Train_overfitting_2.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 2,
   "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\n",
    "\n",
    "# conda install numpy tqdm matplotlib\n",
    "# conda install -c anaconda scikit-learn\n",
    "# conda install pytorch torchvision torchaudio pytorch-cuda=11.7 -c pytorch -c nvidia\n",
    "# conda install -c conda-forge trimesh\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "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": 4,
   "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": 5,
   "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": 7,
   "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): BatchNorm2d(16, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)\n",
       "        (1): 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": 7,
     "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",
    "model.load_state_dict(torch.load('./first_train_epoch_19_model.pt', map_location='cuda'))\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": 9,
   "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:  6.514231443405151\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014949798583984375\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": [
      "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:3191.)\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([6647,  331, 5217,  ..., 6068,  710, 5802], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564661026000977\n",
      "Loss: 0.009534380564656116\n",
      "rotation error:  0.5830700465061389\n",
      "translation error:  0.018363410093700242\n",
      "--- 13.175766229629517 seconds ---\n",
      "feature extraction time:  5.948279619216919\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:  0.0009970664978027344\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([8939, 2740, 6951,  ..., 3180, 2396, 8850], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877070426940918\n",
      "Loss: 0.0289460798490175\n",
      "rotation error:  0.6156564079201852\n",
      "translation error:  0.052914848528045254\n",
      "--- 12.233277320861816 seconds ---\n",
      "feature extraction time:  6.366838693618774\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([1002, 4413, 2183,  ..., 7876, 9407,  731], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066342353820801\n",
      "Loss: 0.027248642048610047\n",
      "rotation error:  0.6378577892640623\n",
      "translation error:  0.04973246991088624\n",
      "--- 12.946921348571777 seconds ---\n",
      "feature extraction time:  5.96339225769043\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018886327743530273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 360, 9907,  388,  ..., 8342, 2898, 5263], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166001319885254\n",
      "Loss: 0.01287297203202614\n",
      "rotation error:  0.6227076470529195\n",
      "translation error:  0.024631421020552016\n",
      "--- 12.945003509521484 seconds ---\n",
      "feature extraction time:  6.2541749477386475\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:  0.0009970664978027344\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([2991, 9777, 1681,  ..., 4296, 2907, 4826], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970022201538086\n",
      "Loss: 0.009899172638327867\n",
      "rotation error:  2.5903066178671224\n",
      "translation error:  0.020049211059827095\n",
      "--- 12.725160598754883 seconds ---\n",
      "Epoch: [0/20], Batch: 4, Loss: 0.009899172638327867\n",
      "feature extraction time:  7.1979475021362305\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019969463348388672\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1069, 2948, 3875,  ..., 5327, 5901, 5497], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269022941589355\n",
      "Loss: 0.013431346016354597\n",
      "rotation error:  0.9091944758936563\n",
      "translation error:  0.02448800205677469\n",
      "--- 13.31793999671936 seconds ---\n",
      "feature extraction time:  6.962793588638306\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01794266700744629\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  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, 7380, 3966,  ..., 4438, 1982, 5290], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08272337913513184\n",
      "Loss: 0.010420513220999437\n",
      "rotation error:  1.943143579577789\n",
      "translation error:  0.019531369408994907\n",
      "--- 13.573325395584106 seconds ---\n",
      "feature extraction time:  6.211244106292725\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([1962, 3863, 1026,  ..., 8313, 3157, 3400], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0969686508178711\n",
      "Loss: 0.0024087996180834\n",
      "rotation error:  1.338292817148685\n",
      "translation error:  0.006320409431474169\n",
      "--- 12.678924322128296 seconds ---\n",
      "feature extraction time:  6.458084583282471\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014890909194946289\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1147, 3207, 9880,  ..., 8132, 5867, 2693], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465049743652344\n",
      "Loss: 0.011687378788191217\n",
      "rotation error:  9.297243126622455\n",
      "translation error:  0.018955081578833244\n",
      "--- 13.263554811477661 seconds ---\n",
      "feature extraction time:  6.340425968170166\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02089381217956543\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5893, 1455, 7592,  ..., 6028, 1781, 4659], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10595011711120605\n",
      "Loss: 0.016439070369957374\n",
      "rotation error:  3.5461254436398875\n",
      "translation error:  0.029372304113504985\n",
      "--- 13.39951753616333 seconds ---\n",
      "Epoch: [0/20], Batch: 9, Loss: 0.016439070369957374\n",
      "feature extraction time:  6.131741046905518\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([2174, 3927,   30,  ..., 2587, 7322, 4756], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564732551574707\n",
      "Loss: 0.008711001751530376\n",
      "rotation error:  0.5630362888616461\n",
      "translation error:  0.017665777931978932\n",
      "--- 12.890346765518188 seconds ---\n",
      "feature extraction time:  6.295076608657837\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([ 336, 1247, 1482,  ..., 8020, 9098, 8912], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036539077758789\n",
      "Loss: 0.004177744110385644\n",
      "rotation error:  0.26231162699712646\n",
      "translation error:  0.00984126192635397\n",
      "--- 12.784944295883179 seconds ---\n",
      "feature extraction time:  6.485328674316406\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([1015, 3672, 8882,  ..., 3633, 6412, 4167], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465049743652344\n",
      "Loss: 0.006483061964839447\n",
      "rotation error:  1.9516141966881388\n",
      "translation error:  0.013147172920574258\n",
      "--- 13.255799055099487 seconds ---\n",
      "feature extraction time:  6.336824655532837\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01794290542602539\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1948, 4621,  941,  ..., 8007, 4847,   22], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059617042541504\n",
      "Loss: 0.009487632056372952\n",
      "rotation error:  0.212800784833257\n",
      "translation error:  0.021602032139979636\n",
      "--- 13.231498003005981 seconds ---\n",
      "feature extraction time:  6.595958471298218\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([ 427, 5376, 2396,  ..., 3187, 9150, 8257], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066436767578125\n",
      "Loss: 0.009456632267819357\n",
      "rotation error:  1.8504590184822876\n",
      "translation error:  0.025254849018308562\n",
      "--- 13.222251653671265 seconds ---\n",
      "Epoch: [0/20], Batch: 14, Loss: 0.009456632267819357\n",
      "feature extraction time:  6.532171010971069\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([ 238, 6054, 7002,  ..., 3318, 9662, 8662], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09243011474609375\n",
      "Loss: 0.006081971650677381\n",
      "rotation error:  6.4715974514816414\n",
      "translation error:  0.019551679707249355\n",
      "--- 12.840886116027832 seconds ---\n",
      "feature extraction time:  6.366796970367432\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([6777, 1278, 9745,  ..., 1691,  481, 4114], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.003864824855263435\n",
      "rotation error:  1.091949586221575\n",
      "translation error:  0.009301124281783786\n",
      "--- 13.030596017837524 seconds ---\n",
      "feature extraction time:  6.853294610977173\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([7809, 9063, 9655,  ..., 1539, 8810, 1530], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07774066925048828\n",
      "Loss: 0.007297041967699407\n",
      "rotation error:  2.645646966142818\n",
      "translation error:  0.015440744334756543\n",
      "--- 13.301746129989624 seconds ---\n",
      "feature extraction time:  6.373701095581055\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([8303, 5029, 7410,  ..., 6675, 9359, 9224], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036536693572998\n",
      "Loss: 0.008007611262633786\n",
      "rotation error:  0.46662058576095017\n",
      "translation error:  0.022611151615169512\n",
      "--- 12.775309085845947 seconds ---\n",
      "feature extraction time:  5.852443218231201\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([7995, 2745, 9336,  ..., 1289, 1609, 8721], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671021461486816\n",
      "Loss: 0.0068134359512429495\n",
      "rotation error:  9.90326960546828\n",
      "translation error:  0.02160971914315976\n",
      "--- 12.63477897644043 seconds ---\n",
      "Epoch: [0/20], Batch: 19, Loss: 0.0068134359512429495\n",
      "feature extraction time:  6.703599214553833\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01495051383972168\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2063, 7269, 7367,  ..., 5968, 5008, 6080], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162662506103516\n",
      "Loss: 0.007914052219588243\n",
      "rotation error:  0.8541081272353103\n",
      "translation error:  0.017577615720457143\n",
      "--- 13.414507627487183 seconds ---\n",
      "feature extraction time:  6.852073431015015\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01793837547302246\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5812, 1137, 8036,  ..., 6945, 5867, 9302], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162734031677246\n",
      "Loss: 0.006388018204246524\n",
      "rotation error:  1.584893935174729\n",
      "translation error:  0.013442056846588328\n",
      "--- 14.004143238067627 seconds ---\n",
      "feature extraction time:  6.078660726547241\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01807379722595215\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6757, 8740,  702,  ..., 8313,  803, 6516], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870339393615723\n",
      "Loss: 0.008317267505405845\n",
      "rotation error:  1.39548050616819\n",
      "translation error:  0.023070626461042635\n",
      "--- 12.80646276473999 seconds ---\n",
      "feature extraction time:  6.250087738037109\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([5463,  543, 5928,  ..., 5146, 8111, 3701], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069705009460449\n",
      "Loss: 0.006493826943265621\n",
      "rotation error:  1.5078758104367895\n",
      "translation error:  0.021395901779352976\n",
      "--- 12.710817813873291 seconds ---\n",
      "feature extraction time:  6.552132844924927\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([ 418,  583, 1850,  ...,  792, 8691, 4145], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07653260231018066\n",
      "Loss: 0.0055944460338889345\n",
      "rotation error:  0.6787315440381012\n",
      "translation error:  0.012912424027797652\n",
      "--- 13.17575979232788 seconds ---\n",
      "Epoch: [0/20], Batch: 24, Loss: 0.0055944460338889345\n",
      "feature extraction time:  6.749959707260132\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([6211, 6695, 7187,  ..., 7533, 9491, 9174], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096334457397461\n",
      "Loss: 0.011435649886428449\n",
      "rotation error:  1.5364509880599302\n",
      "translation error:  0.020463945413150303\n",
      "--- 13.473358869552612 seconds ---\n",
      "feature extraction time:  6.758387088775635\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([8320, 4696, 6821,  ..., 7045, 5720, 9443], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863661766052246\n",
      "Loss: 0.007077000185861772\n",
      "rotation error:  0.2968848922915447\n",
      "translation error:  0.015152093836162775\n",
      "--- 13.75896430015564 seconds ---\n",
      "feature extraction time:  6.337867259979248\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([8245, 5297, 7648,  ..., 3970, 2274, 2290], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10027694702148438\n",
      "Loss: 0.004284646134029807\n",
      "rotation error:  1.0332941302579612\n",
      "translation error:  0.015337202926840722\n",
      "--- 13.048995018005371 seconds ---\n",
      "feature extraction time:  5.99394416809082\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([2575, 2555,  592,  ..., 3329,  713, 2425], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.008697478447693942\n",
      "rotation error:  1.6684832179328362\n",
      "translation error:  0.01853180718962974\n",
      "--- 13.18412733078003 seconds ---\n",
      "feature extraction time:  6.126798629760742\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "  5%|▌         | 1/20 [06:32<2:04:26, 392.99s/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([7111, 6671, 8274,  ..., 5871, 7099, 7447], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571338653564453\n",
      "Loss: 0.011340488127863847\n",
      "rotation error:  1.684585901520797\n",
      "translation error:  0.025077068109433\n",
      "--- 12.881672382354736 seconds ---\n",
      "Epoch: [0/20], Batch: 29, Loss: 0.011340488127863847\n",
      "loss epoch [0.009534380564656116, 0.0289460798490175, 0.027248642048610047, 0.01287297203202614, 0.009899172638327867, 0.013431346016354597, 0.010420513220999437, 0.0024087996180834, 0.011687378788191217, 0.016439070369957374, 0.008711001751530376, 0.004177744110385644, 0.006483061964839447, 0.009487632056372952, 0.009456632267819357, 0.006081971650677381, 0.003864824855263435, 0.007297041967699407, 0.008007611262633786, 0.0068134359512429495, 0.007914052219588243, 0.006388018204246524, 0.008317267505405845, 0.006493826943265621, 0.0055944460338889345, 0.011435649886428449, 0.007077000185861772, 0.004284646134029807, 0.008697478447693942, 0.011340488127863847]\n",
      "epoch #1\n",
      "feature extraction time:  6.675664663314819\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([3258, 6280, 7010,  ..., 2218, 4840, 7558], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036531925201416\n",
      "Loss: 0.008218081927973762\n",
      "rotation error:  1.8108972449421747\n",
      "translation error:  0.015953865173899514\n",
      "--- 13.492854118347168 seconds ---\n",
      "feature extraction time:  6.767483234405518\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([8279, 3714, 9862,  ..., 7461,  182, 7321], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0847172737121582\n",
      "Loss: 0.004211456075801618\n",
      "rotation error:  1.2489549441712673\n",
      "translation error:  0.008232613632062995\n",
      "--- 13.346405267715454 seconds ---\n",
      "feature extraction time:  6.438751935958862\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([6587, 2091, 4693,  ..., 4337,  206,  770], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11262297630310059\n",
      "Loss: 0.0033743481419934067\n",
      "rotation error:  1.0307907188751537\n",
      "translation error:  0.00925729565677685\n",
      "--- 13.351797342300415 seconds ---\n",
      "feature extraction time:  6.572045564651489\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6750, 8593, 6828,  ..., 7702,  190, 4955], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09908509254455566\n",
      "Loss: 0.007655996853436484\n",
      "rotation error:  1.8951030249241074\n",
      "translation error:  0.01870522503748671\n",
      "--- 12.934637784957886 seconds ---\n",
      "feature extraction time:  6.700581073760986\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([8538, 5230, 9039,  ..., 4028, 4874, 1439], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09202885627746582\n",
      "Loss: 0.008112031264531635\n",
      "rotation error:  2.16803961617582\n",
      "translation error:  0.014937470411161271\n",
      "--- 13.681951522827148 seconds ---\n",
      "Epoch: [1/20], Batch: 4, Loss: 0.008112031264531635\n",
      "feature extraction time:  6.130904674530029\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([1137, 1399,  394,  ..., 3994, 3111, 2745], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169387817382812\n",
      "Loss: 0.007811046140674535\n",
      "rotation error:  0.7667052220090804\n",
      "translation error:  0.016539676045683536\n",
      "--- 12.544445514678955 seconds ---\n",
      "feature extraction time:  6.808759689331055\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([2442, 4878, 1805,  ..., 5812, 1030, 8754], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08882808685302734\n",
      "Loss: 0.0041859663373815335\n",
      "rotation error:  9.838244208594407\n",
      "translation error:  0.01064808704731157\n",
      "--- 13.496617555618286 seconds ---\n",
      "feature extraction time:  6.364980220794678\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([2962, 6058,  723,  ..., 3242, 1047, 4252], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166025161743164\n",
      "Loss: 0.006882031127524826\n",
      "rotation error:  0.5300310731979224\n",
      "translation error:  0.01672554424846556\n",
      "--- 12.689419269561768 seconds ---\n",
      "feature extraction time:  6.647756814956665\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([ 492, 4981, 1586,  ..., 7915, 6831, 2288], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970046043395996\n",
      "Loss: 0.008104870044218476\n",
      "rotation error:  0.1140035458542077\n",
      "translation error:  0.021237551261727838\n",
      "--- 13.523750305175781 seconds ---\n",
      "feature extraction time:  6.106649160385132\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([9238, 7639, 9141,  ...,   10, 6395, 2028], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.00795531342780694\n",
      "rotation error:  0.9782693491322416\n",
      "translation error:  0.020659645119653052\n",
      "--- 13.007308006286621 seconds ---\n",
      "Epoch: [1/20], Batch: 9, Loss: 0.00795531342780694\n",
      "feature extraction time:  6.412928342819214\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([7737, 7817, 1736,  ..., 6733,  902, 4413], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07752275466918945\n",
      "Loss: 0.009281226642050933\n",
      "rotation error:  1.228276222231918\n",
      "translation error:  0.021587930534683306\n",
      "--- 13.843923807144165 seconds ---\n",
      "feature extraction time:  6.592137098312378\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([6476, 4705, 8357,  ..., 2967, 1208,  203], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368634223937988\n",
      "Loss: 0.005748528923793285\n",
      "rotation error:  1.6340159865024544\n",
      "translation error:  0.017069083184462232\n",
      "--- 13.591997146606445 seconds ---\n",
      "feature extraction time:  6.832354545593262\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([3842, 8959,  695,  ..., 9541, 4527, 5485], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368634223937988\n",
      "Loss: 0.004287760735529958\n",
      "rotation error:  2.154944032418607\n",
      "translation error:  0.010301980379363408\n",
      "--- 13.776385307312012 seconds ---\n",
      "feature extraction time:  6.499417543411255\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([1224, 1712, 7793,  ...,  346, 5366, 9833], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036529541015625\n",
      "Loss: 0.007166221533380425\n",
      "rotation error:  1.200986457450737\n",
      "translation error:  0.015355315183467699\n",
      "--- 13.249852895736694 seconds ---\n",
      "feature extraction time:  5.990986108779907\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014950275421142578\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3069,  344, 9294,  ..., 9992, 8948, 5523], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169435501098633\n",
      "Loss: 0.009639544804104627\n",
      "rotation error:  1.0856483394764966\n",
      "translation error:  0.024589786938990412\n",
      "--- 12.242002487182617 seconds ---\n",
      "Epoch: [1/20], Batch: 14, Loss: 0.009639544804104627\n",
      "feature extraction time:  5.9920878410339355\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:  0.0009965896606445312\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([2477, 7253, 1036,  ..., 2513, 2752, 2524], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571386337280273\n",
      "Loss: 0.006812624345002246\n",
      "rotation error:  0.38716193277726313\n",
      "translation error:  0.017844268424327663\n",
      "--- 12.572579145431519 seconds ---\n",
      "feature extraction time:  6.245768785476685\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020891189575195312\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5756, 1471, 1297,  ..., 1895, 6472,  138], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09382009506225586\n",
      "Loss: 0.004124522576254514\n",
      "rotation error:  1.4796432668795503\n",
      "translation error:  0.01568927159287531\n",
      "--- 12.703383922576904 seconds ---\n",
      "feature extraction time:  6.686838150024414\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([2942, 2328, 2511,  ..., 7469, 4839, 3952], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069681167602539\n",
      "Loss: 0.0038397763107092704\n",
      "rotation error:  0.8456273407264824\n",
      "translation error:  0.010217778665514656\n",
      "--- 13.2309410572052 seconds ---\n",
      "feature extraction time:  6.406563997268677\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017939090728759766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6703,  543, 3638,  ..., 1354, 4043, 6972], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.0063910632584177115\n",
      "rotation error:  2.408005982710132\n",
      "translation error:  0.016318751874943478\n",
      "--- 13.164950609207153 seconds ---\n",
      "feature extraction time:  6.425500392913818\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([1990, 1783, 9479,  ..., 8658, 3061, 1441], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09621930122375488\n",
      "Loss: 0.005584540724610499\n",
      "rotation error:  0.4559444069779715\n",
      "translation error:  0.01593250157712452\n",
      "--- 13.346847534179688 seconds ---\n",
      "Epoch: [1/20], Batch: 19, Loss: 0.005584540724610499\n",
      "feature extraction time:  6.5332770347595215\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([3583, 2351, 1748,  ..., 3337, 6507, 6642], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069705009460449\n",
      "Loss: 0.006987623331510385\n",
      "rotation error:  0.659429655219851\n",
      "translation error:  0.020310407924234095\n",
      "--- 13.021718263626099 seconds ---\n",
      "feature extraction time:  6.432506799697876\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:  0.0009970664978027344\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([9356, 5737,  528,  ..., 8210, 7356, 8530], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461687088012695\n",
      "Loss: 0.0039159781820405914\n",
      "rotation error:  0.939677178673625\n",
      "translation error:  0.014270493900177542\n",
      "--- 12.963863849639893 seconds ---\n",
      "feature extraction time:  7.010636329650879\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([2666, 2042, 1380,  ..., 8091,  142, 9750], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10092926025390625\n",
      "Loss: 0.008605494056617162\n",
      "rotation error:  0.9735583897811109\n",
      "translation error:  0.016095353161709774\n",
      "--- 13.142389297485352 seconds ---\n",
      "feature extraction time:  6.281164884567261\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:  0.0009963512420654297\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([ 592, 1589, 9888,  ..., 9865, 7448, 5060], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464954376220703\n",
      "Loss: 0.008424642490947756\n",
      "rotation error:  1.169894160713654\n",
      "translation error:  0.0150887180523013\n",
      "--- 13.255685806274414 seconds ---\n",
      "feature extraction time:  6.046767473220825\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([6424, 4485, 6941,  ..., 9679, 1824, 5416], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969998359680176\n",
      "Loss: 0.009114325444638782\n",
      "rotation error:  1.0668464341584782\n",
      "translation error:  0.019966247649506927\n",
      "--- 13.177027463912964 seconds ---\n",
      "Epoch: [1/20], Batch: 24, Loss: 0.009114325444638782\n",
      "feature extraction time:  6.947752475738525\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([3815, 6045, 6248,  ..., 6526, 7157, 2438], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059736251831055\n",
      "Loss: 0.01046546089664701\n",
      "rotation error:  1.0103762060111772\n",
      "translation error:  0.02206793205704403\n",
      "--- 13.601489067077637 seconds ---\n",
      "feature extraction time:  6.779316425323486\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:  0.0009968280792236328\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([6662, 9497, 6405,  ..., 9177, 1214, 5422], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.005109277972420442\n",
      "rotation error:  0.9554718774973062\n",
      "translation error:  0.0165728786158145\n",
      "--- 13.12734580039978 seconds ---\n",
