loss: 0.043364560475787885\n",
      "rotation error:  19.98030350045069\n",
      "translation error:  0.07580145564655769\n",
      "--- 22.311527252197266 seconds ---\n",
      "feature extraction time:  10.876710653305054\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5203, 2882,  861,  ..., 6138,  256, 6044], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.03942458154706982\n",
      "rotation error:  30.434463879023927\n",
      "translation error:  0.08655965763985218\n",
      "--- 22.007619619369507 seconds ---\n",
      "feature extraction time:  10.868738412857056\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8613, 7999, 5013,  ..., 4829, 3507,  998], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063027381896973\n",
      "Loss: 0.041244778661932976\n",
      "rotation error:  61.800445050887895\n",
      "translation error:  0.08075153074373231\n",
      "--- 22.06928825378418 seconds ---\n",
      "feature extraction time:  11.029122591018677\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913238525390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5979, 6257, 3394,  ..., 7398, 8228, 7711], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764098167419434\n",
      "Loss: 0.03770245563489415\n",
      "rotation error:  20.716717728909703\n",
      "translation error:  0.07534010766922981\n",
      "--- 22.223777770996094 seconds ---\n",
      "feature extraction time:  10.99337887763977\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2769, 4096, 3431,  ..., 3924, 6442, 5435], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966826438903809\n",
      "Loss: 0.02272782598784029\n",
      "rotation error:  42.336174454617456\n",
      "translation error:  0.05419056483061886\n",
      "--- 22.14808177947998 seconds ---\n",
      "Epoch: [3/20], Batch: 24, Loss: 0.02272782598784029\n",
      "feature extraction time:  10.941416025161743\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909351348876953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9672, 4813, 5456,  ..., 1493, 3544, 1033], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.022113398774553036\n",
      "rotation error:  63.492744741616555\n",
      "translation error:  0.05289920248858859\n",
      "--- 22.188955307006836 seconds ---\n",
      "feature extraction time:  10.978295803070068\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7892, 5412, 4434,  ..., 4557, 6897, 5742], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09886360168457031\n",
      "Loss: 0.03518119138993369\n",
      "rotation error:  60.313557856476244\n",
      "translation error:  0.036309394638983424\n",
      "--- 22.23188281059265 seconds ---\n",
      "feature extraction time:  11.000275135040283\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913238525390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1776,  120, 3305,  ..., 7940, 8458, 5379], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265707969665527\n",
      "Loss: 0.023477807022223955\n",
      "rotation error:  64.83107406499929\n",
      "translation error:  0.04134038614272841\n",
      "--- 22.34851360321045 seconds ---\n",
      "feature extraction time:  10.898555994033813\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6856,  854, 8723,  ..., 4625,  446, 5317], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12358713150024414\n",
      "Loss: 0.041118264251992255\n",
      "rotation error:  301.392554445676\n",
      "translation error:  0.04537263729471437\n",
      "--- 22.154425144195557 seconds ---\n",
      "feature extraction time:  10.956526517868042\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 20%|██        | 4/20 [44:17<2:57:08, 664.28s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2580, 1495, 5776,  ..., 2884, 8300, 9513], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.046805853644904034\n",
      "rotation error:  83.58505841110261\n",
      "translation error:  0.06853679921168554\n",
      "--- 22.231043338775635 seconds ---\n",
      "Epoch: [3/20], Batch: 29, Loss: 0.046805853644904034\n",
      "loss epoch [0.018228114065411007, 0.030171642659002254, 0.031736207925020556, 0.030159834338511424, 0.010727888925925891, 0.048606673431997593, 0.030683719543462887, 0.0373445420149885, 0.02326113207447663, 0.03416133748860343, 0.030813135441424472, 0.024867373605169354, 0.026650875400917394, 0.03226621337205414, 0.04696063649407213, 0.03705485639180757, 0.026291717183869395, 0.037553580196473126, 0.016004682531298955, 0.06110417711379097, 0.043364560475787885, 0.03942458154706982, 0.041244778661932976, 0.03770245563489415, 0.02272782598784029, 0.022113398774553036, 0.03518119138993369, 0.023477807022223955, 0.041118264251992255, 0.046805853644904034]\n",
      "epoch #4\n",
      "feature extraction time:  10.922558069229126\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3411, 8479, 9445,  ..., 5042, 7645, 3765], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09734535217285156\n",
      "Loss: 0.022912565374625257\n",
      "rotation error:  54.7699574723783\n",
      "translation error:  0.07063000301660648\n",
      "--- 22.096827507019043 seconds ---\n",
      "feature extraction time:  10.576780080795288\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5425, 5470, 7214,  ..., 7530,  234, 8389], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1006629467010498\n",
      "Loss: 0.04216810847030138\n",
      "rotation error:  52.06810826082933\n",
      "translation error:  0.06710136103946876\n",
      "--- 21.628894090652466 seconds ---\n",
      "feature extraction time:  10.799885988235474\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7483, 8935, 6560,  ..., 9337, 9837, 4363], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767341613769531\n",
      "Loss: 0.048538164967243676\n",
      "rotation error:  158.5595102216061\n",
      "translation error:  0.06704153303658268\n",
      "--- 22.084152221679688 seconds ---\n",
      "feature extraction time:  10.940414428710938\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691054344177246\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9478,  635, 9596,  ..., 9354, 6854, 5932], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11586523056030273\n",
      "Loss: 0.04317492793461487\n",
      "rotation error:  44.83254716943334\n",
      "translation error:  0.04959308681293716\n",
      "--- 22.09216022491455 seconds ---\n",
      "feature extraction time:  10.834768295288086\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  47, 4435, 1720,  ..., 2653, 7180, 6469], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860322952270508\n",
      "Loss: 0.03720310424953843\n",
      "rotation error:  284.73958195512967\n",
      "translation error:  0.03071149499443004\n",
      "--- 22.045358180999756 seconds ---\n",
      "Epoch: [4/20], Batch: 4, Loss: 0.03720310424953843\n",
      "feature extraction time:  10.918488502502441\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 424, 6681, 2287,  ..., 7973, 6416, 4017], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265588760375977\n",
      "Loss: 0.047509523572013886\n",
      "rotation error:  74.26034364620779\n",
      "translation error:  0.018494229982935324\n",
      "--- 22.065310955047607 seconds ---\n",
      "feature extraction time:  11.102945566177368\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9370, 6562, 9437,  ..., 1786, 3013,  437], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12657618522644043\n",
      "Loss: 0.022402830213255658\n",
      "rotation error:  305.30540473941636\n",
      "translation error:  0.017322928124461155\n",
      "--- 22.447389602661133 seconds ---\n",
      "feature extraction time:  10.976346969604492\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030897140502929688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5857,  152, 7108,  ..., 2093, 2090, 8624], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09474396705627441\n",
      "Loss: 0.0263974238865943\n",
      "rotation error:  220.61720440321224\n",
      "translation error:  0.016719158013999473\n",
      "--- 22.29707145690918 seconds ---\n",
      "feature extraction time:  10.974498510360718\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027905702590942383\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4543,  322, 2006,  ..., 2854, 1037, 3750], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867000579833984\n",
      "Loss: 0.02342327588466903\n",
      "rotation error:  36.37368265699005\n",
      "translation error:  0.019511714127456135\n",
      "--- 22.04486393928528 seconds ---\n",
      "feature extraction time:  10.790057897567749\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5402, 4478, 4093,  ..., 3354, 2104, 1970], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10814046859741211\n",
      "Loss: 0.017220872984195428\n",
      "rotation error:  22.52211691845503\n",
      "translation error:  0.031077973236573825\n",
      "--- 22.023287057876587 seconds ---\n",
      "Epoch: [4/20], Batch: 9, Loss: 0.017220872984195428\n",
      "feature extraction time:  10.794902563095093\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3530,  529, 6178,  ..., 4389, 5465, 9436], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.031493337728302276\n",
      "rotation error:  262.70321910391976\n",
      "translation error:  0.03191661873622147\n",
      "--- 22.0295090675354 seconds ---\n",
      "feature extraction time:  10.851712942123413\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903722763061523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  20, 6069, 6992,  ..., 1365, 4330, 4829], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.13255691528320312\n",
      "Loss: 0.031823562835224035\n",
      "rotation error:  48.70176049844846\n",
      "translation error:  0.030765754932662214\n",
      "--- 22.18242383003235 seconds ---\n",
      "feature extraction time:  10.955490112304688\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6641, 3163, 8515,  ..., 9648, 8331, 3222], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10087275505065918\n",
      "Loss: 0.028812729826852485\n",
      "rotation error:  54.60215459305958\n",
      "translation error:  0.02256884101703859\n",
      "--- 22.08943271636963 seconds ---\n",
      "feature extraction time:  10.824136972427368\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3812, 5594, 8387,  ..., 3662, 8890, 4786], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368681907653809\n",
      "Loss: 0.005992591523040964\n",
      "rotation error:  14.765756698080716\n",
      "translation error:  0.00791588471027114\n",
      "--- 21.976287603378296 seconds ---\n",
      "feature extraction time:  10.90870189666748\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903722763061523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4973, 9518, 3269,  ..., 4952, 1090, 2323], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059688568115234\n",
      "Loss: 0.01778544849657839\n",
      "rotation error:  38.81947756036698\n",
      "translation error:  0.011436007881701654\n",
      "--- 22.26073980331421 seconds ---\n",
      "Epoch: [4/20], Batch: 14, Loss: 0.01778544849657839\n",
      "feature extraction time:  10.987289190292358\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027909517288208008\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8040,  507, 7051,  ..., 8638, 4557, 8839], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166072845458984\n",
      "Loss: 0.03221168961382725\n",
      "rotation error:  61.119047937643565\n",
      "translation error:  0.029112122317166485\n",
      "--- 22.14251160621643 seconds ---\n",
      "feature extraction time:  11.024133920669556\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913000106811523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9933, 4117, 3949,  ..., 2726, 4966, 4135], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.03422216102711061\n",
      "rotation error:  56.068357222288775\n",
      "translation error:  0.04660087396018887\n",
      "--- 22.307152032852173 seconds ---\n",
      "feature extraction time:  10.872639656066895\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913238525390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1793, 9927,  711,  ..., 8707, 5511, 5565], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867024421691895\n",
      "Loss: 0.04273596058000617\n",
      "rotation error:  339.2670648275552\n",
      "translation error:  0.04935986065409161\n",
      "--- 22.138365030288696 seconds ---\n",
      "feature extraction time:  10.940412998199463\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025912761688232422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7890, 9425, 5499,  ..., 6399,  342, 4047], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10022497177124023\n",
      "Loss: 0.03225986781187413\n",
      "rotation error:  34.08952437232676\n",
      "translation error:  0.050409743054990616\n",
      "--- 22.131513833999634 seconds ---\n",
      "feature extraction time:  11.01222038269043\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027907133102416992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4230, 7040, 8470,  ...,  460, 8478, 4504], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966731071472168\n",
      "Loss: 0.0241495007357344\n",
      "rotation error:  331.1323984804804\n",
      "translation error:  0.04485311746328922\n",
      "--- 22.033829927444458 seconds ---\n",
      "Epoch: [4/20], Batch: 19, Loss: 0.0241495007357344\n",
      "feature extraction time:  10.90254020690918\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2404, 1478, 2097,  ..., 5580, 2001, 1186], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265660285949707\n",
      "Loss: 0.015526691550392806\n",
      "rotation error:  34.45229766707817\n",
      "translation error:  0.02560750638812322\n",
      "--- 22.165277242660522 seconds ---\n",
      "feature extraction time:  11.093120574951172\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3353, 7686,  741,  ..., 3367, 1167, 5852], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867024421691895\n",
      "Loss: 0.006929248667308157\n",
      "rotation error:  288.575896013056\n",
      "translation error:  0.009156758717454597\n",
      "--- 22.273730516433716 seconds ---\n",
      "feature extraction time:  11.141740083694458\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9658,  358,   42,  ...,  697, 9226, 3038], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.0550488213491143\n",
      "rotation error:  56.8815576767674\n",
      "translation error:  0.02991770081592652\n",
      "--- 22.452916622161865 seconds ---\n",
      "feature extraction time:  10.927650690078735\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902530670166016\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7694, 5510, 1680,  ...,  629,  403, 7692], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036539077758789\n",
      "Loss: 0.023625947185997136\n",
      "rotation error:  69.85348988226603\n",
      "translation error:  0.05508536524621534\n",
      "--- 22.15339469909668 seconds ---\n",
      "feature extraction time:  10.86668348312378\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691030502319336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3009, 5939, 3670,  ..., 1585, 3143, 5476], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09806013107299805\n",
      "Loss: 0.032566942920160755\n",
      "rotation error:  60.74697369834859\n",
      "translation error:  0.06143446798077051\n",
      "--- 22.177239894866943 seconds ---\n",
      "Epoch: [4/20], Batch: 24, Loss: 0.032566942920160755\n",
      "feature extraction time:  10.940614938735962\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6333, 7343, 7065,  ..., 8077, 7458, 5991], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863637924194336\n",
      "Loss: 0.014611869226528563\n",
      "rotation error:  35.672252340845226\n",
      "translation error:  0.04395066729064198\n",
      "--- 22.091532707214355 seconds ---\n",
      "feature extraction time:  11.053153038024902\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7795, 8374, 4144,  ...,  505, 1317, 3911], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11003351211547852\n",
      "Loss: 0.032827459435559626\n",
      "rotation error:  47.74724229352233\n",
      "translation error:  0.052058516675953986\n",
      "--- 22.39809560775757 seconds ---\n",
      "feature extraction time:  10.97728943824768\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027907133102416992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7718, 2820, 1967,  ..., 9618,  942, 1300], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036531925201416\n",
      "Loss: 0.04345155918162924\n",
      "rotation error:  47.16231564455681\n",
      "translation error:  0.04764171671284542\n",
      "--- 22.046414613723755 seconds ---\n",
      "feature extraction time:  11.055177927017212\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3401, 8089, 6674,  ..., 5250, 6938,  623], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.028842882555297836\n",
      "rotation error:  61.62313737886854\n",
      "translation error:  0.04459023944553099\n",
      "--- 22.15206742286682 seconds ---\n",
      "feature extraction time:  10.94561767578125\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 25%|██▌       | 5/20 [55:21<2:46:05, 664.35s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3107, 4247, 6572,  ..., 1594, 8091, 8085], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.027161428095823288\n",
      "rotation error:  83.16497048694895\n",
      "translation error:  0.03628706317093349\n",
      "--- 22.19798731803894 seconds ---\n",
      "Epoch: [4/20], Batch: 29, Loss: 0.027161428095823288\n",
      "loss epoch [0.022912565374625257, 0.04216810847030138, 0.048538164967243676, 0.04317492793461487, 0.03720310424953843, 0.047509523572013886, 0.022402830213255658, 0.0263974238865943, 0.02342327588466903, 0.017220872984195428, 0.031493337728302276, 0.031823562835224035, 0.028812729826852485, 0.005992591523040964, 0.01778544849657839, 0.03221168961382725, 0.03422216102711061, 0.04273596058000617, 0.03225986781187413, 0.0241495007357344, 0.015526691550392806, 0.006929248667308157, 0.0550488213491143, 0.023625947185997136, 0.032566942920160755, 0.014611869226528563, 0.032827459435559626, 0.04345155918162924, 0.028842882555297836, 0.027161428095823288]\n",
      "epoch #5\n",
      "feature extraction time:  10.974422216415405\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 104, 1696, 6101,  ..., 7585, 2239, 2667], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670973777770996\n",
      "Loss: 0.016551064594102664\n",
      "rotation error:  28.323576862959822\n",
      "translation error:  0.03183999576143656\n",
      "--- 22.30552864074707 seconds ---\n",
      "feature extraction time:  10.868652582168579\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  43, 3477, 1529,  ..., 1048, 9864, 8873], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066390037536621\n",
      "Loss: 0.029262527099916977\n",
      "rotation error:  293.92163550739247\n",
      "translation error:  0.04264896701467172\n",
      "--- 22.120025873184204 seconds ---\n",
      "feature extraction time:  10.841742515563965\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027907133102416992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 501, 3778, 7496,  ..., 8697, 1176,  752], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667730331420898\n",
      "Loss: 0.013474282210104115\n",
      "rotation error:  30.32972205469345\n",
      "translation error:  0.04105570425387244\n",
      "--- 22.040746927261353 seconds ---\n",
      "feature extraction time:  10.926459312438965\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910781860351562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9775, 4918, 4448,  ..., 7266, 5572, 6335], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08606195449829102\n",
      "Loss: 0.014755370934066465\n",
      "rotation error:  31.48767920657059\n",
      "translation error:  0.028736065839162946\n",
      "--- 22.085460662841797 seconds ---\n",
      "feature extraction time:  10.889933824539185\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8559, 5534, 2319,  ..., 8509, 3083, 6467], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568095207214355\n",
      "Loss: 0.0401690488132905\n",
      "rotation error:  264.3020019136618\n",
      "translation error:  0.017571149345500227\n",
      "--- 22.198288679122925 seconds ---\n",
      "Epoch: [5/20], Batch: 4, Loss: 0.0401690488132905\n",
      "feature extraction time:  11.00619387626648\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6961, 6147, 2689,  ..., 1375, 7975, 5007], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667754173278809\n",
      "Loss: 0.025627749463091577\n",
      "rotation error:  64.23740160708167\n",
      "translation error:  0.015818997213864237\n",
      "--- 22.203744411468506 seconds ---\n",
      "feature extraction time:  10.849685668945312\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 507, 4038, 9458,  ..., 4743, 3117, 4817], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970022201538086\n",
      "Loss: 0.00660638142830616\n",
      "rotation error:  20.44629795362377\n",
      "translation error:  0.0209912632026573\n",
      "--- 22.157822608947754 seconds ---\n",
      "feature extraction time:  11.00732970237732\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028904199600219727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3414, 1419, 6215,  ..., 8436, 1608, 7119], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.01534575612037923\n",
      "rotation error:  88.68064989706784\n",
      "translation error:  0.022379406375565826\n",
      "--- 22.25493860244751 seconds ---\n",
      "feature extraction time:  10.846681356430054\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902530670166016\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 632, 8465, 5512,  ..., 8647, 5513,  916], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767293930053711\n",
      "Loss: 0.017562893106404336\n",
      "rotation error:  19.469350259252813\n",
      "translation error:  0.03409431755108792\n",
      "--- 22.11993432044983 seconds ---\n",
      "feature extraction time:  10.931463718414307\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890610694885254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5951, 9253, 5542,  ...,  687, 6653, 8880], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866952896118164\n",
      "Loss: 0.01221965074878594\n",
      "rotation error:  35.9547295925804\n",
      "translation error:  0.03459082534271152\n",
      "--- 22.202393054962158 seconds ---\n",
      "Epoch: [5/20], Batch: 9, Loss: 0.01221965074878594\n",
      "feature extraction time:  11.051343202590942\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913000106811523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9034,  810, 7494,  ..., 9377, 4308, 3798], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09982061386108398\n",
      "Loss: 0.03777050808373795\n",
      "rotation error:  80.46908533330635\n",
      "translation error:  0.03493940896809169\n",
      "--- 22.250966787338257 seconds ---\n",
      "feature extraction time:  10.962331771850586\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909589767456055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2598, 5327, 5222,  ..., 4330, 9815, 5193], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667611122131348\n",
      "Loss: 0.0334409587733846\n",
      "rotation error:  52.097635740932304\n",
      "translation error:  0.031498152474310336\n",
      "--- 22.317899703979492 seconds ---\n",
      "feature extraction time:  10.904637098312378\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8858, 4399, 2707,  ..., 6567, 1146, 2441], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11216545104980469\n",
      "Loss: 0.02402741208645752\n",
      "rotation error:  32.02112104466088\n",
      "translation error:  0.02889857957505914\n",
      "--- 22.120936155319214 seconds ---\n",
      "feature extraction time:  10.925583124160767\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903961181640625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009958744049072266\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8387, 4175, 7653,  ..., 7865, 6651, 6681], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561298370361328\n",
      "Loss: 0.018807574537828047\n",
      "rotation error:  38.0261713258947\n",
      "translation error:  0.016123430863109075\n",
      "--- 22.12010097503662 seconds ---\n",
      "feature extraction time:  11.027076482772827\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5631, 1902, 6809,  ..., 6804, 2313, 5891], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863614082336426\n",
      "Loss: 0.01969650334845582\n",
      "rotation error:  266.24741227271585\n",
      "translation error:  0.010382749109101941\n",
      "--- 22.381590604782104 seconds ---\n",
      "Epoch: [5/20], Batch: 14, Loss: 0.01969650334845582\n",
      "feature extraction time:  11.020161628723145\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4896, 4399, 3505,  ...,  567, 6523, 3658], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368610382080078\n",
      "Loss: 0.021721895412690415\n",
      "rotation error:  48.750589564622665\n",
      "translation error:  0.02115211315499149\n",
      "--- 22.332348585128784 seconds ---\n",
      "feature extraction time:  10.997178554534912\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5960, 8410, 3458,  ..., 7191, 7080, 7015], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670997619628906\n",
      "Loss: 0.010238196017937214\n",
      "rotation error:  333.1983067728894\n",
      "translation error:  0.021267364120675925\n",
      "--- 22.03222966194153 seconds ---\n",
      "feature extraction time:  11.011130571365356\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902769088745117\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5174, 4777, 6976,  ..., 9634, 7723, 9936], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066431999206543\n",
      "Loss: 0.011423572176876399\n",
      "rotation error:  28.64301856631213\n",
      "translation error:  0.014211903807166517\n",
      "--- 22.268165111541748 seconds ---\n",
      "feature extraction time:  10.73815131187439\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5413, 3967, 6627,  ..., 4156,  825, 4045], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567975997924805\n",
      "Loss: 0.01354623054057005\n",
      "rotation error:  49.05544843945838\n",
      "translation error:  0.012565378311753785\n",
      "--- 22.0383460521698 seconds ---\n",
      "feature extraction time:  11.012430667877197\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6604, 1234, 8697,  ..., 7939, 1250, 6871], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10664248466491699\n",
      "Loss: 0.03239548649568526\n",
      "rotation error:  37.43484142623096\n",
      "translation error:  0.027526472879200764\n",
      "--- 22.16646957397461 seconds ---\n",
      "Epoch: [5/20], Batch: 19, Loss: 0.03239548649568526\n",
      "feature extraction time:  10.654604196548462\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1202, 4662, 1104,  ..., 6435, 7306, 6996], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.019811697794560056\n",
      "rotation error:  39.58230775840665\n",
      "translation error:  0.029694159754448883\n",
      "--- 21.804647207260132 seconds ---\n",
      "feature extraction time:  11.002639055252075\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6702, 3291, 3212,  ..., 1315, 7749, 7452], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10763978958129883\n",
      "Loss: 0.04900234497184769\n",
      "rotation error:  54.38979819598077\n",
      "translation error:  0.033514256156202425\n",
      "--- 22.073529481887817 seconds ---\n",
      "feature extraction time:  10.96255373954773\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902769088745117\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9324, 7984, 4482,  ..., 9929, 8097, 5479], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069681167602539\n",
      "Loss: 0.01569044911160912\n",
      "rotation error:  41.54053594067971\n",
      "translation error:  0.03213068205031863\n",
      "--- 22.195952892303467 seconds ---\n",
      "feature extraction time:  10.970279693603516\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7537, 8276, 5661,  ...,  234, 3805, 9904], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.034055041854739246\n",
      "rotation error:  90.2341237598827\n",
      "translation error:  0.036964400990311945\n",
      "--- 22.08108949661255 seconds ---\n",
      "feature extraction time:  10.891542911529541\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902530670166016\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5124, 8167, 3934,  ..., 2741, 4006, 5524], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066439151763916\n",
      "Loss: 0.025624332075855037\n",
      "rotation error:  17.31928626706726\n",
      "translation error:  0.035312179824619115\n",
      "--- 22.158963203430176 seconds ---\n",
      "Epoch: [5/20], Batch: 24, Loss: 0.025624332075855037\n",
      "feature extraction time:  10.664303541183472\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8830, 4852, 2747,  ..., 9931, 4779, 3049], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.053646621141038034\n",