      "feature extraction time:  6.214207887649536\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([5427, 2528, 3506,  ...,  735, 9542,   25], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07973337173461914\n",
      "Loss: 0.006112456657149736\n",
      "rotation error:  1.400786606331234\n",
      "translation error:  0.015955621318939253\n",
      "--- 13.197840452194214 seconds ---\n",
      "feature extraction time:  5.823513984680176\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014950037002563477\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1435,  310, 7101,  ..., 4080, 6092, 5397], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368681907653809\n",
      "Loss: 0.010054687501910681\n",
      "rotation error:  1.770192278142678\n",
      "translation error:  0.019424923177035626\n",
      "--- 12.160311222076416 seconds ---\n",
      "feature extraction time:  6.500250816345215\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 10%|█         | 2/20 [13:07<1:58:14, 394.12s/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([4590, 5505, 2842,  ...,  793, 8591,  451], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966659545898438\n",
      "Loss: 0.009523812904433859\n",
      "rotation error:  1.6035487633886156\n",
      "translation error:  0.018287188696785053\n",
      "--- 13.188870191574097 seconds ---\n",
      "Epoch: [1/20], Batch: 29, Loss: 0.009523812904433859\n",
      "loss epoch [0.008218081927973762, 0.004211456075801618, 0.0033743481419934067, 0.007655996853436484, 0.008112031264531635, 0.007811046140674535, 0.0041859663373815335, 0.006882031127524826, 0.008104870044218476, 0.00795531342780694, 0.009281226642050933, 0.005748528923793285, 0.004287760735529958, 0.007166221533380425, 0.009639544804104627, 0.006812624345002246, 0.004124522576254514, 0.0038397763107092704, 0.0063910632584177115, 0.005584540724610499, 0.006987623331510385, 0.0039159781820405914, 0.008605494056617162, 0.008424642490947756, 0.009114325444638782, 0.01046546089664701, 0.005109277972420442, 0.006112456657149736, 0.010054687501910681, 0.009523812904433859]\n",
      "epoch #2\n",
      "feature extraction time:  6.8103649616241455\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020932435989379883\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9837, 8678, 7087,  ...,  711, 6802, 9581], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10392975807189941\n",
      "Loss: 0.008156840456064782\n",
      "rotation error:  1.6901462682021453\n",
      "translation error:  0.01900259981576222\n",
      "--- 13.312148571014404 seconds ---\n",
      "feature extraction time:  6.8979198932647705\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([2910, 4682, 1394,  ..., 8777, 2848, 5025], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0924980640411377\n",
      "Loss: 0.006413460355720785\n",
      "rotation error:  0.9451064361476083\n",
      "translation error:  0.022934218160785964\n",
      "--- 13.357672691345215 seconds ---\n",
      "feature extraction time:  6.14643406867981\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([8057, 6004, 5686,  ..., 7445, 1560, 4930], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08099031448364258\n",
      "Loss: 0.008348724000038195\n",
      "rotation error:  1.8494477667119498\n",
      "translation error:  0.020345077293667677\n",
      "--- 12.852588891983032 seconds ---\n",
      "feature extraction time:  6.700995445251465\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([7544, 7860, 8653,  ..., 5265, 8722,  454], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07873654365539551\n",
      "Loss: 0.007612358711601241\n",
      "rotation error:  0.8665966703433452\n",
      "translation error:  0.019383053822165097\n",
      "--- 13.24155330657959 seconds ---\n",
      "feature extraction time:  6.861043453216553\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([3632,  239, 2780,  ..., 5475, 2206,  880], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036524772644043\n",
      "Loss: 0.0031042225706759572\n",
      "rotation error:  1.6297785125316424\n",
      "translation error:  0.009186423708055245\n",
      "--- 13.165170907974243 seconds ---\n",
      "Epoch: [2/20], Batch: 4, Loss: 0.0031042225706759572\n",
      "feature extraction time:  6.327883243560791\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([1232, 4457, 3001,  ..., 6017,  156, 6177], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870315551757812\n",
      "Loss: 0.0017941486427526156\n",
      "rotation error:  3.2166742651296634\n",
      "translation error:  0.0069212775863282125\n",
      "--- 13.245982885360718 seconds ---\n",
      "feature extraction time:  6.468355894088745\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([6689, 2993, 6144,  ..., 2853, 4311,  249], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866952896118164\n",
      "Loss: 0.006910690421908292\n",
      "rotation error:  1.372726763846034\n",
      "translation error:  0.015227636182521322\n",
      "--- 13.212790250778198 seconds ---\n",
      "feature extraction time:  6.949746370315552\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([4573, 2208, 5338,  ..., 8676, 7513, 9639], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09911799430847168\n",
      "Loss: 0.009776710373762694\n",
      "rotation error:  0.4117360326713274\n",
      "translation error:  0.022135962345535245\n",
      "--- 13.716553211212158 seconds ---\n",
      "feature extraction time:  6.257063150405884\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([2566, 6571, 7581,  ..., 6992, 6280, 8339], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08770585060119629\n",
      "Loss: 0.007728072077723155\n",
      "rotation error:  1.4943775598588815\n",
      "translation error:  0.021490366964346547\n",
      "--- 12.649193048477173 seconds ---\n",
      "feature extraction time:  6.37719988822937\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016945838928222656\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1148, 5122, 6070,  ..., 6443, 7820, 4251], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268975257873535\n",
      "Loss: 0.004599568705177178\n",
      "rotation error:  0.45617371600242645\n",
      "translation error:  0.013170495502458439\n",
      "--- 13.153966665267944 seconds ---\n",
      "Epoch: [2/20], Batch: 9, Loss: 0.004599568705177178\n",
      "feature extraction time:  6.792273044586182\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([5762, 9260, 3846,  ..., 5219, 7817, 6499], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066887378692627\n",
      "Loss: 0.004679530617495873\n",
      "rotation error:  0.9044793161277372\n",
      "translation error:  0.011376744007587031\n",
      "--- 13.384629487991333 seconds ---\n",
      "feature extraction time:  6.225170135498047\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([2437, 7257, 7399,  ..., 5325, 5609, 4941], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1006627082824707\n",
      "Loss: 0.00449028950480047\n",
      "rotation error:  0.4607062668867728\n",
      "translation error:  0.010440362738388864\n",
      "--- 12.812362909317017 seconds ---\n",
      "feature extraction time:  6.376745939254761\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([ 787, 6789, 3024,  ..., 5943, 5053,  846], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966564178466797\n",
      "Loss: 0.009950615967689798\n",
      "rotation error:  1.567873647300185\n",
      "translation error:  0.022862567270737863\n",
      "--- 13.364777088165283 seconds ---\n",
      "feature extraction time:  6.386765003204346\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([2240, 5367,  759,  ..., 9385, 4302, 9242], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09377193450927734\n",
      "Loss: 0.008404629687763966\n",
      "rotation error:  2.4802888083933015\n",
      "translation error:  0.023490807005123873\n",
      "--- 13.19315481185913 seconds ---\n",
      "feature extraction time:  6.0330352783203125\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:  0.0009968280792236328\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([1694, 4840, 1491,  ..., 4580,  236, 1749], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10767340660095215\n",
      "Loss: 0.00692832040396274\n",
      "rotation error:  1.338325463273893\n",
      "translation error:  0.0209514361888974\n",
      "--- 13.24818754196167 seconds ---\n",
      "Epoch: [2/20], Batch: 14, Loss: 0.00692832040396274\n",
      "feature extraction time:  7.133132696151733\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([2072, 6276, 3495,  ..., 8758, 7447, 6017], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767317771911621\n",
      "Loss: 0.006595499992475647\n",
      "rotation error:  1.8009121912738266\n",
      "translation error:  0.018992578992056756\n",
      "--- 13.83817744255066 seconds ---\n",
      "feature extraction time:  6.183310508728027\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([1591, 9803, 7936,  ..., 5841, 5559, 5319], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08372068405151367\n",
      "Loss: 0.005189633312705725\n",
      "rotation error:  0.3585486907723149\n",
      "translation error:  0.012569231801275053\n",
      "--- 13.03645396232605 seconds ---\n",
      "feature extraction time:  6.844099998474121\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([9396, 3160, 3134,  ..., 8280, 8635, 5030], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571362495422363\n",
      "Loss: 0.0053852936498893144\n",
      "rotation error:  0.4972109261267231\n",
      "translation error:  0.011354462159932206\n",
      "--- 13.240261316299438 seconds ---\n",
      "feature extraction time:  6.349961757659912\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([6376,  951, 1331,  ..., 9571, 1249, 7731], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.0039034317005929736\n",
      "rotation error:  1.8725350596027963\n",
      "translation error:  0.013573308507546653\n",
      "--- 12.971397638320923 seconds ---\n",
      "feature extraction time:  5.835474252700806\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:  0.0009965896606445312\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([7850, 2794, 1710,  ..., 3137, 4801, 6531], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970022201538086\n",
      "Loss: 0.006704589378644847\n",
      "rotation error:  1.2767629931470401\n",
      "translation error:  0.018567593005482278\n",
      "--- 12.235159635543823 seconds ---\n",
      "Epoch: [2/20], Batch: 19, Loss: 0.006704589378644847\n",
      "feature extraction time:  6.8600873947143555\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020969152450561523\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009951591491699219\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4561,  887, 6632,  ..., 4524, 2606, 4569], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567975997924805\n",
      "Loss: 0.005378500586686625\n",
      "rotation error:  0.39392215854456564\n",
      "translation error:  0.020140778954243953\n",
      "--- 13.412498474121094 seconds ---\n",
      "feature extraction time:  6.709549903869629\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016973257064819336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6044,  533, 1160,  ..., 5778, 6811, 8427], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870339393615723\n",
      "Loss: 0.004680371693466461\n",
      "rotation error:  1.7516478698605675\n",
      "translation error:  0.012272971169982765\n",
      "--- 13.261066198348999 seconds ---\n",
      "feature extraction time:  6.1787450313568115\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([3725, 2473, 6672,  ..., 9077, 1183, 2351], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08039474487304688\n",
      "Loss: 0.0027863711353736335\n",
      "rotation error:  1.2657652103617962\n",
      "translation error:  0.00813919814083598\n",
      "--- 12.765421390533447 seconds ---\n",
      "feature extraction time:  6.5550665855407715\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([3233, 7253, 2127,  ..., 1952, 2928, 9537], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08326029777526855\n",
      "Loss: 0.004137199438552414\n",
      "rotation error:  1.5035202487903188\n",
      "translation error:  0.014918886762857181\n",
      "--- 12.721973896026611 seconds ---\n",
      "feature extraction time:  6.262096643447876\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([2081, 8192, 5623,  ..., 3723, 5357, 8457], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10927271842956543\n",
      "Loss: 0.006750007708162514\n",
      "rotation error:  1.7501321771769154\n",
      "translation error:  0.0239388919257645\n",
      "--- 12.605509042739868 seconds ---\n",
      "Epoch: [2/20], Batch: 24, Loss: 0.006750007708162514\n",
      "feature extraction time:  6.369848251342773\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([3527, 4130, 7452,  ..., 2750, 4432, 8102], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265707969665527\n",
      "Loss: 0.009075673063254528\n",
      "rotation error:  1.2475207070189354\n",
      "translation error:  0.021731833302848814\n",
      "--- 13.133399724960327 seconds ---\n",
      "feature extraction time:  6.21221399307251\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([8704, 3584, 4160,  ..., 4764, 3639, 3287], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.005569871513862488\n",
      "rotation error:  1.1221577108249856\n",
      "translation error:  0.017231498605281812\n",
      "--- 12.79727840423584 seconds ---\n",
      "feature extraction time:  6.606895685195923\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([8517, 8996, 8255,  ..., 7552, 9781, 8955], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036534309387207\n",
      "Loss: 0.0032080754600807213\n",
      "rotation error:  0.3805162162201218\n",
      "translation error:  0.011969198527794295\n",
      "--- 13.181509256362915 seconds ---\n",
      "feature extraction time:  6.728571891784668\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:  0.000997781753540039\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8974, 9817, 9219,  ..., 8621, 5338, 6765], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0928659439086914\n",
      "Loss: 0.00421111260042082\n",
      "rotation error:  1.318204710089164\n",
      "translation error:  0.012891432714263098\n",
      "--- 13.062876462936401 seconds ---\n",
      "feature extraction time:  6.076707124710083\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:  0.0009965896606445312\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 15%|█▌        | 3/20 [19:41<1:51:33, 393.73s/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([4354, 3060, 5497,  ..., 3195, 3347, 5095], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0847165584564209\n",
      "Loss: 0.0063220229538571504\n",
      "rotation error:  1.1815612157768272\n",
      "translation error:  0.019195024869227844\n",
      "--- 12.7914719581604 seconds ---\n",
      "Epoch: [2/20], Batch: 29, Loss: 0.0063220229538571504\n",
      "loss epoch [0.008156840456064782, 0.006413460355720785, 0.008348724000038195, 0.007612358711601241, 0.0031042225706759572, 0.0017941486427526156, 0.006910690421908292, 0.009776710373762694, 0.007728072077723155, 0.004599568705177178, 0.004679530617495873, 0.00449028950480047, 0.009950615967689798, 0.008404629687763966, 0.00692832040396274, 0.006595499992475647, 0.005189633312705725, 0.0053852936498893144, 0.0039034317005929736, 0.006704589378644847, 0.005378500586686625, 0.004680371693466461, 0.0027863711353736335, 0.004137199438552414, 0.006750007708162514, 0.009075673063254528, 0.005569871513862488, 0.0032080754600807213, 0.00421111260042082, 0.0063220229538571504]\n",
      "epoch #3\n",
      "feature extraction time:  6.62995457649231\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([7585, 5106, 3679,  ..., 2063, 7186, 2220], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08748674392700195\n",
      "Loss: 0.015972263039500792\n",
      "rotation error:  44.87695399267608\n",
      "translation error:  0.023325147547669154\n",
      "--- 13.443899869918823 seconds ---\n",
      "feature extraction time:  6.639244079589844\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([2098, 7363, 6980,  ..., 3749, 7377,  522], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567952156066895\n",
      "Loss: 0.023672634769995253\n",
      "rotation error:  182.2753774007228\n",
      "translation error:  0.02280617094971649\n",
      "--- 13.588440656661987 seconds ---\n",
      "feature extraction time:  6.520466089248657\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([9186, 4979, 4259,  ..., 4898, 2491, 9399], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.019792364744800353\n",
      "rotation error:  93.06109421188613\n",
      "translation error:  0.022133348960461954\n",
      "--- 13.21445631980896 seconds ---\n",
      "feature extraction time:  6.078660249710083\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([4038, 4222, 6248,  ..., 1038, 5932, 3504], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269022941589355\n",
      "Loss: 0.011074696602435452\n",
      "rotation error:  56.73767726592232\n",
      "translation error:  0.020991031600067385\n",
      "--- 12.77973985671997 seconds ---\n",
      "feature extraction time:  6.586037635803223\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([5282, 1563, 8284,  ..., 6581,  761, 8191], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10787749290466309\n",
      "Loss: 0.019742995307026435\n",
      "rotation error:  43.731107174129335\n",
      "translation error:  0.02235922612461064\n",
      "--- 13.302855968475342 seconds ---\n",
      "Epoch: [3/20], Batch: 4, Loss: 0.019742995307026435\n",
      "feature extraction time:  6.271044492721558\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017928123474121094\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3301, 7282, 4362,  ..., 8797, 6543, 9014], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09980916976928711\n",
      "Loss: 0.03437075397515377\n",
      "rotation error:  330.66295833677214\n",
      "translation error:  0.022364923117770868\n",
      "--- 12.970066547393799 seconds ---\n",
      "feature extraction time:  6.498255968093872\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016945838928222656\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([7538, 5609,  719,  ..., 9741, 8441, 6847], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671021461486816\n",
      "Loss: 0.014688633524706257\n",
      "rotation error:  19.81842860781373\n",
      "translation error:  0.013838807973128607\n",
      "--- 13.407623052597046 seconds ---\n",
      "feature extraction time:  6.433877468109131\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([5693, 4883, 8078,  ..., 3621, 4829, 2836], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.052075104758496\n",
      "rotation error:  95.77860858602278\n",
      "translation error:  0.00620921676552618\n",
      "--- 13.163360834121704 seconds ---\n",
      "feature extraction time:  6.867022514343262\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:  0.0009968280792236328\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([1986, 4466, 4378,  ..., 9919, 2285, 8532], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670997619628906\n",
      "Loss: 0.040958237596922256\n",
      "rotation error:  329.86586672520656\n",
      "translation error:  0.023211925948851277\n",
      "--- 13.687351703643799 seconds ---\n",
      "feature extraction time:  6.937823057174683\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([9107, 2299, 3546,  ...,  557, 8234, 1486], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.028988865440382275\n",
      "rotation error:  53.699442352478485\n",
      "translation error:  0.03802383276520693\n",
      "--- 13.41518521308899 seconds ---\n",
      "Epoch: [3/20], Batch: 9, Loss: 0.028988865440382275\n",
      "feature extraction time:  6.456590890884399\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022923946380615234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4758,  296, 5637,  ..., 5036,  781, 4132], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.036996581434800016\n",
      "rotation error:  308.0887495525844\n",
      "translation error:  0.06668159479740157\n",
      "--- 13.368465423583984 seconds ---\n",
      "feature extraction time:  6.398589372634888\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([2040, 9036, 8318,  ..., 4085, 6023, 6521], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368634223937988\n",
      "Loss: 0.03820132859320609\n",
      "rotation error:  30.322383536919403\n",
      "translation error:  0.07159930431406607\n",
      "--- 12.619776010513306 seconds ---\n",
      "feature extraction time:  6.680692434310913\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:  0.0009968280792236328\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([ 347, 7338, 9434,  ..., 1551, 2961, 5249], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09584355354309082\n",
      "Loss: 0.049776599250084874\n",
      "rotation error:  56.52190883716613\n",
      "translation error:  0.07291827829262547\n",
      "--- 13.038635969161987 seconds ---\n",
      "feature extraction time:  6.401730060577393\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.0218966007232666\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1117, 8145, 4456,  ..., 8599, 5184, 8269], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10572457313537598\n",
      "Loss: 0.05414900596289546\n",
      "rotation error:  137.88094514557085\n",
      "translation error:  0.06788437753705445\n",
      "--- 12.996510028839111 seconds ---\n",
      "feature extraction time:  6.850166320800781\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.021925926208496094\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([5292, 3470, 8539,  ..., 6673,  993, 8908], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.032693126272688194\n",
      "rotation error:  37.63968005498509\n",
      "translation error:  0.06327903714408448\n",
      "--- 13.30196213722229 seconds ---\n",
      "Epoch: [3/20], Batch: 14, Loss: 0.032693126272688194\n",
      "feature extraction time:  6.575100660324097\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([1798, 3044, 9747,  ..., 6776, 6855, 1631], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.022449587953795952\n",
      "rotation error:  45.792963656809924\n",
      "translation error:  0.047172841631270127\n",
      "--- 12.95076870918274 seconds ---\n",
      "feature extraction time:  6.307146072387695\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014949798583984375\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1625, 7517, 4016,  ..., 6231, 8178, 1248], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667730331420898\n",
      "Loss: 0.018455131367443322\n",
      "rotation error:  30.777959640156034\n",
      "translation error:  0.03320232037822231\n",
      "--- 12.807465553283691 seconds ---\n",
      "feature extraction time:  6.344770669937134\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:  0.0009965896606445312\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([1591, 3357, 4027,  ..., 4697, 6473, 6498], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.008908412602773964\n",
      "rotation error:  16.167691610993263\n",
      "translation error:  0.022280734326501243\n",
      "--- 13.002273082733154 seconds ---\n",
      "feature extraction time:  6.071684837341309\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([2168, 3618, 3997,  ..., 9586, 8428, 7709], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08914065361022949\n",
      "Loss: 0.03168684355690406\n",
      "rotation error:  345.32070009078666\n",
      "translation error:  0.026910656649297204\n",
      "--- 12.57337236404419 seconds ---\n",
      "feature extraction time:  7.144144535064697\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([  26, 2791, 7741,  ..., 8349,  169, 9199], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.03447919867893273\n",
      "rotation error:  34.56487219244481\n",
      "translation error:  0.0339769799824597\n",
      "--- 13.482280492782593 seconds ---\n",
      "Epoch: [3/20], Batch: 19, Loss: 0.03447919867893273\n",
      "feature extraction time:  6.4843034744262695\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([1932, 5073, 5493,  ..., 5609, 8532, 6409], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268999099731445\n",
      "Loss: 0.029216296888803783\n",
      "rotation error:  72.46842938066965\n",
      "translation error:  0.030103207848235593\n",
      "--- 13.273627758026123 seconds ---\n",
      "feature extraction time:  6.773984670639038\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([ 225, 4517, 7768,  ..., 2379, 4960, 6438], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10905647277832031\n",
      "Loss: 0.08477104183991935\n",
      "rotation error:  309.8208095437722\n",
      "translation error:  0.03841210617791346\n",
      "--- 13.420077323913574 seconds ---\n",
      "feature extraction time:  6.3797290325164795\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([9876, 6836, 2904,  ..., 7716, 8810, 6079], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.039821195024541844\n",
      "rotation error:  50.616034805548686\n",
      "translation error:  0.03968301184692076\n",
      "--- 13.338573694229126 seconds ---\n",
      "feature extraction time:  6.403718709945679\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([8024, 8247, 2486,  ..., 2788, 5637,    8], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09925174713134766\n",
      "Loss: 0.024821285339973992\n",
      "rotation error:  340.2596149883471\n",
      "translation error:  0.03740542752110548\n",
      "--- 12.751490831375122 seconds ---\n",
      "feature extraction time:  6.627902269363403\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([7310, 5282, 9354,  ..., 7452, 4376, 5754], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571338653564453\n",
      "Loss: 0.014970168881214975\n",
      "rotation error:  256.1460228388825\n",
      "translation error:  0.03526150811231082\n",
      "--- 13.472002983093262 seconds ---\n",
      "Epoch: [3/20], Batch: 24, Loss: 0.014970168881214975\n",
      "feature extraction time:  6.189316511154175\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([5932, 6554, 4961,  ...,  367, 3142, 7494], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12956643104553223\n",
      "Loss: 0.022202158992902128\n",