      "rotation error:  321.84333644116174\n",
      "translation error:  0.03725408512184623\n",
      "--- 21.73624300956726 seconds ---\n",
      "feature extraction time:  10.863636255264282\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790546417236328\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3782, 4722,  710,  ...,  895, 2971, 6336], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0906975269317627\n",
      "Loss: 0.02983132046079691\n",
      "rotation error:  104.72429733100668\n",
      "translation error:  0.036261849457814056\n",
      "--- 22.02427864074707 seconds ---\n",
      "feature extraction time:  10.69579029083252\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913000106811523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6628, 8341,  210,  ..., 9646, 7271, 9425], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10785031318664551\n",
      "Loss: 0.02090004804335584\n",
      "rotation error:  18.653833676411963\n",
      "translation error:  0.03676342588935733\n",
      "--- 21.057289600372314 seconds ---\n",
      "feature extraction time:  10.384241819381714\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3974, 9725, 6495,  ..., 5164, 2951, 8133], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.015908042705594594\n",
      "rotation error:  34.55106529411776\n",
      "translation error:  0.04077276419964485\n",
      "--- 20.80664587020874 seconds ---\n",
      "feature extraction time:  10.919538021087646\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027905941009521484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 30%|███       | 6/20 [1:06:23<2:34:51, 663.67s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9382, 2026, 9026,  ..., 3534, 2795, 2611], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10590934753417969\n",
      "Loss: 0.02551967347995016\n",
      "rotation error:  40.991686978156\n",
      "translation error:  0.05114561085361554\n",
      "--- 22.115290880203247 seconds ---\n",
      "Epoch: [5/20], Batch: 29, Loss: 0.02551967347995016\n",
      "loss epoch [0.016551064594102664, 0.029262527099916977, 0.013474282210104115, 0.014755370934066465, 0.0401690488132905, 0.025627749463091577, 0.00660638142830616, 0.01534575612037923, 0.017562893106404336, 0.01221965074878594, 0.03777050808373795, 0.0334409587733846, 0.02402741208645752, 0.018807574537828047, 0.01969650334845582, 0.021721895412690415, 0.010238196017937214, 0.011423572176876399, 0.01354623054057005, 0.03239548649568526, 0.019811697794560056, 0.04900234497184769, 0.01569044911160912, 0.034055041854739246, 0.025624332075855037, 0.053646621141038034, 0.02983132046079691, 0.02090004804335584, 0.015908042705594594, 0.02551967347995016]\n",
      "epoch #6\n",
      "feature extraction time:  10.715133428573608\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7812,  660, 5018,  ..., 8004, 2732,  802], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265612602233887\n",
      "Loss: 0.018481762991572337\n",
      "rotation error:  27.620611730395808\n",
      "translation error:  0.05533500960963421\n",
      "--- 21.748053550720215 seconds ---\n",
      "feature extraction time:  10.823770523071289\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4219, 9500, 4507,  ...,  814, 1886,  221], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08626270294189453\n",
      "Loss: 0.029403251734749038\n",
      "rotation error:  57.46286491134053\n",
      "translation error:  0.05406999238579811\n",
      "--- 21.7138409614563 seconds ---\n",
      "feature extraction time:  10.746030569076538\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4249, 5501, 7590,  ..., 7835, 3871, 2072], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.02668080494926179\n",
      "rotation error:  30.841556544045094\n",
      "translation error:  0.06593257402433872\n",
      "--- 21.853926181793213 seconds ---\n",
      "feature extraction time:  10.828755855560303\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691030502319336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3078, 4157, 2584,  ..., 1753, 7275, 9980], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11062955856323242\n",
      "Loss: 0.021437457918876385\n",
      "rotation error:  342.79404237426655\n",
      "translation error:  0.06498123223706455\n",
      "--- 22.03339457511902 seconds ---\n",
      "feature extraction time:  10.929557800292969\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3752, 9173, 1618,  ..., 9027, 1223, 9522], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10963320732116699\n",
      "Loss: 0.022173516052468565\n",
      "rotation error:  252.70258631690132\n",
      "translation error:  0.06358642235238728\n",
      "--- 22.144030332565308 seconds ---\n",
      "Epoch: [6/20], Batch: 4, Loss: 0.022173516052468565\n",
      "feature extraction time:  10.944492101669312\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 282, 3526, 7572,  ..., 7400, 5824, 6984], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464954376220703\n",
      "Loss: 0.023982988633392946\n",
      "rotation error:  27.101131829260872\n",
      "translation error:  0.053869215944387816\n",
      "--- 22.277671098709106 seconds ---\n",
      "feature extraction time:  10.807062864303589\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7736, 4886,  685,  ..., 6677, 9813, 8659], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09872603416442871\n",
      "Loss: 0.038497207780507414\n",
      "rotation error:  44.40557904494946\n",
      "translation error:  0.053826156744792956\n",
      "--- 22.008577823638916 seconds ---\n",
      "feature extraction time:  11.025105237960815\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6152, 6459, 5030,  ..., 8610,  302,   10], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.03497944453703604\n",
      "rotation error:  18.926857116931973\n",
      "translation error:  0.04869240289232656\n",
      "--- 22.198756217956543 seconds ---\n",
      "feature extraction time:  10.770085334777832\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4878, 4499, 4212,  ..., 4557, 3172, 8414], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461663246154785\n",
      "Loss: 0.02694949706400479\n",
      "rotation error:  13.709216523304097\n",
      "translation error:  0.044276167989612224\n",
      "--- 22.00464105606079 seconds ---\n",
      "feature extraction time:  10.868831157684326\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691030502319336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4552, 6711, 2564,  ..., 8666, 9755, 9647], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059640884399414\n",
      "Loss: 0.023181425034008045\n",
      "rotation error:  319.79902654352315\n",
      "translation error:  0.03574328089178932\n",
      "--- 21.946967840194702 seconds ---\n",
      "Epoch: [6/20], Batch: 9, Loss: 0.023181425034008045\n",
      "feature extraction time:  11.06115460395813\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1905, 9956, 9255,  ..., 5690, 6905,  323], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1255800724029541\n",
      "Loss: 0.013872861711411532\n",
      "rotation error:  23.107574468011098\n",
      "translation error:  0.04072657837675087\n",
      "--- 22.29057478904724 seconds ---\n",
      "feature extraction time:  11.008239269256592\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6242, 3854, 5612,  ..., 3551, 4577, 5501], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561322212219238\n",
      "Loss: 0.032270079783455294\n",
      "rotation error:  49.55894580860663\n",
      "translation error:  0.04385844948908222\n",
      "--- 22.32935404777527 seconds ---\n",
      "feature extraction time:  10.961396932601929\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3211, 6209, 7805,  ..., 1304, 5934, 4692], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.01809445177200423\n",
      "rotation error:  35.89999536623589\n",
      "translation error:  0.04010549004433011\n",
      "--- 22.12902545928955 seconds ---\n",
      "feature extraction time:  10.924835205078125\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026912450790405273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6614,  538, 6756,  ..., 6957,  896, 9326], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970022201538086\n",
      "Loss: 0.02072605295623024\n",
      "rotation error:  325.22494363188196\n",
      "translation error:  0.04091563508139463\n",
      "--- 22.083873510360718 seconds ---\n",
      "feature extraction time:  10.962507247924805\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6784, 4951, 4248,  ..., 8331, 5170, 4800], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12657666206359863\n",
      "Loss: 0.0345285516119358\n",
      "rotation error:  36.71652124591448\n",
      "translation error:  0.04535407899625505\n",
      "--- 22.243083000183105 seconds ---\n",
      "Epoch: [6/20], Batch: 14, Loss: 0.0345285516119358\n",
      "feature extraction time:  10.996201038360596\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026912450790405273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1116, 1919, 8505,  ..., 6944, 7512, 9555], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265636444091797\n",
      "Loss: 0.02992951547103484\n",
      "rotation error:  39.332810765226675\n",
      "translation error:  0.0536129497022908\n",
      "--- 22.24012589454651 seconds ---\n",
      "feature extraction time:  10.741055488586426\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5850, 4185, 8642,  ..., 1296, 3501, 3749], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966683387756348\n",
      "Loss: 0.01668899349072593\n",
      "rotation error:  52.61350745870257\n",
      "translation error:  0.05092034202536837\n",
      "--- 21.836008548736572 seconds ---\n",
      "feature extraction time:  11.035145044326782\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9308, 5992, 2869,  ..., 7287, 2222, 5990], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.03408743586571068\n",
      "rotation error:  80.96110612407837\n",
      "translation error:  0.04721297035958891\n",
      "--- 22.37060308456421 seconds ---\n",
      "feature extraction time:  10.98039698600769\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2629,   30, 2797,  ..., 8220, 6107, 8789], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269022941589355\n",
      "Loss: 0.06286512291848423\n",
      "rotation error:  127.10203735986344\n",
      "translation error:  0.03774147082054195\n",
      "--- 22.26584219932556 seconds ---\n",
      "feature extraction time:  10.985244274139404\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4383, 4322,   45,  ..., 5925, 1322, 6873], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09011006355285645\n",
      "Loss: 0.023349355791534982\n",
      "rotation error:  259.71881522696134\n",
      "translation error:  0.03406118898958132\n",
      "--- 22.243155241012573 seconds ---\n",
      "Epoch: [6/20], Batch: 19, Loss: 0.023349355791534982\n",
      "feature extraction time:  10.951723337173462\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02794623374938965\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3272, 9458, 1349,  ..., 8406, 9907, 9301], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966659545898438\n",
      "Loss: 0.017581008663846577\n",
      "rotation error:  42.91709356395961\n",
      "translation error:  0.039294215405449424\n",
      "--- 22.191920280456543 seconds ---\n",
      "feature extraction time:  10.998369693756104\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3325, 2776, 9610,  ..., 6658,  435, 8817], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877065658569336\n",
      "Loss: 0.014513686374567708\n",
      "rotation error:  22.12007793463809\n",
      "translation error:  0.03441882484973494\n",
      "--- 22.24879288673401 seconds ---\n",
      "feature extraction time:  10.787006378173828\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8000, 6708, 9663,  ..., 2160, 4637, 8676], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564661026000977\n",
      "Loss: 0.020164464619499875\n",
      "rotation error:  36.056251759038446\n",
      "translation error:  0.01545663307783709\n",
      "--- 22.09250235557556 seconds ---\n",
      "feature extraction time:  11.002328157424927\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1477, 5207, 6733,  ..., 8574, 1784,  377], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066431999206543\n",
      "Loss: 0.04307139107880989\n",
      "rotation error:  465.0991305809003\n",
      "translation error:  0.004826807660220862\n",
      "--- 21.857072353363037 seconds ---\n",
      "feature extraction time:  10.984302759170532\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1611, 1523, 5480,  ..., 6052,  734, 8850], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036536693572998\n",
      "Loss: 0.027879821227558436\n",
      "rotation error:  67.32571346465862\n",
      "translation error:  0.018050679423156243\n",
      "--- 21.87262511253357 seconds ---\n",
      "Epoch: [6/20], Batch: 24, Loss: 0.027879821227558436\n",
      "feature extraction time:  10.706680297851562\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9419, 1543, 7536,  ..., 2698, 4064,  825], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11964178085327148\n",
      "Loss: 0.024837087861970347\n",
      "rotation error:  336.31326132897544\n",
      "translation error:  0.019605043747581912\n",
      "--- 19.988624572753906 seconds ---\n",
      "feature extraction time:  8.873409748077393\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7874,  749, 3850,  ..., 7486, 9425, 4038], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268999099731445\n",
      "Loss: 0.014410417420311418\n",
      "rotation error:  232.22836756812063\n",
      "translation error:  0.02510238750815714\n",
      "--- 19.721147298812866 seconds ---\n",
      "feature extraction time:  10.893661737442017\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902769088745117\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1210, 9710, 4069,  ..., 2182, 2426, 1903], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860322952270508\n",
      "Loss: 0.01964289765374822\n",
      "rotation error:  248.47365054271617\n",
      "translation error:  0.02393789029373998\n",
      "--- 21.706483125686646 seconds ---\n",
      "feature extraction time:  10.796875476837158\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691054344177246\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6978, 7089,  969,  ..., 2447, 7942,  568], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.04159155039697766\n",
      "rotation error:  46.18666143584845\n",
      "translation error:  0.038328203060222096\n",
      "--- 22.03602433204651 seconds ---\n",
      "feature extraction time:  11.007399559020996\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989935874938965\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 35%|███▌      | 7/20 [1:17:22<2:23:26, 662.06s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5466, 8145, 5411,  ..., 3575, 4264, 7993], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262345314025879\n",
      "Loss: 0.02539453261826253\n",
      "rotation error:  53.85850481491015\n",
      "translation error:  0.04499097045790326\n",
      "--- 22.315564393997192 seconds ---\n",
      "Epoch: [6/20], Batch: 29, Loss: 0.02539453261826253\n",
      "loss epoch [0.018481762991572337, 0.029403251734749038, 0.02668080494926179, 0.021437457918876385, 0.022173516052468565, 0.023982988633392946, 0.038497207780507414, 0.03497944453703604, 0.02694949706400479, 0.023181425034008045, 0.013872861711411532, 0.032270079783455294, 0.01809445177200423, 0.02072605295623024, 0.0345285516119358, 0.02992951547103484, 0.01668899349072593, 0.03408743586571068, 0.06286512291848423, 0.023349355791534982, 0.017581008663846577, 0.014513686374567708, 0.020164464619499875, 0.04307139107880989, 0.027879821227558436, 0.024837087861970347, 0.014410417420311418, 0.01964289765374822, 0.04159155039697766, 0.02539453261826253]\n",
      "epoch #7\n",
      "feature extraction time:  10.815857172012329\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1489, 2370, 9949,  ..., 6883, 1636, 7458], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036539077758789\n",
      "Loss: 0.015865225391482714\n",
      "rotation error:  8.560739649045756\n",
      "translation error:  0.035053614097872436\n",
      "--- 22.080519914627075 seconds ---\n",
      "feature extraction time:  10.981261968612671\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2660, 8022,   91,  ..., 9999,  486, 8068], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468293190002441\n",
      "Loss: 0.027143922440359184\n",
      "rotation error:  260.1857808966474\n",
      "translation error:  0.022783124460023587\n",
      "--- 22.249635457992554 seconds ---\n",
      "feature extraction time:  11.043099641799927\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029903650283813477\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8718, 8064, 4702,  ..., 3259, 7028, 3624], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10004377365112305\n",
      "Loss: 0.02125928582017081\n",
      "rotation error:  272.4468875568666\n",
      "translation error:  0.018966279411230427\n",
      "--- 22.072337865829468 seconds ---\n",
      "feature extraction time:  10.854684591293335\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3051, 6714, 9467,  ..., 7133, 2222, 4231], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.030272850258086566\n",
      "rotation error:  51.951554260765185\n",
      "translation error:  0.020926147370849787\n",
      "--- 21.860140800476074 seconds ---\n",
      "feature extraction time:  10.60751223564148\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026912212371826172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 365, 1158, 9088,  ..., 9121, 7593, 7707], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162662506103516\n",
      "Loss: 0.046003485215154655\n",
      "rotation error:  234.72382152395153\n",
      "translation error:  0.0460877153764556\n",
      "--- 21.55349850654602 seconds ---\n",
      "Epoch: [7/20], Batch: 4, Loss: 0.046003485215154655\n",
      "feature extraction time:  10.757127523422241\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027907371520996094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9612, 9093, 4644,  ..., 6895, 1293, 3828], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10952186584472656\n",
      "Loss: 0.03956243317897536\n",
      "rotation error:  9.858287665039365\n",
      "translation error:  0.05882697844988726\n",
      "--- 21.977699756622314 seconds ---\n",
      "feature extraction time:  10.821795463562012\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9661, 3114, 2820,  ..., 4572, 4783, 1857], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.0247374770127945\n",
      "rotation error:  50.875789787792584\n",
      "translation error:  0.06326303529352686\n",
      "--- 21.61275625228882 seconds ---\n",
      "feature extraction time:  10.907615423202515\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 734, 3925, 9646,  ..., 4823,  259, 3402], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564661026000977\n",
      "Loss: 0.03751825091949685\n",
      "rotation error:  54.34601758485693\n",
      "translation error:  0.04509305329305807\n",
      "--- 22.14601731300354 seconds ---\n",
      "feature extraction time:  10.726115703582764\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9316, 1720, 9174,  ..., 5890, 7652, 6471], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036531925201416\n",
      "Loss: 0.01832304753244276\n",
      "rotation error:  11.133630508028698\n",
      "translation error:  0.040248588179011884\n",
      "--- 22.014244318008423 seconds ---\n",
      "feature extraction time:  11.066975116729736\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6696, 1925, 6000,  ..., 9672, 9950, 9515], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670997619628906\n",
      "Loss: 0.040982058446555406\n",
      "rotation error:  77.95037326112636\n",
      "translation error:  0.020642719948987847\n",
      "--- 22.463846683502197 seconds ---\n",
      "Epoch: [7/20], Batch: 9, Loss: 0.040982058446555406\n",
      "feature extraction time:  11.219706535339355\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03189349174499512\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9495, 2299, 9152,  ..., 4337, 9702, 8637], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764002799987793\n",
      "Loss: 0.016751763415856193\n",
      "rotation error:  66.00337736047402\n",
      "translation error:  0.02659003488140873\n",
      "--- 22.60362148284912 seconds ---\n",
      "feature extraction time:  11.042400598526001\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7707, 5450, 5798,  ..., 5323, 5340,  473], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12657499313354492\n",
      "Loss: 0.04384129477908059\n",
      "rotation error:  63.901933460101695\n",
      "translation error:  0.054343319435906035\n",
      "--- 22.4812273979187 seconds ---\n",
      "feature extraction time:  10.733092069625854\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 862, 6250, 1240,  ..., 2741, 2326, 6242], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11959958076477051\n",
      "Loss: 0.03911145906534963\n",
      "rotation error:  16.29488999080526\n",
      "translation error:  0.07021074298584848\n",
      "--- 21.859867572784424 seconds ---\n",
      "feature extraction time:  10.912492036819458\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1571, 3784, 8835,  ..., 2093, 4387, 8318], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564637184143066\n",
      "Loss: 0.04109561201183298\n",
      "rotation error:  31.69281238844628\n",
      "translation error:  0.0702273165822655\n",
      "--- 21.650567531585693 seconds ---\n",
      "feature extraction time:  10.976279735565186\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9369, 9440, 4779,  ..., 3752, 5526, 8207], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11062979698181152\n",
      "Loss: 0.044533609433311375\n",
      "rotation error:  31.727643084071197\n",
      "translation error:  0.06893528003856506\n",
      "--- 22.286444425582886 seconds ---\n",
      "Epoch: [7/20], Batch: 14, Loss: 0.044533609433311375\n",
      "feature extraction time:  10.702441215515137\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909589767456055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4185, 9957, 3621,  ..., 1710, 2056, 1334], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.039824131223966816\n",
      "rotation error:  54.17159893586727\n",
      "translation error:  0.07143874332679617\n",
      "--- 21.643344163894653 seconds ---\n",
      "feature extraction time:  10.770087242126465\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896902084350586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7720,  680, 8429,  ..., 2661, 5198, 5509], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.02546987038415545\n",
      "rotation error:  277.91261003718137\n",
      "translation error:  0.06384289801807146\n",
      "--- 22.017849683761597 seconds ---\n",
      "feature extraction time:  10.569887161254883\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02990269660949707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4646, 9340, 7130,  ...,  484, 5980,  249], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.025171039471312728\n",
      "rotation error:  81.51698454252033\n",
      "translation error:  0.05336549654562228\n",
      "--- 21.588780164718628 seconds ---\n",
      "feature extraction time:  10.508946895599365\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4522, 5063, 5483,  ..., 4555, 9219, 4297], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368658065795898\n",
      "Loss: 0.016431851071232892\n",
      "rotation error:  26.573547783137993\n",
      "translation error:  0.0370886134485002\n",
      "--- 21.34768843650818 seconds ---\n",
      "feature extraction time:  10.864655017852783\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3437, 4389, 1647,  ..., 5729, 6875, 7396], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870363235473633\n",
      "Loss: 0.013484867572342393\n",
      "rotation error:  16.124127131864853\n",
      "translation error:  0.02760348962314361\n",
      "--- 21.505691289901733 seconds ---\n",
      "Epoch: [7/20], Batch: 19, Loss: 0.013484867572342393\n",
      "feature extraction time:  10.61249828338623\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916410446166992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5483, 8141, 3468,  ..., 9219, 2842, 3318], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362075805664062\n",
      "Loss: 0.03111325029086126\n",
      "rotation error:  81.03672702555015\n",
      "translation error:  0.014290404331928016\n",
      "--- 21.645671606063843 seconds ---\n",
      "feature extraction time:  10.613495349884033\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028904199600219727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4802, 4209,  563,  ..., 4181, 5205, 5872], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269022941589355\n",
      "Loss: 0.029140358389254918\n",
      "rotation error:  92.74687339609632\n",
      "translation error:  0.00737393567537533\n",
      "--- 21.065531015396118 seconds ---\n",
      "feature extraction time:  10.46000862121582\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900550842285156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8883, 4342,  971,  ..., 3288,  160, 3120], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265707969665527\n",
      "Loss: 0.007999445656101133\n",
      "rotation error:  20.53090024658198\n",
      "translation error:  0.009854206662115877\n",
      "--- 21.247920751571655 seconds ---\n",
      "feature extraction time:  10.83190631866455\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8409, 1013, 8651,  ..., 1685, 9454, 6784], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870315551757812\n",
      "Loss: 0.02078700545006825\n",
      "rotation error:  284.743787205761\n",
      "translation error:  0.02308954093680417\n",
      "--- 21.723769187927246 seconds ---\n",
      "feature extraction time:  10.447203397750854\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4982, 5171, 8680,  ..., 8121, 3275, 4539], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11379075050354004\n",
      "Loss: 0.03343681200438088\n",
      "rotation error:  46.57521575095137\n",
      "translation error:  0.036872226973203484\n",
      "--- 21.330904006958008 seconds ---\n",
      "Epoch: [7/20], Batch: 24, Loss: 0.03343681200438088\n",
      "feature extraction time:  10.556740522384644\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916887283325195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9006, 2524, 3529,  ..., 1711, 2060, 2874], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564589500427246\n",
      "Loss: 0.048199353817894634\n",
      "rotation error:  95.44979108966854\n",
      "translation error:  0.04100882326669355\n",
      "--- 21.34963583946228 seconds ---\n",
      "feature extraction time:  10.371305465698242\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028902769088745117\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 327, 6717, 8119,  ..., 6394, 9270, 7008], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1126246452331543\n",
      "Loss: 0.017900881218028165\n",
      "rotation error:  48.10473863500941\n",
      "translation error:  0.03810752475918584\n",
      "--- 21.09159541130066 seconds ---\n",
      "feature extraction time:  10.55170202255249\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0249176025390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009958744049072266\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2672, 2853, 7472,  ..., 1281, 3153, 4437], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461663246154785\n",
      "Loss: 0.02328090548483527\n",
      "rotation error:  49.752401682612145\n",
      "translation error:  0.036872769829217784\n",
      "--- 21.31469702720642 seconds ---\n",
      "feature extraction time:  10.362399101257324\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3055, 3397, 4037,  ..., 9739, 2809, 7938], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036534309387207\n",
      "Loss: 0.014504494508015572\n",
      "rotation error:  23.498428189704025\n",
      "translation error:  0.02438938558241398\n",
      "--- 21.063603162765503 seconds ---\n",
      "feature extraction time:  10.37031102180481\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02391958236694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 40%|████      | 8/20 [1:28:14<2:11:49, 659.12s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6031, 9115, 5990,  ..., 2907, 9835, 3931], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860322952270508\n",
      "Loss: 0.0176269373883818\n",
      "rotation error:  241.70292011106477\n",
      "translation error:  0.015061790230405154\n",
      "--- 21.120352029800415 seconds ---\n",
      "Epoch: [7/20], Batch: 29, Loss: 0.0176269373883818\n",
      "loss epoch [0.015865225391482714, 0.027143922440359184, 0.02125928582017081, 0.030272850258086566, 0.046003485215154655, 0.03956243317897536, 0.0247374770127945, 0.03751825091949685, 0.01832304753244276, 0.040982058446555406, 0.016751763415856193, 0.04384129477908059, 0.03911145906534963, 0.04109561201183298, 0.044533609433311375, 0.039824131223966816, 0.02546987038415545, 0.025171039471312728, 0.016431851071232892, 0.013484867572342393, 0.03111325029086126, 0.029140358389254918, 0.007999445656101133, 0.02078700545006825, 0.03343681200438088, 0.048199353817894634, 0.017900881218028165, 0.02328090548483527, 0.014504494508015572, 0.0176269373883818]\n",
      "epoch #8\n",
      "feature extraction time:  7.844758749008179\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1529, 2381, 6248,  ..., 2777, 9842, 7549], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.0205562121947264\n",
      "rotation error:  47.43091772139479\n",
      "translation error:  0.012488689508639145\n",
      "--- 18.376914501190186 seconds ---\n",
      "feature extraction time:  10.492219924926758\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2977, 3026, 9098,  ..., 8097, 2228, 6888], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767341613769531\n",
      "Loss: 0.028040633179231868\n",
      "rotation error:  296.5694408295465\n",
      "translation error:  0.006277869406770234\n",
      "--- 21.13774013519287 seconds ---\n",
      "feature extraction time:  10.36836314201355\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 716, 3197, 2527,  ..., 6927, 7403, 9114], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.02561402312851505\n",
      "rotation error:  70.06216551974245\n",
      "translation error:  0.007673813277747116\n",
      "--- 21.093674421310425 seconds ---\n",
      "feature extraction time:  10.304600238800049\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6884, 3278, 4019,  ..., 8311, 4558, 8135], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169387817382812\n",
      "Loss: 0.022871808367655042\n",
      "rotation error:  70.88521672483763\n",
      "translation error:  0.021539196781422684\n",
      "--- 20.898303747177124 seconds ---\n",
      "feature extraction time:  10.422259330749512\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030895233154296875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5161, 9557, 2239,  ..., 1801, 6583,  277], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10963273048400879\n",
      "Loss: 0.019631349201063845\n",
      "rotation error:  25.98738779360222\n",
      "translation error:  0.030067651671658657\n",
      "--- 21.23127055168152 seconds ---\n",
      "Epoch: [8/20], Batch: 4, Loss: 0.019631349201063845\n",
      "feature extraction time:  10.5188148021698\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989935874938965\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8353,  221, 2707,  ..., 1746, 9872, 4522], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11361980438232422\n",
      "Loss: 0.02560535564360478\n",
      "rotation error:  69.41187511829767\n",
      "translation error:  0.038973239915124594\n",
      "--- 21.323782444000244 seconds ---\n",
      "feature extraction time:  10.708220958709717\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9576, 5415, 4649,  ..., 4365, 9006, 4050], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877072811126709\n",
      "Loss: 0.019929372151520443\n",
      "rotation error:  16.448548779096857\n",
      "translation error:  0.03901052145126612\n",
      "--- 21.813114166259766 seconds ---\n",
      "feature extraction time:  10.452097654342651\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7636,  622, 7829,  ..., 4850, 1688, 6057], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561369895935059\n",
      "Loss: 0.038552044363005966\n",
      "rotation error:  49.782043598185744\n",
      "translation error:  0.04178742524847088\n",
      "--- 21.16924810409546 seconds ---\n",
      "feature extraction time:  10.64040756225586\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790689468383789\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8947, 1815,  178,  ...,  120, 1189, 2806], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.17449283599853516\n",
      "Loss: 0.029678670870427505\n",
      "rotation error:  77.32968592210509\n",
      "translation error:  0.034671186506587695\n",
      "--- 21.869887113571167 seconds ---\n",
      "feature extraction time:  15.053645372390747\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03388643264770508\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7058, 6135, 6038,  ..., 9143, 4750, 8731], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10804891586303711\n",
      "Loss: 0.016173287725651173\n",
      "rotation error:  31.420586478378766\n",
      "translation error:  0.0195431168687741\n",
      "--- 27.06880831718445 seconds ---\n",
      "Epoch: [8/20], Batch: 9, Loss: 0.016173287725651173\n",
      "feature extraction time:  11.079281091690063\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4693, 7530, 5148,  ..., 4958, 8517, 1418], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11661005020141602\n",
      "Loss: 0.029779410849855206\n",
      "rotation error:  323.26304595564295\n",
      "translation error:  0.013476700094420613\n",
      "--- 22.274837255477905 seconds ---\n",
      "feature extraction time:  11.296221494674683\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03189349174499512\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6661, 4175, 1966,  ..., 1236,  646, 4705], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10577106475830078\n",
      "Loss: 0.01179740128769928\n",
      "rotation error:  45.241202863124585\n",
      "translation error:  0.019214794277611837\n",
      "--- 22.415196418762207 seconds ---\n",
      "feature extraction time:  10.806141138076782\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5339, 9873, 6276,  ..., 5320, 1272, 2960], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265731811523438\n",
      "Loss: 0.024014049829398327\n",
      "rotation error:  65.97891447638254\n",
      "translation error:  0.01969998177128668\n",
      "--- 22.281760454177856 seconds ---\n",
      "feature extraction time:  10.442203760147095\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7557, 9832, 8843,  ..., 1334, 3072, 9133], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066431999206543\n",
      "Loss: 0.03333261832386272\n",
      "rotation error:  322.30363296036495\n",
      "translation error:  0.019339079020035538\n",
      "--- 21.074828386306763 seconds ---\n",
      "feature extraction time:  10.441078424453735\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900550842285156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9909, 8064, 4945,  ..., 8132, 5117, 5607], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.128570556640625\n",
      "Loss: 0.027408420674473744\n",
      "rotation error:  261.85737283749864\n",
      "translation error:  0.025237561513341864\n",
      "--- 21.283456563949585 seconds ---\n",
      "Epoch: [8/20], Batch: 14, Loss: 0.027408420674473744\n",
      "feature extraction time:  10.681274890899658\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7587, 7922, 1861,  ..., 6458, 8483, 2701], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867000579833984\n",
      "Loss: 0.03640002278018191\n",
      "rotation error:  346.1112300207674\n",
      "translation error:  0.0266499579622893\n",
      "--- 21.64280414581299 seconds ---\n",
      "feature extraction time:  10.59183931350708\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1829, 4145, 2754,  ..., 3999, 5775,   34], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069681167602539\n",
      "Loss: 0.021309780075541847\n",
      "rotation error:  58.48395384900165\n",
      "translation error:  0.0391437506488557\n",
      "--- 21.43324375152588 seconds ---\n",
      "feature extraction time:  10.54875659942627\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6290, 8233, 2145,  ..., 8246, 3528, 5917], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1176443099975586\n",
      "Loss: 0.03136039339619619\n",
      "rotation error:  57.622734431356335\n",
      "translation error:  0.03492775764224831\n",
      "--- 19.61443519592285 seconds ---\n",
      "feature extraction time:  7.320563077926636\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793980598449707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1963, 7047,  275,  ..., 8222, 3463, 1696], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.026449682675174616\n",
      "rotation error:  48.28711316079909\n",
      "translation error:  0.04223253572626768\n",
      "--- 15.120532751083374 seconds ---\n",
      "feature extraction time:  7.216923713684082\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189361572265625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5734, 1788,  387,  ..., 1463, 3115, 7725], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.084716796875\n",
      "Loss: 0.03689878102758707\n",
      "rotation error:  26.774558112982678\n",
      "translation error:  0.039284487851077715\n",
      "--- 14.76168942451477 seconds ---\n",
      "Epoch: [8/20], Batch: 19, Loss: 0.03689878102758707\n",
      "feature extraction time:  7.1929967403411865\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3592, 6238, 7484,  ..., 3443, 1940, 5682], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.05364946922221234\n",
      "rotation error:  61.80755264665896\n",
      "translation error:  0.036145794549724\n",
      "--- 14.819729089736938 seconds ---\n",
      "feature extraction time:  7.201944351196289\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189361572265625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2806, 5301, 9760,  ..., 4710, 3300, 6808], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169340133666992\n",
      "Loss: 0.027012798840839514\n",
      "rotation error:  48.353133879033514\n",
      "translation error:  0.026491033250197842\n",
      "--- 14.479734182357788 seconds ---\n",
      "feature extraction time:  7.679512023925781\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018923521041870117\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6069,  542, 1273,  ..., 4736, 1334, 1017], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568071365356445\n",
      "Loss: 0.014361225556981643\n",
      "rotation error:  304.52546373806194\n",
      "translation error:  0.032824630742970734\n",
      "--- 15.183408975601196 seconds ---\n",
      "feature extraction time:  7.477036714553833\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8449, 7763, 2418,  ..., 5514,  609, 8943], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.03204030790379073\n",
      "rotation error:  43.155013127704244\n",
      "translation error:  0.03621614216498416\n",
      "--- 14.904194831848145 seconds ---\n",
      "feature extraction time:  7.566866397857666\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2666, 4986, 7655,  ..., 5389, 2052, 4427], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.033433567604383915\n",
      "rotation error:  103.22839736370452\n",
      "translation error:  0.030703488588841532\n",
      "--- 15.157744646072388 seconds ---\n",
      "Epoch: [8/20], Batch: 24, Loss: 0.033433567604383915\n",
      "feature extraction time:  7.151081085205078\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022923707962036133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5377,   66, 8891,  ..., 5707, 4008, 4007], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268951416015625\n",
      "Loss: 0.02420231469041472\n",
      "rotation error:  48.295102688144645\n",
      "translation error:  0.039699728098460174\n",
      "--- 14.785829782485962 seconds ---\n",
      "feature extraction time:  7.221844911575317\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933700561523438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2769, 6579, 7364,  ..., 6116, 8080, 4234], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12956738471984863\n",
      "Loss: 0.011365596391932919\n",
      "rotation error:  35.845092487284596\n",
      "translation error:  0.04130248590008701\n",
      "--- 14.616116762161255 seconds ---\n",
      "feature extraction time:  7.232813835144043\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933700561523438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7011,  319,  666,  ..., 9830, 7635, 1358], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11960029602050781\n",
      "Loss: 0.03462225121793112\n",
      "rotation error:  44.05254200506422\n",
      "translation error:  0.0341754095337566\n",
      "--- 14.760254621505737 seconds ---\n",
      "feature extraction time:  7.364370346069336\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933700561523438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4552, 1738,  887,  ..., 2708, 9349, 4791], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096339225769043\n",
      "Loss: 0.017960219444665852\n",
      "rotation error:  77.52508643512542\n",
      "translation error:  0.03729455016483936\n",
      "--- 15.123420238494873 seconds ---\n",
      "feature extraction time:  7.284637212753296\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929336547851562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 45%|████▌     | 9/20 [1:37:45<1:56:00, 632.76s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7212, 7800, 6122,  ..., 1043, 1389, 5872], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764002799987793\n",
      "Loss: 0.034261383181295735\n",
      "rotation error:  36.36000503627532\n",
      "translation error:  0.04322953584919714\n",
      "--- 19.242645025253296 seconds ---\n",
      "Epoch: [8/20], Batch: 29, Loss: 0.034261383181295735\n",
      "loss epoch [0.0205562121947264, 0.028040633179231868, 0.02561402312851505, 0.022871808367655042, 0.019631349201063845, 0.02560535564360478, 0.019929372151520443, 0.038552044363005966, 0.029678670870427505, 0.016173287725651173, 0.029779410849855206, 0.01179740128769928, 0.024014049829398327, 0.03333261832386272, 0.027408420674473744, 0.03640002278018191, 0.021309780075541847, 0.03136039339619619, 0.026449682675174616, 0.03689878102758707, 0.05364946922221234, 0.027012798840839514, 0.014361225556981643, 0.03204030790379073, 0.033433567604383915, 0.02420231469041472, 0.011365596391932919, 0.03462225121793112, 0.017960219444665852, 0.034261383181295735]\n",
      "epoch #9\n",
      "feature extraction time:  13.521777391433716\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03288984298706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6740, 6520, 5855,  ..., 1103, 8561, 7442], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767341613769531\n",
      "Loss: 0.014018014418987123\n",
      "rotation error:  93.81068355333771\n",
      "translation error:  0.03373975211713646\n",
      "--- 23.363020658493042 seconds ---\n",
      "feature extraction time:  7.427159786224365\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932985305786133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8992, 6268, 9823,  ...,  658, 5629, 7599], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.02196403990348769\n",
      "rotation error:  32.3962093027083\n",
      "translation error:  0.0402831082796737\n",
      "--- 14.933112382888794 seconds ---\n",
      "feature extraction time:  7.401246547698975\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916410446166992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9564, 6532, 4895,  ..., 7930, 4462, 8083], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1006631851196289\n",
      "Loss: 0.019052323109062998\n",
      "rotation error:  10.437361060593483\n",
      "translation error:  0.03791219295271546\n",
      "--- 14.87340497970581 seconds ---\n",
      "feature extraction time:  7.362377166748047\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694345474243164\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6877, 6486, 4624,  ..., 6434, 1436, 3697], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08913493156433105\n",
      "Loss: 0.03061659483183709\n",
      "rotation error:  84.14437351288989\n",
      "translation error:  0.02305211551183301\n",
      "--- 14.947528600692749 seconds ---\n",
      "feature extraction time:  7.405534029006958\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1023, 8551, 2275,  ..., 6324,  641, 1839], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362075805664062\n",
      "Loss: 0.012036960740695438\n",
      "rotation error:  46.374392127196046\n",
      "translation error:  0.029717741637401308\n",
      "--- 15.189544677734375 seconds ---\n",
      "Epoch: [9/20], Batch: 4, Loss: 0.012036960740695438\n",
      "feature extraction time:  7.431146860122681\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8515, 3965, 3947,  ..., 6398, 7375, 9600], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670997619628906\n",
      "Loss: 0.020024734595312357\n",
      "rotation error:  34.62321392698735\n",
      "translation error:  0.026868802141773517\n",
      "--- 14.990510940551758 seconds ---\n",
      "feature extraction time:  7.519850492477417\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([   5, 3511, 4987,  ..., 6312, 4502, 2859], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1225895881652832\n",
      "Loss: 0.028803527255924027\n",
      "rotation error:  79.40815286231592\n",
      "translation error:  0.018770958998014512\n",
      "--- 21.093454837799072 seconds ---\n",
      "feature extraction time:  13.546693563461304\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.021927356719970703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1172, 1728, 6910,  ..., 7217, 7221,  749], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10365414619445801\n",
      "Loss: 0.016730146132701344\n",
      "rotation error:  41.80184576342924\n",
      "translation error:  0.04328736333740302\n",
      "--- 21.101427793502808 seconds ---\n",
      "feature extraction time:  7.5437703132629395\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3171, 3473, 1634,  ..., 3085, 1013, 1845], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10282325744628906\n",
      "Loss: 0.014012058861977638\n",
      "rotation error:  37.271659389828216\n",
      "translation error:  0.026420350938121243\n",
      "--- 15.473827838897705 seconds ---\n",
      "feature extraction time:  7.483970403671265\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01893925666809082\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1404, 3857, 9762,  ..., 3042, 4356,  239], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461663246154785\n",
      "Loss: 0.014653864575808133\n",
      "rotation error:  23.291513880057284\n",
      "translation error:  0.03140386331090151\n",
      "--- 14.871031999588013 seconds ---\n",
      "Epoch: [9/20], Batch: 9, Loss: 0.014653864575808133\n",
      "feature extraction time:  7.387334823608398\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694345474243164\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1578, 8379, 3742,  ..., 7089, 2997, 5882], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10077095031738281\n",
      "Loss: 0.015488801169309369\n",
      "rotation error:  19.692333817245935\n",
      "translation error:  0.037715570744925514\n",
      "--- 14.996044635772705 seconds ---\n",
      "feature extraction time:  7.6954264640808105\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022922992706298828\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 782, 9533, 6218,  ..., 8089, 1230, 7040], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362123489379883\n",
      "Loss: 0.01208728318673805\n",
      "rotation error:  28.470829260781624\n",
      "translation error:  0.030868379374845867\n",
      "--- 15.804331541061401 seconds ---\n",
      "feature extraction time:  7.779104709625244\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993417739868164\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009958744049072266\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6705, 7105, 2349,  ..., 7848, 6853, 3384], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461567878723145\n",
      "Loss: 0.040852553549040715\n",
      "rotation error:  325.7366098784799\n",
      "translation error:  0.022379854114355155\n",
      "--- 15.308054685592651 seconds ---\n",
      "feature extraction time:  7.739192485809326\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292323112487793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7877, 8283,  512,  ..., 9603, 3811, 9151], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12159347534179688\n",
      "Loss: 0.02183442713433456\n",
      "rotation error:  57.51340033816475\n",
      "translation error:  0.018070576797522202\n",
      "--- 15.291932821273804 seconds ---\n",
      "feature extraction time:  7.518853425979614\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.015946626663208008\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009975433349609375\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3964, 6173, 8300,  ..., 7775, 2087,  913], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12657690048217773\n",
      "Loss: 0.014658644979268519\n",
      "rotation error:  327.3154169135438\n",
      "translation error:  0.020113767383285016\n",
      "--- 14.971984386444092 seconds ---\n",
      "Epoch: [9/20], Batch: 14, Loss: 0.014658644979268519\n",
      "feature extraction time:  7.255732536315918\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292346954345703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 350, 3002, 3959,  ..., 1716, 7613, 4788], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10143423080444336\n",
      "Loss: 0.007733370639648952\n",
      "rotation error:  22.71730405674866\n",
      "translation error:  0.014571046694546223\n",
      "--- 15.111265182495117 seconds ---\n",
      "feature extraction time:  7.403422117233276\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1941, 7147, 3504,  ..., 7362, 6107,  573], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564708709716797\n",
      "Loss: 0.02757575841320197\n",
      "rotation error:  44.37520811070564\n",
      "translation error:  0.009781872687042305\n",
      "--- 14.835564613342285 seconds ---\n",
      "feature extraction time:  7.384020090103149\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.015945911407470703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9227, 8910, 4205,  ..., 6273, 2517, 4839], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.009108029713777369\n",
      "rotation error:  22.94188475874042\n",
      "translation error:  0.011575615654442064\n",
      "--- 14.759419441223145 seconds ---\n",
      "feature extraction time:  7.225895643234253\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929813385009766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  16,  867, 6345,  ...,  996, 7264, 8087], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10080957412719727\n",
      "Loss: 0.01894079484367087\n",
      "rotation error:  291.09273163988945\n",
      "translation error:  0.015112167013633939\n",
      "--- 14.994065999984741 seconds ---\n",
      "feature extraction time:  7.329613447189331\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292323112487793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5494, 2052, 4496,  ..., 5363, 9019, 1306], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0992136001586914\n",
      "Loss: 0.026075055244731825\n",
      "rotation error:  61.47817781668529\n",
      "translation error:  0.01398736947109006\n",
      "--- 14.9629487991333 seconds ---\n",
      "Epoch: [9/20], Batch: 19, Loss: 0.026075055244731825\n",
      "feature extraction time:  7.605562686920166\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189363956451416\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8500, 3333, 6977,  ..., 8906, 7609, 5854], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09479928016662598\n",
      "Loss: 0.006907517198584095\n",
      "rotation error:  12.81955583333322\n",
      "translation error:  0.014309699033607301\n",
      "--- 15.308034658432007 seconds ---\n",
      "feature extraction time:  7.515861988067627\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 169, 4748, 6546,  ..., 6461, 8001, 7721], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867000579833984\n",
      "Loss: 0.026543185293887724\n",
      "rotation error:  27.826968602010968\n",
      "translation error:  0.02229552569701934\n",
      "--- 14.808470964431763 seconds ---\n",
      "feature extraction time:  7.274670124053955\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019931793212890625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4886, 4406, 9906,  ..., 1819, 2335, 1727], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10088706016540527\n",
      "Loss: 0.028969285914831482\n",
      "rotation error:  77.34459716635762\n",
      "translation error:  0.017035672496300485\n",
      "--- 14.69469666481018 seconds ---\n",
      "feature extraction time:  7.527363061904907\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0219268798828125\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9758, 8074, 3327,  ..., 5510, 8005, 5709], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0997931957244873\n",
      "Loss: 0.03831449081579574\n",
      "rotation error:  70.87459576598631\n",
      "translation error:  0.00973124500969659\n",
      "--- 15.180924892425537 seconds ---\n",
      "feature extraction time:  7.366727828979492\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189363956451416\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5326,  826, 5870,  ...,  491, 4034,  134], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867000579833984\n",
      "Loss: 0.016492084887684624\n",
      "rotation error:  32.29871254647617\n",
      "translation error:  0.011060410386948176\n",
      "--- 14.794883489608765 seconds ---\n",
      "Epoch: [9/20], Batch: 24, Loss: 0.016492084887684624\n",
      "feature extraction time:  7.314535617828369\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02400374412536621\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5843, 6347, 7941,  ..., 7890, 1712, 2218], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10505557060241699\n",
      "Loss: 0.013147355650874881\n",
      "rotation error:  266.8536798030469\n",
      "translation error:  0.025846059112260712\n",
      "--- 15.061118364334106 seconds ---\n",
      "feature extraction time:  7.283638954162598\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189363956451416\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5494, 8153, 4614,  ..., 7383, 5416,  453], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667634963989258\n",
      "Loss: 0.015876769641829214\n",
      "rotation error:  310.8917188730005\n",
      "translation error:  0.03522431562086756\n",
      "--- 15.020761013031006 seconds ---\n",
      "feature extraction time:  7.219968318939209\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932985305786133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3194, 7973, 6457,  ..., 9120, 7847, 2966], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867024421691895\n",
      "Loss: 0.016671288729757122\n",
      "rotation error:  64.72696473757514\n",
      "translation error:  0.04133920334268946\n",
      "--- 14.813571691513062 seconds ---\n",
      "feature extraction time:  7.435217618942261\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694345474243164\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2127, 4166, 5898,  ..., 4161, 4580, 2157], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08803868293762207\n",
      "Loss: 0.031143249184776636\n",
      "rotation error:  46.08146353699207\n",
      "translation error:  0.04996509191350542\n",
      "--- 15.156793355941772 seconds ---\n",
      "feature extraction time:  7.249751091003418\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019936561584472656\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 50%|█████     | 10/20 [1:45:37<1:37:24, 584.44s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5443, 6636, 4024,  ..., 9403, 6707, 7153], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12458348274230957\n",
      "Loss: 0.03177284007248178\n",
      "rotation error:  49.47665345218597\n",
      "translation error:  0.047214246303082734\n",
      "--- 14.65701937675476 seconds ---\n",
      "Epoch: [9/20], Batch: 29, Loss: 0.03177284007248178\n",
      "loss epoch [0.014018014418987123, 0.02196403990348769, 0.019052323109062998, 0.03061659483183709, 0.012036960740695438, 0.020024734595312357, 0.028803527255924027, 0.016730146132701344, 0.014012058861977638, 0.014653864575808133, 0.015488801169309369, 0.01208728318673805, 0.040852553549040715, 0.02183442713433456, 0.014658644979268519, 0.007733370639648952, 0.02757575841320197, 0.009108029713777369, 0.01894079484367087, 0.026075055244731825, 0.006907517198584095, 0.026543185293887724, 0.028969285914831482, 0.03831449081579574, 0.016492084887684624, 0.013147355650874881, 0.015876769641829214, 0.016671288729757122, 0.031143249184776636, 0.03177284007248178]\n",
      "epoch #10\n",
      "feature extraction time:  7.35952091217041\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993274688720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9521, 7039, 2513,  ..., 3662, 5207,   47], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036531925201416\n",
      "Loss: 0.022160183647083526\n",
      "rotation error:  78.63080201670775\n",