      "rotation error:  42.22216274999676\n",
      "translation error:  0.03615029262310937\n",
      "--- 12.491287231445312 seconds ---\n",
      "feature extraction time:  6.231326341629028\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016944169998168945\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3914, 5677, 4091,  ..., 9999,  882, 1910], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0879509449005127\n",
      "Loss: 0.025381506024647667\n",
      "rotation error:  51.27853614804864\n",
      "translation error:  0.03817719719805519\n",
      "--- 12.623188018798828 seconds ---\n",
      "feature extraction time:  6.449420928955078\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([8883, 1168, 8010,  ..., 5879, 7119, 5094], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10293149948120117\n",
      "Loss: 0.03727168487759187\n",
      "rotation error:  62.752334643557525\n",
      "translation error:  0.03684784369347661\n",
      "--- 12.959165334701538 seconds ---\n",
      "feature extraction time:  6.509488344192505\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([3047, 7983, 5914,  ..., 8856, 4504, 5827], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07873725891113281\n",
      "Loss: 0.027603613515353783\n",
      "rotation error:  146.65540791794442\n",
      "translation error:  0.039069021787047936\n",
      "--- 13.348663568496704 seconds ---\n",
      "feature extraction time:  6.43357515335083\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 20%|██        | 4/20 [26:15<1:45:02, 393.91s/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([3713, 9708, 4433,  ..., 1638, 4891, 3653], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867095947265625\n",
      "Loss: 0.01804175500589776\n",
      "rotation error:  30.327653366778296\n",
      "translation error:  0.044153141024343485\n",
      "--- 13.094534635543823 seconds ---\n",
      "Epoch: [3/20], Batch: 29, Loss: 0.01804175500589776\n",
      "loss epoch [0.015972263039500792, 0.023672634769995253, 0.019792364744800353, 0.011074696602435452, 0.019742995307026435, 0.03437075397515377, 0.014688633524706257, 0.052075104758496, 0.040958237596922256, 0.028988865440382275, 0.036996581434800016, 0.03820132859320609, 0.049776599250084874, 0.05414900596289546, 0.032693126272688194, 0.022449587953795952, 0.018455131367443322, 0.008908412602773964, 0.03168684355690406, 0.03447919867893273, 0.029216296888803783, 0.08477104183991935, 0.039821195024541844, 0.024821285339973992, 0.014970168881214975, 0.022202158992902128, 0.025381506024647667, 0.03727168487759187, 0.027603613515353783, 0.01804175500589776]\n",
      "epoch #4\n",
      "feature extraction time:  6.870013236999512\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3149, 3897, 8612,  ..., 5528, 6670, 9101], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571362495422363\n",
      "Loss: 0.023365394237208424\n",
      "rotation error:  256.16072505330766\n",
      "translation error:  0.04315370089179565\n",
      "--- 13.863613843917847 seconds ---\n",
      "feature extraction time:  5.97799825668335\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([7193, 6031, 7885,  ..., 1166,  859, 9294], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671069145202637\n",
      "Loss: 0.015511220219095602\n",
      "rotation error:  45.576500366428704\n",
      "translation error:  0.04672856089420102\n",
      "--- 13.046348333358765 seconds ---\n",
      "feature extraction time:  7.011538505554199\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([7658, 2472, 2589,  ..., 5888, 3760, 9225], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08372068405151367\n",
      "Loss: 0.01765129971019422\n",
      "rotation error:  56.667171592818804\n",
      "translation error:  0.045584148841394195\n",
      "--- 13.606529951095581 seconds ---\n",
      "feature extraction time:  6.276309967041016\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([6195, 1778, 7939,  ..., 4248, 7320, 1735], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10664248466491699\n",
      "Loss: 0.013453208080810882\n",
      "rotation error:  48.328245108321816\n",
      "translation error:  0.034423620945526597\n",
      "--- 13.118447303771973 seconds ---\n",
      "feature extraction time:  6.087705373764038\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.013952970504760742\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([3001,  830, 6657,  ..., 3455, 9630, 3118], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069561958312988\n",
      "Loss: 0.01840968413035846\n",
      "rotation error:  290.31390477664337\n",
      "translation error:  0.03208396086523852\n",
      "--- 12.508479595184326 seconds ---\n",
      "Epoch: [4/20], Batch: 4, Loss: 0.01840968413035846\n",
      "feature extraction time:  6.243408679962158\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([ 265, 4879, 2220,  ..., 4443, 5225, 3473], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.098663330078125\n",
      "Loss: 0.02427579864477028\n",
      "rotation error:  43.88911891383033\n",
      "translation error:  0.02875674338567029\n",
      "--- 12.758572340011597 seconds ---\n",
      "feature extraction time:  6.0389931201934814\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017998456954956055\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 145,  140, 7894,  ..., 2140, 9183, 1696], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10162901878356934\n",
      "Loss: 0.022286089659983837\n",
      "rotation error:  30.522566047646077\n",
      "translation error:  0.028971814885413852\n",
      "--- 13.300982236862183 seconds ---\n",
      "feature extraction time:  6.449479579925537\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:  0.0010344982147216797\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7909, 9551, 1357,  ..., 6031, 9973, 3327], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08751559257507324\n",
      "Loss: 0.015956176617133788\n",
      "rotation error:  24.41272161755067\n",
      "translation error:  0.03647389439274587\n",
      "--- 12.626189708709717 seconds ---\n",
      "feature extraction time:  6.651746034622192\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([ 865, 9711, 2465,  ..., 5631, 6645, 9339], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08744120597839355\n",
      "Loss: 0.02510389759851156\n",
      "rotation error:  21.982638921492324\n",
      "translation error:  0.046331218711062314\n",
      "--- 12.700453042984009 seconds ---\n",
      "feature extraction time:  6.343772649765015\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([4566, 7640, 4892,  ...,  386, 6615, 8528], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269070625305176\n",
      "Loss: 0.021224789696585776\n",
      "rotation error:  284.61579080876373\n",
      "translation error:  0.04623598848738282\n",
      "--- 13.277573108673096 seconds ---\n",
      "Epoch: [4/20], Batch: 9, Loss: 0.021224789696585776\n",
      "feature extraction time:  6.7993080615997314\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01699090003967285\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2551, 6399, 8014,  ..., 6802, 4290, 9119], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1050252914428711\n",
      "Loss: 0.010548489404358779\n",
      "rotation error:  37.72661108725969\n",
      "translation error:  0.04657302976217304\n",
      "--- 13.203906536102295 seconds ---\n",
      "feature extraction time:  6.27101731300354\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01794290542602539\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1541, 4591, 3631,  ..., 5960, 6802, 1284], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169340133666992\n",
      "Loss: 0.020178970271000757\n",
      "rotation error:  63.00688990998351\n",
      "translation error:  0.0421603835194375\n",
      "--- 12.79826807975769 seconds ---\n",
      "feature extraction time:  6.423007965087891\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([6067, 3818, 7832,  ..., 7615, 1681, 9966], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969974517822266\n",
      "Loss: 0.01411042374931099\n",
      "rotation error:  54.716692592310935\n",
      "translation error:  0.03931769827036251\n",
      "--- 13.030068159103394 seconds ---\n",
      "feature extraction time:  6.261051416397095\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([ 773, 7877, 9436,  ..., 3259,  893, 9542], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866976737976074\n",
      "Loss: 0.03490287227672255\n",
      "rotation error:  132.54817394930268\n",
      "translation error:  0.03115530265807041\n",
      "--- 12.696517705917358 seconds ---\n",
      "feature extraction time:  6.258060693740845\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([3772, 9485, 7132,  ..., 1988, 2947,  959], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461687088012695\n",
      "Loss: 0.01678813146473766\n",
      "rotation error:  42.010518396677156\n",
      "translation error:  0.0206029393206877\n",
      "--- 13.088207244873047 seconds ---\n",
      "Epoch: [4/20], Batch: 14, Loss: 0.01678813146473766\n",
      "feature extraction time:  6.464370012283325\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([1309, 1857, 9946,  ..., 9863,  759, 5370], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08272385597229004\n",
      "Loss: 0.017016129889682898\n",
      "rotation error:  37.44533753709185\n",
      "translation error:  0.012030658769276519\n",
      "--- 13.122093200683594 seconds ---\n",
      "feature extraction time:  6.245104074478149\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([9226, 4733, 3710,  ..., 9374, 5114,  302], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268999099731445\n",
      "Loss: 0.005334209424311178\n",
      "rotation error:  28.32824062273146\n",
      "translation error:  0.007326196678151617\n",
      "--- 12.630738258361816 seconds ---\n",
      "feature extraction time:  6.109673261642456\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([1164, 6482, 9667,  ..., 5297, 1660, 1995], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.014477954663277394\n",
      "rotation error:  28.88899928593612\n",
      "translation error:  0.018387648244978485\n",
      "--- 13.014569997787476 seconds ---\n",
      "feature extraction time:  6.666696548461914\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02092885971069336\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3579, 7977, 1415,  ..., 5203, 2518,  456], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09236621856689453\n",
      "Loss: 0.012441486854307869\n",
      "rotation error:  65.43543795669511\n",
      "translation error:  0.024823133737672018\n",
      "--- 13.520922660827637 seconds ---\n",
      "feature extraction time:  6.6786534786224365\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:  0.0009965896606445312\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([3140, 5145, 6215,  ..., 3973, 3179, 2334], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468293190002441\n",
      "Loss: 0.01779761350675886\n",
      "rotation error:  50.43344486729579\n",
      "translation error:  0.026547318889851377\n",
      "--- 13.505810022354126 seconds ---\n",
      "Epoch: [4/20], Batch: 19, Loss: 0.01779761350675886\n",
      "feature extraction time:  6.5919435024261475\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930767059326172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  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, 9191, 5682,  ..., 7619, 6606, 6493], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368729591369629\n",
      "Loss: 0.033126256091774574\n",
      "rotation error:  82.31002977565126\n",
      "translation error:  0.026940583302406226\n",
      "--- 13.551005840301514 seconds ---\n",
      "feature extraction time:  6.434473514556885\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([ 625, 2172,  865,  ..., 8976, 8201, 5091], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07973313331604004\n",
      "Loss: 0.008142581657309972\n",
      "rotation error:  18.366887711837435\n",
      "translation error:  0.025892109840711188\n",
      "--- 13.475964784622192 seconds ---\n",
      "feature extraction time:  6.540189504623413\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([6381, 4686, 4233,  ..., 1434, 3572, 6647], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09828805923461914\n",
      "Loss: 0.03506998633405713\n",
      "rotation error:  48.197257785056216\n",
      "translation error:  0.02515237141924969\n",
      "--- 13.620120763778687 seconds ---\n",
      "feature extraction time:  6.771411418914795\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([3564, 6329, 2479,  ..., 7007, 4598,  648], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08925914764404297\n",
      "Loss: 0.019271276341922834\n",
      "rotation error:  36.125406433101745\n",
      "translation error:  0.02649645192076291\n",
      "--- 13.369856119155884 seconds ---\n",
      "feature extraction time:  6.611019849777222\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([9606, 8555, 4048,  ..., 9047, 8743, 9128], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.02866830022667631\n",
      "rotation error:  66.00401866220591\n",
      "translation error:  0.019664997037925937\n",
      "--- 13.712463855743408 seconds ---\n",
      "Epoch: [4/20], Batch: 24, Loss: 0.02866830022667631\n",
      "feature extraction time:  6.583969593048096\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5423,  252, 7229,  ..., 9634, 5847, 9718], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0829620361328125\n",
      "Loss: 0.04499740370889704\n",
      "rotation error:  83.15741681862586\n",
      "translation error:  0.027137334395018347\n",
      "--- 13.68345856666565 seconds ---\n",
      "feature extraction time:  6.6557300090789795\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993584632873535\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2387, 9234, 1634,  ..., 4475, 6235, 8266], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066342353820801\n",
      "Loss: 0.017096790808129387\n",
      "rotation error:  40.23313954270328\n",
      "translation error:  0.02110016832554732\n",
      "--- 13.617016553878784 seconds ---\n",
      "feature extraction time:  6.646714687347412\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([6556, 1294, 2125,  ..., 3275, 2051, 5466], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09492754936218262\n",
      "Loss: 0.04732726534015592\n",
      "rotation error:  302.0262329231558\n",
      "translation error:  0.01147028971681148\n",
      "--- 13.106336116790771 seconds ---\n",
      "feature extraction time:  6.757469654083252\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([6155, 2844, 7668,  ..., 1744, 3123, 3148], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09939050674438477\n",
      "Loss: 0.02457140838310853\n",
      "rotation error:  34.06157104468745\n",
      "translation error:  0.0017711361163271684\n",
      "--- 13.7129225730896 seconds ---\n",
      "feature extraction time:  6.793664455413818\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 25%|██▌       | 5/20 [32:52<1:38:44, 394.98s/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([7482, 4583, 2646,  ...,  377, 8061, 2288], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08073043823242188\n",
      "Loss: 0.02552076556703975\n",
      "rotation error:  55.38817600943025\n",
      "translation error:  0.014577770757211346\n",
      "--- 13.32192063331604 seconds ---\n",
      "Epoch: [4/20], Batch: 29, Loss: 0.02552076556703975\n",
      "loss epoch [0.023365394237208424, 0.015511220219095602, 0.01765129971019422, 0.013453208080810882, 0.01840968413035846, 0.02427579864477028, 0.022286089659983837, 0.015956176617133788, 0.02510389759851156, 0.021224789696585776, 0.010548489404358779, 0.020178970271000757, 0.01411042374931099, 0.03490287227672255, 0.01678813146473766, 0.017016129889682898, 0.005334209424311178, 0.014477954663277394, 0.012441486854307869, 0.01779761350675886, 0.033126256091774574, 0.008142581657309972, 0.03506998633405713, 0.019271276341922834, 0.02866830022667631, 0.04499740370889704, 0.017096790808129387, 0.04732726534015592, 0.02457140838310853, 0.02552076556703975]\n",
      "epoch #5\n",
      "feature extraction time:  6.574100017547607\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([6015, 5530, 6603,  ..., 6187, 5698, 4361], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08575582504272461\n",
      "Loss: 0.014404780956858433\n",
      "rotation error:  34.8253138234119\n",
      "translation error:  0.023115218824626294\n",
      "--- 13.46348786354065 seconds ---\n",
      "feature extraction time:  6.384637117385864\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([3662, 9577, 8942,  ..., 6177,  399, 3861], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08272361755371094\n",
      "Loss: 0.024847325788528635\n",
      "rotation error:  26.359132432912332\n",
      "translation error:  0.02576734289682767\n",
      "--- 13.095359086990356 seconds ---\n",
      "feature extraction time:  6.8959267139434814\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([5603, 8980, 6310,  ..., 1441,  481, 7086], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10584664344787598\n",
      "Loss: 0.032427015216450236\n",
      "rotation error:  46.435981315112635\n",
      "translation error:  0.022615574959544384\n",
      "--- 13.886706352233887 seconds ---\n",
      "feature extraction time:  6.698728322982788\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:  0.0009963512420654297\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([4755,  458,   98,  ..., 7536, 6659, 8616], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08430910110473633\n",
      "Loss: 0.016629764003417563\n",
      "rotation error:  267.80683348478556\n",
      "translation error:  0.020629888610937334\n",
      "--- 13.561473369598389 seconds ---\n",
      "feature extraction time:  6.287158250808716\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([5409, 7298, 5857,  ..., 4377, 6679, 5939], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568285942077637\n",
      "Loss: 0.019269768178542968\n",
      "rotation error:  232.09564691461838\n",
      "translation error:  0.01160938838317528\n",
      "--- 12.619253396987915 seconds ---\n",
      "Epoch: [5/20], Batch: 4, Loss: 0.019269768178542968\n",
      "feature extraction time:  6.560250282287598\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020962238311767578\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3057, 8532, 1579,  ...,  599, 1259, 7375], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09418129920959473\n",
      "Loss: 0.03515448782272406\n",
      "rotation error:  70.10954531457179\n",
      "translation error:  0.010132776028568173\n",
      "--- 13.078405618667603 seconds ---\n",
      "feature extraction time:  6.659286260604858\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930767059326172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9449, 6248, 1364,  ..., 1129, 6784, 5710], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10365653038024902\n",
      "Loss: 0.00652319568959755\n",
      "rotation error:  8.530053149778388\n",
      "translation error:  0.020630971505648226\n",
      "--- 13.314701080322266 seconds ---\n",
      "feature extraction time:  6.838328838348389\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016997814178466797\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5121,  109, 8784,  ...,  228, 1650,   59], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568190574645996\n",
      "Loss: 0.025891444648670305\n",
      "rotation error:  24.269694068790685\n",
      "translation error:  0.020701165901642286\n",
      "--- 13.119049310684204 seconds ---\n",
      "feature extraction time:  6.824374675750732\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([3694, 1517, 1867,  ...,  405, 3972, 2166], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0966799259185791\n",
      "Loss: 0.014484617520034099\n",
      "rotation error:  241.97705450208005\n",
      "translation error:  0.015107638762143435\n",
      "--- 14.00263261795044 seconds ---\n",
      "feature extraction time:  6.494471073150635\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([5583, 3016, 4195,  ...,  344,  128, 3960], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08376860618591309\n",
      "Loss: 0.012476943291707851\n",
      "rotation error:  39.02804415595907\n",
      "translation error:  0.010233711396308319\n",
      "--- 13.282057762145996 seconds ---\n",
      "Epoch: [5/20], Batch: 9, Loss: 0.012476943291707851\n",
      "feature extraction time:  6.593141794204712\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:  0.0009968280792236328\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([5451, 7816,  113,  ..., 5848, 9160, 2884], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764336585998535\n",
      "Loss: 0.023683873145029618\n",
      "rotation error:  56.91210535950113\n",
      "translation error:  0.004939757180367069\n",
      "--- 13.198853254318237 seconds ---\n",
      "feature extraction time:  6.483642578125\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020931005477905273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9768, 7014, 3361,  ..., 3360, 5753, 6319], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265922546386719\n",
      "Loss: 0.009913921912021473\n",
      "rotation error:  45.81005669070136\n",
      "translation error:  0.012839523059123148\n",
      "--- 13.565134525299072 seconds ---\n",
      "feature extraction time:  6.920058012008667\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([7383, 9832, 7997,  ..., 3926,  769, 2979], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10365700721740723\n",
      "Loss: 0.015409761631251448\n",
      "rotation error:  308.78270438692215\n",
      "translation error:  0.015633469702673375\n",
      "--- 13.822382926940918 seconds ---\n",
      "feature extraction time:  6.493006944656372\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([8436,  673, 9698,  ..., 3008, 4612,   76], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10318779945373535\n",
      "Loss: 0.017998794795824287\n",
      "rotation error:  31.1702813494828\n",
      "translation error:  0.017454370383894843\n",
      "--- 13.583538293838501 seconds ---\n",
      "feature extraction time:  6.7884931564331055\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([  50, 6255, 5287,  ..., 1772, 6751, 1480], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059974670410156\n",
      "Loss: 0.022998709618844617\n",
      "rotation error:  50.24054118452782\n",
      "translation error:  0.016385104430998262\n",
      "--- 13.379711627960205 seconds ---\n",
      "Epoch: [5/20], Batch: 14, Loss: 0.022998709618844617\n",
      "feature extraction time:  6.758653879165649\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([6379, 6790, 5222,  ..., 2407, 1425,  632], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09506869316101074\n",
      "Loss: 0.0227155845782762\n",
      "rotation error:  325.8971747139184\n",
      "translation error:  0.017101277109571156\n",
      "--- 13.379365921020508 seconds ---\n",
      "feature extraction time:  6.630155801773071\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01794123649597168\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1055, 4234, 6229,  ..., 6997, 7657, 9072], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09207010269165039\n",
      "Loss: 0.014986561691792157\n",
      "rotation error:  55.43423458687056\n",
      "translation error:  0.01877677959602772\n",
      "--- 13.688103914260864 seconds ---\n",
      "feature extraction time:  6.7138612270355225\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([5524, 9164,  923,  ..., 2171, 9102, 1132], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08272576332092285\n",
      "Loss: 0.020548494497559265\n",
      "rotation error:  51.54628989530166\n",
      "translation error:  0.015075176842458888\n",
      "--- 13.482420444488525 seconds ---\n",
      "feature extraction time:  6.688823223114014\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020931005477905273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6789, 8428, 2133,  ..., 5235, 2449, 5623], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877079963684082\n",
      "Loss: 0.025503333468369027\n",
      "rotation error:  52.84071574848012\n",
      "translation error:  0.013140235845609454\n",
      "--- 13.690610408782959 seconds ---\n",
      "feature extraction time:  6.511412620544434\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([ 593, 8756, 9702,  ...,  829, 2390,   74], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08681178092956543\n",
      "Loss: 0.039147063747628705\n",
      "rotation error:  56.050105796815785\n",
      "translation error:  0.018382344346989255\n",
      "--- 13.465567827224731 seconds ---\n",
      "Epoch: [5/20], Batch: 19, Loss: 0.039147063747628705\n",
      "feature extraction time:  6.895320177078247\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930767059326172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5386, 9441, 8462,  ..., 2955,  645, 7069], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063289642333984\n",
      "Loss: 0.036659576758404394\n",
      "rotation error:  314.6023050208127\n",
      "translation error:  0.03402911432914775\n",
      "--- 13.842288255691528 seconds ---\n",
      "feature extraction time:  6.237321138381958\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([5846, 9034, 9442,  ..., 3951, 2623, 5008], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571600914001465\n",
      "Loss: 0.021675202049509082\n",
      "rotation error:  253.07137136438263\n",
      "translation error:  0.03865457778056769\n",
      "--- 13.134573936462402 seconds ---\n",
      "feature extraction time:  6.441878795623779\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([3510, 3576, 2891,  ..., 6687, 1905, 9249], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07974386215209961\n",
      "Loss: 0.026082316326791564\n",
      "rotation error:  33.92328466419519\n",
      "translation error:  0.037945011421544717\n",
      "--- 13.187498331069946 seconds ---\n",
      "feature extraction time:  6.902759552001953\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([2869, 6515, 2285,  ..., 8096, 6024, 4603], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08947205543518066\n",
      "Loss: 0.024485017958755226\n",
      "rotation error:  21.429128541851533\n",