      "translation error:  0.0374759532193665\n",
      "--- 14.785682916641235 seconds ---\n",
      "feature extraction time:  7.474001884460449\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0219266414642334\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6080, 7328, 4966,  ..., 1311,  425, 2854], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11062979698181152\n",
      "Loss: 0.01652114317336617\n",
      "rotation error:  112.27803267478612\n",
      "translation error:  0.030287494474440572\n",
      "--- 14.998834609985352 seconds ---\n",
      "feature extraction time:  7.496926307678223\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02391958236694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9533, 1596, 4245,  ..., 2476, 3946, 8901], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09147834777832031\n",
      "Loss: 0.016556854456408004\n",
      "rotation error:  34.057689733271935\n",
      "translation error:  0.026531666978035953\n",
      "--- 15.155252695083618 seconds ---\n",
      "feature extraction time:  7.410323619842529\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019935131072998047\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3563, 5859,   60,  ..., 8649, 3893, 5713], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1112823486328125\n",
      "Loss: 0.040521994797535696\n",
      "rotation error:  93.95120330560349\n",
      "translation error:  0.002327594741533125\n",
      "--- 15.123892784118652 seconds ---\n",
      "feature extraction time:  7.241906642913818\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 605,  630, 8817,  ..., 5505, 2656, 5521], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066439151763916\n",
      "Loss: 0.015435692217847848\n",
      "rotation error:  17.223768170850896\n",
      "translation error:  0.019079162438507203\n",
      "--- 14.963204622268677 seconds ---\n",
      "Epoch: [10/20], Batch: 4, Loss: 0.015435692217847848\n",
      "feature extraction time:  7.187958240509033\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9627, 3827, 7528,  ..., 6751, 8237, 5157], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066439151763916\n",
      "Loss: 0.010649601574342648\n",
      "rotation error:  13.021264741815916\n",
      "translation error:  0.018519735920273034\n",
      "--- 14.639037132263184 seconds ---\n",
      "feature extraction time:  7.420600175857544\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3311, 9362, 3894,  ...,  576, 2679, 4095], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966659545898438\n",
      "Loss: 0.019910781566660152\n",
      "rotation error:  30.545964713329337\n",
      "translation error:  0.019285234387156045\n",
      "--- 15.009278059005737 seconds ---\n",
      "feature extraction time:  7.387410402297974\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016942501068115234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2634, 5592, 1884,  ..., 5479,  474, 3961], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162567138671875\n",
      "Loss: 0.02693934343758272\n",
      "rotation error:  317.74062718717215\n",
      "translation error:  0.019913546410637094\n",
      "--- 14.825531959533691 seconds ---\n",
      "feature extraction time:  7.524832248687744\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793956756591797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7939, 6118, 6901,  ...,  628, 5785, 2346], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066441535949707\n",
      "Loss: 0.030351660848629565\n",
      "rotation error:  33.24138656750058\n",
      "translation error:  0.02504855454228413\n",
      "--- 15.122421503067017 seconds ---\n",
      "feature extraction time:  7.1142048835754395\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940282821655273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1842, 4114,  722,  ..., 9355, 9972, 2518], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265612602233887\n",
      "Loss: 0.015449916893128229\n",
      "rotation error:  14.361439821336422\n",
      "translation error:  0.02404105283596171\n",
      "--- 15.005811214447021 seconds ---\n",
      "Epoch: [10/20], Batch: 9, Loss: 0.015449916893128229\n",
      "feature extraction time:  7.484964847564697\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9238, 3984, 1269,  ..., 3670, 2219, 9476], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162686347961426\n",
      "Loss: 0.008294810628882085\n",
      "rotation error:  37.378772903047214\n",
      "translation error:  0.034282332073870075\n",
      "--- 15.109464168548584 seconds ---\n",
      "feature extraction time:  7.302574634552002\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1422, 1949, 9291,  ..., 7039, 2323,  907], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561322212219238\n",
      "Loss: 0.029310437536128546\n",
      "rotation error:  50.249919905713845\n",
      "translation error:  0.027668839946371097\n",
      "--- 14.902157068252563 seconds ---\n",
      "feature extraction time:  7.349418878555298\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 930, 1985, 5822,  ..., 3273, 4347, 9740], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10373878479003906\n",
      "Loss: 0.022167319605973068\n",
      "rotation error:  315.67762853348006\n",
      "translation error:  0.033032345175668644\n",
      "--- 14.915202617645264 seconds ---\n",
      "feature extraction time:  7.370349645614624\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02391958236694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3882, 1549, 5519,  ..., 4176, 1405, 9868], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12372946739196777\n",
      "Loss: 0.014596682960399763\n",
      "rotation error:  37.01551878501752\n",
      "translation error:  0.026074148906425745\n",
      "--- 14.808614253997803 seconds ---\n",
      "feature extraction time:  7.3892881870269775\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4139, 9113, 4853,  ..., 5982,  808, 4260], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1285715103149414\n",
      "Loss: 0.017948332980636226\n",
      "rotation error:  40.70925377435203\n",
      "translation error:  0.01985139016071431\n",
      "--- 15.012790441513062 seconds ---\n",
      "Epoch: [10/20], Batch: 14, Loss: 0.017948332980636226\n",
      "feature extraction time:  7.372341632843018\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9504, 9411, 5301,  ..., 2876,  138, 7465], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11960029602050781\n",
      "Loss: 0.01406818519473311\n",
      "rotation error:  16.241362792347072\n",
      "translation error:  0.03361502682632374\n",
      "--- 14.825542449951172 seconds ---\n",
      "feature extraction time:  7.361378908157349\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 621, 9127, 8343,  ..., 3371, 6761, 2392], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10365891456604004\n",
      "Loss: 0.020398169544509213\n",
      "rotation error:  236.6516820169348\n",
      "translation error:  0.022831286764848708\n",
      "--- 15.01682710647583 seconds ---\n",
      "feature extraction time:  7.297954320907593\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793956756591797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6085, 7910, 6382,  ..., 7656, 8096, 7368], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.015306684818770889\n",
      "rotation error:  41.56809740712334\n",
      "translation error:  0.04068721939575631\n",
      "--- 14.704988718032837 seconds ---\n",
      "feature extraction time:  7.20599627494812\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6773,  255, 1686,  ..., 8847, 7658, 1058], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.014845751719245235\n",
      "rotation error:  333.58553180488\n",
      "translation error:  0.04330555169643645\n",
      "--- 14.595281839370728 seconds ---\n",
      "feature extraction time:  7.367358922958374\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694321632385254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7110, 7180, 1539,  ..., 1772, 9683, 1210], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966588020324707\n",
      "Loss: 0.054131024422913385\n",
      "rotation error:  99.16743232058367\n",
      "translation error:  0.04582509938283225\n",
      "--- 14.760693311691284 seconds ---\n",
      "Epoch: [10/20], Batch: 19, Loss: 0.054131024422913385\n",
      "feature extraction time:  7.38946270942688\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793980598449707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009975433349609375\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7997, 8205, 9977,  ..., 9735, 6335, 6839], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468412399291992\n",
      "Loss: 0.04391453954306798\n",
      "rotation error:  58.6648551171499\n",
      "translation error:  0.04286054213017096\n",
      "--- 15.002133131027222 seconds ---\n",
      "feature extraction time:  7.364368915557861\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.015946388244628906\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6166, 4683, 3411,  ..., 9933, 3151, 9368], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11275458335876465\n",
      "Loss: 0.014912437404126528\n",
      "rotation error:  17.510346738965\n",
      "translation error:  0.03247159969449271\n",
      "--- 14.799731254577637 seconds ---\n",
      "feature extraction time:  7.32350492477417\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023920297622680664\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8738, 6796, 4594,  ..., 7773, 4963, 7069], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.009452125556417109\n",
      "rotation error:  18.618164743564215\n",
      "translation error:  0.014719241030713925\n",
      "--- 14.96337604522705 seconds ---\n",
      "feature extraction time:  7.373452663421631\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3040, 7138, 5311,  ..., 9653, 2702, 8108], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08471536636352539\n",
      "Loss: 0.01959578160278073\n",
      "rotation error:  30.099525972837796\n",
      "translation error:  0.021173766051697324\n",
      "--- 15.107636451721191 seconds ---\n",
      "feature extraction time:  7.402240991592407\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916887283325195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2675, 3072, 1223,  ..., 8672, 7522, 5756], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162686347961426\n",
      "Loss: 0.05522326474721377\n",
      "rotation error:  317.4407012810166\n",
      "translation error:  0.030572076488846883\n",
      "--- 14.924203395843506 seconds ---\n",
      "Epoch: [10/20], Batch: 24, Loss: 0.05522326474721377\n",
      "feature extraction time:  7.243194818496704\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019881725311279297\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2873, 4964, 2158,  ..., 6166, 9889, 1270], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262345314025879\n",
      "Loss: 0.03512355425070916\n",
      "rotation error:  36.12995045647623\n",
      "translation error:  0.05542660622462259\n",
      "--- 14.696324825286865 seconds ---\n",
      "feature extraction time:  7.40929913520813\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2725, 4798, 7254,  ..., 1618,   38, 9419], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09172797203063965\n",
      "Loss: 0.030230977684867037\n",
      "rotation error:  28.667057620168215\n",
      "translation error:  0.06062005195812964\n",
      "--- 14.727857112884521 seconds ---\n",
      "feature extraction time:  7.278656244277954\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018937349319458008\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9081, 9684, 4681,  ..., 3571, 1335, 1941], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1255807876586914\n",
      "Loss: 0.021286698797190435\n",
      "rotation error:  18.480526372625203\n",
      "translation error:  0.05563175509504327\n",
      "--- 14.903157472610474 seconds ---\n",
      "feature extraction time:  7.377326965332031\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 753, 5021, 4791,  ..., 6490, 7778, 1725], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.03718710933189434\n",
      "rotation error:  76.26114848385232\n",
      "translation error:  0.04823154855748756\n",
      "--- 14.881231307983398 seconds ---\n",
      "feature extraction time:  7.284762382507324\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 55%|█████▌    | 11/20 [1:53:04<1:21:30, 543.35s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7844, 8421, 9362,  ..., 4328, 3579, 4809], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764002799987793\n",
      "Loss: 0.026369346509773524\n",
      "rotation error:  79.99334595764921\n",
      "translation error:  0.04146919192792065\n",
      "--- 14.900293111801147 seconds ---\n",
      "Epoch: [10/20], Batch: 29, Loss: 0.026369346509773524\n",
      "loss epoch [0.022160183647083526, 0.01652114317336617, 0.016556854456408004, 0.040521994797535696, 0.015435692217847848, 0.010649601574342648, 0.019910781566660152, 0.02693934343758272, 0.030351660848629565, 0.015449916893128229, 0.008294810628882085, 0.029310437536128546, 0.022167319605973068, 0.014596682960399763, 0.017948332980636226, 0.01406818519473311, 0.020398169544509213, 0.015306684818770889, 0.014845751719245235, 0.054131024422913385, 0.04391453954306798, 0.014912437404126528, 0.009452125556417109, 0.01959578160278073, 0.05522326474721377, 0.03512355425070916, 0.030230977684867037, 0.021286698797190435, 0.03718710933189434, 0.026369346509773524]\n",
      "epoch #11\n",
      "feature extraction time:  7.32051682472229\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02021050453186035\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8826, 2636, 3289,  ..., 6500, 4131, 5592], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166049003601074\n",
      "Loss: 0.02080074713336815\n",
      "rotation error:  43.00166743832707\n",
      "translation error:  0.03547500044703323\n",
      "--- 14.868607521057129 seconds ---\n",
      "feature extraction time:  7.355473518371582\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023920059204101562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7306, 6595, 1637,  ...,  730, 9013, 1700], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468388557434082\n",
      "Loss: 0.013763613443605717\n",
      "rotation error:  53.94579150616274\n",
      "translation error:  0.03624714969022403\n",
      "--- 14.672003984451294 seconds ---\n",
      "feature extraction time:  7.381314277648926\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189363956451416\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  12, 1384, 7292,  ..., 5366, 2432, 4524], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10664558410644531\n",
      "Loss: 0.030343966976600228\n",
      "rotation error:  38.61689454828772\n",
      "translation error:  0.038792308850167975\n",
      "--- 14.982891082763672 seconds ---\n",
      "feature extraction time:  7.393272876739502\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694321632385254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4686, 3326, 8894,  ..., 1967, 6681, 2352], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066431999206543\n",
      "Loss: 0.03085150051969748\n",
      "rotation error:  37.936178419208595\n",
      "translation error:  0.0609310830976031\n",
      "--- 15.122424364089966 seconds ---\n",
      "feature extraction time:  7.456063985824585\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5212, 9685, 5658,  ..., 9351, 9051, 8641], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169316291809082\n",
      "Loss: 0.02282365922688398\n",
      "rotation error:  29.216751541359717\n",
      "translation error:  0.04051272693513909\n",
      "--- 15.061627626419067 seconds ---\n",
      "Epoch: [11/20], Batch: 4, Loss: 0.02282365922688398\n",
      "feature extraction time:  7.4909467697143555\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016943693161010742\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3637, 6207,  233,  ..., 7264,  603, 4011], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767341613769531\n",
      "Loss: 0.03360385277047835\n",
      "rotation error:  251.3250077544595\n",
      "translation error:  0.04369981103040396\n",
      "--- 14.969933986663818 seconds ---\n",
      "feature extraction time:  7.3653669357299805\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189361572265625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8529, 2780, 9228,  ...,   60, 4204, 2428], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.02882195718710988\n",
      "rotation error:  138.37893891831766\n",
      "translation error:  0.04588018757916875\n",
      "--- 14.95697808265686 seconds ---\n",
      "feature extraction time:  7.429154872894287\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0219271183013916\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9180, 8534, 1814,  ..., 5769, 1403, 2006], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667730331420898\n",
      "Loss: 0.023584918092542505\n",
      "rotation error:  63.17423724419545\n",
      "translation error:  0.038063534960377475\n",
      "--- 14.928753137588501 seconds ---\n",
      "feature extraction time:  7.259820222854614\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016943693161010742\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2415, 5450,   32,  ..., 7632, 6685, 7516], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.018542045630586864\n",
      "rotation error:  72.87223298262492\n",
      "translation error:  0.030544375229306815\n",
      "--- 14.96855902671814 seconds ---\n",
      "feature extraction time:  7.408435106277466\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022924184799194336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2443, 7651, 9531,  ..., 8696, 7512, 8612], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465049743652344\n",
      "Loss: 0.01892421956854084\n",
      "rotation error:  24.66846991913623\n",
      "translation error:  0.03537724394111468\n",
      "--- 15.067997694015503 seconds ---\n",
      "Epoch: [11/20], Batch: 9, Loss: 0.01892421956854084\n",
      "feature extraction time:  7.369414567947388\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932985305786133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1066, 4325, 9544,  ..., 9725, 3309, 6178], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12159371376037598\n",
      "Loss: 0.03299584906157594\n",
      "rotation error:  36.24917711387415\n",
      "translation error:  0.04103448955574811\n",
      "--- 14.796722650527954 seconds ---\n",
      "feature extraction time:  7.385408401489258\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0159456729888916\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6396, 9353, 9260,  ...,  889, 8686, 8534], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11661028861999512\n",
      "Loss: 0.04293117874126043\n",
      "rotation error:  290.836591870352\n",
      "translation error:  0.03545616552899696\n",
      "--- 15.009721755981445 seconds ---\n",
      "feature extraction time:  7.3673601150512695\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933700561523438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9103, 2836, 4297,  ..., 7383, 5853, 1764], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063027381896973\n",
      "Loss: 0.026982241478641693\n",
      "rotation error:  334.10648370031413\n",
      "translation error:  0.03708394773589932\n",
      "--- 15.155579566955566 seconds ---\n",
      "feature extraction time:  7.611543655395508\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9542, 9585, 1186,  ..., 1789, 8397, 8436], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166025161743164\n",
      "Loss: 0.014497911176376208\n",
      "rotation error:  49.168980711267146\n",
      "translation error:  0.03820904856763604\n",
      "--- 15.187268733978271 seconds ---\n",
      "feature extraction time:  7.368356466293335\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7805, 6185, 1407,  ...,  553, 5375, 6872], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262369155883789\n",
      "Loss: 0.013611570443427963\n",
      "rotation error:  46.31081634199632\n",
      "translation error:  0.028940320239107715\n",
      "--- 14.9662504196167 seconds ---\n",
      "Epoch: [11/20], Batch: 14, Loss: 0.013611570443427963\n",
      "feature extraction time:  7.122179269790649\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024917125701904297\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6631, 9674, 7680,  ..., 3689, 1893, 5904], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265660285949707\n",
      "Loss: 0.030985765371888224\n",
      "rotation error:  26.3415951722562\n",
      "translation error:  0.03813319945603184\n",
      "--- 14.605276584625244 seconds ---\n",
      "feature extraction time:  7.192945241928101\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016943693161010742\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9179, 3984, 7530,  ..., 3653,  234,  160], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036524772644043\n",
      "Loss: 0.020162985577071225\n",
      "rotation error:  261.82505101439995\n",
      "translation error:  0.04133297963793139\n",
      "--- 14.747677564620972 seconds ---\n",
      "feature extraction time:  7.435130834579468\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0219268798828125\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8791, 3787, 3629,  ..., 7139, 6647, 8193], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096336841583252\n",
      "Loss: 0.025173661873884635\n",
      "rotation error:  66.72653190559858\n",
      "translation error:  0.06003775081991102\n",
      "--- 14.84841537475586 seconds ---\n",
      "feature extraction time:  7.276662111282349\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0219266414642334\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4169, 6349, 2635,  ..., 9737, 7610, 7655], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269070625305176\n",
      "Loss: 0.020021960942292\n",
      "rotation error:  65.63532550466928\n",
      "translation error:  0.06657108864340835\n",
      "--- 14.949997901916504 seconds ---\n",
      "feature extraction time:  7.409266948699951\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3114, 5521,    0,  ..., 6944, 1610, 1562], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12657690048217773\n",
      "Loss: 0.039762855200269016\n",
      "rotation error:  33.50472475694294\n",
      "translation error:  0.06025211017214796\n",
      "--- 15.028854846954346 seconds ---\n",
      "Epoch: [11/20], Batch: 19, Loss: 0.039762855200269016\n",
      "feature extraction time:  7.370349168777466\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993274688720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1263, 7652, 1943,  ..., 1936, 2413, 1282], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10328149795532227\n",
      "Loss: 0.04036313152424876\n",
      "rotation error:  325.74767745692384\n",
      "translation error:  0.08284943487384315\n",
      "--- 14.94067120552063 seconds ---\n",
      "feature extraction time:  7.190951108932495\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694345474243164\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9685, 9059, 1610,  ..., 5873, 3731, 4802], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468364715576172\n",
      "Loss: 0.05006903788394638\n",
      "rotation error:  315.98344416807964\n",
      "translation error:  0.0877185091820211\n",
      "--- 14.731730222702026 seconds ---\n",
      "feature extraction time:  7.4500815868377686\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793956756591797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8078, 8181, 5809,  ..., 8989, 4681, 7671], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269046783447266\n",
      "Loss: 0.043506771842189526\n",
      "rotation error:  64.72767213658832\n",
      "translation error:  0.07200604021755046\n",
      "--- 15.15531039237976 seconds ---\n",
      "feature extraction time:  7.383305311203003\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3798, 6420, 9909,  ..., 6001, 2818, 3813], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10000348091125488\n",
      "Loss: 0.027892000565097677\n",
      "rotation error:  80.9945336687014\n",
      "translation error:  0.06573311568222467\n",
      "--- 14.88663101196289 seconds ---\n",
      "feature extraction time:  7.370348215103149\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793956756591797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1879, 7361, 1799,  ..., 8492, 8332, 3546], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096339225769043\n",
      "Loss: 0.015359587873159098\n",
      "rotation error:  62.27120052225897\n",
      "translation error:  0.06355784134846289\n",
      "--- 14.778570413589478 seconds ---\n",
      "Epoch: [11/20], Batch: 24, Loss: 0.015359587873159098\n",
      "feature extraction time:  7.306561231613159\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020934104919433594\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1353, 7602, 6464,  ..., 8168, 2647,   35], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166096687316895\n",
      "Loss: 0.018108637800534892\n",
      "rotation error:  322.9522321473211\n",
      "translation error:  0.056574760146473536\n",
      "--- 15.003255128860474 seconds ---\n",
      "feature extraction time:  7.1792004108428955\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3815,  507, 5793,  ..., 8086, 3792, 7048], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860346794128418\n",
      "Loss: 0.04572615910757348\n",
      "rotation error:  37.71553462256936\n",
      "translation error:  0.061335074184070484\n",
      "--- 14.67612600326538 seconds ---\n",
      "feature extraction time:  7.27765965461731\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929813385009766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5616, 6870, 6421,  ..., 4069, 7673, 5412], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1006631851196289\n",
      "Loss: 0.02532023278045613\n",
      "rotation error:  102.9141828012049\n",
      "translation error:  0.06192723557830704\n",
      "--- 14.62512493133545 seconds ---\n",
      "feature extraction time:  7.158058404922485\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929813385009766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4386, 6000, 1877,  ..., 2684, 7605, 7164], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11065864562988281\n",
      "Loss: 0.043286571922010075\n",
      "rotation error:  28.376247685482472\n",
      "translation error:  0.0702925562838828\n",
      "--- 14.437553405761719 seconds ---\n",
      "feature extraction time:  7.156065940856934\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 60%|██████    | 12/20 [2:00:31<1:08:35, 514.46s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4176, 3996,  114,  ..., 4003, 5916, 6691], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096339225769043\n",
      "Loss: 0.04414233890730713\n",
      "rotation error:  30.824001713059573\n",
      "translation error:  0.05483453399921706\n",
      "--- 14.610134363174438 seconds ---\n",
      "Epoch: [11/20], Batch: 29, Loss: 0.04414233890730713\n",
      "loss epoch [0.02080074713336815, 0.013763613443605717, 0.030343966976600228, 0.03085150051969748, 0.02282365922688398, 0.03360385277047835, 0.02882195718710988, 0.023584918092542505, 0.018542045630586864, 0.01892421956854084, 0.03299584906157594, 0.04293117874126043, 0.026982241478641693, 0.014497911176376208, 0.013611570443427963, 0.030985765371888224, 0.020162985577071225, 0.025173661873884635, 0.020021960942292, 0.039762855200269016, 0.04036313152424876, 0.05006903788394638, 0.043506771842189526, 0.027892000565097677, 0.015359587873159098, 0.018108637800534892, 0.04572615910757348, 0.02532023278045613, 0.043286571922010075, 0.04414233890730713]\n",
      "epoch #12\n",
      "feature extraction time:  7.277658939361572\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022923707962036133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5482, 3219, 4827,  ...,  202, 3905, 3098], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870339393615723\n",
      "Loss: 0.028401839225575036\n",
      "rotation error:  74.63670697693489\n",
      "translation error:  0.050863992172330716\n",
      "--- 14.692924976348877 seconds ---\n",
      "feature extraction time:  7.426222324371338\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993250846862793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5229, 4920, 2775,  ..., 3291,  904, 3331], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362051963806152\n",
      "Loss: 0.024554890243393284\n",
      "rotation error:  45.87535709875745\n",
      "translation error:  0.05746299870767035\n",
      "--- 15.011850595474243 seconds ---\n",
      "feature extraction time:  7.412208795547485\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189359188079834\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8540, 9492, 5145,  ..., 8676, 9146, 4770], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10571408271789551\n",
      "Loss: 0.024621389058889543\n",
      "rotation error:  40.206418936904434\n",
      "translation error:  0.03854765449058711\n",
      "--- 14.791118860244751 seconds ---\n",
      "feature extraction time:  7.218855619430542\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5958, 9734, 4273,  ..., 1756,  869, 9238], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.01207216206636875\n",
      "rotation error:  45.26277987972238\n",
      "translation error:  0.0322384469469439\n",
      "--- 14.828849077224731 seconds ---\n",
      "feature extraction time:  7.287700891494751\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023920774459838867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7580, 4873, 3236,  ...,  890,  748, 1368], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.025961092890708977\n",
      "rotation error:  222.85929587188582\n",
      "translation error:  0.03909913712790382\n",
      "--- 14.721079111099243 seconds ---\n",
      "Epoch: [12/20], Batch: 4, Loss: 0.025961092890708977\n",
      "feature extraction time:  7.16608190536499\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0219268798828125\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 198, 9343, 9403,  ..., 6375, 6382, 3743], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10763978958129883\n",
      "Loss: 0.024250400603564273\n",
      "rotation error:  232.46464186457132\n",
      "translation error:  0.03867866761284335\n",
      "--- 14.666149616241455 seconds ---\n",
      "feature extraction time:  7.137128829956055\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189361572265625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9070, 9813, 8003,  ..., 1459, 1894,  935], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.023077016390086025\n",
      "rotation error:  320.44670609138745\n",
      "translation error:  0.03731388286154285\n",
      "--- 14.74177074432373 seconds ---\n",
      "feature extraction time:  7.132144927978516\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292323112487793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4777, 8333, 6809,  ..., 3988, 8049, 7842], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368705749511719\n",
      "Loss: 0.015211347462216503\n",
      "rotation error:  41.53714169648011\n",
      "translation error:  0.025442869168784545\n",
      "--- 14.53239393234253 seconds ---\n",
      "feature extraction time:  7.0464324951171875\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793956756591797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8013, 1290, 1702,  ..., 9366, 3256,  739], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10763955116271973\n",
      "Loss: 0.013031071165505352\n",
      "rotation error:  60.483603834898965\n",
      "translation error:  0.020152005758320102\n",
      "--- 14.667941331863403 seconds ---\n",
      "feature extraction time:  7.361378192901611\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4650,  293,  465,  ..., 4745,   57, 9064], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368658065795898\n",
      "Loss: 0.01139449003265524\n",
      "rotation error:  22.379453209232146\n",
      "translation error:  0.019747403313866093\n",
      "--- 14.871677160263062 seconds ---\n",
      "Epoch: [12/20], Batch: 9, Loss: 0.01139449003265524\n",
      "feature extraction time:  7.2069411277771\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7394, 5845, 2703,  ..., 2623,  478, 2352], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12263083457946777\n",
      "Loss: 0.027713971053734694\n",
      "rotation error:  92.76069854567372\n",
      "translation error:  0.030018632296132754\n",
      "--- 14.496795177459717 seconds ---\n",
      "feature extraction time:  7.1720123291015625\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694321632385254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4133, 7265, 1635,  ..., 2458, 2052, 8816], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1225895881652832\n",
      "Loss: 0.014037424639192744\n",
      "rotation error:  21.08586579444289\n",
      "translation error:  0.0410987850938079\n",
      "--- 14.587647676467896 seconds ---\n",
      "feature extraction time:  7.382285833358765\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016942739486694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 788, 8504, 7303,  ..., 3888, 1523, 8381], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.13164019584655762\n",
      "Loss: 0.0126200620049802\n",
      "rotation error:  39.11242812145168\n",
      "translation error:  0.041078797389379584\n",
      "--- 14.816528558731079 seconds ---\n",
      "feature extraction time:  7.276755332946777\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929813385009766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3217, 3655,   95,  ..., 6366, 7720, 7018], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.014153863781710989\n",
      "rotation error:  314.95329650547416\n",
      "translation error:  0.03341374139052259\n",
      "--- 14.876343488693237 seconds ---\n",
      "feature extraction time:  7.170100927352905\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023919105529785156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4778, 9395, 4027,  ..., 3646,  775, 6165], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764074325561523\n",
      "Loss: 0.01524221595192483\n",
      "rotation error:  43.42505576897947\n",
      "translation error:  0.03322605510029545\n",
      "--- 14.659053325653076 seconds ---\n",
      "Epoch: [12/20], Batch: 14, Loss: 0.01524221595192483\n",
      "feature extraction time:  7.3334715366363525\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024915695190429688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3366, 7456, 9055,  ..., 6212, 4690, 5216], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767293930053711\n",
      "Loss: 0.020344077504974113\n",
      "rotation error:  22.707983232457256\n",
      "translation error:  0.027292481396162714\n",
      "--- 14.768603563308716 seconds ---\n",
      "feature extraction time:  7.102245330810547\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016942739486694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5217, 1765, 1995,  ..., 7284, 4093,  129], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162638664245605\n",
      "Loss: 0.032757532909816985\n",
      "rotation error:  42.6595395110392\n",
      "translation error:  0.01335678449351228\n",
      "--- 14.58222770690918 seconds ---\n",
      "feature extraction time:  7.378321886062622\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8812, 6474, 4982,  ..., 2503, 6291, 1346], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.0190751126995888\n",
      "rotation error:  74.86959482945286\n",
      "translation error:  0.016367813699176517\n",
      "--- 14.77956771850586 seconds ---\n",
      "feature extraction time:  7.419416904449463\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793956756591797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 754, 8453, 4366,  ..., 6151, 4083, 4289], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162781715393066\n",
      "Loss: 0.016500250027975904\n",
      "rotation error:  23.05787615677867\n",
      "translation error:  0.022771646707530097\n",
      "--- 14.996075868606567 seconds ---\n",
      "feature extraction time:  7.383305549621582\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793980598449707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9090, 8035,  571,  ..., 8361, 9351, 1022], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368753433227539\n",
      "Loss: 0.025330828801349185\n",
      "rotation error:  36.947986930044756\n",
      "translation error:  0.04797910987042439\n",
      "--- 14.778570890426636 seconds ---\n",
      "Epoch: [12/20], Batch: 19, Loss: 0.025330828801349185\n",
      "feature extraction time:  7.366361618041992\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01594686508178711\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 384, 3798, 5815,  ..., 9038, 6502, 8176], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0946493148803711\n",
      "Loss: 0.02720866973677161\n",
      "rotation error:  70.30085644409719\n",
      "translation error:  0.05614574095019839\n",
      "--- 14.711865663528442 seconds ---\n",
      "feature extraction time:  7.168025255203247\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02093052864074707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2660, 7172, 1754,  ..., 7659, 4458, 9265], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970117568969727\n",
      "Loss: 0.01225996351063298\n",
      "rotation error:  34.39922511564619\n",
      "translation error:  0.046438210126848865\n",
      "--- 14.636403799057007 seconds ---\n",
      "feature extraction time:  7.183011293411255\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3268,  100, 2320,  ..., 3551, 1525, 5455], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.027676762080625188\n",
      "rotation error:  58.690563828984274\n",
      "translation error:  0.03688384261050441\n",
      "--- 14.60926342010498 seconds ---\n",
      "feature extraction time:  7.3684303760528564\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.015945911407470703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9514, 6535, 5652,  ...,  711, 2290, 8687], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.015625321822361198\n",
      "rotation error:  51.053684652244534\n",
      "translation error:  0.018406073831777125\n",
      "--- 14.796585083007812 seconds ---\n",
      "feature extraction time:  7.183973550796509\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7705, 8298, 9826,  ..., 1181, 3708, 2298], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11760735511779785\n",
      "Loss: 0.039609238856452185\n",
      "rotation error:  106.457440714689\n",
      "translation error:  0.013244437980097765\n",
      "--- 14.803489923477173 seconds ---\n",
      "Epoch: [12/20], Batch: 24, Loss: 0.039609238856452185\n",
      "feature extraction time:  7.389355182647705\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3492, 9948, 2295,  ..., 1232, 5267, 1903], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468436241149902\n",
      "Loss: 0.02766249863160951\n",
      "rotation error:  144.308156108891\n",
      "translation error:  0.013243408379386616\n",
      "--- 14.924550533294678 seconds ---\n",
      "feature extraction time:  7.244770050048828\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02093052864074707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5730, 9490,   57,  ...,  174, 9988, 8577], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066436767578125\n",
      "Loss: 0.02045348246738662\n",
      "rotation error:  46.910904773579624\n",
      "translation error:  0.02469617711188246\n",
      "--- 14.643027305603027 seconds ---\n",
      "feature extraction time:  7.368356943130493\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018937110900878906\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7842, 3994, 1244,  ..., 8535, 8063, 3001], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10874176025390625\n",
      "Loss: 0.03129862813098585\n",
      "rotation error:  45.75451965066558\n",
      "translation error:  0.03881164733646795\n",
      "--- 14.80165147781372 seconds ---\n",
      "feature extraction time:  7.353903293609619\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016942739486694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6246, 5365, 7671,  ..., 7493,   47, 2126], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767389297485352\n",
      "Loss: 0.017786537846970915\n",
      "rotation error:  289.17967431683724\n",
      "translation error:  0.04444683015923102\n",
      "--- 14.732227087020874 seconds ---\n",
      "feature extraction time:  7.175083875656128\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932985305786133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 65%|██████▌   | 13/20 [2:07:54<57:30, 492.87s/it]  "
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2388, 9153, 3159,  ..., 9290, 2947, 1200], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461687088012695\n",
      "Loss: 0.03412709245514918\n",
      "rotation error:  37.56630629126113\n",
      "translation error:  0.04369041828654622\n",
      "--- 14.63314151763916 seconds ---\n",
      "Epoch: [12/20], Batch: 29, Loss: 0.03412709245514918\n",
      "loss epoch [0.028401839225575036, 0.024554890243393284, 0.024621389058889543, 0.01207216206636875, 0.025961092890708977, 0.024250400603564273, 0.023077016390086025, 0.015211347462216503, 0.013031071165505352, 0.01139449003265524, 0.027713971053734694, 0.014037424639192744, 0.0126200620049802, 0.014153863781710989, 0.01524221595192483, 0.020344077504974113, 0.032757532909816985, 0.0190751126995888, 0.016500250027975904, 0.025330828801349185, 0.02720866973677161, 0.01225996351063298, 0.027676762080625188, 0.015625321822361198, 0.039609238856452185, 0.02766249863160951, 0.02045348246738662, 0.03129862813098585, 0.017786537846970915, 0.03412709245514918]\n",
      "epoch #13\n",
      "feature extraction time:  7.3195202350616455\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189361572265625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3151, 8363, 9831,  ..., 5302, 4471, 8652], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268999099731445\n",
      "Loss: 0.02271743196014208\n",
      "rotation error:  43.76610404274881\n",
      "translation error:  0.04671658562975393\n",
      "--- 14.699914455413818 seconds ---\n",
      "feature extraction time:  7.256870269775391\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993250846862793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7705, 6779, 7455,  ..., 3465, 7273, 2234], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09377932548522949\n",
      "Loss: 0.023488999266998448\n",
      "rotation error:  52.355264585855195\n",
      "translation error:  0.028390004079887714\n",
      "--- 14.80369234085083 seconds ---\n",
      "feature extraction time:  7.207897186279297\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9783, 3065, 9162,  ...,  524, 9563,  600], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767460823059082\n",
      "Loss: 0.010656750117570626\n",
      "rotation error:  15.315231343993126\n",
      "translation error:  0.023890553345084952\n",
      "--- 14.5873544216156 seconds ---\n",
      "feature extraction time:  7.1979310512542725\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016942739486694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 159, 8836, 5914,  ..., 5535, 2088,  456], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465002059936523\n",
      "Loss: 0.025239853362932798\n",
      "rotation error:  53.02109185150651\n",
      "translation error:  0.025848790594012655\n",
      "--- 14.602168083190918 seconds ---\n",
      "feature extraction time:  7.347426652908325\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022923707962036133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4213, 2000, 3828,  ..., 8485, 2670, 6180], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561346054077148\n",
      "Loss: 0.03681677514074365\n",
      "rotation error:  76.84436480082371\n",
      "translation error:  0.028873546060131823\n",
      "--- 14.961070775985718 seconds ---\n",
      "Epoch: [13/20], Batch: 4, Loss: 0.03681677514074365\n",
      "feature extraction time:  7.222963809967041\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916410446166992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4687,  832, 5029,  ...,  243, 9150, 3072], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966826438903809\n",
      "Loss: 0.020739939519020163\n",
      "rotation error:  50.93160424650665\n",
      "translation error:  0.03858450966577996\n",
      "--- 14.577425241470337 seconds ---\n",
      "feature extraction time:  7.425168514251709\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5150, 3751,  824,  ..., 7403, 1244,  652], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1040794849395752\n",
      "Loss: 0.02961041693774765\n",
      "rotation error:  332.78341648365205\n",
      "translation error:  0.04933833203730999\n",
      "--- 15.007236957550049 seconds ---\n",
      "feature extraction time:  7.344791650772095\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022922992706298828\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8355, 1430,  476,  ..., 1119, 6234, 8079], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11062932014465332\n",
      "Loss: 0.06145755702557294\n",
      "rotation error:  46.325426582248426\n",
      "translation error:  0.05093432922142055\n",
      "--- 14.816334247589111 seconds ---\n",
      "feature extraction time:  7.164179801940918\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993274688720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1138, 6618,  207,  ..., 9177, 5387, 5243], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870291709899902\n",
      "Loss: 0.06081789255235149\n",
      "rotation error:  52.172488779693914\n",
      "translation error:  0.056770940138853886\n",
      "--- 14.722900629043579 seconds ---\n",
      "feature extraction time:  7.239832401275635\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016943931579589844\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5884, 9277, 5421,  ..., 7426, 1996, 6939], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12163710594177246\n",
      "Loss: 0.047954442043194614\n",
      "rotation error:  30.034847200920602\n",
      "translation error:  0.051964851717885445\n",
      "--- 14.651204824447632 seconds ---\n",
      "Epoch: [13/20], Batch: 9, Loss: 0.047954442043194614\n",
      "feature extraction time:  7.352409839630127\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933700561523438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7210, 2641, 6503,  ..., 8218,  670, 9766], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066441535949707\n",
      "Loss: 0.04069997767552504\n",
      "rotation error:  39.82171291014377\n",
      "translation error:  0.029335119314780035\n",
      "--- 14.711796760559082 seconds ---\n",
      "feature extraction time:  7.263838291168213\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.021926403045654297\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9391, 4320, 6758,  ..., 8102, 3098, 7224], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11959981918334961\n",
      "Loss: 0.01821445883761092\n",
      "rotation error:  47.36581999853208\n",
      "translation error:  0.014184711370279811\n",
      "--- 14.651265859603882 seconds ---\n",
      "feature extraction time:  7.488952875137329\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0249173641204834\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2953, 5730, 4605,  ...,  945, 6828, 6803], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036534309387207\n",
      "Loss: 0.0303912547980033\n",
      "rotation error:  52.89287389790332\n",
      "translation error:  0.002508684157239856\n",
      "--- 14.979986906051636 seconds ---\n",
      "feature extraction time:  7.1620495319366455\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01893925666809082\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 526, 5782, 1049,  ..., 1002, 6734, 8011], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162638664245605\n",
      "Loss: 0.035832866078983734\n",
      "rotation error:  57.377051402214725\n",
      "translation error:  0.02136706795062596\n",
      "--- 14.585342168807983 seconds ---\n",
      "feature extraction time:  7.316528558731079\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993250846862793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 738, 4849,  926,  ..., 8328, 7954, 4841], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269070625305176\n",
      "Loss: 0.02502791705813579\n",
      "rotation error:  37.586998313628506\n",
      "translation error:  0.03748985916714629\n",
      "--- 14.754650115966797 seconds ---\n",
      "Epoch: [13/20], Batch: 14, Loss: 0.02502791705813579\n",
      "feature extraction time:  7.4237380027771\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9251, 3204, 5509,  ...,  884, 7903, 3853], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09730887413024902\n",
      "Loss: 0.030730660714136375\n",
      "rotation error:  86.3205021237163\n",
      "translation error:  0.03395164564512952\n",
      "--- 14.789707899093628 seconds ---\n",
      "feature extraction time:  7.106232404708862\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1037, 7612, 8084,  ..., 2910, 2510, 5700], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11361908912658691\n",
      "Loss: 0.02330651204306637\n",
      "rotation error:  81.62543665310115\n",
      "translation error:  0.03834837637590838\n",
      "--- 14.364954471588135 seconds ---\n",
      "feature extraction time:  7.218997240066528\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932985305786133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2920, 6471, 6045,  ..., 9241, 8176, 9965], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.02015344349917739\n",
      "rotation error:  309.15868037915834\n",
      "translation error:  0.0412247136744391\n",
      "--- 14.81864619255066 seconds ---\n",
      "feature extraction time:  7.373487949371338\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694321632385254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6677, 1781,  260,  ..., 4961, 7659, 3590], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966683387756348\n",
      "Loss: 0.0407960120824286\n",
      "rotation error:  37.52293296575398\n",
      "translation error:  0.02933805812914766\n",
      "--- 15.014930486679077 seconds ---\n",
      "feature extraction time:  7.346633434295654\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018939971923828125\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9942, 1141,  632,  ..., 4487, 1675,  587], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262345314025879\n",
      "Loss: 0.023640216052568188\n",
      "rotation error:  75.46426420858768\n",
      "translation error:  0.026358103847746863\n",
      "--- 14.718188047409058 seconds ---\n",
      "Epoch: [13/20], Batch: 19, Loss: 0.023640216052568188\n",
      "feature extraction time:  7.442723035812378\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016942977905273438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7642, 2240, 3606,  ..., 8440, 5734,  505], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464978218078613\n",
      "Loss: 0.034243518936049294\n",
      "rotation error:  68.02586193100053\n",
      "translation error:  0.02253865890329778\n",
      "--- 14.819399118423462 seconds ---\n",
      "feature extraction time:  7.382647752761841\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018935441970825195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5809, 1020, 9007,  ..., 1678, 6019, 6174], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08734345436096191\n",
      "Loss: 0.018928556895149683\n",
      "rotation error:  40.27890557997784\n",
      "translation error:  0.03096829635861618\n",
      "--- 14.960980415344238 seconds ---\n",
      "feature extraction time:  7.194936990737915\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022922515869140625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7527, 2093, 3533,  ..., 7286, 2742, 6474], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860322952270508\n",
      "Loss: 0.03697473786687104\n",
      "rotation error:  31.28694246032789\n",
      "translation error:  0.03177836499599617\n",
      "--- 14.733779907226562 seconds ---\n",
      "feature extraction time:  7.2148683071136475\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.021927356719970703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 202, 1792, 6073,  ..., 8289, 4920, 5600], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362028121948242\n",
      "Loss: 0.022646309666577494\n",
      "rotation error:  47.706291097670395\n",
      "translation error:  0.03236669643684659\n",
      "--- 14.614312171936035 seconds ---\n",
      "feature extraction time:  7.245131254196167\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3153,  331, 7707,  ..., 1967, 4716, 6965], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571314811706543\n",
      "Loss: 0.020338151435237692\n",
      "rotation error:  31.420377382122243\n",
      "translation error:  0.0336793097479803\n",
      "--- 14.62898063659668 seconds ---\n",
      "Epoch: [13/20], Batch: 24, Loss: 0.020338151435237692\n",
      "feature extraction time:  7.175639867782593\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929574966430664\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4562, 3160, 2922,  ..., 1507, 6238, 8556], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571338653564453\n",
      "Loss: 0.03199154132682415\n",
      "rotation error:  139.34403327273935\n",
      "translation error:  0.036822339682799396\n",
      "--- 14.59893798828125 seconds ---\n",
      "feature extraction time:  7.131259918212891\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022923707962036133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5970, 1331, 8172,  ...,  381, 8261, 8825], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767341613769531\n",
      "Loss: 0.010105262828691789\n",
      "rotation error:  18.99133673193351\n",
      "translation error:  0.030042060154174748\n",
      "--- 14.566451787948608 seconds ---\n",
      "feature extraction time:  7.16403865814209\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292323112487793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8016, 3718, 9105,  ..., 2957, 1931, 8974], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12065267562866211\n",
      "Loss: 0.02845956185414826\n",
      "rotation error:  37.362916348283896\n",
      "translation error:  0.042205739236928844\n",
      "--- 14.531455516815186 seconds ---\n",
      "feature extraction time:  7.445136547088623\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7262, 2033, 9727,  ..., 2129, 7810, 6505], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166096687316895\n",
      "Loss: 0.017712163741606113\n",
      "rotation error:  66.12979602694156\n",
      "translation error:  0.03817586313482635\n",
      "--- 15.002124071121216 seconds ---\n",
      "feature extraction time:  7.257724761962891\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018935680389404297\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 70%|███████   | 14/20 [2:15:16<47:46, 477.73s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6942, 7788, 7254,  ..., 5470, 1228, 8409], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468364715576172\n",
      "Loss: 0.03462285920887315\n",
      "rotation error:  43.95370793249765\n",
      "translation error:  0.03897932135941173\n",
      "--- 14.841360569000244 seconds ---\n",
      "Epoch: [13/20], Batch: 29, Loss: 0.03462285920887315\n",
      "loss epoch [0.02271743196014208, 0.023488999266998448, 0.010656750117570626, 0.025239853362932798, 0.03681677514074365, 0.020739939519020163, 0.02961041693774765, 0.06145755702557294, 0.06081789255235149, 0.047954442043194614, 0.04069997767552504, 0.01821445883761092, 0.0303912547980033, 0.035832866078983734, 0.02502791705813579, 0.030730660714136375, 0.02330651204306637, 0.02015344349917739, 0.0407960120824286, 0.023640216052568188, 0.034243518936049294, 0.018928556895149683, 0.03697473786687104, 0.022646309666577494, 0.020338151435237692, 0.03199154132682415, 0.010105262828691789, 0.02845956185414826, 0.017712163741606113, 0.03462285920887315]\n",
      "epoch #14\n",
      "feature extraction time:  7.3962624073028564\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9940,  716, 4206,  ..., 4960, 1872, 1587], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.012756174356111658\n",
      "rotation error:  278.8871854768107\n",
      "translation error:  0.040758146239022706\n",
      "--- 14.993898868560791 seconds ---\n",
      "feature extraction time:  7.3713459968566895\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8781, 9494,  952,  ..., 3384, 6979, 6483], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11960005760192871\n",
      "Loss: 0.027697201103762135\n",
      "rotation error:  53.23601930802561\n",
      "translation error:  0.03465720485050567\n",
      "--- 14.990930557250977 seconds ---\n",
      "feature extraction time:  7.57267165184021\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2647, 7032, 2730,  ..., 9829,  418, 7448], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.015504638628111439\n",
      "rotation error:  54.0267876453985\n",
      "translation error:  0.033163210274215434\n",
      "--- 15.163340330123901 seconds ---\n",
      "feature extraction time:  7.182975769042969\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993274688720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009982585906982422\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7814, 5744, 6421,  ..., 7243, 1427,  283], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1225900650024414\n",
      "Loss: 0.0204955338764454\n",
      "rotation error:  44.62111899618129\n",
      "translation error:  0.028559871213313874\n",
      "--- 14.804567337036133 seconds ---\n",
      "feature extraction time:  7.557775020599365\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01989603042602539\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9868,  536, 3311,  ..., 6331, 7927, 9924], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966659545898438\n",