      "translation error:  0.034195878062525796\n",
      "--- 13.6010000705719 seconds ---\n",
      "feature extraction time:  6.360910415649414\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020901203155517578\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([4243, 9325, 7066,  ...,  198, 9044,  369], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09883856773376465\n",
      "Loss: 0.019686605832048454\n",
      "rotation error:  61.75279833863855\n",
      "translation error:  0.02679441065572467\n",
      "--- 13.406187772750854 seconds ---\n",
      "Epoch: [5/20], Batch: 24, Loss: 0.019686605832048454\n",
      "feature extraction time:  6.604108095169067\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([4892, 8958, 8977,  ..., 9528, 2693, 5573], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468364715576172\n",
      "Loss: 0.04343134045331486\n",
      "rotation error:  58.90072607171339\n",
      "translation error:  0.018515388938959407\n",
      "--- 13.472557306289673 seconds ---\n",
      "feature extraction time:  6.586104393005371\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([3739, 7788, 6225,  ..., 9041, 8106, 2713], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0858612060546875\n",
      "Loss: 0.03403587903202402\n",
      "rotation error:  64.12911353008467\n",
      "translation error:  0.016833535403200206\n",
      "--- 13.668555974960327 seconds ---\n",
      "feature extraction time:  6.615401744842529\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([5025, 4468, 7931,  ..., 2076, 8746, 1234], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767389297485352\n",
      "Loss: 0.0327392485632837\n",
      "rotation error:  52.46260175674264\n",
      "translation error:  0.014533808364147522\n",
      "--- 13.097713470458984 seconds ---\n",
      "feature extraction time:  6.81535005569458\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([4987, 4654, 6169,  ..., 3863, 3814, 2743], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867000579833984\n",
      "Loss: 0.029437476812495034\n",
      "rotation error:  41.411287837399136\n",
      "translation error:  0.01029731329819478\n",
      "--- 13.85352373123169 seconds ---\n",
      "feature extraction time:  6.845098495483398\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 30%|███       | 6/20 [39:36<1:32:52, 398.07s/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([4388, 2165, 3505,  ..., 8308, 5076, 7429], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867000579833984\n",
      "Loss: 0.004781143778623183\n",
      "rotation error:  8.241443693162797\n",
      "translation error:  0.003015827189880632\n",
      "--- 13.841875791549683 seconds ---\n",
      "Epoch: [5/20], Batch: 29, Loss: 0.004781143778623183\n",
      "loss epoch [0.014404780956858433, 0.024847325788528635, 0.032427015216450236, 0.016629764003417563, 0.019269768178542968, 0.03515448782272406, 0.00652319568959755, 0.025891444648670305, 0.014484617520034099, 0.012476943291707851, 0.023683873145029618, 0.009913921912021473, 0.015409761631251448, 0.017998794795824287, 0.022998709618844617, 0.0227155845782762, 0.014986561691792157, 0.020548494497559265, 0.025503333468369027, 0.039147063747628705, 0.036659576758404394, 0.021675202049509082, 0.026082316326791564, 0.024485017958755226, 0.019686605832048454, 0.04343134045331486, 0.03403587903202402, 0.0327392485632837, 0.029437476812495034, 0.004781143778623183]\n",
      "epoch #6\n",
      "feature extraction time:  6.691980838775635\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([8284, 8053, 7626,  ..., 4069, 3567, 5736], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863661766052246\n",
      "Loss: 0.022847539214066574\n",
      "rotation error:  58.73390012508522\n",
      "translation error:  0.010271034419788324\n",
      "--- 13.67890453338623 seconds ---\n",
      "feature extraction time:  6.253078460693359\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([4617,  991, 5122,  ..., 9611, 7864, 3183], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09882545471191406\n",
      "Loss: 0.02676737041080087\n",
      "rotation error:  58.44019179231508\n",
      "translation error:  0.029759642184102895\n",
      "--- 13.279690027236938 seconds ---\n",
      "feature extraction time:  6.784878253936768\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694488525390625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2643, 4581, 5417,  ...,  739, 1680, 3271], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08499360084533691\n",
      "Loss: 0.014674243342210304\n",
      "rotation error:  18.529383066049032\n",
      "translation error:  0.037294165204830185\n",
      "--- 13.468793153762817 seconds ---\n",
      "feature extraction time:  6.591943979263306\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([9460, 9937,  297,  ..., 3820, 3804, 1958], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.02169896509152942\n",
      "rotation error:  39.27912640427282\n",
      "translation error:  0.04144347817022019\n",
      "--- 13.051700353622437 seconds ---\n",
      "feature extraction time:  6.2072319984436035\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([9791, 7145, 8519,  ..., 9183, 6697, 3651], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069609642028809\n",
      "Loss: 0.027067653821751997\n",
      "rotation error:  233.11085524358862\n",
      "translation error:  0.03217939348203657\n",
      "--- 12.609934329986572 seconds ---\n",
      "Epoch: [6/20], Batch: 4, Loss: 0.027067653821751997\n",
      "feature extraction time:  6.841679334640503\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([8064, 9552, 3021,  ..., 2200,  799, 5767], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767341613769531\n",
      "Loss: 0.0311521724437708\n",
      "rotation error:  33.900065557513514\n",
      "translation error:  0.028418424243310415\n",
      "--- 13.677807331085205 seconds ---\n",
      "feature extraction time:  6.413542032241821\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([3862, 1540,  417,  ..., 4407,  197, 8423], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066342353820801\n",
      "Loss: 0.005829338157186629\n",
      "rotation error:  24.769160839779097\n",
      "translation error:  0.01647555423981789\n",
      "--- 13.150999546051025 seconds ---\n",
      "feature extraction time:  6.974664688110352\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([9999,  185, 6801,  ..., 1149, 4875, 5352], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08184432983398438\n",
      "Loss: 0.01274528611131303\n",
      "rotation error:  37.31492716273919\n",
      "translation error:  0.011918527328495732\n",
      "--- 13.746129035949707 seconds ---\n",
      "feature extraction time:  6.744506359100342\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:  0.0009965896606445312\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([6934, 5552, 1619,  ..., 9120, 4693, 6715], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877068042755127\n",
      "Loss: 0.06734755147175037\n",
      "rotation error:  307.36047013755547\n",
      "translation error:  0.010755225017960817\n",
      "--- 13.699238061904907 seconds ---\n",
      "feature extraction time:  6.633804559707642\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:  0.0009965896606445312\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([  35, 7580, 2082,  ..., 2508,  732, 6490], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069657325744629\n",
      "Loss: 0.03291772250233015\n",
      "rotation error:  60.49572255956624\n",
      "translation error:  0.011213759719750882\n",
      "--- 13.57609486579895 seconds ---\n",
      "Epoch: [6/20], Batch: 9, Loss: 0.03291772250233015\n",
      "feature extraction time:  6.7107555866241455\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:  0.0009968280792236328\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([8966, 9477, 2529,  ...,  556, 6608, 7106], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10895013809204102\n",
      "Loss: 0.0202957924058074\n",
      "rotation error:  35.799487316654435\n",
      "translation error:  0.020636377947642854\n",
      "--- 13.473063468933105 seconds ---\n",
      "feature extraction time:  6.265129089355469\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([ 122, 2046, 5181,  ..., 2325, 1918, 8905], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0907433032989502\n",
      "Loss: 0.02507473320314364\n",
      "rotation error:  56.233659568955375\n",
      "translation error:  0.01672178430824612\n",
      "--- 12.779383420944214 seconds ---\n",
      "feature extraction time:  6.4215147495269775\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([8029, 8371, 8011,  ..., 6025, 1873, 9365], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08893299102783203\n",
      "Loss: 0.014347505151826704\n",
      "rotation error:  34.202096819361664\n",
      "translation error:  0.022982945370100115\n",
      "--- 13.113358736038208 seconds ---\n",
      "feature extraction time:  6.638788223266602\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([4739, 6812, 5425,  ..., 1625, 7404, 6635], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464978218078613\n",
      "Loss: 0.019054037348623917\n",
      "rotation error:  42.430875466501256\n",
      "translation error:  0.018393512610066463\n",
      "--- 13.305533409118652 seconds ---\n",
      "feature extraction time:  6.6686882972717285\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:  0.0009965896606445312\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([9901, 4989, 3936,  ..., 8103,  816, 4643], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10377383232116699\n",
      "Loss: 0.030417011903087862\n",
      "rotation error:  300.26220355046786\n",
      "translation error:  0.010878786521644672\n",
      "--- 13.774201154708862 seconds ---\n",
      "Epoch: [6/20], Batch: 14, Loss: 0.030417011903087862\n",
      "feature extraction time:  6.622844219207764\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([2340, 2170, 1671,  ..., 9779, 1601, 7044], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.018472901558030157\n",
      "rotation error:  43.64850106375145\n",
      "translation error:  0.00663169491179688\n",
      "--- 13.185041666030884 seconds ---\n",
      "feature extraction time:  6.692607879638672\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([1182,  592, 4140,  ..., 1456, 3782, 3984], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.008081772184301948\n",
      "rotation error:  28.180295410495617\n",
      "translation error:  0.016258558694232365\n",
      "--- 13.497943639755249 seconds ---\n",
      "feature extraction time:  6.7892844676971436\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([4822, 1107, 5605,  ...,  948, 6654, 8907], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08371973037719727\n",
      "Loss: 0.013029921551597733\n",
      "rotation error:  78.7513739784705\n",
      "translation error:  0.017026385390141154\n",
      "--- 13.574918746948242 seconds ---\n",
      "feature extraction time:  6.59700870513916\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:  0.0009963512420654297\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([2734, 8997, 1979,  ..., 2727, 1193, 2867], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08372020721435547\n",
      "Loss: 0.01097302985858031\n",
      "rotation error:  30.04236724677852\n",
      "translation error:  0.022805086078404445\n",
      "--- 13.213066339492798 seconds ---\n",
      "feature extraction time:  6.773474216461182\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993393898010254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000995635986328125\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  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, 1122, 3196,  ...,   50, 4395, 1404], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10270047187805176\n",
      "Loss: 0.03781832237323787\n",
      "rotation error:  43.392256641258335\n",
      "translation error:  0.029671851190442314\n",
      "--- 13.296006441116333 seconds ---\n",
      "Epoch: [6/20], Batch: 19, Loss: 0.03781832237323787\n",
      "feature extraction time:  6.703571557998657\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([8881, 1900, 1851,  ..., 9026, 3117, 8113], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867048263549805\n",
      "Loss: 0.020976157624985628\n",
      "rotation error:  59.283436700893205\n",
      "translation error:  0.021146150646298243\n",
      "--- 13.274586915969849 seconds ---\n",
      "feature extraction time:  6.498356342315674\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([7261, 5645,  778,  ...,   52, 7630, 1891], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08558225631713867\n",
      "Loss: 0.012136201073710317\n",
      "rotation error:  34.61983371211211\n",
      "translation error:  0.016216195441261412\n",
      "--- 13.247039079666138 seconds ---\n",
      "feature extraction time:  6.756548166275024\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([6402, 6960, 2861,  ..., 3611, 5373, 1104], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.02664825711912922\n",
      "rotation error:  234.83433543407864\n",
      "translation error:  0.00527581303931515\n",
      "--- 13.546052932739258 seconds ---\n",
      "feature extraction time:  6.664835214614868\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:  0.0009961128234863281\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([ 299, 4709,  717,  ..., 7376, 4776, 2597], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.025193667954829854\n",
      "rotation error:  41.6099268864591\n",
      "translation error:  0.004391989836849277\n",
      "--- 13.564749956130981 seconds ---\n",
      "feature extraction time:  6.580037832260132\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([6153,  976, 3558,  ..., 6799, 5978, 6344], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08823442459106445\n",
      "Loss: 0.016573677910774326\n",
      "rotation error:  272.39705041261453\n",
      "translation error:  0.01818378849769268\n",
      "--- 13.454866647720337 seconds ---\n",
      "Epoch: [6/20], Batch: 24, Loss: 0.016573677910774326\n",
      "feature extraction time:  6.458394765853882\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([5524, 7263, 4680,  ..., 1768, 8114, 7165], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08371973037719727\n",
      "Loss: 0.028952567227240288\n",
      "rotation error:  88.15925345622756\n",
      "translation error:  0.01966178886961944\n",
      "--- 13.109367609024048 seconds ---\n",
      "feature extraction time:  6.687870025634766\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01688551902770996\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1863, 2929, 4957,  ..., 4398, 5739, 7575], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09177851676940918\n",
      "Loss: 0.037328751670598806\n",
      "rotation error:  339.03940499661286\n",
      "translation error:  0.03150709968053455\n",
      "--- 12.992812871932983 seconds ---\n",
      "feature extraction time:  6.626928091049194\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([1113, 1660,  648,  ..., 4224, 6995,  221], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.0306496587975872\n",
      "rotation error:  48.12989043696639\n",
      "translation error:  0.04043588235714575\n",
      "--- 13.17501950263977 seconds ---\n",
      "feature extraction time:  6.521182060241699\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([3490, 1363, 2761,  ..., 5924, 9510, 6090], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08371949195861816\n",
      "Loss: 0.03194205101725095\n",
      "rotation error:  27.564922491691096\n",
      "translation error:  0.03719673707551894\n",
      "--- 13.266992807388306 seconds ---\n",
      "feature extraction time:  6.728615760803223\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02093195915222168\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 [46:16<1:26:23, 398.76s/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([6584, 6600, 6879,  ..., 4205,  769, 1923], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265660285949707\n",
      "Loss: 0.03653713538825597\n",
      "rotation error:  343.662391504387\n",
      "translation error:  0.02536946284634065\n",
      "--- 13.136067152023315 seconds ---\n",
      "Epoch: [6/20], Batch: 29, Loss: 0.03653713538825597\n",
      "loss epoch [0.022847539214066574, 0.02676737041080087, 0.014674243342210304, 0.02169896509152942, 0.027067653821751997, 0.0311521724437708, 0.005829338157186629, 0.01274528611131303, 0.06734755147175037, 0.03291772250233015, 0.0202957924058074, 0.02507473320314364, 0.014347505151826704, 0.019054037348623917, 0.030417011903087862, 0.018472901558030157, 0.008081772184301948, 0.013029921551597733, 0.01097302985858031, 0.03781832237323787, 0.020976157624985628, 0.012136201073710317, 0.02664825711912922, 0.025193667954829854, 0.016573677910774326, 0.028952567227240288, 0.037328751670598806, 0.0306496587975872, 0.03194205101725095, 0.03653713538825597]\n",
      "epoch #7\n",
      "feature extraction time:  6.558222770690918\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([7861, 3810, 9649,  ..., 8363, 4626, 3986], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0887143611907959\n",
      "Loss: 0.009046642709162177\n",
      "rotation error:  18.270972084991136\n",
      "translation error:  0.020810964668035368\n",
      "--- 13.346752166748047 seconds ---\n",
      "feature extraction time:  6.558058500289917\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01697540283203125\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009992122650146484\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 613,  857, 3875,  ...,  183,  180, 6713], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08602428436279297\n",
      "Loss: 0.02518252044079434\n",
      "rotation error:  56.55333428837969\n",
      "translation error:  0.012276025853029136\n",
      "--- 13.496172666549683 seconds ---\n",
      "feature extraction time:  6.79825758934021\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([2864, 4045, 5102,  ..., 6345, 9625, 9956], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966707229614258\n",
      "Loss: 0.019117031462908173\n",
      "rotation error:  24.813288492545063\n",
      "translation error:  0.01996061885902508\n",
      "--- 13.75217318534851 seconds ---\n",
      "feature extraction time:  6.639994144439697\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([6380, 4612, 3177,  ..., 3367, 2457, 6985], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368705749511719\n",
      "Loss: 0.02828089245442792\n",
      "rotation error:  64.84042600763333\n",
      "translation error:  0.031918788763194046\n",
      "--- 13.402490377426147 seconds ---\n",
      "feature extraction time:  6.611176252365112\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([8233,  532, 7038,  ...,  821, 6100, 8901], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667754173278809\n",
      "Loss: 0.04679292944935141\n",
      "rotation error:  57.306556420130185\n",
      "translation error:  0.0383188900903145\n",
      "--- 13.238004207611084 seconds ---\n",
      "Epoch: [7/20], Batch: 4, Loss: 0.04679292944935141\n",
      "feature extraction time:  6.74343729019165\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.013953447341918945\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([3828, 9396, 5197,  ..., 4363, 5900, 3085], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09488081932067871\n",
      "Loss: 0.035774575363963154\n",
      "rotation error:  60.04404452808972\n",
      "translation error:  0.03965511137055863\n",
      "--- 13.370436429977417 seconds ---\n",
      "feature extraction time:  6.713578224182129\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01996445655822754\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1139, 5523, 1850,  ..., 7689, 2859, 1934], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0817267894744873\n",
      "Loss: 0.037077189423695874\n",
      "rotation error:  78.89100809628904\n",
      "translation error:  0.0392890391649694\n",
      "--- 13.737191200256348 seconds ---\n",
      "feature extraction time:  6.567028284072876\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([4888, 6587, 9638,  ..., 9047, 9324, 2631], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11362004280090332\n",
      "Loss: 0.030184974611180776\n",
      "rotation error:  241.50245162172644\n",
      "translation error:  0.039258861799150745\n",
      "--- 13.518574476242065 seconds ---\n",
      "feature extraction time:  6.645945072174072\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([ 815, 5454, 3210,  ..., 4020, 1022, 3777], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169268608093262\n",
      "Loss: 0.031697054974133665\n",
      "rotation error:  50.22361113850079\n",
      "translation error:  0.03408878710058382\n",
      "--- 13.23410940170288 seconds ---\n",
      "feature extraction time:  6.856061220169067\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:  0.0009965896606445312\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([9214, 4936, 8000,  ..., 4652, 7385, 7009], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08348774909973145\n",
      "Loss: 0.014084687327012816\n",
      "rotation error:  23.86943790625719\n",
      "translation error:  0.03205816312558777\n",
      "--- 13.375102758407593 seconds ---\n",
      "Epoch: [7/20], Batch: 9, Loss: 0.014084687327012816\n",
      "feature extraction time:  6.467361927032471\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.013952970504760742\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5911, 2511, 6550,  ..., 4571,  805, 2604], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571314811706543\n",
      "Loss: 0.03381483465675503\n",
      "rotation error:  307.8449932234306\n",
      "translation error:  0.02305833548793732\n",
      "--- 13.181973218917847 seconds ---\n",
      "feature extraction time:  6.625830411911011\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993393898010254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7387, 2528, 9658,  ..., 4527, 2490, 3970], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368681907653809\n",
      "Loss: 0.016408179568269787\n",
      "rotation error:  49.234304274250896\n",
      "translation error:  0.02106718935915193\n",
      "--- 13.529917240142822 seconds ---\n",
      "feature extraction time:  6.823171854019165\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([1629, 1344, 7729,  ..., 4647, 7187, 4254], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368658065795898\n",
      "Loss: 0.04322488081998351\n",
      "rotation error:  276.5799787558364\n",
      "translation error:  0.01850629089273269\n",
      "--- 13.528159856796265 seconds ---\n",
      "feature extraction time:  6.646798610687256\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([1640, 3208, 3660,  ..., 7135, 2948, 7669], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11361956596374512\n",
      "Loss: 0.027583707127355875\n",
      "rotation error:  317.636917873747\n",
      "translation error:  0.021797193827362518\n",
      "--- 13.655490398406982 seconds ---\n",
      "feature extraction time:  6.821181058883667\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([2285, 8043,  941,  ..., 2209,  801, 6897], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11062979698181152\n",
      "Loss: 0.0253670970233867\n",
      "rotation error:  334.5951027802486\n",
      "translation error:  0.02382075923688319\n",
      "--- 13.636927127838135 seconds ---\n",
      "Epoch: [7/20], Batch: 14, Loss: 0.0253670970233867\n",
      "feature extraction time:  6.558058738708496\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([7725, 4657, 8874,  ..., 9353, 7734, 7292], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667611122131348\n",
      "Loss: 0.029960223805959113\n",
      "rotation error:  94.21617044544871\n",
      "translation error:  0.023927742201474755\n",
      "--- 13.258639335632324 seconds ---\n",
      "feature extraction time:  6.781792163848877\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:  0.0009968280792236328\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([7612, 4993, 8551,  ..., 4348, 2560, 4410], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670997619628906\n",
      "Loss: 0.018877387464396562\n",
      "rotation error:  325.1144589604762\n",
      "translation error:  0.032340752611244444\n",
      "--- 13.348999261856079 seconds ---\n",
      "feature extraction time:  6.622841119766235\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([7220,  881, 7037,  ..., 7898, 5174, 3168], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166025161743164\n",
      "Loss: 0.06836606738530061\n",
      "rotation error:  272.43872296287435\n",
      "translation error:  0.03325965510672537\n",
      "--- 13.203447341918945 seconds ---\n",
      "feature extraction time:  6.597925186157227\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([2123, 1524, 1436,  ..., 9629, 3309, 1243], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08072996139526367\n",
      "Loss: 0.03585792719479292\n",
      "rotation error:  14.8306192673335\n",
      "translation error:  0.040086943525337225\n",
      "--- 13.502925634384155 seconds ---\n",
      "feature extraction time:  6.087632179260254\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([4366, 9569, 7074,  ..., 6721, 6000, 9438], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09487032890319824\n",
      "Loss: 0.01693729221277965\n",
      "rotation error:  115.03218823558188\n",
      "translation error:  0.03598789668202766\n",
      "--- 12.897036790847778 seconds ---\n",
      "Epoch: [7/20], Batch: 19, Loss: 0.01693729221277965\n",
      "feature extraction time:  6.6617112159729\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([7976, 4090, 1056,  ..., 6115,  594, 2390], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970022201538086\n",
      "Loss: 0.03016699186526815\n",
      "rotation error:  303.1099762373934\n",
      "translation error:  0.03498278410346878\n",
      "--- 13.554884433746338 seconds ---\n",
      "feature extraction time:  6.808538913726807\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:  0.0009968280792236328\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([9725, 3909, 6554,  ..., 4190, 5717, 6043], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166001319885254\n",
      "Loss: 0.02091007832220963\n",