      "Loss: 0.026323705257968063\n",
      "rotation error:  62.811956455784255\n",
      "translation error:  0.030726883524315077\n",
      "--- 15.003118753433228 seconds ---\n",
      "Epoch: [14/20], Batch: 4, Loss: 0.026323705257968063\n",
      "feature extraction time:  7.382396936416626\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1949, 5124,  226,  ..., 6853, 3639, 1553], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.017112507555845882\n",
      "rotation error:  315.5018110502473\n",
      "translation error:  0.01613464437904212\n",
      "--- 14.999919176101685 seconds ---\n",
      "feature extraction time:  7.510879039764404\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916648864746094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3126, 4427, 5519,  ...,  350, 1160, 2371], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10788679122924805\n",
      "Loss: 0.031576442248446156\n",
      "rotation error:  237.16514757052315\n",
      "translation error:  0.005727500662707207\n",
      "--- 15.123664379119873 seconds ---\n",
      "feature extraction time:  7.636462211608887\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2432, 6421, 9983,  ..., 5382, 3922, 8358], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863637924194336\n",
      "Loss: 0.021675018206234357\n",
      "rotation error:  26.35803486531568\n",
      "translation error:  0.013272951838445297\n",
      "--- 15.42744255065918 seconds ---\n",
      "feature extraction time:  7.5856287479400635\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940282821655273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2013, 1814, 6578,  ..., 6604, 2848, 5544], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.02529568472231797\n",
      "rotation error:  43.203948674554375\n",
      "translation error:  0.008085954316822273\n",
      "--- 15.36300277709961 seconds ---\n",
      "feature extraction time:  7.287625551223755\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1970, 5336, 1397,  ..., 4761, 9283, 3367], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863828659057617\n",
      "Loss: 0.01527745713663654\n",
      "rotation error:  241.88025945935743\n",
      "translation error:  0.01139325306055149\n",
      "--- 14.775625228881836 seconds ---\n",
      "Epoch: [14/20], Batch: 9, Loss: 0.01527745713663654\n",
      "feature extraction time:  7.370351791381836\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694345474243164\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9345, 6670, 5053,  ..., 9953,  262, 5883], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11513137817382812\n",
      "Loss: 0.024111069430150477\n",
      "rotation error:  43.96693185971055\n",
      "translation error:  0.016438582092743896\n",
      "--- 14.79710841178894 seconds ---\n",
      "feature extraction time:  7.501907825469971\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020931720733642578\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7523,  241, 3565,  ..., 6468,  171, 8594], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09916400909423828\n",
      "Loss: 0.014257879276484132\n",
      "rotation error:  76.92249246252187\n",
      "translation error:  0.021202761757930132\n",
      "--- 15.083101749420166 seconds ---\n",
      "feature extraction time:  7.2169177532196045\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02491593360900879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3738, 3421, 4467,  ..., 6582, 1484, 1237], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464978218078613\n",
      "Loss: 0.03757855238453418\n",
      "rotation error:  76.05016201480291\n",
      "translation error:  0.03348195079285208\n",
      "--- 14.689924478530884 seconds ---\n",
      "feature extraction time:  7.193400144577026\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01893901824951172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5773, 8766, 1960,  ..., 9348, 4721, 7915], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11760687828063965\n",
      "Loss: 0.04368268141996272\n",
      "rotation error:  60.57568067303195\n",
      "translation error:  0.03479047986917504\n",
      "--- 14.598811388015747 seconds ---\n",
      "feature extraction time:  7.287117958068848\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6864, 4973, 5698,  ...,  922, 5045, 2647], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561274528503418\n",
      "Loss: 0.039905948490355156\n",
      "rotation error:  61.461852110775055\n",
      "translation error:  0.034065088586702416\n",
      "--- 14.882757425308228 seconds ---\n",
      "Epoch: [14/20], Batch: 14, Loss: 0.039905948490355156\n",
      "feature extraction time:  7.246819734573364\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929336547851562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009980201721191406\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9196, 8579, 9155,  ..., 1244, 1899, 2281], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.008456220870481477\n",
      "rotation error:  7.8668961845742285\n",
      "translation error:  0.026000820504696157\n",
      "--- 14.866718530654907 seconds ---\n",
      "feature extraction time:  7.3005828857421875\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022922754287719727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7158, 8258, 7599,  ..., 7727, 4061, 4895], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.028648027806301435\n",
      "rotation error:  69.68716555948946\n",
      "translation error:  0.011957855119726132\n",
      "--- 14.757641315460205 seconds ---\n",
      "feature extraction time:  7.228821754455566\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5129,  495, 7363,  ..., 5206, 4146, 5313], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09609007835388184\n",
      "Loss: 0.012618947048521765\n",
      "rotation error:  36.87527207049877\n",
      "translation error:  0.008721688621659705\n",
      "--- 14.380277156829834 seconds ---\n",
      "feature extraction time:  7.42828631401062\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016942977905273438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4585, 7435, 9020,  ..., 1284, 9172, 7334], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667587280273438\n",
      "Loss: 0.0160450901630923\n",
      "rotation error:  8.477657090908902\n",
      "translation error:  0.024747445321073813\n",
      "--- 14.76478624343872 seconds ---\n",
      "feature extraction time:  7.221017599105835\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6068, 9068, 1435,  ..., 6952, 8088, 7787], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.009199475606413612\n",
      "rotation error:  7.309509590928414\n",
      "translation error:  0.017263140467274726\n",
      "--- 14.634583711624146 seconds ---\n",
      "Epoch: [14/20], Batch: 19, Loss: 0.009199475606413612\n",
      "feature extraction time:  7.18903374671936\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940282821655273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 618, 1871, 2262,  ..., 8488, 2851, 3184], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11760687828063965\n",
      "Loss: 0.03021982729341552\n",
      "rotation error:  62.66226272913135\n",
      "translation error:  0.020601420315714436\n",
      "--- 14.620027542114258 seconds ---\n",
      "feature extraction time:  7.289618253707886\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02093029022216797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1871, 3503, 7157,  ..., 3991, 5266, 1437], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.018990138550327197\n",
      "rotation error:  319.87781202916267\n",
      "translation error:  0.029328365939522226\n",
      "--- 14.7516610622406 seconds ---\n",
      "feature extraction time:  7.173008918762207\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932031631469727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1800, 5288, 1475,  ..., 9044, 2480, 4681], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10165953636169434\n",
      "Loss: 0.04243084910490611\n",
      "rotation error:  62.070825289838815\n",
      "translation error:  0.00991399413334168\n",
      "--- 14.78355598449707 seconds ---\n",
      "feature extraction time:  7.304570198059082\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916887283325195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1862, 4792, 7232,  ..., 8284, 1183, 1724], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567975997924805\n",
      "Loss: 0.030756444003461697\n",
      "rotation error:  284.99379215223183\n",
      "translation error:  0.02682258310496357\n",
      "--- 14.799983739852905 seconds ---\n",
      "feature extraction time:  7.168107271194458\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019934415817260742\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9351, 9481, 4386,  ..., 8203,  974, 6003], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10116887092590332\n",
      "Loss: 0.013722977752896447\n",
      "rotation error:  30.412230570038115\n",
      "translation error:  0.02303090995248529\n",
      "--- 14.735100507736206 seconds ---\n",
      "Epoch: [14/20], Batch: 24, Loss: 0.013722977752896447\n",
      "feature extraction time:  7.264703035354614\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933700561523438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1721, 3619, 7116,  ..., 9503, 6748, 8653], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.03075770890629847\n",
      "rotation error:  29.087341922028212\n",
      "translation error:  0.03808380551125727\n",
      "--- 14.772737741470337 seconds ---\n",
      "feature extraction time:  7.180983543395996\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024915695190429688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5286, 9377, 1825,  ..., 4227, 8069, 9335], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10879850387573242\n",
      "Loss: 0.027983948832173505\n",
      "rotation error:  116.93254944556894\n",
      "translation error:  0.024013747173118057\n",
      "--- 14.655103206634521 seconds ---\n",
      "feature extraction time:  7.174169301986694\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929336547851562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2557,  931, 5192,  ..., 7514, 1966,  180], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.009209474660005806\n",
      "rotation error:  14.466683361463158\n",
      "translation error:  0.015295685322141475\n",
      "--- 14.560151100158691 seconds ---\n",
      "feature extraction time:  7.209927320480347\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189363956451416\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1485, 1758, 8415,  ..., 8041, 5305, 1114], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12757444381713867\n",
      "Loss: 0.019182313454368764\n",
      "rotation error:  30.94250437572677\n",
      "translation error:  0.011982747557346601\n",
      "--- 14.651966333389282 seconds ---\n",
      "feature extraction time:  7.366363286972046\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929574966430664\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 75%|███████▌  | 15/20 [2:22:42<39:00, 468.09s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 743, 3354, 6135,  ..., 1622, 6233, 1904], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870339393615723\n",
      "Loss: 0.021974937097614486\n",
      "rotation error:  291.6878856514946\n",
      "translation error:  0.0072287817318787044\n",
      "--- 14.853323459625244 seconds ---\n",
      "Epoch: [14/20], Batch: 29, Loss: 0.021974937097614486\n",
      "loss epoch [0.012756174356111658, 0.027697201103762135, 0.015504638628111439, 0.0204955338764454, 0.026323705257968063, 0.017112507555845882, 0.031576442248446156, 0.021675018206234357, 0.02529568472231797, 0.01527745713663654, 0.024111069430150477, 0.014257879276484132, 0.03757855238453418, 0.04368268141996272, 0.039905948490355156, 0.008456220870481477, 0.028648027806301435, 0.012618947048521765, 0.0160450901630923, 0.009199475606413612, 0.03021982729341552, 0.018990138550327197, 0.04243084910490611, 0.030756444003461697, 0.013722977752896447, 0.03075770890629847, 0.027983948832173505, 0.009209474660005806, 0.019182313454368764, 0.021974937097614486]\n",
      "epoch #15\n",
      "feature extraction time:  7.497117757797241\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929574966430664\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2956, 8551, 7980,  ..., 1673, 1844,  793], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10070037841796875\n",
      "Loss: 0.01968460212261643\n",
      "rotation error:  297.1190082185933\n",
      "translation error:  0.009112807436053366\n",
      "--- 15.087692022323608 seconds ---\n",
      "feature extraction time:  7.548786401748657\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02093052864074707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 921, 8668, 4073,  ...,  200, 9724, 4029], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1006627082824707\n",
      "Loss: 0.018848490598134048\n",
      "rotation error:  20.391609298753956\n",
      "translation error:  0.027535337799480884\n",
      "--- 15.11448359489441 seconds ---\n",
      "feature extraction time:  7.215866565704346\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189363956451416\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3397, 2799, 7704,  ..., 8186, 8982, 3582], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1285703182220459\n",
      "Loss: 0.02505268220589247\n",
      "rotation error:  354.46919879251607\n",
      "translation error:  0.016153771150074797\n",
      "--- 14.88720989227295 seconds ---\n",
      "feature extraction time:  7.3364646434783936\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2170, 9062, 8741,  ..., 5224, 7994,  905], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0927574634552002\n",
      "Loss: 0.016027626288621675\n",
      "rotation error:  337.89225414971094\n",
      "translation error:  0.021457462355783493\n",
      "--- 14.631107568740845 seconds ---\n",
      "feature extraction time:  7.455066442489624\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292323112487793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4718,  825, 4757,  ..., 1892, 8603, 4141], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966731071472168\n",
      "Loss: 0.013577288941065486\n",
      "rotation error:  57.70319715005965\n",
      "translation error:  0.023446277372683007\n",
      "--- 15.104543924331665 seconds ---\n",
      "Epoch: [15/20], Batch: 4, Loss: 0.013577288941065486\n",
      "feature extraction time:  7.356464147567749\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1326,  210, 3550,  ..., 5091, 3739, 5323], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166025161743164\n",
      "Loss: 0.036176969943510676\n",
      "rotation error:  81.11550570541966\n",
      "translation error:  0.02321387364070147\n",
      "--- 14.80262017250061 seconds ---\n",
      "feature extraction time:  7.476080656051636\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02391958236694336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4712, 9001, 4224,  ..., 2294, 1789, 5931], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10217690467834473\n",
      "Loss: 0.017730037853464123\n",
      "rotation error:  54.53264110330764\n",
      "translation error:  0.024115990851965727\n",
      "--- 15.065253019332886 seconds ---\n",
      "feature extraction time:  7.2407824993133545\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940759658813477\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 164, 7786, 6732,  ..., 7775, 9072, 9501], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863661766052246\n",
      "Loss: 0.011493282471583734\n",
      "rotation error:  333.05792803697346\n",
      "translation error:  0.011064998833278578\n",
      "--- 14.632205247879028 seconds ---\n",
      "feature extraction time:  7.234802484512329\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9012, 2713, 6058,  ..., 3946, 8476, 5792], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564732551574707\n",
      "Loss: 0.020102091772846966\n",
      "rotation error:  52.11490928876248\n",
      "translation error:  0.02874582532555389\n",
      "--- 14.613173007965088 seconds ---\n",
      "feature extraction time:  7.188957214355469\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7379,  934, 7416,  ..., 6583, 9607, 7304], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08915591239929199\n",
      "Loss: 0.01861356239731187\n",
      "rotation error:  22.849170531973222\n",
      "translation error:  0.025372713392418495\n",
      "--- 14.519770622253418 seconds ---\n",
      "Epoch: [15/20], Batch: 9, Loss: 0.01861356239731187\n",
      "feature extraction time:  7.262768983840942\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4850,  187, 3601,  ..., 9644, 8440, 2071], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11675238609313965\n",
      "Loss: 0.01645703246841647\n",
      "rotation error:  26.56004505779716\n",
      "translation error:  0.042306215185466046\n",
      "--- 14.90259337425232 seconds ---\n",
      "feature extraction time:  7.345432758331299\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5472, 5303, 5512,  ..., 8603, 7093, 8067], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461687088012695\n",
      "Loss: 0.02449765412303181\n",
      "rotation error:  249.67742253598306\n",
      "translation error:  0.04093653144504114\n",
      "--- 14.749670028686523 seconds ---\n",
      "feature extraction time:  7.310652732849121\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2129, 4041, 9513,  ..., 5130, 1606, 2922], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169316291809082\n",
      "Loss: 0.01487995402483863\n",
      "rotation error:  28.678016961546472\n",
      "translation error:  0.04356673051037528\n",
      "--- 14.787646055221558 seconds ---\n",
      "feature extraction time:  7.338455677032471\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929574966430664\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5745, 5836, 8892,  ..., 8668, 5523, 4250], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059736251831055\n",
      "Loss: 0.02118335267397426\n",
      "rotation error:  320.94486218704225\n",
      "translation error:  0.04406720578930265\n",
      "--- 14.773587942123413 seconds ---\n",
      "feature extraction time:  7.22483491897583\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8450, 9512, 8035,  ..., 8307, 5351, 5671], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162686347961426\n",
      "Loss: 0.02827093581418123\n",
      "rotation error:  336.3345071867509\n",
      "translation error:  0.045996178357340746\n",
      "--- 14.689867734909058 seconds ---\n",
      "Epoch: [15/20], Batch: 14, Loss: 0.02827093581418123\n",
      "feature extraction time:  7.3095526695251465\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.015946388244628906\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3169, 3145, 2809,  ..., 7784, 2701,  818], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966659545898438\n",
      "Loss: 0.025523082577692976\n",
      "rotation error:  300.9265412458548\n",
      "translation error:  0.04426156522579091\n",
      "--- 14.866278409957886 seconds ---\n",
      "feature extraction time:  7.403238773345947\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3909, 4459, 9311,  ..., 8181, 9205, 6640], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568047523498535\n",
      "Loss: 0.025877603265159803\n",
      "rotation error:  239.24693717081956\n",
      "translation error:  0.03525317909139031\n",
      "--- 14.980183601379395 seconds ---\n",
      "feature extraction time:  7.182039737701416\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023918867111206055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3249, 5836, 4585,  ..., 5212, 2633, 3679], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362004280090332\n",
      "Loss: 0.03235976095955106\n",
      "rotation error:  47.80908535508715\n",
      "translation error:  0.023289866547715008\n",
      "--- 14.543573141098022 seconds ---\n",
      "feature extraction time:  7.267747402191162\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793980598449707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 619, 7953, 3821,  ...,  128, 6248, 9733], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966683387756348\n",
      "Loss: 0.011949690433039959\n",
      "rotation error:  21.49771594641118\n",
      "translation error:  0.020584798489879562\n",
      "--- 18.103506088256836 seconds ---\n",
      "feature extraction time:  10.881819009780884\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2601, 9505, 2208,  ..., 1853, 3706, 1494], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667706489562988\n",
      "Loss: 0.023109249745308418\n",
      "rotation error:  34.737478058115634\n",
      "translation error:  0.019932581692873368\n",
      "--- 21.074765920639038 seconds ---\n",
      "Epoch: [15/20], Batch: 19, Loss: 0.023109249745308418\n",
      "feature extraction time:  10.509849071502686\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0597996711730957\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4522, 4625, 7339,  ..., 3635, 3422,  995], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262392997741699\n",
      "Loss: 0.020332441828367322\n",
      "rotation error:  47.836717578477085\n",
      "translation error:  0.020717972836414515\n",
      "--- 28.559479475021362 seconds ---\n",
      "feature extraction time:  15.722505807876587\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916648864746094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 270, 3812, 3796,  ..., 5558, 7889, 3389], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867024421691895\n",
      "Loss: 0.022375572645203963\n",
      "rotation error:  37.61648348373864\n",
      "translation error:  0.03260735248452064\n",
      "--- 26.427700757980347 seconds ---\n",
      "feature extraction time:  10.482938289642334\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02790665626525879\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 279, 8271, 6258,  ..., 5352, 5110, 4566], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.021567745252810223\n",
      "rotation error:  38.69193949300166\n",
      "translation error:  0.034801160265498385\n",
      "--- 21.193116664886475 seconds ---\n",
      "feature extraction time:  10.520810842514038\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906417846679688\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3294, 3180, 7350,  ..., 4368, 4166, 8978], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.14052963256835938\n",
      "Loss: 0.01417740760469127\n",
      "rotation error:  59.736767302229545\n",
      "translation error:  0.03998203373897489\n",
      "--- 27.8059983253479 seconds ---\n",
      "feature extraction time:  15.927727937698364\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.036876678466796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9505, 7512, 1109,  ..., 9279, 3374, 6632], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096336841583252\n",
      "Loss: 0.024826985568460944\n",
      "rotation error:  64.09434620669315\n",
      "translation error:  0.04756033781424029\n",
      "--- 33.02354836463928 seconds ---\n",
      "Epoch: [15/20], Batch: 24, Loss: 0.024826985568460944\n",
      "feature extraction time:  15.96958875656128\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03687572479248047\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9854, 8859, 5060,  ..., 2984, 5895, 6028], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1255807876586914\n",
      "Loss: 0.027488813271813826\n",
      "rotation error:  11.881754723424626\n",
      "translation error:  0.05492598466929727\n",
      "--- 32.46342158317566 seconds ---\n",
      "feature extraction time:  15.774240970611572\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.035880327224731445\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7855, 8276, 8822,  ..., 1198, 1163, 3603], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12657690048217773\n",
      "Loss: 0.03157189060191736\n",
      "rotation error:  38.39407631035522\n",
      "translation error:  0.05210553990968878\n",
      "--- 32.11658263206482 seconds ---\n",
      "feature extraction time:  15.723410606384277\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.035880088806152344\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 276, 5335, 7175,  ..., 8059, 3273, 8873], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.051035025928518364\n",
      "rotation error:  47.596370069204234\n",
      "translation error:  0.04669849742164072\n",
      "--- 32.38468551635742 seconds ---\n",
      "feature extraction time:  15.846001148223877\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03488349914550781\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1809, 6111, 7722,  ..., 8595, 8486, 2981], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860275268554688\n",
      "Loss: 0.014857993233605286\n",
      "rotation error:  15.347324888157463\n",
      "translation error:  0.04140764408766919\n",
      "--- 32.166414976119995 seconds ---\n",
      "feature extraction time:  15.798160552978516\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.034882307052612305\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997781753540039\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 80%|████████  | 16/20 [2:32:41<33:49, 507.48s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6218, 7348, 5831,  ..., 9486, 8957, 1220], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063003540039062\n",
      "Loss: 0.030147517093487584\n",
      "rotation error:  287.1325862792337\n",
      "translation error:  0.03421493695985234\n",
      "--- 27.017803192138672 seconds ---\n",
      "Epoch: [15/20], Batch: 29, Loss: 0.030147517093487584\n",
      "loss epoch [0.01968460212261643, 0.018848490598134048, 0.02505268220589247, 0.016027626288621675, 0.013577288941065486, 0.036176969943510676, 0.017730037853464123, 0.011493282471583734, 0.020102091772846966, 0.01861356239731187, 0.01645703246841647, 0.02449765412303181, 0.01487995402483863, 0.02118335267397426, 0.02827093581418123, 0.025523082577692976, 0.025877603265159803, 0.03235976095955106, 0.011949690433039959, 0.023109249745308418, 0.020332441828367322, 0.022375572645203963, 0.021567745252810223, 0.01417740760469127, 0.024826985568460944, 0.027488813271813826, 0.03157189060191736, 0.051035025928518364, 0.014857993233605286, 0.030147517093487584]\n",
      "epoch #16\n",
      "feature extraction time:  10.205865144729614\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913715362548828\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2393, 4962,  603,  ...,  171, 5739, 3364], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10416769981384277\n",
      "Loss: 0.022569595144395414\n",
      "rotation error:  52.41847323228078\n",
      "translation error:  0.03684840421032564\n",
      "--- 20.68370819091797 seconds ---\n",
      "feature extraction time:  10.004537343978882\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1692, 8513, 3307,  ..., 4903, 9009, 3221], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10792255401611328\n",
      "Loss: 0.0243295593559487\n",
      "rotation error:  65.68252191024901\n",
      "translation error:  0.039736162172961914\n",
      "--- 20.46483612060547 seconds ---\n",
      "feature extraction time:  10.50586223602295\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913000106811523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8124, 3519, 7865,  ..., 2215, 4730, 2409], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0949852466583252\n",
      "Loss: 0.026756191579346528\n",
      "rotation error:  43.17291222573643\n",
      "translation error:  0.0448537824541325\n",
      "--- 21.506524085998535 seconds ---\n",
      "feature extraction time:  10.532855987548828\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896425247192383\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 784,  895, 7714,  ..., 8522, 7031, 9372], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468364715576172\n",
      "Loss: 0.03396395087392569\n",
      "rotation error:  140.23200487189604\n",
      "translation error:  0.04062495191756675\n",
      "--- 21.094642639160156 seconds ---\n",
      "feature extraction time:  10.754031896591187\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5349, 8888, 1972,  ..., 1623, 5216, 9980], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1126241683959961\n",
      "Loss: 0.01748957264508736\n",
      "rotation error:  78.80255781822586\n",
      "translation error:  0.04437180131138272\n",
      "--- 21.77018713951111 seconds ---\n",
      "Epoch: [16/20], Batch: 4, Loss: 0.01748957264508736\n",
      "feature extraction time:  10.427124738693237\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.031893014907836914\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 698, 7850, 5063,  ..., 2744, 4776, 5323], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063003540039062\n",
      "Loss: 0.05349323233653934\n",
      "rotation error:  54.168556582452105\n",
      "translation error:  0.03731250451091446\n",
      "--- 21.300756692886353 seconds ---\n",
      "feature extraction time:  10.260777711868286\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989983558654785\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4395, 1603, 6341,  ...,  361, 2777, 7362], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10425567626953125\n",
      "Loss: 0.017979843796310426\n",
      "rotation error:  136.03025257220938\n",
      "translation error:  0.03585111918850015\n",
      "--- 20.897804498672485 seconds ---\n",
      "feature extraction time:  10.52479863166809\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9688,  187, 7345,  ..., 3463, 4072, 4356], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1020958423614502\n",
      "Loss: 0.02287498679508692\n",
      "rotation error:  50.34268778666732\n",
      "translation error:  0.04027383397463371\n",
      "--- 21.318572521209717 seconds ---\n",
      "feature extraction time:  10.461011171340942\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03288984298706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2499, 6096, 7333,  ..., 7371, 8316, 5125], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.021018559813076612\n",
      "rotation error:  12.430036301491684\n",
      "translation error:  0.03882418660334692\n",
      "--- 21.11039423942566 seconds ---\n",
      "feature extraction time:  10.700212955474854\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900550842285156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6953, 7312, 6765,  ..., 7093, 6167, 7279], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265660285949707\n",
      "Loss: 0.034169392855193555\n",
      "rotation error:  83.88751640639197\n",
      "translation error:  0.0376154369173911\n",
      "--- 21.50253415107727 seconds ---\n",
      "Epoch: [16/20], Batch: 9, Loss: 0.034169392855193555\n",
      "feature extraction time:  10.573744535446167\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896425247192383\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8728, 7001, 3865,  ..., 5871, 9456, 3689], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.018475901620025163\n",
      "rotation error:  59.72205015242157\n",
      "translation error:  0.026466833379212667\n",
      "--- 21.238078594207764 seconds ---\n",
      "feature extraction time:  10.46300721168518\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8900, 2739, 5783,  ..., 4345, 3925, 3199], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11661028861999512\n",
      "Loss: 0.020998950317749215\n",
      "rotation error:  64.28257213920445\n",
      "translation error:  0.016732907148225208\n",
      "--- 21.207074880599976 seconds ---\n",
      "feature extraction time:  10.361346960067749\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023920059204101562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5856, 6757, 1282,  ..., 8557, 1357, 8941], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11264824867248535\n",
      "Loss: 0.021311016741358782\n",
      "rotation error:  71.30082155982406\n",
      "translation error:  0.01597352931197556\n",
      "--- 20.904113054275513 seconds ---\n",
      "feature extraction time:  10.395599842071533\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913000106811523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2766, 3397, 4541,  ..., 1587, 1201, 4446], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12757325172424316\n",
      "Loss: 0.017378168653598196\n",
      "rotation error:  58.11620515926225\n",
      "translation error:  0.026377331324267693\n",
      "--- 21.00013303756714 seconds ---\n",
      "feature extraction time:  10.308613061904907\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916410446166992\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5764, 8764, 4741,  ..., 3307, 1340, 4155], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564661026000977\n",
      "Loss: 0.011308437346863102\n",
      "rotation error:  11.113119150168863\n",
      "translation error:  0.026344732227224842\n",
      "--- 20.98889398574829 seconds ---\n",
      "Epoch: [16/20], Batch: 14, Loss: 0.011308437346863102\n",
      "feature extraction time:  10.29357099533081\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910066604614258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8836,   58, 3552,  ..., 4337, 3099, 6923], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966611862182617\n",
      "Loss: 0.039335003986977354\n",
      "rotation error:  40.965810505556426\n",
      "translation error:  0.021375372117288256\n",
      "--- 21.02468180656433 seconds ---\n",
      "feature extraction time:  10.470980167388916\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913238525390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1125, 4670, 9361,  ..., 8828, 3338, 2550], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1225900650024414\n",
      "Loss: 0.013009015400714632\n",
      "rotation error:  273.5581936337741\n",
      "translation error:  0.030740450781428272\n",
      "--- 21.08847165107727 seconds ---\n",
      "feature extraction time:  13.072280645370483\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03887009620666504\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4969, 3715, 7362,  ..., 4827, 4920, 6382], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.012045952797953407\n",
      "rotation error:  29.10445174718526\n",
      "translation error:  0.016587635619399403\n",
      "--- 28.263474941253662 seconds ---\n",
      "feature extraction time:  14.304160356521606\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916648864746094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2626, 3320, 8208,  ..., 6084, 2427, 7960], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11760663986206055\n",
      "Loss: 0.010156827122710183\n",
      "rotation error:  32.100429847649785\n",
      "translation error:  0.02463207923176341\n",
      "--- 24.94955825805664 seconds ---\n",
      "feature extraction time:  10.430117130279541\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4755, 3563, 1635,  ..., 7935, 6133, 2250], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162710189819336\n",
      "Loss: 0.015901802424561542\n",
      "rotation error:  30.25297170327206\n",
      "translation error:  0.01732739628735495\n",
      "--- 21.126344680786133 seconds ---\n",
      "Epoch: [16/20], Batch: 19, Loss: 0.015901802424561542\n",
      "feature extraction time:  10.411198377609253\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5099, 6664, 9752,  ...,  154, 8812, 5628], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11421012878417969\n",
      "Loss: 0.032084956416904904\n",
      "rotation error:  79.51151786352135\n",
      "translation error:  0.016830889697949002\n",
      "--- 21.09935760498047 seconds ---\n",
      "feature extraction time:  10.386316299438477\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691030502319336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7587, 3231,  926,  ..., 6948, 9824, 5759], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10214996337890625\n",
      "Loss: 0.009881972334300939\n",
      "rotation error:  32.30672352930527\n",
      "translation error:  0.028807270205005966\n",
      "--- 21.06818413734436 seconds ---\n",
      "feature extraction time:  10.521868467330933\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909351348876953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7659, 2666, 2057,  ..., 5527, 7117,   74], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069705009460449\n",
      "Loss: 0.02413185780350545\n",
      "rotation error:  50.14663595104328\n",
      "translation error:  0.026899130205326346\n",
      "--- 21.181272745132446 seconds ---\n",
      "feature extraction time:  10.47003698348999\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916648864746094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1051, 6176, 7637,  ..., 8916,  730, 9271], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1255807876586914\n",
      "Loss: 0.014551480052192704\n",
      "rotation error:  36.16893946475815\n",
      "translation error:  0.031399889774676115\n",
      "--- 21.232099294662476 seconds ---\n",
      "feature extraction time:  10.737144470214844\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900312423706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 281, 6345, 5192,  ..., 2442, 1362, 7085], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.013687766014804377\n",
      "rotation error:  37.30903517847992\n",
      "translation error:  0.02764255533262726\n",
      "--- 21.488242387771606 seconds ---\n",
      "Epoch: [16/20], Batch: 24, Loss: 0.013687766014804377\n",
      "feature extraction time:  10.484518766403198\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903961181640625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1259, 8894, 7705,  ..., 2956, 2552, 5124], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265707969665527\n",
      "Loss: 0.024730012056762705\n",
      "rotation error:  67.93637068624857\n",
      "translation error:  0.037281332750164486\n",
      "--- 21.083252429962158 seconds ---\n",
      "feature extraction time:  10.409240007400513\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1464, 9745, 7561,  ..., 3217, 5136, 4719], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461734771728516\n",
      "Loss: 0.025182912481657542\n",
      "rotation error:  332.66128070052554\n",
      "translation error:  0.04776401185508082\n",
      "--- 20.973029375076294 seconds ---\n",
      "feature extraction time:  10.450133085250854\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909589767456055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5511, 3236, 5273,  ..., 8182, 4969, 7507], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10169529914855957\n",
      "Loss: 0.02279238112742135\n",
      "rotation error:  45.30692366278894\n",
      "translation error:  0.04135172061809472\n",
      "--- 20.863631010055542 seconds ---\n",
      "feature extraction time:  10.201932907104492\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023920059204101562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2906, 1632, 8914,  ..., 3230, 1272, 9562], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870410919189453\n",
      "Loss: 0.030772252259188945\n",
      "rotation error:  81.40510262045912\n",
      "translation error:  0.05698037538961652\n",
      "--- 20.947128295898438 seconds ---\n",
      "feature extraction time:  10.583658456802368\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030898094177246094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 85%|████████▌ | 17/20 [2:43:26<27:26, 548.71s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4607, 9576,  433,  ...,  376, 8101, 3251], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966731071472168\n",
      "Loss: 0.036542163026606275\n",
      "rotation error:  90.66038282823325\n",
      "translation error:  0.053051226406128756\n",
      "--- 21.2441246509552 seconds ---\n",
      "Epoch: [16/20], Batch: 29, Loss: 0.036542163026606275\n",
      "loss epoch [0.022569595144395414, 0.0243295593559487, 0.026756191579346528, 0.03396395087392569, 0.01748957264508736, 0.05349323233653934, 0.017979843796310426, 0.02287498679508692, 0.021018559813076612, 0.034169392855193555, 0.018475901620025163, 0.020998950317749215, 0.021311016741358782, 0.017378168653598196, 0.011308437346863102, 0.039335003986977354, 0.013009015400714632, 0.012045952797953407, 0.010156827122710183, 0.015901802424561542, 0.032084956416904904, 0.009881972334300939, 0.02413185780350545, 0.014551480052192704, 0.013687766014804377, 0.024730012056762705, 0.025182912481657542, 0.02279238112742135, 0.030772252259188945, 0.036542163026606275]\n",
      "epoch #17\n",
      "feature extraction time:  10.362396955490112\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4635, 9714, 6810,  ..., 9636, 1803, 4983], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966611862182617\n",
      "Loss: 0.025159528723424418\n",
      "rotation error:  32.96954595718343\n",
      "translation error:  0.05785868754723456\n",
      "--- 21.52459716796875 seconds ---\n",
      "feature extraction time:  10.58883786201477\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7703, 9143,  478,  ..., 4762, 5446, 4950], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09674978256225586\n",
      "Loss: 0.012805155882965125\n",
      "rotation error:  54.27675442647193\n",
      "translation error:  0.033350430218751205\n",
      "--- 21.54633593559265 seconds ---\n",
      "feature extraction time:  10.371575117111206\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6358, 6318, 7189,  ..., 9427, 3274,  291], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063003540039062\n",
      "Loss: 0.010719919321463356\n",
      "rotation error:  24.246907361558492\n",
      "translation error:  0.029815555834104262\n",
      "--- 21.464927434921265 seconds ---\n",
      "feature extraction time:  10.634487867355347\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029900074005126953\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3560, 3128, 8880,  ..., 3572, 6477, 7188], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11860394477844238\n",
      "Loss: 0.014084939263788461\n",
      "rotation error:  36.25374489056683\n",
      "translation error:  0.019886749051794262\n",
      "--- 21.716481924057007 seconds ---\n",
      "feature extraction time:  10.957407712936401\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.031893253326416016\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6506, 7130,    5,  ..., 9934, 9912, 8226], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.016025197809309947\n",
      "rotation error:  269.9933887622321\n",
      "translation error:  0.019651519263611264\n",
      "--- 21.845033407211304 seconds ---\n",
      "Epoch: [17/20], Batch: 4, Loss: 0.016025197809309947\n",
      "feature extraction time:  10.80796217918396\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691364288330078\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4414, 8170, 5728,  ..., 1550, 6948, 5746], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564732551574707\n",
      "Loss: 0.03412153082055755\n",
      "rotation error:  56.22864011731398\n",
      "translation error:  0.036087354255015885\n",
      "--- 21.99255895614624 seconds ---\n",
      "feature extraction time:  10.592652082443237\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023920059204101562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3439, 8200, 8355,  ..., 7334,  484, 6102], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564708709716797\n",
      "Loss: 0.024482466050894762\n",
      "rotation error:  56.562047116409644\n",
      "translation error:  0.04386121550174865\n",
      "--- 21.33974862098694 seconds ---\n",
      "feature extraction time:  10.459197044372559\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913476943969727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4452, 2646, 3339,  ..., 1338, 5003, 8161], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166072845458984\n",
      "Loss: 0.033628049485224895\n",
      "rotation error:  48.38331848791575\n",
      "translation error:  0.044594415053658576\n",
      "--- 21.03312587738037 seconds ---\n",
      "feature extraction time:  10.501914262771606\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910781860351562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 420, 5920,  466,  ..., 7613, 1310, 3711], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767413139343262\n",
      "Loss: 0.0718707427746601\n",
      "rotation error:  290.7239796719295\n",
      "translation error:  0.05974083121822718\n",
      "--- 21.061636209487915 seconds ---\n",
      "feature extraction time:  10.461793422698975\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916887283325195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 925, 8271, 4865,  ..., 4220, 4044, 5282], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12757372856140137\n",
      "Loss: 0.04448973662585958\n",
      "rotation error:  130.84802011748624\n",
      "translation error:  0.04669111189589719\n",
      "--- 21.263705492019653 seconds ---\n",
      "Epoch: [17/20], Batch: 9, Loss: 0.04448973662585958\n",
      "feature extraction time:  10.657395124435425\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916887283325195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5933, 2192,  124,  ..., 8706, 3884, 6670], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1255807876586914\n",
      "Loss: 0.026364520090611313\n",
      "rotation error:  25.274113168682007\n",
      "translation error:  0.05869499405758804\n",
      "--- 21.402843236923218 seconds ---\n",
      "feature extraction time:  10.683309078216553\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896902084350586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8611, 4885, 2858,  ..., 4016, 6881, 1939], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059712409973145\n",
      "Loss: 0.024352798732799726\n",
      "rotation error:  28.560483805026674\n",
      "translation error:  0.04012368037788251\n",
      "--- 21.456044673919678 seconds ---\n",
      "feature extraction time:  10.495935440063477\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026909828186035156\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5837, 2413,    1,  ..., 4587, 5276,  114], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564708709716797\n",
      "Loss: 0.01588479766818433\n",
      "rotation error:  269.7892430590361\n",
      "translation error:  0.03159292476394531\n",
      "--- 27.503117561340332 seconds ---\n",
      "feature extraction time:  16.20884943008423\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03887033462524414\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8019, 3435, 6547,  ..., 6767, 6035, 9931], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561369895935059\n",
      "Loss: 0.021061408505848544\n",
      "rotation error:  58.68094986404395\n",
      "translation error:  0.01971876564288567\n",
      "--- 27.032808542251587 seconds ---\n",
      "feature extraction time:  10.370355129241943\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890324592590332\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4408, 4273, 9154,  ..., 6308, 8542, 3410], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966778755187988\n",
      "Loss: 0.03060926797971915\n",
      "rotation error:  67.17769398170654\n",
      "translation error:  0.01973382695565498\n",
      "--- 21.125821828842163 seconds ---\n",
      "Epoch: [17/20], Batch: 14, Loss: 0.03060926797971915\n",
      "feature extraction time:  10.173012733459473\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024917125701904297\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8817,  358, 1920,  ..., 6699, 6942, 3319], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863661766052246\n",
      "Loss: 0.011852017927347436\n",
      "rotation error:  23.35857803761032\n",
      "translation error:  0.02795292929699195\n",
      "--- 24.277748823165894 seconds ---\n",
      "feature extraction time:  16.01250457763672\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.036876678466796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7874, 1774, 1478,  ..., 8164, 6524, 6853], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.029573196839467505\n",
      "rotation error:  36.85744694470019\n",
      "translation error:  0.027694634070233603\n",
      "--- 29.340145587921143 seconds ---\n",
      "feature extraction time:  10.534039497375488\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.025913238525390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1721, 2950, 1888,  ..., 4351, 2462, 4111], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561322212219238\n",
      "Loss: 0.01966941706323416\n",
      "rotation error:  38.03088604208166\n",
      "translation error:  0.03422091424323076\n",
      "--- 21.113784313201904 seconds ---\n",
      "feature extraction time:  10.493929624557495\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1874, 5743, 5227,  ..., 9433, 3210, 5471], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767389297485352\n",
      "Loss: 0.03003668016941815\n",
      "rotation error:  56.38799200527423\n",
      "translation error:  0.031020033468689676\n",
      "--- 21.185200691223145 seconds ---\n",
      "feature extraction time:  10.421173334121704\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027907371520996094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6496, 6028, 4486,  ..., 5489, 3790, 4006], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09236550331115723\n",
      "Loss: 0.01747331858395395\n",
      "rotation error:  26.492760628616693\n",
      "translation error:  0.028753003540583806\n",
      "--- 21.203071355819702 seconds ---\n",
      "Epoch: [17/20], Batch: 19, Loss: 0.01747331858395395\n",
      "feature extraction time:  10.457191705703735\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.026910781860351562\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1626, 1709, 1855,  ..., 4159, 9513, 8703], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667706489562988\n",
      "Loss: 0.015972964657615742\n",
      "rotation error:  41.36696909363144\n",
      "translation error:  0.032386271351396136\n",
      "--- 21.094642639160156 seconds ---\n",
      "feature extraction time:  10.372385740280151\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896425247192383\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6783, 4108, 1082,  ..., 7024, 6116, 3502], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.03048441473776498\n",
      "rotation error:  346.1038538479014\n",
      "translation error:  0.03384989757225857\n",
      "--- 21.015817403793335 seconds ---\n",
      "feature extraction time:  10.366356611251831\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896902084350586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9733, 4469, 3409,  ..., 3737, 5870, 2557], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166001319885254\n",
      "Loss: 0.05845309858671395\n",
      "rotation error:  85.63490316565242\n",
      "translation error:  0.0376760217065201\n",
      "--- 20.894840240478516 seconds ---\n",
      "feature extraction time:  10.288073539733887\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2233, 4016, 8299,  ...,  661, 2519, 3773], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066436767578125\n",
      "Loss: 0.01737860981116952\n",
      "rotation error:  339.85734591350115\n",
      "translation error:  0.02830336576415963\n",
      "--- 20.902600049972534 seconds ---\n",
      "feature extraction time:  10.444096565246582\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02890300750732422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7008, 1818, 9732,  ..., 9052, 5874, 1723], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10597085952758789\n",
      "Loss: 0.0370057303664382\n",
      "rotation error:  54.443343647338736\n",
      "translation error:  0.022413873635048806\n",
      "--- 21.012104034423828 seconds ---\n",
      "Epoch: [17/20], Batch: 24, Loss: 0.0370057303664382\n",
      "feature extraction time:  10.499910116195679\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.027906179428100586\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8238, 6502, 3139,  ...,  437, 8641, 1307], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.03001789408143716\n",
      "rotation error:  274.1661420847283\n",
      "translation error:  0.004417077724611083\n",
      "--- 21.26113510131836 seconds ---\n",
      "feature extraction time:  10.307552576065063\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.028903484344482422\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7829, 5437, 6785,  ..., 1101, 1667, 4112], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.02717264592370583\n",
      "rotation error:  111.92405650574432\n",
      "translation error:  0.01629122890942146\n",
      "--- 20.863276720046997 seconds ---\n",
      "feature extraction time:  11.832457542419434\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.04983353614807129\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1144, 3480,  156,  ..., 7019, 4433, 7995], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10963273048400879\n",
      "Loss: 0.019218633575448764\n",
      "rotation error:  47.69926738077332\n",
      "translation error:  0.025415982198403568\n",
      "--- 25.584726333618164 seconds ---\n",
      "feature extraction time:  9.294937133789062\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.021926403045654297\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8121, 5448, 7658,  ..., 1942, 6698, 7514], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1315603256225586\n",
      "Loss: 0.015128134833098663\n",
      "rotation error:  52.1844375126273\n",
      "translation error:  0.03128874013193388\n",
      "--- 25.28051447868347 seconds ---\n",
      "feature extraction time:  16.359328985214233\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.035880088806152344\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 90%|█████████ | 18/20 [2:54:43<19:34, 587.26s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6824, 8711, 3875,  ...,  765, 4381, 2301], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764074325561523\n",
      "Loss: 0.020278547130021495\n",
      "rotation error:  41.65617942341326\n",
      "translation error:  0.04128148651304482\n",
      "--- 28.534846782684326 seconds ---\n",
      "Epoch: [17/20], Batch: 29, Loss: 0.020278547130021495\n",
      "loss epoch [0.025159528723424418, 0.012805155882965125, 0.010719919321463356, 0.014084939263788461, 0.016025197809309947, 0.03412153082055755, 0.024482466050894762, 0.033628049485224895, 0.0718707427746601, 0.04448973662585958, 0.026364520090611313, 0.024352798732799726, 0.01588479766818433, 0.021061408505848544, 0.03060926797971915, 0.011852017927347436, 0.029573196839467505, 0.01966941706323416, 0.03003668016941815, 0.01747331858395395, 0.015972964657615742, 0.03048441473776498, 0.05845309858671395, 0.01737860981116952, 0.0370057303664382, 0.03001789408143716, 0.02717264592370583, 0.019218633575448764, 0.015128134833098663, 0.020278547130021495]\n",
      "epoch #18\n",
      "feature extraction time:  10.566686868667603\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.024916887283325195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2876, 8017, 3670,  ..., 8994, 6904, 6545], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.031309880425211524\n",
      "rotation error:  266.5318263069754\n",
      "translation error:  0.04751912041175375\n",
      "--- 21.3599910736084 seconds ---\n",
      "feature extraction time:  10.474120616912842\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02691030502319336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 996, 4037, 8004,  ..., 1371, 9732, 5084], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.022867760643018667\n",
      "rotation error:  47.363080366069255\n",
      "translation error:  0.051986539368218\n",
      "--- 21.432004690170288 seconds ---\n",
      "feature extraction time:  10.508873701095581\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.031920433044433594\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 144, 9938, 8640,  ...,  530, 4891, 7254], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966635704040527\n",
      "Loss: 0.03140754044421282\n",
      "rotation error:  28.27675960480908\n",
      "translation error:  0.05320857616843034\n",
      "--- 21.186476230621338 seconds ---\n",
      "feature extraction time:  9.255062341690063\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022922992706298828\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1631, 3165, 2020,  ..., 8173, 8908, 3338], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08770585060119629\n",
      "Loss: 0.017407241957122004\n",
      "rotation error:  7.179109557358128\n",
      "translation error:  0.03509198494280654\n",
      "--- 16.730075359344482 seconds ---\n",
      "feature extraction time:  7.1580727100372314\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932985305786133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4087,  237, 5617,  ..., 5755, 2752, 3438], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10664558410644531\n",
      "Loss: 0.013695513976425948\n",
      "rotation error:  344.8222191724743\n",
      "translation error:  0.02796093137638623\n",
      "--- 14.768693923950195 seconds ---\n",
      "Epoch: [18/20], Batch: 4, Loss: 0.013695513976425948\n",
      "feature extraction time:  7.285823106765747\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020928621292114258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6435, 3824, 4296,  ..., 2758, 6942, 4805], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096339225769043\n",
      "Loss: 0.021235536337804953\n",
      "rotation error:  42.818156396160674\n",
      "translation error:  0.007064944884541151\n",
      "--- 14.789790630340576 seconds ---\n",
      "feature extraction time:  7.374349594116211\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7203, 1871, 6737,  ..., 1638, 1726, 3249], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.014848090405871267\n",
      "rotation error:  20.896939752162226\n",
      "translation error:  0.021062523321806144\n",
      "--- 14.979365825653076 seconds ---\n",