      "rotation error:  45.799747210204494\n",
      "translation error:  0.024708933023138688\n",
      "--- 13.729578733444214 seconds ---\n",
      "feature extraction time:  6.86603045463562\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:  0.0009965896606445312\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([5206, 2941, 9797,  ..., 4725, 1681, 7128], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09401845932006836\n",
      "Loss: 0.023973573515411774\n",
      "rotation error:  40.40887710133929\n",
      "translation error:  0.022303723361692396\n",
      "--- 13.846104860305786 seconds ---\n",
      "feature extraction time:  6.827387094497681\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([9805, 1795, 6588,  ..., 2337, 2225, 6162], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08371996879577637\n",
      "Loss: 0.0159748422313546\n",
      "rotation error:  24.477539292386393\n",
      "translation error:  0.015355463745805088\n",
      "--- 13.373485326766968 seconds ---\n",
      "feature extraction time:  6.408558130264282\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([8723, 6341, 3810,  ..., 3849, 8965, 8343], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09268999099731445\n",
      "Loss: 0.023964706763935417\n",
      "rotation error:  77.8868406882584\n",
      "translation error:  0.012747402560574066\n",
      "--- 13.078342914581299 seconds ---\n",
      "Epoch: [7/20], Batch: 24, Loss: 0.023964706763935417\n",
      "feature extraction time:  6.652888774871826\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([9943, 8024, 7838,  ..., 6705, 3898, 1708], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0992274284362793\n",
      "Loss: 0.017376168845300913\n",
      "rotation error:  316.6911847218597\n",
      "translation error:  0.010148426239283559\n",
      "--- 13.43797755241394 seconds ---\n",
      "feature extraction time:  6.499481201171875\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([2397, 7262, 9585,  ..., 5172, 5181,  253], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571338653564453\n",
      "Loss: 0.026880275874452686\n",
      "rotation error:  43.13788590740346\n",
      "translation error:  0.014009362715572276\n",
      "--- 13.46453857421875 seconds ---\n",
      "feature extraction time:  6.596985578536987\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([5103, 1929, 1085,  ..., 6506, 5576, 2078], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063051223754883\n",
      "Loss: 0.008921305436208334\n",
      "rotation error:  7.869562917886488\n",
      "translation error:  0.019013000237290516\n",
      "--- 13.60457444190979 seconds ---\n",
      "feature extraction time:  6.359883069992065\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([8808, 2928, 1927,  ...,  870, 9270, 9623], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10369229316711426\n",
      "Loss: 0.03157379551856086\n",
      "rotation error:  54.11342713342135\n",
      "translation error:  0.02123422316628489\n",
      "--- 13.208012819290161 seconds ---\n",
      "feature extraction time:  6.575998067855835\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016946077346801758\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 [52:59<1:20:00, 400.07s/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([5752,  534, 8917,  ..., 9664, 4177, 4225], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066434383392334\n",
      "Loss: 0.013299972427160585\n",
      "rotation error:  32.0797098812562\n",
      "translation error:  0.029529204432172128\n",
      "--- 13.077393054962158 seconds ---\n",
      "Epoch: [7/20], Batch: 29, Loss: 0.013299972427160585\n",
      "loss epoch [0.009046642709162177, 0.02518252044079434, 0.019117031462908173, 0.02828089245442792, 0.04679292944935141, 0.035774575363963154, 0.037077189423695874, 0.030184974611180776, 0.031697054974133665, 0.014084687327012816, 0.03381483465675503, 0.016408179568269787, 0.04322488081998351, 0.027583707127355875, 0.0253670970233867, 0.029960223805959113, 0.018877387464396562, 0.06836606738530061, 0.03585792719479292, 0.01693729221277965, 0.03016699186526815, 0.02091007832220963, 0.023973573515411774, 0.0159748422313546, 0.023964706763935417, 0.017376168845300913, 0.026880275874452686, 0.008921305436208334, 0.03157379551856086, 0.013299972427160585]\n",
      "epoch #8\n",
      "feature extraction time:  6.8044655323028564\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 920, 3061, 5519,  ..., 5736, 9805, 8063], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368777275085449\n",
      "Loss: 0.028418443924203236\n",
      "rotation error:  332.4847697792822\n",
      "translation error:  0.025965100007101505\n",
      "--- 13.250915050506592 seconds ---\n",
      "feature extraction time:  6.485357046127319\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([7302, 8140, 8317,  ..., 5549, 5667, 7958], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.017373306864638373\n",
      "rotation error:  42.64841778097091\n",
      "translation error:  0.0278316881027897\n",
      "--- 13.562851667404175 seconds ---\n",
      "feature extraction time:  6.006972312927246\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([3273,  767, 2062,  ..., 3725, 9588, 5444], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08372068405151367\n",
      "Loss: 0.009812418005550947\n",
      "rotation error:  20.529230899154353\n",
      "translation error:  0.023204980283115482\n",
      "--- 12.9298095703125 seconds ---\n",
      "feature extraction time:  6.0906219482421875\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([ 484,  996, 2720,  ..., 8003, 1954, 3463], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08286738395690918\n",
      "Loss: 0.018682167131832395\n",
      "rotation error:  347.8655282591914\n",
      "translation error:  0.01669498442340003\n",
      "--- 12.769489288330078 seconds ---\n",
      "feature extraction time:  6.2292561531066895\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([6191, 3025, 5608,  ...,  911, 2564, 8259], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08315730094909668\n",
      "Loss: 0.012771643135278368\n",
      "rotation error:  30.85213553071194\n",
      "translation error:  0.01833854852303294\n",
      "--- 12.702038049697876 seconds ---\n",
      "Epoch: [8/20], Batch: 4, Loss: 0.012771643135278368\n",
      "feature extraction time:  6.801316738128662\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([1032, 9860, 2007,  ..., 2886, 5434, 9905], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265660285949707\n",
      "Loss: 0.010173817565733868\n",
      "rotation error:  21.032525197492856\n",
      "translation error:  0.0068413494864737615\n",
      "--- 13.785077095031738 seconds ---\n",
      "feature extraction time:  6.711776494979858\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([6215, 9352, 6205,  ..., 9889, 9580, 5096], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08506321907043457\n",
      "Loss: 0.009642459410108752\n",
      "rotation error:  128.07768137159087\n",
      "translation error:  0.007962340651895012\n",
      "--- 13.451728820800781 seconds ---\n",
      "feature extraction time:  6.5112175941467285\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([8198,  415, 3340,  ..., 7572, 8140, 4131], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09098958969116211\n",
      "Loss: 0.01427880412024832\n",
      "rotation error:  22.079390949951755\n",
      "translation error:  0.01549841533768508\n",
      "--- 13.442409038543701 seconds ---\n",
      "feature extraction time:  6.56111741065979\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([ 782, 8636, 4899,  ..., 2859, 9354, 8015], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.020479691044446503\n",
      "rotation error:  274.9771009229281\n",
      "translation error:  0.017914989143209187\n",
      "--- 12.70456337928772 seconds ---\n",
      "feature extraction time:  6.755563497543335\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([6060,  906, 9323,  ..., 2568, 6702, 8579], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870339393615723\n",
      "Loss: 0.0275374077280321\n",
      "rotation error:  62.81339513424083\n",
      "translation error:  0.020660002056136058\n",
      "--- 13.36763072013855 seconds ---\n",
      "Epoch: [8/20], Batch: 9, Loss: 0.0275374077280321\n",
      "feature extraction time:  6.778510093688965\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([1928, 9980, 6638,  ..., 7576, 6790, 6091], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12059760093688965\n",
      "Loss: 0.04466951831118728\n",
      "rotation error:  83.039634492439\n",
      "translation error:  0.016787943275762555\n",
      "--- 13.675435543060303 seconds ---\n",
      "feature extraction time:  6.613870859146118\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([3731, 6272, 3490,  ..., 4735, 5706, 4211], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11632299423217773\n",
      "Loss: 0.029333711039448103\n",
      "rotation error:  471.2935681552177\n",
      "translation error:  0.012952998709181375\n",
      "--- 13.600043296813965 seconds ---\n",
      "feature extraction time:  6.405613899230957\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016897916793823242\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4701,  788, 5333,  ..., 9797, 4310, 3987], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767317771911621\n",
      "Loss: 0.014353267390553093\n",
      "rotation error:  79.68942508427824\n",
      "translation error:  0.016433365494905608\n",
      "--- 12.916015863418579 seconds ---\n",
      "feature extraction time:  6.4515345096588135\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([1348, 8218, 6852,  ..., 6438, 9859, 6901], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166025161743164\n",
      "Loss: 0.023888489593048873\n",
      "rotation error:  252.67848983409922\n",
      "translation error:  0.01842231018682642\n",
      "--- 13.246994495391846 seconds ---\n",
      "feature extraction time:  6.471698999404907\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([ 123, 9080, 4493,  ..., 2474, 7325, 9054], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10808730125427246\n",
      "Loss: 0.020728756867420775\n",
      "rotation error:  48.146914787356096\n",
      "translation error:  0.017054786150738726\n",
      "--- 13.568006992340088 seconds ---\n",
      "Epoch: [8/20], Batch: 14, Loss: 0.020728756867420775\n",
      "feature extraction time:  6.696594715118408\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([6547, 5879, 2308,  ..., 1691, 5489, 3901], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09174132347106934\n",
      "Loss: 0.012897700320745331\n",
      "rotation error:  277.5031938391414\n",
      "translation error:  0.01702119408751149\n",
      "--- 13.50218915939331 seconds ---\n",
      "feature extraction time:  6.769351243972778\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:  0.0009965896606445312\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([8223, 1835, 7772,  ...,  434,  201, 7675], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866976737976074\n",
      "Loss: 0.008439174928817694\n",
      "rotation error:  22.29457162949959\n",
      "translation error:  0.017354671431008006\n",
      "--- 13.851933717727661 seconds ---\n",
      "feature extraction time:  6.70566463470459\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([3444, 6437, 4521,  ..., 5231, 5053, 5996], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08184266090393066\n",
      "Loss: 0.011632862287649856\n",
      "rotation error:  16.23125271207525\n",
      "translation error:  0.012102261237635954\n",
      "--- 13.684072494506836 seconds ---\n",
      "feature extraction time:  6.584042072296143\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:  0.0009963512420654297\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([3337, 1343, 4159,  ..., 8673, 2722, 9083], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670997619628906\n",
      "Loss: 0.012423261655567792\n",
      "rotation error:  255.3850556570019\n",
      "translation error:  0.0025255124671618545\n",
      "--- 13.013529777526855 seconds ---\n",
      "feature extraction time:  6.539121389389038\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([6952, 3327, 6193,  ..., 2776, 2854, 5002], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.084716796875\n",
      "Loss: 0.013189042693834065\n",
      "rotation error:  35.74882328172674\n",
      "translation error:  0.009740895577609475\n",
      "--- 13.119381427764893 seconds ---\n",
      "Epoch: [8/20], Batch: 19, Loss: 0.013189042693834065\n",
      "feature extraction time:  6.8580543994903564\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([7159,  879, 1440,  ..., 2702, 9431, 5737], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10681915283203125\n",
      "Loss: 0.022145956588152067\n",
      "rotation error:  40.06150749921817\n",
      "translation error:  0.02041238925491675\n",
      "--- 13.655455827713013 seconds ---\n",
      "feature extraction time:  6.870067119598389\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([7109, 9909, 5640,  ..., 6462,  367, 7296], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265660285949707\n",
      "Loss: 0.03904093103422736\n",
      "rotation error:  80.90864193834985\n",
      "translation error:  0.021324318495031695\n",
      "--- 13.977599859237671 seconds ---\n",
      "feature extraction time:  6.814352035522461\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([4220, 1179, 2907,  ..., 4366, 4070, 9979], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09176301956176758\n",
      "Loss: 0.012197280892269898\n",
      "rotation error:  15.713325408773517\n",
      "translation error:  0.026096642790191724\n",
      "--- 13.90381932258606 seconds ---\n",
      "feature extraction time:  6.611880779266357\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930767059326172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8582, 8208, 8624,  ..., 7477, 3638,  490], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368705749511719\n",
      "Loss: 0.04398724808902852\n",
      "rotation error:  90.79924081258164\n",
      "translation error:  0.028165708035452236\n",
      "--- 13.38721227645874 seconds ---\n",
      "feature extraction time:  6.690614700317383\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([2383, 6904, 1030,  ..., 6583, 4079, 5578], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166573524475098\n",
      "Loss: 0.023528422488992964\n",
      "rotation error:  56.0893163110118\n",
      "translation error:  0.0309747885499404\n",
      "--- 13.432069063186646 seconds ---\n",
      "Epoch: [8/20], Batch: 24, Loss: 0.023528422488992964\n",
      "feature extraction time:  6.737457752227783\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:  0.0009965896606445312\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([3067, 3281, 5136,  ..., 2749, 8807,  388], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368658065795898\n",
      "Loss: 0.019147287478241428\n",
      "rotation error:  44.72951916784638\n",
      "translation error:  0.04850703762539458\n",
      "--- 13.621425867080688 seconds ---\n",
      "feature extraction time:  6.62383770942688\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([1341,  648, 4641,  ..., 5738,  468, 2604], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09572458267211914\n",
      "Loss: 0.05642521407293643\n",
      "rotation error:  80.43783291642092\n",
      "translation error:  0.05452313475517647\n",
      "--- 13.204866647720337 seconds ---\n",
      "feature extraction time:  6.7106688022613525\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([3954, 4886, 3901,  ..., 1664, 2093, 7022], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09373354911804199\n",
      "Loss: 0.06671982909093561\n",
      "rotation error:  324.22354644897723\n",
      "translation error:  0.04978273144870848\n",
      "--- 12.968780994415283 seconds ---\n",
      "feature extraction time:  6.773488759994507\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([7877, 4435, 9708,  ..., 6660, 9217, 8900], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969974517822266\n",
      "Loss: 0.04038926017447929\n",
      "rotation error:  124.1365766694721\n",
      "translation error:  0.04669504364867154\n",
      "--- 13.740541219711304 seconds ---\n",
      "feature extraction time:  6.848088026046753\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 45%|████▌     | 9/20 [59:41<1:13:27, 400.67s/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([1417,  767, 3367,  ..., 2109, 8511, 4538], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.0574835013739924\n",
      "rotation error:  405.57942999898415\n",
      "translation error:  0.03686255515655941\n",
      "--- 13.660361766815186 seconds ---\n",
      "Epoch: [8/20], Batch: 29, Loss: 0.0574835013739924\n",
      "loss epoch [0.028418443924203236, 0.017373306864638373, 0.009812418005550947, 0.018682167131832395, 0.012771643135278368, 0.010173817565733868, 0.009642459410108752, 0.01427880412024832, 0.020479691044446503, 0.0275374077280321, 0.04466951831118728, 0.029333711039448103, 0.014353267390553093, 0.023888489593048873, 0.020728756867420775, 0.012897700320745331, 0.008439174928817694, 0.011632862287649856, 0.012423261655567792, 0.013189042693834065, 0.022145956588152067, 0.03904093103422736, 0.012197280892269898, 0.04398724808902852, 0.023528422488992964, 0.019147287478241428, 0.05642521407293643, 0.06671982909093561, 0.04038926017447929, 0.0574835013739924]\n",
      "epoch #9\n",
      "feature extraction time:  6.771441459655762\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([7355,    3,  552,  ..., 9861, 8538, 9676], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.008368464731214366\n",
      "rotation error:  34.13476313476485\n",
      "translation error:  0.03223541912813146\n",
      "--- 13.156322002410889 seconds ---\n",
      "feature extraction time:  6.79254674911499\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([8800, 8227, 8423,  ..., 7716, 8894, 3262], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10887742042541504\n",
      "Loss: 0.027614605422652726\n",
      "rotation error:  330.91615396770317\n",
      "translation error:  0.03533154257458858\n",
      "--- 13.566283702850342 seconds ---\n",
      "feature extraction time:  6.700847148895264\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6387, 5050, 2210,  ..., 7618,  528, 6002], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571362495422363\n",
      "Loss: 0.017518531705519848\n",
      "rotation error:  14.134119260662047\n",
      "translation error:  0.043903151712722174\n",
      "--- 13.509214878082275 seconds ---\n",
      "feature extraction time:  6.688621282577515\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([7875, 5918, 2284,  ..., 1658, 1928,  332], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368681907653809\n",
      "Loss: 0.028978552060236223\n",
      "rotation error:  41.70153865008069\n",
      "translation error:  0.04525069391761486\n",
      "--- 13.384389162063599 seconds ---\n",
      "feature extraction time:  6.890092849731445\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:  0.0009968280792236328\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([5502, 9754, 9410,  ..., 3347, 4223, 9018], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08995580673217773\n",
      "Loss: 0.012272801267809027\n",
      "rotation error:  103.91157169408545\n",
      "translation error:  0.03874416712295952\n",
      "--- 13.772442817687988 seconds ---\n",
      "Epoch: [9/20], Batch: 4, Loss: 0.012272801267809027\n",
      "feature extraction time:  6.4146177768707275\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([3025, 7595,  453,  ..., 3423, 8242, 1986], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08879756927490234\n",
      "Loss: 0.016231420987666983\n",
      "rotation error:  39.3080966862726\n",
      "translation error:  0.03235872049411021\n",
      "--- 12.89376187324524 seconds ---\n",
      "feature extraction time:  6.797449111938477\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([8456, 3383, 4855,  ..., 2375, 1998, 2714], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667706489562988\n",
      "Loss: 0.024849239444356512\n",
      "rotation error:  55.313010130580274\n",
      "translation error:  0.02334033880898521\n",
      "--- 13.617267370223999 seconds ---\n",
      "feature extraction time:  6.745751619338989\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993393898010254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8690,  538, 6126,  ..., 3128, 5780,  217], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10802221298217773\n",
      "Loss: 0.028245000120112634\n",
      "rotation error:  42.23466287267703\n",
      "translation error:  0.016972240713567167\n",
      "--- 13.46166443824768 seconds ---\n",
      "feature extraction time:  6.4390246868133545\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([7160, 2974, 5497,  ..., 1401, 8302, 6285], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08026432991027832\n",
      "Loss: 0.03652348566471342\n",
      "rotation error:  41.07623082352324\n",
      "translation error:  0.014221160474393146\n",
      "--- 13.192012310028076 seconds ---\n",
      "feature extraction time:  6.436639785766602\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([2961, 2798,  192,  ..., 2868, 1187,  593], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670973777770996\n",
      "Loss: 0.025000506673891358\n",
      "rotation error:  46.42671670696194\n",
      "translation error:  0.01785648171864948\n",
      "--- 13.188352584838867 seconds ---\n",
      "Epoch: [9/20], Batch: 9, Loss: 0.025000506673891358\n",
      "feature extraction time:  6.627898216247559\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([5071, 1587, 8771,  ..., 1859, 7918, 8179], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10129189491271973\n",
      "Loss: 0.013648258120322155\n",
      "rotation error:  70.46759553621516\n",
      "translation error:  0.024817114302844074\n",
      "--- 13.102153301239014 seconds ---\n",
      "feature extraction time:  6.371681451797485\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([2119, 6981, 1497,  ..., 2592, 9521,  559], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969974517822266\n",
      "Loss: 0.02152865091073064\n",
      "rotation error:  263.40661873099054\n",
      "translation error:  0.025133578767595463\n",
      "--- 13.350462198257446 seconds ---\n",
      "feature extraction time:  6.63579797744751\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017039060592651367\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3566, 6470,   65,  ..., 7938, 8630, 8696], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10963320732116699\n",
      "Loss: 0.04198408341156861\n",
      "rotation error:  69.35153585886019\n",
      "translation error:  0.026048637043518237\n",
      "--- 13.641425609588623 seconds ---\n",
      "feature extraction time:  6.6388256549835205\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([ 544, 8090, 1422,  ..., 1494, 7666,  826], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10699748992919922\n",
      "Loss: 0.016532552750594256\n",
      "rotation error:  33.703609951929266\n",
      "translation error:  0.021471990297597682\n",
      "--- 13.665693759918213 seconds ---\n",
      "feature extraction time:  6.637871265411377\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([9887, 3965, 3405,  ..., 1076, 2815, 4790], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09231209754943848\n",
      "Loss: 0.024375202562539593\n",
      "rotation error:  50.09113476104346\n",
      "translation error:  0.021321843282113666\n",
      "--- 13.560333967208862 seconds ---\n",
      "Epoch: [9/20], Batch: 14, Loss: 0.024375202562539593\n",
      "feature extraction time:  6.728487968444824\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([  42, 2576, 9889,  ..., 8521, 4130,  715], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09407401084899902\n",
      "Loss: 0.02438608410682589\n",
      "rotation error:  29.443325232493503\n",
      "translation error:  0.017905600071806957\n",
      "--- 13.671793699264526 seconds ---\n",
      "feature extraction time:  6.426056861877441\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:  0.0009975433349609375\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([5288, 3433, 2682,  ..., 4618, 2964,  731], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08365893363952637\n",
      "Loss: 0.022618023345808605\n",
      "rotation error:  55.9479201952561\n",
      "translation error:  0.009021842934493044\n",
      "--- 12.996118545532227 seconds ---\n",
      "feature extraction time:  6.40363335609436\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016971588134765625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2888, 8988, 8295,  ..., 4980, 8102, 9680], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08690428733825684\n",
      "Loss: 0.017539380364517312\n",
      "rotation error:  51.93180941625829\n",
      "translation error:  0.008215898152704721\n",
      "--- 13.0160653591156 seconds ---\n",
      "feature extraction time:  6.691755771636963\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([1947,  628, 1687,  ..., 5413,  745, 1188], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09673905372619629\n",
      "Loss: 0.02323149970251026\n",
      "rotation error:  290.47254958350493\n",
      "translation error:  0.01209973384895507\n",
      "--- 13.073662281036377 seconds ---\n",
      "feature extraction time:  6.797327756881714\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([9995, 4427, 5633,  ..., 8165, 8292, 4306], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09717512130737305\n",
      "Loss: 0.014300133296996958\n",
      "rotation error:  24.640074523307415\n",
      "translation error:  0.014980871063299601\n",
      "--- 13.29210114479065 seconds ---\n",
      "Epoch: [9/20], Batch: 19, Loss: 0.014300133296996958\n",
      "feature extraction time:  6.799250841140747\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([5309, 6790, 1425,  ..., 1624, 2157, 4319], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09180521965026855\n",
      "Loss: 0.013466471236260264\n",
      "rotation error:  48.408834195876715\n",
      "translation error:  0.02447412544477414\n",
      "--- 13.683343887329102 seconds ---\n",
      "feature extraction time:  6.676724433898926\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([2742, 6700, 3737,  ..., 2813, 7031, 3219], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08982968330383301\n",
      "Loss: 0.022677009416383797\n",
      "rotation error:  51.072418362088456\n",
      "translation error:  0.030352754102419124\n",
      "--- 13.455327987670898 seconds ---\n",
      "feature extraction time:  6.630086898803711\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([5434, 4402, 2454,  ..., 2433, 7081, 8196], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.022426118023401838\n",
      "rotation error:  29.927417552082872\n",
      "translation error:  0.03255573059647422\n",
      "--- 13.434354782104492 seconds ---\n",
      "feature extraction time:  6.477367162704468\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2538, 3896, 9838,  ..., 4682, 9405, 1134], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767413139343262\n",
      "Loss: 0.0633178525998711\n",
      "rotation error:  62.06111968795218\n",
      "translation error:  0.034667721352094\n",
      "--- 13.277982234954834 seconds ---\n",
      "feature extraction time:  6.493274927139282\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([8141, 6468, 1963,  ..., 9128,  399, 7796], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08397650718688965\n",
      "Loss: 0.01977956472461854\n",
      "rotation error:  44.86836493544121\n",
      "translation error:  0.03274621402555085\n",
      "--- 13.055524826049805 seconds ---\n",
      "Epoch: [9/20], Batch: 24, Loss: 0.01977956472461854\n",
      "feature extraction time:  6.792381286621094\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993584632873535\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([6213, 3917, 8943,  ..., 2624, 1393, 2600], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09976959228515625\n",
      "Loss: 0.023207643191504986\n",
      "rotation error:  321.78159986127525\n",
      "translation error:  0.02033149612710577\n",
      "--- 13.548421144485474 seconds ---\n",
      "feature extraction time:  6.781311511993408\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.019936084747314453\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3926, 8511, 2369,  ..., 9117, 3340, 4019], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09529232978820801\n",
      "Loss: 0.018151504663522573\n",
      "rotation error:  43.22160316820991\n",
      "translation error:  0.014948640203867903\n",
      "--- 13.658414125442505 seconds ---\n",
      "feature extraction time:  6.175375461578369\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([9121, 5874, 2275,  ..., 4510, 7497, 2188], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08073019981384277\n",
      "Loss: 0.025975665031547062\n",
      "rotation error:  60.85007762963982\n",
      "translation error:  0.015874651619595198\n",
      "--- 13.240093231201172 seconds ---\n",
      "feature extraction time:  6.716527938842773\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([7901, 1360, 6902,  ..., 8472, 1345, 1250], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07924485206604004\n",
      "Loss: 0.008055814181321673\n",
      "rotation error:  30.7706758346195\n",
      "translation error:  0.009372631463187306\n",
      "--- 13.471827268600464 seconds ---\n",
      "feature extraction time:  6.734549283981323\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 50%|█████     | 10/20 [1:06:22<1:06:48, 400.89s/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([8927, 2810, 5931,  ..., 6978, 5817,  160], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966683387756348\n",
      "Loss: 0.022452335026382383\n",
      "rotation error:  60.7746456553419\n",
      "translation error:  0.01506343050783304\n",
      "--- 13.175997734069824 seconds ---\n",
      "Epoch: [9/20], Batch: 29, Loss: 0.022452335026382383\n",
      "loss epoch [0.008368464731214366, 0.027614605422652726, 0.017518531705519848, 0.028978552060236223, 0.012272801267809027, 0.016231420987666983, 0.024849239444356512, 0.028245000120112634, 0.03652348566471342, 0.025000506673891358, 0.013648258120322155, 0.02152865091073064, 0.04198408341156861, 0.016532552750594256, 0.024375202562539593, 0.02438608410682589, 0.022618023345808605, 0.017539380364517312, 0.02323149970251026, 0.014300133296996958, 0.013466471236260264, 0.022677009416383797, 0.022426118023401838, 0.0633178525998711, 0.01977956472461854, 0.023207643191504986, 0.018151504663522573, 0.025975665031547062, 0.008055814181321673, 0.022452335026382383]\n",
      "epoch #10\n",
      "feature extraction time:  6.431565046310425\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([6543, 7181, 9619,  ..., 9579, 5559, 4798], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0860295295715332\n",
      "Loss: 0.03184923537263086\n",
      "rotation error:  40.25334461209408\n",
      "translation error:  0.02277197430853978\n",
      "--- 13.429624557495117 seconds ---\n",
      "feature extraction time:  6.683704853057861\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:  0.0009968280792236328\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([7928, 1489,  986,  ..., 3942, 5119, 7540], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09181880950927734\n",
      "Loss: 0.016999517018877894\n",
      "rotation error:  234.9640174687433\n",
      "translation error:  0.024250111977186222\n",
      "--- 13.587703704833984 seconds ---\n",
      "feature extraction time:  6.794411659240723\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:  0.0009965896606445312\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([3452, 9344, 7325,  ..., 5270, 7587, 5687], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468317031860352\n",
      "Loss: 0.02478275541022197\n",
      "rotation error:  54.175012553195586\n",
      "translation error:  0.021869391602819234\n",
      "--- 13.67988896369934 seconds ---\n",
      "feature extraction time:  6.808439016342163\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([ 655,  543, 7847,  ..., 2574, 3780, 9995], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09326815605163574\n",
      "Loss: 0.012781626658890129\n",
      "rotation error:  31.096733439130883\n",
      "translation error:  0.017884453816456963\n",
      "--- 13.652161598205566 seconds ---\n",
      "feature extraction time:  6.640146017074585\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.015999555587768555\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2031, 3808, 2882,  ..., 3266, 3987, 1094], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09280157089233398\n",
      "Loss: 0.01792747403298464\n",
      "rotation error:  58.823605781888126\n",
      "translation error:  0.016102180656027615\n",
      "--- 13.521885633468628 seconds ---\n",
      "Epoch: [10/20], Batch: 4, Loss: 0.01792747403298464\n",
      "feature extraction time:  6.287086725234985\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([6868, 8036, 1195,  ..., 7020, 1060,  858], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969974517822266\n",
      "Loss: 0.0357021906899534\n",
      "rotation error:  80.28094678009323\n",
      "translation error:  0.014289783201297887\n",
      "--- 13.205020189285278 seconds ---\n",
      "feature extraction time:  6.5142810344696045\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:  0.0009968280792236328\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([1190, 7757, 2752,  ...,   78, 5701,  828], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265851020812988\n",
      "Loss: 0.027096979721843363\n",
      "rotation error:  34.512395222105056\n",
      "translation error:  0.015423906695058958\n",
      "--- 13.597938060760498 seconds ---\n",
      "feature extraction time:  6.885430335998535\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016976356506347656\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1751, 9028, 8047,  ..., 5283, 2827,  502], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468483924865723\n",
      "Loss: 0.020806577907346527\n",
      "rotation error:  26.91949455662406\n",
      "translation error:  0.009913457389581753\n",
      "--- 13.983189344406128 seconds ---\n",
      "feature extraction time:  6.669812917709351\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([7635, 5788, 8232,  ..., 6523, 5174, 9883], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09645462036132812\n",
      "Loss: 0.025048591836918658\n",
      "rotation error:  58.89588176490226\n",
      "translation error:  0.006548159098294804\n",
      "--- 13.623460292816162 seconds ---\n",
      "feature extraction time:  6.770603656768799\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([8946, 8327, 2967,  ..., 6486, 5609, 5501], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09155106544494629\n",
      "Loss: 0.029006987846634566\n",
      "rotation error:  87.02663820217619\n",
      "translation error:  0.005379944678895868\n",
      "--- 13.551961660385132 seconds ---\n",
      "Epoch: [10/20], Batch: 9, Loss: 0.029006987846634566\n",
      "feature extraction time:  6.5561933517456055\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:  0.0009963512420654297\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([9412, 7187, 5626,  ..., 3616, 5487, 4085], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10787844657897949\n",
      "Loss: 0.026718146201507597\n",
      "rotation error:  93.44611583348222\n",
      "translation error:  0.01802932661060414\n",
      "--- 13.480369091033936 seconds ---\n",
      "feature extraction time:  6.293066501617432\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018044233322143555\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1301, 5902, 2910,  ..., 1695, 2790, 4415], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11086487770080566\n",
      "Loss: 0.016344464474963714\n",
      "rotation error:  68.73157197199504\n",
      "translation error:  0.024885205705209704\n",
      "--- 13.041542768478394 seconds ---\n",
      "feature extraction time:  6.865128755569458\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([9643, 9323, 5859,  ..., 9841, 2625,  426], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066413879394531\n",
      "Loss: 0.0291022805380406\n",
      "rotation error:  52.997225598231\n",
      "translation error:  0.023525957445316013\n",
      "--- 12.984771251678467 seconds ---\n",
      "feature extraction time:  6.0448925495147705\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([  81, 6288, 5594,  ..., 2466, 5718, 3269], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09274148941040039\n",
      "Loss: 0.039367813870556184\n",
      "rotation error:  279.99113750210483\n",
      "translation error:  0.018581354523503704\n",
      "--- 12.720736980438232 seconds ---\n",
      "feature extraction time:  6.110725402832031\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([3683, 1408, 3804,  ..., 1293, 4104, 5718], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265851020812988\n",
      "Loss: 0.012467845646860867\n",
      "rotation error:  38.687963803608106\n",
      "translation error:  0.019127395632497785\n",
      "--- 12.860779047012329 seconds ---\n",
      "Epoch: [10/20], Batch: 14, Loss: 0.012467845646860867\n",
      "feature extraction time:  6.4875123500823975\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([1675, 7930, 2014,  ...,  159, 7651, 3523], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08492493629455566\n",
      "Loss: 0.011339143348103282\n",
      "rotation error:  44.6135287430082\n",
      "translation error:  0.013806931038914573\n",
      "--- 12.791751623153687 seconds ---\n",
      "feature extraction time:  6.328946590423584\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([7181, 2738, 8890,  ..., 3915, 4521, 2871], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09527730941772461\n",
      "Loss: 0.016508388016268964\n",
      "rotation error:  57.16372575171346\n",
      "translation error:  0.012413498068691731\n",
      "--- 13.062222719192505 seconds ---\n",
      "feature extraction time:  6.521515369415283\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:  0.0009965896606445312\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([5226, 8868, 6584,  ..., 4578,  461, 5184], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10538887977600098\n",
      "Loss: 0.026540194645922957\n",
      "rotation error:  305.8648301506389\n",
      "translation error:  0.014991662634162224\n",
      "--- 13.104359865188599 seconds ---\n",
      "feature extraction time:  6.198421478271484\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([1540, 1127, 9605,  ..., 3888, 4909, 7454], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867191314697266\n",
      "Loss: 0.02474614307792126\n",
      "rotation error:  29.89128835159489\n",
      "translation error:  0.02191175875164513\n",
      "--- 12.576299905776978 seconds ---\n",
      "feature extraction time:  6.345890283584595\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014950037002563477\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([8160, 9980, 8072,  ..., 8703, 2699, 7144], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166215896606445\n",
      "Loss: 0.028587911157337303\n",
      "rotation error:  49.459563046294114\n",
      "translation error:  0.02000622074979052\n",
      "--- 13.332258462905884 seconds ---\n",
      "Epoch: [10/20], Batch: 19, Loss: 0.028587911157337303\n",
      "feature extraction time:  6.406766653060913\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:  0.0009965896606445312\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([1880, 9723, 8895,  ..., 2823, 8578, 3364], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568142890930176\n",
      "Loss: 0.02828588899409544\n",
      "rotation error:  126.15743896328813\n",
      "translation error:  0.006152173917466451\n",
      "--- 13.234086036682129 seconds ---\n",
      "feature extraction time:  6.058337688446045\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([3482, 2160, 6736,  ..., 9445,  778, 2090], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08563423156738281\n",
      "Loss: 0.03532216585134132\n",
      "rotation error:  249.255073194526\n",
      "translation error:  0.014459283130937932\n",
      "--- 12.575539112091064 seconds ---\n",
      "feature extraction time:  6.1136627197265625\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([3785, 6466, 7116,  ..., 4515, 5129, 7813], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870506286621094\n",
      "Loss: 0.012095444785523445\n",
      "rotation error:  33.56825377033908\n",
      "translation error:  0.021939369105291522\n",
      "--- 12.872385740280151 seconds ---\n",
      "feature extraction time:  6.417789459228516\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:  0.0009968280792236328\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([5240, 4681, 9139,  ..., 4476, 1120, 8229], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468507766723633\n",
      "Loss: 0.010145232327213453\n",
      "rotation error:  32.79951385872514\n",
      "translation error:  0.02865885848607326\n",
      "--- 12.89085578918457 seconds ---\n",
      "feature extraction time:  6.478545188903809\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([9434, 4218, 9002,  ..., 5968, 4611, 1423], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10150146484375\n",
      "Loss: 0.027640528828142927\n",
      "rotation error:  292.76665936537177\n",
      "translation error:  0.02595076243743067\n",
      "--- 12.93612003326416 seconds ---\n",
      "Epoch: [10/20], Batch: 24, Loss: 0.027640528828142927\n",
      "feature extraction time:  6.597057819366455\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([7965, 4337, 7990,  ..., 8624, 4403, 1271], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671116828918457\n",
      "Loss: 0.029752122691677894\n",
      "rotation error:  48.04034986290194\n",
      "translation error:  0.018672282640972118\n",
      "--- 12.746601343154907 seconds ---\n",
      "feature extraction time:  6.541315317153931\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([ 359, 9637, 8172,  ...,  417, 4308, 1360], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166215896606445\n",
      "Loss: 0.010554968901192247\n",
      "rotation error:  26.354923119594417\n",
      "translation error:  0.02368913745726248\n",
      "--- 13.619255542755127 seconds ---\n",
      "feature extraction time:  6.2428178787231445\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([8314, 1156, 2062,  ..., 8945, 4049, 4179], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970141410827637\n",
      "Loss: 0.03598460793180409\n",
      "rotation error:  37.846085934480975\n",
      "translation error:  0.014826751418190523\n",
      "--- 12.856815814971924 seconds ---\n",
      "feature extraction time:  6.845347881317139\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017939090728759766\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([4201, 1453, 1830,  ...,  256, 1226, 3696], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1156153678894043\n",
      "Loss: 0.023237399245134654\n",
      "rotation error:  35.79138143037806\n",
      "translation error:  0.024336549349967658\n",
      "--- 13.618814468383789 seconds ---\n",
      "feature extraction time:  6.377751350402832\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 55%|█████▌    | 11/20 [1:12:59<59:55, 399.56s/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([3262, 8372,  582,  ..., 1778, 7405, 5755], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671092987060547\n",
      "Loss: 0.040623515526476146\n",
      "rotation error:  33.18703495662716\n",
      "translation error:  0.03540406503474525\n",
      "--- 13.111541986465454 seconds ---\n",
      "Epoch: [10/20], Batch: 29, Loss: 0.040623515526476146\n",
      "loss epoch [0.03184923537263086, 0.016999517018877894, 0.02478275541022197, 0.012781626658890129, 0.01792747403298464, 0.0357021906899534, 0.027096979721843363, 0.020806577907346527, 0.025048591836918658, 0.029006987846634566, 0.026718146201507597, 0.016344464474963714, 0.0291022805380406, 0.039367813870556184, 0.012467845646860867, 0.011339143348103282, 0.016508388016268964, 0.026540194645922957, 0.02474614307792126, 0.028587911157337303, 0.02828588899409544, 0.03532216585134132, 0.012095444785523445, 0.010145232327213453, 0.027640528828142927, 0.029752122691677894, 0.010554968901192247, 0.03598460793180409, 0.023237399245134654, 0.040623515526476146]\n",
      "epoch #11\n",
      "feature extraction time:  6.555371284484863\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017943143844604492\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5221, 7054, 1011,  ..., 4086, 2602, 2728], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767413139343262\n",
      "Loss: 0.02007955630136877\n",
      "rotation error:  58.07449197265498\n",
      "translation error:  0.046138316246958334\n",
      "--- 13.157891511917114 seconds ---\n",
      "feature extraction time:  6.466748952865601\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([6981, 8979,  435,  ..., 1558, 7890, 4962], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12358736991882324\n",
      "Loss: 0.02643258368718618\n",
      "rotation error:  338.52675830105215\n",
      "translation error:  0.046961995813885556\n",
      "--- 13.393868923187256 seconds ---\n",
      "feature extraction time:  6.748600482940674\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([7446, 2758, 1882,  ..., 3517, 8455, 5195], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169459342956543\n",
      "Loss: 0.028654192239862444\n",
      "rotation error:  20.004524987547384\n",
      "translation error:  0.05468871953407384\n",
      "--- 13.3367919921875 seconds ---\n",
      "feature extraction time:  6.285020589828491\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([4396, 9558, 4899,  ...,  707, 8251, 4409], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08268332481384277\n",
      "Loss: 0.04084568805558997\n",
      "rotation error:  68.8181905814796\n",
      "translation error:  0.041155891126729245\n",
      "--- 13.258745193481445 seconds ---\n",
      "feature extraction time:  6.4864373207092285\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([1154, 9070, 7576,  ..., 6739, 5117,  506], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066413879394531\n",
      "Loss: 0.024854211873577718\n",
      "rotation error:  36.353120930666456\n",
      "translation error:  0.03561095985005308\n",
      "--- 13.079529762268066 seconds ---\n",
      "Epoch: [11/20], Batch: 4, Loss: 0.024854211873577718\n",
      "feature extraction time:  6.522268295288086\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014950037002563477\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7370, 4999, 2684,  ..., 3977, 1739, 3026], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368729591369629\n",
      "Loss: 0.03962746409677126\n",
      "rotation error:  65.77628278119636\n",
      "translation error:  0.02177078562933592\n",
      "--- 13.183035612106323 seconds ---\n",
      "feature extraction time:  6.7327375411987305\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([7319, 1789, 5301,  ...,  835, 7427, 8968], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877065658569336\n",
      "Loss: 0.017284810212323764\n",
      "rotation error:  32.81816175560381\n",
      "translation error:  0.011760592087780172\n",
      "--- 13.723662614822388 seconds ---\n",
      "feature extraction time:  6.554225444793701\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694631576538086\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2097, 7807, 9136,  ..., 7195, 4057, 9876], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568119049072266\n",
      "Loss: 0.015285522420360895\n",
      "rotation error:  34.72669180324914\n",
      "translation error:  0.009324822382183535\n",
      "--- 13.556280851364136 seconds ---\n",
      "feature extraction time:  6.404622316360474\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([7092, 4160, 2702,  ..., 8240, 8519, 8124], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265779495239258\n",
      "Loss: 0.028714007709716324\n",
      "rotation error:  46.65553571076356\n",
      "translation error:  0.016550449009747854\n",
      "--- 13.196949481964111 seconds ---\n",
      "feature extraction time:  6.3430914878845215\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.018939733505249023\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2437, 4310, 3572,  ...,  386, 7538, 8194], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09590840339660645\n",
      "Loss: 0.017792591127098082\n",
      "rotation error:  61.285006692620776\n",
      "translation error:  0.022660448965173722\n",
      "--- 12.897310018539429 seconds ---\n",
      "Epoch: [11/20], Batch: 9, Loss: 0.017792591127098082\n",
      "feature extraction time:  6.182490110397339\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([5761, 9211, 9150,  ...,   16, 6408, 3114], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468460083007812\n",
      "Loss: 0.030757273789791078\n",
      "rotation error:  70.86571438486054\n",
      "translation error:  0.03869337669388287\n",
      "--- 13.08648133277893 seconds ---\n",
      "feature extraction time:  6.647081136703491\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([ 805, 5195, 2890,  ..., 3352, 2683, 3136], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561441421508789\n",
      "Loss: 0.019631441692901506\n",
      "rotation error:  40.654689186303955\n",
      "translation error:  0.04120820487301543\n",
      "--- 13.078611850738525 seconds ---\n",
      "feature extraction time:  6.670733213424683\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9991, 6151, 1843,  ..., 1115, 4549, 5743], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764074325561523\n",
      "Loss: 0.026504031643935166\n",
      "rotation error:  58.291120270473456\n",
      "translation error:  0.03968599381166378\n",
      "--- 12.768482685089111 seconds ---\n",
      "feature extraction time:  5.874392986297607\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([ 990, 1478, 7871,  ...,  804, 7081, 1315], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966731071472168\n",
      "Loss: 0.020411716281549773\n",
      "rotation error:  41.17352706896327\n",
      "translation error:  0.02543999823370219\n",
      "--- 12.438482522964478 seconds ---\n",
      "feature extraction time:  6.476382493972778\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([1664, 4717, 9160,  ..., 7543,  650, 7299], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10173487663269043\n",
      "Loss: 0.026238347837263785\n",
      "rotation error:  111.672376187446\n",
      "translation error:  0.025242998711587847\n",
      "--- 13.6289222240448 seconds ---\n",
      "Epoch: [11/20], Batch: 14, Loss: 0.026238347837263785\n",
      "feature extraction time:  6.501540660858154\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([5320, 8702, 8122,  ..., 3627, 6460, 9266], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07973480224609375\n",
      "Loss: 0.0419217713933252\n",
      "rotation error:  66.28068322683863\n",
      "translation error:  0.02018769246620464\n",
      "--- 13.021827697753906 seconds ---\n",
      "feature extraction time:  6.625883102416992\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([5169, 8114, 2924,  ..., 5171, 2979, 6306], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368777275085449\n",
      "Loss: 0.01330409527211701\n",
      "rotation error:  316.2122339912652\n",
      "translation error:  0.024446174604837976\n",
      "--- 13.76423192024231 seconds ---\n",
      "feature extraction time:  6.7767274379730225\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:  0.0009965896606445312\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([8571, 8928, 9900,  ..., 1080, 1854,  449], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767413139343262\n",
      "Loss: 0.013747470138295045\n",
      "rotation error:  82.10614769985004\n",
      "translation error:  0.02340729934288163\n",
      "--- 13.599167108535767 seconds ---\n",
      "feature extraction time:  6.789461851119995\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:  0.0009965896606445312\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([ 490, 7877, 4900,  ..., 3888, 3600, 4262], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867119789123535\n",
      "Loss: 0.03357033590792619\n",
      "rotation error:  51.54044280530347\n",