      "feature extraction time:  7.238802433013916\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3954, 1208, 3590,  ...,  437,  238, 7567], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063051223754883\n",
      "Loss: 0.04972308832928345\n",
      "rotation error:  315.47215771035746\n",
      "translation error:  0.03512995853281044\n",
      "--- 14.942298173904419 seconds ---\n",
      "feature extraction time:  7.271692752838135\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189359188079834\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9742, 5103, 7528,  ..., 6765, 4557, 6041], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11661076545715332\n",
      "Loss: 0.01796202799356089\n",
      "rotation error:  42.4912475614512\n",
      "translation error:  0.05095141450195931\n",
      "--- 14.851794719696045 seconds ---\n",
      "feature extraction time:  7.3663763999938965\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1941, 2050, 7771,  ..., 3247, 3972, 5094], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465049743652344\n",
      "Loss: 0.044890965757374314\n",
      "rotation error:  89.08400666656762\n",
      "translation error:  0.05233197846285698\n",
      "--- 14.787569522857666 seconds ---\n",
      "Epoch: [18/20], Batch: 9, Loss: 0.044890965757374314\n",
      "feature extraction time:  7.069486618041992\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932985305786133\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1748, 7969, 7270,  ..., 3537, 9005, 6673], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12956643104553223\n",
      "Loss: 0.025098909993914766\n",
      "rotation error:  50.78939726350101\n",
      "translation error:  0.05850735603638006\n",
      "--- 14.745827913284302 seconds ---\n",
      "feature extraction time:  7.235812664031982\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793980598449707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6869, 1622, 3327,  ..., 3220, 3666, 8486], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10868453979492188\n",
      "Loss: 0.02015905136951815\n",
      "rotation error:  24.5647738885653\n",
      "translation error:  0.05405598800842222\n",
      "--- 14.74177098274231 seconds ---\n",
      "feature extraction time:  7.094396114349365\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.021926164627075195\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8600,  219, 1696,  ...,  622, 7219, 2979], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11394429206848145\n",
      "Loss: 0.035977607550371354\n",
      "rotation error:  305.70276524555425\n",
      "translation error:  0.06007375224599615\n",
      "--- 14.507749080657959 seconds ---\n",
      "feature extraction time:  7.3205296993255615\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 989, 8031, 3432,  ..., 2452, 9149, 4210], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066441535949707\n",
      "Loss: 0.03286519683518462\n",
      "rotation error:  79.01054927998528\n",
      "translation error:  0.029397572930837997\n",
      "--- 14.775609731674194 seconds ---\n",
      "feature extraction time:  7.3605616092681885\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936872482299805\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6134, 5150, 3067,  ..., 9207, 8215, 1885], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10171937942504883\n",
      "Loss: 0.0447886776458387\n",
      "rotation error:  281.255865270436\n",
      "translation error:  0.009121351183647448\n",
      "--- 14.885470628738403 seconds ---\n",
      "Epoch: [18/20], Batch: 14, Loss: 0.0447886776458387\n",
      "feature extraction time:  7.422189950942993\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022922754287719727\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2038, 5405, 8358,  ..., 4539, 3144, 6298], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0997152328491211\n",
      "Loss: 0.022182621210592803\n",
      "rotation error:  252.14363660210498\n",
      "translation error:  0.01691693712134766\n",
      "--- 14.77366590499878 seconds ---\n",
      "feature extraction time:  7.473173141479492\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017939329147338867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1526, 8692, 7236,  ..., 7856, 8785, 6692], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1844172477722168\n",
      "Loss: 0.011008117138330213\n",
      "rotation error:  84.99377170760364\n",
      "translation error:  0.01272948086029131\n",
      "--- 18.920905590057373 seconds ---\n",
      "feature extraction time:  12.694565057754517\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.029846906661987305\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 597, 7240, 1502,  ..., 9229, 1637,  112], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.18239045143127441\n",
      "Loss: 0.0245995621293864\n",
      "rotation error:  75.48785455563257\n",
      "translation error:  0.02103177816166252\n",
      "--- 25.3285551071167 seconds ---\n",
      "feature extraction time:  12.940797805786133\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989935874938965\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8470, 9136, 3749,  ..., 5416, 7480,  448], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.17441701889038086\n",
      "Loss: 0.015735943139812802\n",
      "rotation error:  28.555323192061543\n",
      "translation error:  0.02478816151604176\n",
      "--- 26.069849252700806 seconds ---\n",
      "feature extraction time:  12.763328790664673\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.034883737564086914\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009963512420654297\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6784, 6685, 8803,  ..., 9382, 2756, 5189], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561346054077148\n",
      "Loss: 0.015643851925691447\n",
      "rotation error:  42.19826146042795\n",
      "translation error:  0.023071147833640355\n",
      "--- 24.256903409957886 seconds ---\n",
      "Epoch: [18/20], Batch: 19, Loss: 0.015643851925691447\n",
      "feature extraction time:  7.105250358581543\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933462142944336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009961128234863281\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3439, 9936, 1211,  ..., 2459, 1929, 3881], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096339225769043\n",
      "Loss: 0.017695403734177162\n",
      "rotation error:  54.979788111147265\n",
      "translation error:  0.017587336676295567\n",
      "--- 14.803450345993042 seconds ---\n",
      "feature extraction time:  7.190001964569092\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01594686508178711\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8958, 2836, 8603,  ..., 4755, 5478, 1186], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11960005760192871\n",
      "Loss: 0.02821907435942511\n",
      "rotation error:  310.2382577397143\n",
      "translation error:  0.004809076974442096\n",
      "--- 14.76966142654419 seconds ---\n",
      "feature extraction time:  7.207902431488037\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189361572265625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4054, 3400, 6326,  ..., 4631,  125, 9720], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461710929870605\n",
      "Loss: 0.01446125656935504\n",
      "rotation error:  351.7115983679479\n",
      "translation error:  0.01618194596061772\n",
      "--- 14.767767667770386 seconds ---\n",
      "feature extraction time:  7.438133239746094\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4166, 6016, 3900,  ..., 8443, 9068,  612], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368658065795898\n",
      "Loss: 0.02190813312236284\n",
      "rotation error:  29.00464256259117\n",
      "translation error:  0.007945494492990455\n",
      "--- 14.94403886795044 seconds ---\n",
      "feature extraction time:  7.201053142547607\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929813385009766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6730, 6106, 2916,  ..., 6332, 4842, 6211], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767317771911621\n",
      "Loss: 0.02755653543737428\n",
      "rotation error:  72.37751776301097\n",
      "translation error:  0.014744819687291178\n",
      "--- 14.674141645431519 seconds ---\n",
      "Epoch: [18/20], Batch: 24, Loss: 0.02755653543737428\n",
      "feature extraction time:  7.174015760421753\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4161, 4336, 6971,  ..., 3101, 3198, 4929], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1445178985595703\n",
      "Loss: 0.01765070012599646\n",
      "rotation error:  36.58532606364787\n",
      "translation error:  0.023316761237018466\n",
      "--- 14.732745885848999 seconds ---\n",
      "feature extraction time:  8.683737516403198\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.023919343948364258\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4771,  931,  708,  ..., 4024, 9174, 5326], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461687088012695\n",
      "Loss: 0.03176600871272508\n",
      "rotation error:  249.606888365553\n",
      "translation error:  0.02557153875220628\n",
      "--- 24.676270723342896 seconds ---\n",
      "feature extraction time:  16.09220027923584\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.033885955810546875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6971, 3377, 2726,  ..., 6726, 6698, 7881], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764074325561523\n",
      "Loss: 0.017673768181273992\n",
      "rotation error:  48.367641686138775\n",
      "translation error:  0.022205955858246758\n",
      "--- 28.05321216583252 seconds ---\n",
      "feature extraction time:  10.439189195632935\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02989959716796875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3812, 3085, 5155,  ..., 2723,  647, 5074], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767317771911621\n",
      "Loss: 0.027606144012331076\n",
      "rotation error:  56.05262238201097\n",
      "translation error:  0.012392699986756928\n",
      "--- 22.374441385269165 seconds ---\n",
      "feature extraction time:  16.415120601654053\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.034883737564086914\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 95%|█████████▌| 19/20 [3:03:52<09:35, 575.66s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7637, 5458, 9248,  ..., 2820, 2078, 7483], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368777275085449\n",
      "Loss: 0.014449905997528673\n",
      "rotation error:  45.06288917797024\n",
      "translation error:  0.0143462147469076\n",
      "--- 31.634239196777344 seconds ---\n",
      "Epoch: [18/20], Batch: 29, Loss: 0.014449905997528673\n",
      "loss epoch [0.031309880425211524, 0.022867760643018667, 0.03140754044421282, 0.017407241957122004, 0.013695513976425948, 0.021235536337804953, 0.014848090405871267, 0.04972308832928345, 0.01796202799356089, 0.044890965757374314, 0.025098909993914766, 0.02015905136951815, 0.035977607550371354, 0.03286519683518462, 0.0447886776458387, 0.022182621210592803, 0.011008117138330213, 0.0245995621293864, 0.015735943139812802, 0.015643851925691447, 0.017695403734177162, 0.02821907435942511, 0.01446125656935504, 0.02190813312236284, 0.02755653543737428, 0.01765070012599646, 0.03176600871272508, 0.017673768181273992, 0.027606144012331076, 0.014449905997528673]\n",
      "epoch #19\n",
      "feature extraction time:  10.384947538375854\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02690887451171875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5592, 8516, 3512,  ..., 9179, 8361, 1357], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.02800566254205541\n",
      "rotation error:  348.2209335846898\n",
      "translation error:  0.01997033292688861\n",
      "--- 21.01042366027832 seconds ---\n",
      "feature extraction time:  10.00554895401001\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940521240234375\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6386, 4615,  932,  ..., 3119, 5293, 2012], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096341609954834\n",
      "Loss: 0.011289687004258371\n",
      "rotation error:  27.511608262762476\n",
      "translation error:  0.02539270559373889\n",
      "--- 17.595174551010132 seconds ---\n",
      "feature extraction time:  7.46902871131897\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9105, 7875, 5918,  ..., 8354,  845, 2517], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465097427368164\n",
      "Loss: 0.01516644535842585\n",
      "rotation error:  89.20026047797562\n",
      "translation error:  0.02326468779792095\n",
      "--- 14.922111511230469 seconds ---\n",
      "feature extraction time:  7.272688627243042\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018936634063720703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7009, 7249, 6807,  ..., 4647, 3419, 4302], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169340133666992\n",
      "Loss: 0.029256355733691952\n",
      "rotation error:  31.493799445703743\n",
      "translation error:  0.019228255927084385\n",
      "--- 14.856335163116455 seconds ---\n",
      "feature extraction time:  7.327500104904175\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009970664978027344\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 468, 1000, 3637,  ..., 3886, 3140, 5098], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567975997924805\n",
      "Loss: 0.018905167809903936\n",
      "rotation error:  246.95756617921734\n",
      "translation error:  0.019485365261284922\n",
      "--- 14.946027040481567 seconds ---\n",
      "Epoch: [19/20], Batch: 4, Loss: 0.018905167809903936\n",
      "feature extraction time:  7.40926718711853\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993250846862793\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1493, 8267, 7283,  ..., 4114,   80, 7569], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262369155883789\n",
      "Loss: 0.020396110681558968\n",
      "rotation error:  41.75240821374327\n",
      "translation error:  0.02293297225334897\n",
      "--- 14.804649591445923 seconds ---\n",
      "feature extraction time:  7.082452774047852\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933700561523438\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2220, 9162, 8429,  ..., 8715, 1478, 8219], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368729591369629\n",
      "Loss: 0.022379865750191116\n",
      "rotation error:  20.068353804955635\n",
      "translation error:  0.034580397396747994\n",
      "--- 14.692009687423706 seconds ---\n",
      "feature extraction time:  7.257840394973755\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019932270050048828\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2335, 2433, 4351,  ..., 2993, 8307,  307], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465002059936523\n",
      "Loss: 0.02591199734594861\n",
      "rotation error:  96.69139456084986\n",
      "translation error:  0.032177826261901354\n",
      "--- 15.027861595153809 seconds ---\n",
      "feature extraction time:  7.393279552459717\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02391982078552246\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1318,  753, 7054,  ..., 4727, 3019, 3244], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368705749511719\n",
      "Loss: 0.057757939408246625\n",
      "rotation error:  58.914625221058756\n",
      "translation error:  0.017661357939327056\n",
      "--- 15.00482964515686 seconds ---\n",
      "feature extraction time:  12.030822038650513\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.031893014907836914\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009968280792236328\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5146, 8994, 4019,  ..., 5370, 3596, 4538], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1345508098602295\n",
      "Loss: 0.03879990450661007\n",
      "rotation error:  48.9637201065812\n",
      "translation error:  0.030149833216808412\n",
      "--- 25.871544361114502 seconds ---\n",
      "Epoch: [19/20], Batch: 9, Loss: 0.03879990450661007\n",
      "feature extraction time:  8.50655722618103\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793956756591797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9445,  524, 2855,  ..., 3352, 5092, 7020], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.02083738998812816\n",
      "rotation error:  356.86253182568015\n",
      "translation error:  0.023842905326426602\n",
      "--- 15.934818029403687 seconds ---\n",
      "feature extraction time:  7.198958396911621\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2040,   39, 7085,  ..., 6363, 4289, 8068], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12757253646850586\n",
      "Loss: 0.023240996068001788\n",
      "rotation error:  44.20773162071097\n",
      "translation error:  0.020100195433972057\n",
      "--- 14.78662919998169 seconds ---\n",
      "feature extraction time:  7.298596143722534\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0219268798828125\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3899, 7907, 4079,  ..., 9690, 9137, 9456], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368705749511719\n",
      "Loss: 0.026063456278538562\n",
      "rotation error:  36.54156669575754\n",
      "translation error:  0.022707414237166202\n",
      "--- 14.775785207748413 seconds ---\n",
      "feature extraction time:  7.327499628067017\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02093029022216797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8631, 5921, 9531,  ...,  504, 2677, 3827], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.0234581076781964\n",
      "rotation error:  34.77636105842155\n",
      "translation error:  0.02924107911444677\n",
      "--- 14.767670631408691 seconds ---\n",
      "feature extraction time:  7.313549995422363\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292346954345703\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7832, 2277, 3351,  ...,   78, 8005, 1944], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.03744378783538765\n",
      "rotation error:  325.40443220078026\n",
      "translation error:  0.027779109800570263\n",
      "--- 14.933436155319214 seconds ---\n",
      "Epoch: [19/20], Batch: 14, Loss: 0.03744378783538765\n",
      "feature extraction time:  7.24905800819397\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.015946626663208008\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3019,  492, 7575,  ..., 7369, 8607, 5447], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10109686851501465\n",
      "Loss: 0.026871668837158927\n",
      "rotation error:  316.69410017297525\n",
      "translation error:  0.014670953317318226\n",
      "--- 14.656055212020874 seconds ---\n",
      "feature extraction time:  7.384308576583862\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018937110900878906\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3082, 2446, 8531,  ..., 4076, 1703, 6179], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465002059936523\n",
      "Loss: 0.006430796651855191\n",
      "rotation error:  11.32280078646674\n",
      "translation error:  0.011284896299515899\n",
      "--- 15.008859872817993 seconds ---\n",
      "feature extraction time:  7.3753392696380615\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940044403076172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6771, 4968, 7123,  ..., 1000, 9652, 9219], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10347986221313477\n",
      "Loss: 0.02963230389367756\n",
      "rotation error:  35.00516370253418\n",
      "translation error:  0.022721250079941118\n",
      "--- 14.939955472946167 seconds ---\n",
      "feature extraction time:  7.778001070022583\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03288984298706055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7733, 9101, 5675,  ..., 5699,  309, 1763], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.023416743831711932\n",
      "rotation error:  48.113964910416406\n",
      "translation error:  0.016127866060748442\n",
      "--- 21.56789207458496 seconds ---\n",
      "feature extraction time:  12.6566801071167\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940521240234375\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2231, 2474, 4647,  ..., 2365, 3294, 5032], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08481597900390625\n",
      "Loss: 0.014714021138854198\n",
      "rotation error:  59.54105242293247\n",
      "translation error:  0.023061816504783395\n",
      "--- 20.017169713974 seconds ---\n",
      "Epoch: [19/20], Batch: 19, Loss: 0.014714021138854198\n",
      "feature extraction time:  7.4032464027404785\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019933223724365234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1903, 2228, 1167,  ..., 5053, 6867, 4579], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268999099731445\n",
      "Loss: 0.031208341561628005\n",
      "rotation error:  393.97013468350457\n",
      "translation error:  0.022121578108442008\n",
      "--- 15.113465785980225 seconds ---\n",
      "feature extraction time:  7.28364634513855\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0189363956451416\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4859, 9538, 2142,  ..., 4297, 6301, 4465], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10568451881408691\n",
      "Loss: 0.023818491975380662\n",
      "rotation error:  48.5296262936558\n",
      "translation error:  0.021149283167314892\n",
      "--- 14.884232997894287 seconds ---\n",
      "feature extraction time:  7.1917405128479\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793980598449707\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4943, 5213, 6330,  ..., 7609, 1718, 2963], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464978218078613\n",
      "Loss: 0.028999031273695068\n",
      "rotation error:  81.84172019119241\n",
      "translation error:  0.019944691548501918\n",
      "--- 14.746478796005249 seconds ---\n",
      "feature extraction time:  7.407335996627808\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930051803588867\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4739, 1971, 7837,  ...,  304, 4991, 7365], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07973361015319824\n",
      "Loss: 0.016218599493341698\n",
      "rotation error:  307.80585196665453\n",
      "translation error:  0.015305990509756739\n",
      "--- 14.989099025726318 seconds ---\n",
      "feature extraction time:  7.234807252883911\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020929813385009766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4368, 6363, 2440,  ..., 6037, 8928, 6296], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10963201522827148\n",
      "Loss: 0.019753096339460947\n",
      "rotation error:  343.6548988960769\n",
      "translation error:  0.01512536601997689\n",
      "--- 14.780574083328247 seconds ---\n",
      "Epoch: [19/20], Batch: 24, Loss: 0.019753096339460947\n",
      "feature extraction time:  7.217864274978638\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694345474243164\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6353, 1618, 1439,  ..., 6075,  743, 6801], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863733291625977\n",
      "Loss: 0.042254008040080324\n",
      "rotation error:  49.71832780290146\n",
      "translation error:  0.02165984144989147\n",
      "--- 18.611763954162598 seconds ---\n",
      "feature extraction time:  13.51082158088684\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.030896663665771484\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3862, 8665, 8065,  ..., 4073, 7490, 7049], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.13654351234436035\n",
      "Loss: 0.027479274361593427\n",
      "rotation error:  78.38540177931367\n",
      "translation error:  0.02774345850427388\n",
      "--- 27.261839628219604 seconds ---\n",
      "feature extraction time:  13.472947359085083\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.03089594841003418\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 206, 2167, 4861,  ...,  474, 6968, 6981], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12159371376037598\n",
      "Loss: 0.03419519102052835\n",
      "rotation error:  51.8816093295843\n",
      "translation error:  0.0336762205943042\n",
      "--- 27.22695517539978 seconds ---\n",
      "feature extraction time:  13.381254196166992\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.031893014907836914\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009965896606445312\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7508,  236, 7987,  ..., 5481, 1727, 5935], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162686347961426\n",
      "Loss: 0.0137623773399435\n",
      "rotation error:  22.901183909096897\n",
      "translation error:  0.038820292053857196\n",
      "--- 27.129281997680664 seconds ---\n",
      "feature extraction time:  13.420123815536499\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.031893253326416016\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000997304916381836\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "100%|██████████| 20/20 [3:12:44<00:00, 578.24s/it]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  11, 6637, 2822,  ..., 2950, 2435, 3567], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059712409973145\n",
      "Loss: 0.05071938793496703\n",
      "rotation error:  279.4913091817251\n",
      "translation error:  0.04925120031905461\n",
      "--- 27.15120816230774 seconds ---\n",
      "Epoch: [19/20], Batch: 29, Loss: 0.05071938793496703\n",
      "loss epoch [0.02800566254205541, 0.011289687004258371, 0.01516644535842585, 0.029256355733691952, 0.018905167809903936, 0.020396110681558968, 0.022379865750191116, 0.02591199734594861, 0.057757939408246625, 0.03879990450661007, 0.02083738998812816, 0.023240996068001788, 0.026063456278538562, 0.0234581076781964, 0.03744378783538765, 0.026871668837158927, 0.006430796651855191, 0.02963230389367756, 0.023416743831711932, 0.014714021138854198, 0.031208341561628005, 0.023818491975380662, 0.028999031273695068, 0.016218599493341698, 0.019753096339460947, 0.042254008040080324, 0.027479274361593427, 0.03419519102052835, 0.0137623773399435, 0.05071938793496703]\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\n"
     ]
    }
   ],
   "source": [
    "optim = Adam(model.parameters(), lr=lr)\n",
    "\n",
    "# begin train \n",
    "model.train()\n",
    "loss_epoch_avg = []\n",
    "for epoch in tqdm(range(num_epochs)):\n",
    "    print(f\"epoch #{epoch}\")\n",
    "    loss_epoch = []\n",
    "    running_loss = 0.0\n",
    "\n",
    "    for n_batch, (src, target, R_gt, t_gt, R_prior) in enumerate(train_loader):\n",
    "        start_time = time.time()\n",
    "        # mini batch\n",
    "        src, target, R_gt, t_gt, R_prior = src.to(device), target.to(device), R_gt.to(device), t_gt.to(device), R_prior.to(device)\n",
    "        t_init = torch.randn((1, 3))\n",
    "        src_keypts, target_vcp = model(src, target, R_prior, t_init)\n",
    "        # print('src_keypts shape', src_keypts.shape)\n",
    "        # print('target_vcp shape', target_vcp.shape)\n",
    "        # zero gradient \n",
    "        optim.zero_grad()\n",
    "        loss, R_pred, t_pred = deepVCP_loss(src_keypts, target_vcp, R_gt, t_gt, alpha=0.5)\n",
    "\n",
    "\n",
    "        # error metric for rigid body transformation\n",
    "        r_pred = R.from_matrix(R_pred.squeeze(0).cpu().detach().numpy())\n",
    "        r_pred_arr = torch.tensor(r_pred.as_euler('xyz', degrees=True)).reshape(1, 3)\n",
    "        r_gt = R.from_matrix(R_gt.squeeze(0).cpu().detach().numpy())\n",
    "        r_gt_arr = torch.tensor(r_gt.as_euler('xyz', degrees=True)).reshape(1, 3)\n",
    "        pdist = nn.PairwiseDistance(p = 2)\n",
    "        t_pred = t_pred.squeeze(-1)\n",
    "        t_gt = t_gt.squeeze(-1)\n",
    "\n",
    "        print(\"rotation error: \", pdist(r_pred_arr, r_gt_arr).item())\n",
    "        print(\"translation error: \", pdist(t_pred, t_gt).item())\n",
    "\n",
    "        # backward pass\n",
    "        loss.backward()\n",
    "        # update parameters \n",
    "        optim.step()\n",
    "\n",
    "        running_loss += loss.item()\n",
    "        loss_epoch += [loss.item()]\n",
    "        print(\"--- %s seconds ---\" % (time.time() - start_time))\n",
    "        if (n_batch + 1) % 5 == 0:\n",
    "            print(\"Epoch: [{}/{}], Batch: {}, Loss: {}\".format(\n",
    "                epoch, num_epochs, n_batch, loss.item()))\n",
    "            running_loss = 0.0\n",
    "\n",
    "    torch.save(model.state_dict(), \"epoch_\" + str(epoch) + \"_model.pt\")\n",
    "    loss_epoch_avg += [sum(loss_epoch) / len(loss_epoch)]\n",
    "    print(\"loss epoch\", loss_epoch)\n",
    "    with open(\"training_loss_\" + str(epoch) + \".txt\", \"wb\") as fp:   #Pickling\n",
    "        pickle.dump(loss_epoch, fp)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Finished Training\n"
     ]
    }
   ],
   "source": [
    "# save\n",
    "print(\"Finished Training\")\n",
    "torch.save(model.state_dict(), model_path)"
   ]
  }
 ],
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