      "translation error:  0.022425421798317958\n",
      "--- 13.79088568687439 seconds ---\n",
      "feature extraction time:  6.49532151222229\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([8310, 7410, 5185,  ...,  410, 8225, 4321], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09500885009765625\n",
      "Loss: 0.017725357270403044\n",
      "rotation error:  50.23609994579847\n",
      "translation error:  0.03043596892271743\n",
      "--- 13.013165712356567 seconds ---\n",
      "Epoch: [11/20], Batch: 19, Loss: 0.017725357270403044\n",
      "feature extraction time:  6.291000604629517\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.022923946380615234\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  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, 9993, 4926,  ..., 2876, 2966, 3272], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0865926742553711\n",
      "Loss: 0.022456510041906384\n",
      "rotation error:  260.15492510410434\n",
      "translation error:  0.02260001812834798\n",
      "--- 12.924980163574219 seconds ---\n",
      "feature extraction time:  6.741497278213501\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([4071, 1055,  738,  ..., 6376, 8404, 5298], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066390037536621\n",
      "Loss: 0.023751619823812083\n",
      "rotation error:  27.7789140422632\n",
      "translation error:  0.02511763379325446\n",
      "--- 13.969655275344849 seconds ---\n",
      "feature extraction time:  6.449441909790039\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017939090728759766\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([7312, 6430, 7394,  ..., 4850, 8413, 6577], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07774114608764648\n",
      "Loss: 0.01931724061412308\n",
      "rotation error:  61.17579726893125\n",
      "translation error:  0.02619654280730338\n",
      "--- 13.251705169677734 seconds ---\n",
      "feature extraction time:  6.560192346572876\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([ 102, 9001, 6076,  ..., 6486, 3333, 4369], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966683387756348\n",
      "Loss: 0.01585381493786174\n",
      "rotation error:  41.25057608231758\n",
      "translation error:  0.03755835987876258\n",
      "--- 13.751155376434326 seconds ---\n",
      "feature extraction time:  6.637812614440918\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([2364, 3222,  196,  ..., 6101, 3969,  294], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970069885253906\n",
      "Loss: 0.011186125468762003\n",
      "rotation error:  41.393851173526066\n",
      "translation error:  0.039068090624905516\n",
      "--- 13.337418794631958 seconds ---\n",
      "Epoch: [11/20], Batch: 24, Loss: 0.011186125468762003\n",
      "feature extraction time:  6.629045486450195\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([1189, 7288, 4141,  ..., 9848, 3461, 6383], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571362495422363\n",
      "Loss: 0.07271655746900824\n",
      "rotation error:  97.90072915463988\n",
      "translation error:  0.04737981357139052\n",
      "--- 13.53617238998413 seconds ---\n",
      "feature extraction time:  6.636980056762695\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([2356, 5365, 8107,  ..., 9112, 2923, 5464], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.02722501183910605\n",
      "rotation error:  280.1199842168635\n",
      "translation error:  0.05241996323618513\n",
      "--- 14.037243366241455 seconds ---\n",
      "feature extraction time:  6.649029731750488\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([6245, 9801, 4050,  ..., 7035, 5473, 9453], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.03942373141170724\n",
      "rotation error:  63.94489688891847\n",
      "translation error:  0.04364522370464808\n",
      "--- 13.85992693901062 seconds ---\n",
      "feature extraction time:  6.789377927780151\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([8425, 7838, 6710,  ..., 1262,  795, 2351], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09681439399719238\n",
      "Loss: 0.04621679536988283\n",
      "rotation error:  74.06881223952202\n",
      "translation error:  0.039336646310806626\n",
      "--- 13.197097301483154 seconds ---\n",
      "feature extraction time:  6.912072420120239\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 60%|██████    | 12/20 [1:19:40<53:20, 400.01s/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([2416, 1104, 3431,  ..., 5619, 6186, 3057], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468293190002441\n",
      "Loss: 0.016542560070822165\n",
      "rotation error:  28.157979526634346\n",
      "translation error:  0.03208302642574137\n",
      "--- 13.913800954818726 seconds ---\n",
      "Epoch: [11/20], Batch: 29, Loss: 0.016542560070822165\n",
      "loss epoch [0.02007955630136877, 0.02643258368718618, 0.028654192239862444, 0.04084568805558997, 0.024854211873577718, 0.03962746409677126, 0.017284810212323764, 0.015285522420360895, 0.028714007709716324, 0.017792591127098082, 0.030757273789791078, 0.019631441692901506, 0.026504031643935166, 0.020411716281549773, 0.026238347837263785, 0.0419217713933252, 0.01330409527211701, 0.013747470138295045, 0.03357033590792619, 0.017725357270403044, 0.022456510041906384, 0.023751619823812083, 0.01931724061412308, 0.01585381493786174, 0.011186125468762003, 0.07271655746900824, 0.02722501183910605, 0.03942373141170724, 0.04621679536988283, 0.016542560070822165]\n",
      "epoch #12\n",
      "feature extraction time:  6.662391901016235\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([7670, 6811, 7635,  ..., 4792, 4941, 7755], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09371662139892578\n",
      "Loss: 0.01464849912879329\n",
      "rotation error:  63.589210918331965\n",
      "translation error:  0.035850941687974036\n",
      "--- 13.599380016326904 seconds ---\n",
      "feature extraction time:  6.565147399902344\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01794266700744629\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1695, 8858, 7577,  ..., 6590, 8730, 9998], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.01413929901015648\n",
      "rotation error:  330.4026472262375\n",
      "translation error:  0.031014424514943354\n",
      "--- 13.46730375289917 seconds ---\n",
      "feature extraction time:  6.661803960800171\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:  0.0009963512420654297\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([1086, 3883, 7635,  ..., 4156, 3377, 1546], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.01969215193023416\n",
      "rotation error:  35.13128803525474\n",
      "translation error:  0.023983411860229325\n",
      "--- 13.066396474838257 seconds ---\n",
      "feature extraction time:  6.245124816894531\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([ 524, 8150, 1710,  ..., 6157, 9570, 4446], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09010720252990723\n",
      "Loss: 0.016459341833589387\n",
      "rotation error:  288.2030651051057\n",
      "translation error:  0.021578030199921272\n",
      "--- 12.77292799949646 seconds ---\n",
      "feature extraction time:  6.861066579818726\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:  0.0009965896606445312\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([4096, 3813, 8474,  ..., 9617, 8060, 6684], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036534309387207\n",
      "Loss: 0.02033620656739773\n",
      "rotation error:  263.88686163975115\n",
      "translation error:  0.020912868020013246\n",
      "--- 13.935464859008789 seconds ---\n",
      "Epoch: [12/20], Batch: 4, Loss: 0.02033620656739773\n",
      "feature extraction time:  6.75641655921936\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([4166,  641,  403,  ..., 7437, 9952, 8093], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09831857681274414\n",
      "Loss: 0.026787642215245926\n",
      "rotation error:  44.649697501429614\n",
      "translation error:  0.022550084135834415\n",
      "--- 13.128766059875488 seconds ---\n",
      "feature extraction time:  6.343847990036011\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01794290542602539\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3606,  676, 5576,  ..., 2985, 1958, 1467], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670973777770996\n",
      "Loss: 0.03917527034069769\n",
      "rotation error:  76.5154762724924\n",
      "translation error:  0.0165310331407577\n",
      "--- 12.86713695526123 seconds ---\n",
      "feature extraction time:  6.6079816818237305\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([1082, 7032, 9983,  ..., 3404,   20, 8722], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166049003601074\n",
      "Loss: 0.021751921405658195\n",
      "rotation error:  43.916787266921084\n",
      "translation error:  0.016566643620558017\n",
      "--- 13.484240293502808 seconds ---\n",
      "feature extraction time:  6.821200132369995\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:  0.0009953975677490234\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2058, 8089, 1510,  ..., 3929, 1949, 3092], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870410919189453\n",
      "Loss: 0.02523360704658579\n",
      "rotation error:  282.05080460740095\n",
      "translation error:  0.015235020340580184\n",
      "--- 13.928765773773193 seconds ---\n",
      "feature extraction time:  6.862331390380859\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:  0.0009970664978027344\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([2301,  856, 5925,  ..., 5300, 1666, 1196], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09759902954101562\n",
      "Loss: 0.032401698074138674\n",
      "rotation error:  266.37172589399177\n",
      "translation error:  0.013233414821731349\n",
      "--- 13.499409198760986 seconds ---\n",
      "Epoch: [12/20], Batch: 9, Loss: 0.032401698074138674\n",
      "feature extraction time:  6.256088495254517\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.017940998077392578\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([2284, 9088, 1775,  ..., 7733, 2008, 9635], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.01706559394556233\n",
      "rotation error:  48.28409513495288\n",
      "translation error:  0.01339462221435153\n",
      "--- 13.574862957000732 seconds ---\n",
      "feature extraction time:  6.92294716835022\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([9190, 8619, 2765,  ..., 9417, 5855, 2863], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166049003601074\n",
      "Loss: 0.02377978978965112\n",
      "rotation error:  61.46111963681085\n",
      "translation error:  0.0037478404611629474\n",
      "--- 13.23511290550232 seconds ---\n",
      "feature extraction time:  6.2742695808410645\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:  0.0009968280792236328\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([9883, 4751, 2830,  ..., 4895,  620, 5383], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07973313331604004\n",
      "Loss: 0.010832447717542645\n",
      "rotation error:  33.89261703791778\n",
      "translation error:  0.010096115124167783\n",
      "--- 13.07653284072876 seconds ---\n",
      "feature extraction time:  6.7713658809661865\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([3414, 8167, 4367,  ..., 5354, 5510, 6150], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066390037536621\n",
      "Loss: 0.00864882964628444\n",
      "rotation error:  54.59593224322208\n",
      "translation error:  0.021757632024897788\n",
      "--- 13.810010194778442 seconds ---\n",
      "feature extraction time:  6.809229612350464\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:  0.0009968280792236328\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([7143, 2430, 7654,  ..., 9882, 4670, 9314], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0920567512512207\n",
      "Loss: 0.016265357052814525\n",
      "rotation error:  34.81714679292791\n",
      "translation error:  0.021801724962570098\n",
      "--- 13.791608572006226 seconds ---\n",
      "Epoch: [12/20], Batch: 14, Loss: 0.016265357052814525\n",
      "feature extraction time:  6.384646654129028\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([2573, 2077, 2529,  ...,   79,   43, 4734], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969998359680176\n",
      "Loss: 0.01475084782476542\n",
      "rotation error:  38.80207039284351\n",
      "translation error:  0.0216543228070633\n",
      "--- 12.551023721694946 seconds ---\n",
      "feature extraction time:  6.141459941864014\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([2636, 5681, 3300,  ..., 2217, 3051, 2426], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10166072845458984\n",
      "Loss: 0.03074257099939698\n",
      "rotation error:  49.58670566569098\n",
      "translation error:  0.016223013571312176\n",
      "--- 13.22880244255066 seconds ---\n",
      "feature extraction time:  6.127571105957031\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([ 975, 8381,  803,  ..., 9666, 6495,  277], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0787363052368164\n",
      "Loss: 0.016700961896462942\n",
      "rotation error:  88.56943496458906\n",
      "translation error:  0.01067897176713087\n",
      "--- 12.539128065109253 seconds ---\n",
      "feature extraction time:  6.570026397705078\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:  0.0009968280792236328\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([ 727, 4883, 2249,  ...,  730, 4344, 9746], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.084716796875\n",
      "Loss: 0.013907870414409594\n",
      "rotation error:  172.6203151904544\n",
      "translation error:  0.012957923866671127\n",
      "--- 13.424102783203125 seconds ---\n",
      "feature extraction time:  6.799400806427002\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([7610, 3412, 2107,  ...,  702, 9630, 1138], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1034383773803711\n",
      "Loss: 0.013425785497920954\n",
      "rotation error:  27.420682248430683\n",
      "translation error:  0.01803134545499237\n",
      "--- 13.601428985595703 seconds ---\n",
      "Epoch: [12/20], Batch: 19, Loss: 0.013425785497920954\n",
      "feature extraction time:  6.426507234573364\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([7945, 1399, 2328,  ...,  514, 4257, 3482], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09866976737976074\n",
      "Loss: 0.04159521082787284\n",
      "rotation error:  61.98857588711904\n",
      "translation error:  0.032506654081762135\n",
      "--- 12.987563610076904 seconds ---\n",
      "feature extraction time:  6.53248929977417\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([9316, 9753, 5542,  ..., 9836, 5521, 9797], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069657325744629\n",
      "Loss: 0.0568198604509295\n",
      "rotation error:  277.05400612375416\n",
      "translation error:  0.01993653262972289\n",
      "--- 13.571946382522583 seconds ---\n",
      "feature extraction time:  6.8113555908203125\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([2010, 4984, 2490,  ..., 6792, 5368, 6911], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09401798248291016\n",
      "Loss: 0.026385183984402316\n",
      "rotation error:  52.74458465171082\n",
      "translation error:  0.015404910439107954\n",
      "--- 13.827410697937012 seconds ---\n",
      "feature extraction time:  6.349057912826538\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([9369, 7506, 2846,  ...,  340, 8220, 5884], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11072015762329102\n",
      "Loss: 0.015496605289816555\n",
      "rotation error:  42.8244514741196\n",
      "translation error:  0.017406221367059986\n",
      "--- 13.383651971817017 seconds ---\n",
      "feature extraction time:  6.568093299865723\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([5847, 5324, 6976,  ..., 5275, 6104, 3918], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09300518035888672\n",
      "Loss: 0.013763731277161143\n",
      "rotation error:  26.23861525245411\n",
      "translation error:  0.023317489522792948\n",
      "--- 13.183347225189209 seconds ---\n",
      "Epoch: [12/20], Batch: 24, Loss: 0.013763731277161143\n",
      "feature extraction time:  6.216343641281128\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([5521, 3060, 2710,  ..., 6239, 1171,  788], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564708709716797\n",
      "Loss: 0.027326848250034414\n",
      "rotation error:  43.22848871741383\n",
      "translation error:  0.039501805230730776\n",
      "--- 12.910017967224121 seconds ---\n",
      "feature extraction time:  6.165491342544556\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([8251, 9756, 1177,  ..., 8708, 2339, 4158], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08901262283325195\n",
      "Loss: 0.024230011364114422\n",
      "rotation error:  29.331107384491357\n",
      "translation error:  0.04033338809668281\n",
      "--- 13.232542991638184 seconds ---\n",
      "feature extraction time:  6.438525676727295\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([7943, 9740, 3820,  ..., 8218, 9829, 5775], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096346378326416\n",
      "Loss: 0.04450218767406597\n",
      "rotation error:  299.42265848161674\n",
      "translation error:  0.04976258282376712\n",
      "--- 13.199028015136719 seconds ---\n",
      "feature extraction time:  6.757461786270142\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([3972, 7166, 7572,  ..., 2209, 8796, 2273], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08202624320983887\n",
      "Loss: 0.030520882869331217\n",
      "rotation error:  257.19175314613244\n",
      "translation error:  0.03994852422940555\n",
      "--- 13.926113367080688 seconds ---\n",
      "feature extraction time:  6.399789094924927\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 65%|██████▌   | 13/20 [1:26:20<46:41, 400.16s/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([5982, 9959,  721,  ..., 2672, 1314, 5124], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571434020996094\n",
      "Loss: 0.015533054213780689\n",
      "rotation error:  264.09306255954255\n",
      "translation error:  0.04380331215293736\n",
      "--- 13.42535662651062 seconds ---\n",
      "Epoch: [12/20], Batch: 29, Loss: 0.015533054213780689\n",
      "loss epoch [0.01464849912879329, 0.01413929901015648, 0.01969215193023416, 0.016459341833589387, 0.02033620656739773, 0.026787642215245926, 0.03917527034069769, 0.021751921405658195, 0.02523360704658579, 0.032401698074138674, 0.01706559394556233, 0.02377978978965112, 0.010832447717542645, 0.00864882964628444, 0.016265357052814525, 0.01475084782476542, 0.03074257099939698, 0.016700961896462942, 0.013907870414409594, 0.013425785497920954, 0.04159521082787284, 0.0568198604509295, 0.026385183984402316, 0.015496605289816555, 0.013763731277161143, 0.027326848250034414, 0.024230011364114422, 0.04450218767406597, 0.030520882869331217, 0.015533054213780689]\n",
      "epoch #13\n",
      "feature extraction time:  6.811282157897949\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([9758, 1842, 9296,  ..., 2505, 6087,   37], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966754913330078\n",
      "Loss: 0.013752993047470456\n",
      "rotation error:  322.1862018307537\n",
      "translation error:  0.03226311652106215\n",
      "--- 13.906877756118774 seconds ---\n",
      "feature extraction time:  6.796568155288696\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([ 365, 9995, 5724,  ..., 6679, 3845, 1292], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08471798896789551\n",
      "Loss: 0.021756378956080923\n",
      "rotation error:  310.8574124388491\n",
      "translation error:  0.021021386601589545\n",
      "--- 13.838163137435913 seconds ---\n",
      "feature extraction time:  6.427561283111572\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016979694366455078\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9879,   86, 1544,  ...,  527,  926, 9424], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966754913330078\n",
      "Loss: 0.0159815054278195\n",
      "rotation error:  30.124884145594628\n",
      "translation error:  0.01782808774745125\n",
      "--- 13.320817947387695 seconds ---\n",
      "feature extraction time:  6.665956020355225\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02292633056640625\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1323, 5590, 1410,  ...,  204, 5714, 8768], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461782455444336\n",
      "Loss: 0.012302656020288294\n",
      "rotation error:  311.79393107643546\n",
      "translation error:  0.009659700859976588\n",
      "--- 13.716800689697266 seconds ---\n",
      "feature extraction time:  6.145685434341431\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([9934, 2273, 1647,  ...,  946, 8594, 7887], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671092987060547\n",
      "Loss: 0.022184065854362844\n",
      "rotation error:  130.81400760112325\n",
      "translation error:  0.024366335779361394\n",
      "--- 12.682043075561523 seconds ---\n",
      "Epoch: [13/20], Batch: 4, Loss: 0.022184065854362844\n",
      "feature extraction time:  6.682095289230347\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014950037002563477\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 654, 1548, 2282,  ..., 7689, 3366, 1923], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1087651252746582\n",
      "Loss: 0.03839925016599266\n",
      "rotation error:  54.18571696086847\n",
      "translation error:  0.023972205583441313\n",
      "--- 13.822484016418457 seconds ---\n",
      "feature extraction time:  6.909952402114868\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([4205,  799, 4392,  ..., 9198, 5844, 8069], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0845346450805664\n",
      "Loss: 0.02156393995039497\n",
      "rotation error:  90.46761943750028\n",
      "translation error:  0.030396874277204253\n",
      "--- 13.009781122207642 seconds ---\n",
      "feature extraction time:  6.730551719665527\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([1651, 3857, 1485,  ..., 3578, 6009,  888], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09203767776489258\n",
      "Loss: 0.025361669498254615\n",
      "rotation error:  32.97919518854271\n",
      "translation error:  0.028132532278804304\n",
      "--- 13.360785007476807 seconds ---\n",
      "feature extraction time:  6.444577217102051\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([6676, 7206, 6103,  ..., 4809, 8099, 9399], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09734249114990234\n",
      "Loss: 0.025969167915668508\n",
      "rotation error:  36.5343235295008\n",
      "translation error:  0.02226205288725969\n",
      "--- 12.972548007965088 seconds ---\n",
      "feature extraction time:  6.606077194213867\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  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, 1082, 1038,  ...,  886, 8361, 6390], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09890031814575195\n",
      "Loss: 0.025346189948071116\n",
      "rotation error:  306.05619848370753\n",
      "translation error:  0.021861667514951756\n",
      "--- 13.41566014289856 seconds ---\n",
      "Epoch: [13/20], Batch: 9, Loss: 0.025346189948071116\n",
      "feature extraction time:  6.458458423614502\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([2541, 1918, 8283,  ..., 8126, 7809, 7014], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11063098907470703\n",
      "Loss: 0.014359391075693548\n",
      "rotation error:  30.00977172582131\n",
      "translation error:  0.015519903718473525\n",
      "--- 12.826318502426147 seconds ---\n",
      "feature extraction time:  6.79848575592041\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([4696, 1564, 8044,  ..., 5283, 5057, 4997], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1096343994140625\n",
      "Loss: 0.011882134901342307\n",
      "rotation error:  25.8605863388665\n",
      "translation error:  0.014261649329523143\n",
      "--- 13.815178394317627 seconds ---\n",
      "feature extraction time:  6.333589792251587\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930767059326172\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([4004, 2418, 5412,  ..., 2030, 1097, 1905], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08996963500976562\n",
      "Loss: 0.020930128143408895\n",
      "rotation error:  56.91321494459874\n",
      "translation error:  0.019616008111529443\n",
      "--- 13.336506366729736 seconds ---\n",
      "feature extraction time:  6.241183757781982\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:  0.0009970664978027344\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([4854,  313, 8357,  ..., 8236, 2943, 6970], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09294009208679199\n",
      "Loss: 0.011855130033762335\n",
      "rotation error:  20.901510651120258\n",
      "translation error:  0.02058562765762177\n",
      "--- 13.136630296707153 seconds ---\n",
      "feature extraction time:  6.48051643371582\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([5096,  243, 6999,  ..., 8510,  956, 2677], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11173605918884277\n",
      "Loss: 0.015941380990649526\n",
      "rotation error:  25.931468877220574\n",
      "translation error:  0.01642814725112118\n",
      "--- 13.25444769859314 seconds ---\n",
      "Epoch: [13/20], Batch: 14, Loss: 0.015941380990649526\n",
      "feature extraction time:  6.541245937347412\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([8998, 9283, 9733,  ..., 6352, 7336, 3507], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.043707496492439074\n",
      "rotation error:  56.573011335144805\n",
      "translation error:  0.014517882423604463\n",
      "--- 13.201366186141968 seconds ---\n",
      "feature extraction time:  6.423643589019775\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([1176, 1586, 7903,  ..., 7550, 4587, 1760], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069609642028809\n",
      "Loss: 0.01426395663841501\n",
      "rotation error:  33.71447828113161\n",
      "translation error:  0.013321387901673984\n",
      "--- 12.939869165420532 seconds ---\n",
      "feature extraction time:  6.809245586395264\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:  0.0009965896606445312\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([7550, 6242,  136,  ..., 7655, 2315, 3137], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368634223937988\n",
      "Loss: 0.015921288508582876\n",
      "rotation error:  55.6735679553529\n",
      "translation error:  0.01397493975266027\n",
      "--- 13.408195972442627 seconds ---\n",
      "feature extraction time:  6.725775718688965\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([6573, 8293, 9054,  ...,  778, 5636, 7477], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.084716796875\n",
      "Loss: 0.024609585960633604\n",
      "rotation error:  49.225954530941635\n",
      "translation error:  0.014743747683753439\n",
      "--- 13.331819534301758 seconds ---\n",
      "feature extraction time:  6.552181720733643\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:  0.0009970664978027344\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([ 333,  365, 7853,  ..., 5790, 7393, 9452], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09897398948669434\n",
      "Loss: 0.01867285015046808\n",
      "rotation error:  38.657647741617886\n",
      "translation error:  0.013409031265731378\n",
      "--- 12.760926485061646 seconds ---\n",
      "Epoch: [13/20], Batch: 19, Loss: 0.01867285015046808\n",
      "feature extraction time:  6.782941579818726\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([4269, 1960,  558,  ..., 3176, 3952, 7040], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877068042755127\n",
      "Loss: 0.012126863593810398\n",
      "rotation error:  51.07572346877357\n",
      "translation error:  0.026891605426230914\n",
      "--- 13.480639219284058 seconds ---\n",
      "feature extraction time:  6.503507852554321\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([8636, 6085, 5250,  ...,  223, 7871, 9072], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069681167602539\n",
      "Loss: 0.030352704138477293\n",
      "rotation error:  38.04122725045168\n",
      "translation error:  0.03188015669796269\n",
      "--- 13.3355233669281 seconds ---\n",
      "feature extraction time:  6.46938157081604\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([6463, 9093, 2299,  ..., 4748, 8797,  492], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767389297485352\n",
      "Loss: 0.022707974800834606\n",
      "rotation error:  26.83165737917632\n",
      "translation error:  0.03260922041266325\n",
      "--- 13.566665649414062 seconds ---\n",
      "feature extraction time:  5.738823175430298\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([3968, 5959,    4,  ..., 9784, 1598, 8612], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09797954559326172\n",
      "Loss: 0.025529076183778303\n",
      "rotation error:  22.228212294411307\n",
      "translation error:  0.02792715328952524\n",
      "--- 12.62711501121521 seconds ---\n",
      "feature extraction time:  6.253563404083252\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([6623, 8117, 2604,  ..., 1641, 7544, 9720], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568071365356445\n",
      "Loss: 0.017690745174264264\n",
      "rotation error:  144.93109567286194\n",
      "translation error:  0.01796504235455455\n",
      "--- 13.173439741134644 seconds ---\n",
      "Epoch: [13/20], Batch: 24, Loss: 0.017690745174264264\n",
      "feature extraction time:  6.761406183242798\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([4009, 5878, 1172,  ..., 5741, 8424, 8516], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0906972885131836\n",
      "Loss: 0.009730007812732139\n",
      "rotation error:  27.68689686628105\n",
      "translation error:  0.021008148571213532\n",
      "--- 13.843045234680176 seconds ---\n",
      "feature extraction time:  6.134504318237305\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([2081, 6179, 7253,  ..., 4907, 4222,  821], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368729591369629\n",
      "Loss: 0.02871339399029083\n",
      "rotation error:  48.150763755615955\n",
      "translation error:  0.034821276251107876\n",
      "--- 12.672892332077026 seconds ---\n",
      "feature extraction time:  6.599019527435303\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([5324,  276, 2639,  ..., 1510,  813, 5051], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08073043823242188\n",
      "Loss: 0.021259961666970376\n",
      "rotation error:  37.71450208070961\n",
      "translation error:  0.03821815425279261\n",
      "--- 13.285736799240112 seconds ---\n",
      "feature extraction time:  6.511320352554321\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([7709,  351, 5123,  ..., 6382, 5502, 7147], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468364715576172\n",
      "Loss: 0.03275745010757343\n",
      "rotation error:  82.02654967323924\n",
      "translation error:  0.040722789771837124\n",
      "--- 13.406336307525635 seconds ---\n",
      "feature extraction time:  6.343970060348511\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 70%|███████   | 14/20 [1:32:59<39:58, 399.71s/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([3684, 2129, 3742,  ..., 3367, 9778, 3161], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0849766731262207\n",
      "Loss: 0.04152813089361161\n",
      "rotation error:  287.8931295726725\n",
      "translation error:  0.03139353139625502\n",
      "--- 12.951126098632812 seconds ---\n",
      "Epoch: [13/20], Batch: 29, Loss: 0.04152813089361161\n",
      "loss epoch [0.013752993047470456, 0.021756378956080923, 0.0159815054278195, 0.012302656020288294, 0.022184065854362844, 0.03839925016599266, 0.02156393995039497, 0.025361669498254615, 0.025969167915668508, 0.025346189948071116, 0.014359391075693548, 0.011882134901342307, 0.020930128143408895, 0.011855130033762335, 0.015941380990649526, 0.043707496492439074, 0.01426395663841501, 0.015921288508582876, 0.024609585960633604, 0.01867285015046808, 0.012126863593810398, 0.030352704138477293, 0.022707974800834606, 0.025529076183778303, 0.017690745174264264, 0.009730007812732139, 0.02871339399029083, 0.021259961666970376, 0.03275745010757343, 0.04152813089361161]\n",
      "epoch #14\n",
      "feature extraction time:  6.346018075942993\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([4994, 7222, 6926,  ..., 8925, 4111,  556], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10193490982055664\n",
      "Loss: 0.017900353057017523\n",
      "rotation error:  342.1155378884957\n",
      "translation error:  0.02660707595746305\n",
      "--- 13.01117730140686 seconds ---\n",
      "feature extraction time:  6.513235807418823\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016945362091064453\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5911,  242, 6697,  ...,  583, 6588, 2739], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368705749511719\n",
      "Loss: 0.023437845780272647\n",
      "rotation error:  35.057224406293905\n",
      "translation error:  0.03258494304655221\n",
      "--- 13.3364577293396 seconds ---\n",
      "feature extraction time:  6.650088787078857\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:  0.0009965896606445312\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([5339, 9681, 4627,  ..., 3048, 8614, 5434], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09652185440063477\n",
      "Loss: 0.029913176564888525\n",
      "rotation error:  59.15372724670718\n",
      "translation error:  0.02560068709748147\n",
      "--- 13.241380214691162 seconds ---\n",
      "feature extraction time:  6.092586040496826\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([1160, 3654, 5731,  ..., 4006, 7256, 3617], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09961581230163574\n",
      "Loss: 0.026145477081910052\n",
      "rotation error:  309.68288976649103\n",
      "translation error:  0.036291574709509604\n",
      "--- 13.152240753173828 seconds ---\n",
      "feature extraction time:  6.1835386753082275\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3443, 9171, 3914,  ..., 9888, 8161, 2616], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066436767578125\n",
      "Loss: 0.023186280846046386\n",
      "rotation error:  22.036969242274154\n",
      "translation error:  0.03916690152723585\n",
      "--- 13.106656551361084 seconds ---\n",
      "Epoch: [14/20], Batch: 4, Loss: 0.023186280846046386\n",
      "feature extraction time:  6.4529783725738525\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([5112, 3140, 2810,  ..., 4318, 2336, 1172], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10296463966369629\n",
      "Loss: 0.032246108494527845\n",
      "rotation error:  66.32626977613384\n",
      "translation error:  0.04707952755320309\n",
      "--- 13.066219806671143 seconds ---\n",
      "feature extraction time:  6.327854871749878\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([5356, 4626, 8885,  ..., 7737, 2448,  204], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08822035789489746\n",
      "Loss: 0.04723787578407987\n",
      "rotation error:  68.2579661329015\n",
      "translation error:  0.057212518997612594\n",
      "--- 13.02698802947998 seconds ---\n",
      "feature extraction time:  6.776524066925049\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([ 900, 3139, 3948,  ..., 7233, 7105, 8749], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368729591369629\n",
      "Loss: 0.03951691652516123\n",
      "rotation error:  75.11906881985678\n",
      "translation error:  0.058427673899430044\n",
      "--- 13.766199588775635 seconds ---\n",
      "feature extraction time:  6.586972713470459\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:  0.0009965896606445312\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([7697, 9683, 4597,  ..., 6427, 8358, 8110], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0847170352935791\n",
      "Loss: 0.026667202687278825\n",
      "rotation error:  25.941697697845676\n",
      "translation error:  0.05373723332264228\n",
      "--- 13.081034421920776 seconds ---\n",
      "feature extraction time:  6.690625429153442\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([4356, 6356, 3896,  ..., 6324, 6936, 8937], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.014073985578106716\n",
      "rotation error:  329.66208050243273\n",
      "translation error:  0.059414131599020016\n",
      "--- 13.318023443222046 seconds ---\n",
      "Epoch: [14/20], Batch: 9, Loss: 0.014073985578106716\n",
      "feature extraction time:  6.761389255523682\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([7418, 4007,  352,  ..., 1332, 2734, 3918], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.026706194594720754\n",
      "rotation error:  42.895460680191825\n",
      "translation error:  0.06102527873822454\n",
      "--- 13.132165670394897 seconds ---\n",
      "feature extraction time:  6.254086017608643\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:  0.0009968280792236328\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([ 367, 8366, 5363,  ..., 9602, 5078, 5862], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08795833587646484\n",
      "Loss: 0.020287152527260204\n",
      "rotation error:  42.83492488012441\n",
      "translation error:  0.04440907462334613\n",
      "--- 12.917057514190674 seconds ---\n",
      "feature extraction time:  6.686639785766602\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([2686, 2025, 5617,  ..., 6087, 7233, 9297], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10481619834899902\n",
      "Loss: 0.01861096987726876\n",
      "rotation error:  49.31522935425244\n",
      "translation error:  0.02666569496399684\n",
      "--- 13.628077745437622 seconds ---\n",
      "feature extraction time:  6.348823308944702\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([7211, 9195,  450,  ..., 4726, 2906, 7273], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11124086380004883\n",
      "Loss: 0.020188712663402032\n",
      "rotation error:  310.4496477148704\n",
      "translation error:  0.018851190212652948\n",
      "--- 12.899104118347168 seconds ---\n",
      "feature extraction time:  6.426481485366821\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([4307,   36, 3515,  ..., 8711, 7798, 1959], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1066429615020752\n",
      "Loss: 0.014241761579382176\n",
      "rotation error:  30.9910374560229\n",
      "translation error:  0.012880169839274556\n",
      "--- 13.47303819656372 seconds ---\n",
      "Epoch: [14/20], Batch: 14, Loss: 0.014241761579382176\n",
      "feature extraction time:  6.451425790786743\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01697254180908203\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5765, 1889, 5726,  ..., 8404, 6961, 6694], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368681907653809\n",
      "Loss: 0.03700647293489569\n",
      "rotation error:  278.77033037358143\n",
      "translation error:  0.015927285440973528\n",
      "--- 13.447665214538574 seconds ---\n",
      "feature extraction time:  6.22318959236145\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:  0.0009965896606445312\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([1978,  996, 4175,  ..., 1669, 4787, 1343], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567975997924805\n",
      "Loss: 0.02449886650221823\n",
      "rotation error:  130.005273256054\n",
      "translation error:  0.032503054581093024\n",
      "--- 12.993145227432251 seconds ---\n",
      "feature extraction time:  6.3706955909729\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([7227, 1289, 7459,  ..., 2248, 7403, 4418], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08597993850708008\n",
      "Loss: 0.04331728791484411\n",
      "rotation error:  88.11313409793043\n",
      "translation error:  0.03776694425543145\n",
      "--- 13.371826648712158 seconds ---\n",
      "feature extraction time:  6.260120153427124\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([6775, 4343, 1207,  ..., 5203, 8309, 4135], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468364715576172\n",
      "Loss: 0.022250424021964487\n",
      "rotation error:  56.37203148183711\n",
      "translation error:  0.041354579315136454\n",
      "--- 13.382303476333618 seconds ---\n",
      "feature extraction time:  6.327839136123657\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([2536, 1031, 7369,  ..., 1694, 5567, 5638], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169292449951172\n",
      "Loss: 0.02464140314460531\n",
      "rotation error:  231.29047150699046\n",
      "translation error:  0.044223746810223834\n",
      "--- 13.021455526351929 seconds ---\n",
      "Epoch: [14/20], Batch: 19, Loss: 0.02464140314460531\n",
      "feature extraction time:  6.314883470535278\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([6831, 2876, 2928,  ..., 6626, 4446, 6128], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667682647705078\n",
      "Loss: 0.030085768423381565\n",
      "rotation error:  265.82070401915945\n",
      "translation error:  0.039545458705627014\n",
      "--- 13.081333875656128 seconds ---\n",
      "feature extraction time:  6.891275882720947\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:  0.0009965896606445312\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([2266, 8398, 5256,  ..., 5896, 7116, 2226], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368681907653809\n",
      "Loss: 0.0200876903158146\n",
      "rotation error:  52.595715325114355\n",
      "translation error:  0.04446564840343805\n",
      "--- 13.434485912322998 seconds ---\n",
      "feature extraction time:  6.551161050796509\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([2587, 1983, 6552,  ..., 7068, 8442, 6004], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08227086067199707\n",
      "Loss: 0.012664244923808498\n",
      "rotation error:  59.3077217385192\n",
      "translation error:  0.02910383702927415\n",
      "--- 13.213717937469482 seconds ---\n",
      "feature extraction time:  6.818378686904907\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:  0.0009968280792236328\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([3491, 4719, 9703,  ..., 4804, 9442, 3863], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0787360668182373\n",
      "Loss: 0.018843052707190274\n",
      "rotation error:  58.597486615016486\n",
      "translation error:  0.0250421625296376\n",
      "--- 13.78707504272461 seconds ---\n",
      "feature extraction time:  6.638922929763794\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:  0.0009965896606445312\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([2593, 3538, 3708,  ..., 4139, 4623,  928], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09516549110412598\n",
      "Loss: 0.02856832314331312\n",
      "rotation error:  48.4660134094417\n",
      "translation error:  0.025430328261024655\n",
      "--- 13.60506534576416 seconds ---\n",
      "Epoch: [14/20], Batch: 24, Loss: 0.02856832314331312\n",
      "feature extraction time:  6.6930999755859375\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020931005477905273\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8871, 9352, 1940,  ..., 1233, 7201, 2970], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08926272392272949\n",
      "Loss: 0.036041902329220034\n",
      "rotation error:  96.02651127140177\n",
      "translation error:  0.009572166551767642\n",
      "--- 13.491895198822021 seconds ---\n",
      "feature extraction time:  6.45042872428894\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([6656, 5718, 7573,  ..., 7174, 9597, 6321], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10829019546508789\n",
      "Loss: 0.03721059601382934\n",
      "rotation error:  341.81914334391143\n",
      "translation error:  0.007619555435348587\n",
      "--- 13.112175941467285 seconds ---\n",
      "feature extraction time:  6.378669261932373\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01594710350036621\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1073, 6057, 3201,  ..., 6272, 7045, 5870], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.03242511572689799\n",
      "rotation error:  69.68332037864846\n",
      "translation error:  0.021115554776827503\n",
      "--- 12.952724933624268 seconds ---\n",
      "feature extraction time:  5.756156921386719\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014950275421142578\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  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, 1439, 6074,  ..., 9511, 9260, 7226], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08371996879577637\n",
      "Loss: 0.007584910368983746\n",
      "rotation error:  5.152469016438146\n",
      "translation error:  0.026366834364466445\n",
      "--- 12.37902569770813 seconds ---\n",
      "feature extraction time:  6.634392499923706\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 75%|███████▌  | 15/20 [1:39:36<33:14, 398.94s/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([2980, 3566, 4834,  ..., 5227, 9056, 7349], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09780406951904297\n",
      "Loss: 0.01837866612612684\n",
      "rotation error:  37.70273438540242\n",
      "translation error:  0.037671790733940884\n",
      "--- 13.42911958694458 seconds ---\n",
      "Epoch: [14/20], Batch: 29, Loss: 0.01837866612612684\n",
      "loss epoch [0.017900353057017523, 0.023437845780272647, 0.029913176564888525, 0.026145477081910052, 0.023186280846046386, 0.032246108494527845, 0.04723787578407987, 0.03951691652516123, 0.026667202687278825, 0.014073985578106716, 0.026706194594720754, 0.020287152527260204, 0.01861096987726876, 0.020188712663402032, 0.014241761579382176, 0.03700647293489569, 0.02449886650221823, 0.04331728791484411, 0.022250424021964487, 0.02464140314460531, 0.030085768423381565, 0.0200876903158146, 0.012664244923808498, 0.018843052707190274, 0.02856832314331312, 0.036041902329220034, 0.03721059601382934, 0.03242511572689799, 0.007584910368983746, 0.01837866612612684]\n",
      "epoch #15\n",
      "feature extraction time:  6.549328565597534\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([1003, 9746,  383,  ..., 1225, 4747, 6050], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10155034065246582\n",
      "Loss: 0.02604088750815914\n",
      "rotation error:  59.09873277030764\n",
      "translation error:  0.035308431882377776\n",
      "--- 13.350780963897705 seconds ---\n",
      "feature extraction time:  6.88943886756897\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:  0.0009965896606445312\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([5845, 6130, 9082,  ..., 7542, 8122, 6550], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0880882740020752\n",
      "Loss: 0.030707292406077513\n",
      "rotation error:  47.265801939298264\n",
      "translation error:  0.036089092767963536\n",
      "--- 13.677088260650635 seconds ---\n",
      "feature extraction time:  6.580988645553589\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([9819, 2649, 7862,  ..., 5780, 9649, 5252], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465025901794434\n",
      "Loss: 0.01696351607758962\n",
      "rotation error:  315.2268713044033\n",
      "translation error:  0.035942059419014065\n",
      "--- 13.21117353439331 seconds ---\n",
      "feature extraction time:  6.752601385116577\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([2048, 2405, 5964,  ..., 5290, 7250, 2185], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567975997924805\n",
      "Loss: 0.027207370750909073\n",
      "rotation error:  126.81225781680138\n",
      "translation error:  0.028855090420192495\n",
      "--- 13.40040111541748 seconds ---\n",
      "feature extraction time:  6.765369415283203\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([3599, 1554, 2658,  ..., 9857, 9697, 9955], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08073067665100098\n",
      "Loss: 0.009541423250043118\n",
      "rotation error:  65.23937650968244\n",
      "translation error:  0.018499223362484416\n",
      "--- 13.397506713867188 seconds ---\n",
      "Epoch: [15/20], Batch: 4, Loss: 0.009541423250043118\n",
      "feature extraction time:  6.671792984008789\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:  0.0009968280792236328\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([7966, 1652, 1643,  ..., 5233, 1588, 2243], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870339393615723\n",
      "Loss: 0.018171706780779083\n",
      "rotation error:  67.82703998697923\n",
      "translation error:  0.012493989236988922\n",
      "--- 13.297743320465088 seconds ---\n",
      "feature extraction time:  6.611088037490845\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([8929, 7422,  934,  ..., 5309, 2220, 1602], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969902992248535\n",
      "Loss: 0.011517289424227379\n",
      "rotation error:  309.89675209406676\n",
      "translation error:  0.017811068071924823\n",
      "--- 13.338995695114136 seconds ---\n",
      "feature extraction time:  6.661715745925903\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993584632873535\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1088, 1936,  510,  ..., 1490, 6095, 7683], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10575437545776367\n",
      "Loss: 0.021830687917886466\n",
      "rotation error:  47.40057513998298\n",
      "translation error:  0.0355787288282982\n",
      "--- 13.60842251777649 seconds ---\n",
      "feature extraction time:  6.863043308258057\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([5914, 7381, 6345,  ..., 7698, 9860, 5040], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0914921760559082\n",
      "Loss: 0.016424819522128972\n",
      "rotation error:  48.835489290561746\n",
      "translation error:  0.04530138388782139\n",
      "--- 13.334680318832397 seconds ---\n",
      "feature extraction time:  6.420638084411621\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([9159, 8378, 1110,  ..., 6653, 6633, 3592], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0857396125793457\n",
      "Loss: 0.03331069959952723\n",
      "rotation error:  95.05025226851895\n",
      "translation error:  0.0639842003395692\n",
      "--- 13.383374691009521 seconds ---\n",
      "Epoch: [15/20], Batch: 9, Loss: 0.03331069959952723\n",
      "feature extraction time:  6.315027713775635\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([4508, 2860,  396,  ..., 9346, 6043, 5411], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667754173278809\n",
      "Loss: 0.04388710702939548\n",
      "rotation error:  15.259603879644919\n",
      "translation error:  0.0745072325992946\n",
      "--- 12.94301152229309 seconds ---\n",
      "feature extraction time:  6.842298746109009\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([3699, 9508, 4234,  ..., 2552, 8693,  508], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0817267894744873\n",
      "Loss: 0.03973297307963378\n",
      "rotation error:  10.592616577044199\n",
      "translation error:  0.08018301663356434\n",
      "--- 13.626953840255737 seconds ---\n",
      "feature extraction time:  5.941184997558594\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:  0.0009968280792236328\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([4902, 7087, 2749,  ..., 6745, 2077, 9061], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09083914756774902\n",
      "Loss: 0.054151679321463\n",
      "rotation error:  99.41483866149575\n",
      "translation error:  0.0789008912783115\n",
      "--- 12.430773258209229 seconds ---\n",
      "feature extraction time:  6.463672161102295\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([3828, 7444, 8944,  ..., 5174, 1905, 9570], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11162781715393066\n",
      "Loss: 0.048110293361269076\n",
      "rotation error:  17.461991732832182\n",
      "translation error:  0.07643055925203004\n",
      "--- 13.177417516708374 seconds ---\n",
      "feature extraction time:  6.420586824417114\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694655418395996\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8104,  812, 7908,  ..., 3477, 4587,  161], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169435501098633\n",
      "Loss: 0.04461092853437123\n",
      "rotation error:  89.85639314833944\n",
      "translation error:  0.06408496104023388\n",
      "--- 12.966688871383667 seconds ---\n",
      "Epoch: [15/20], Batch: 14, Loss: 0.04461092853437123\n",
      "feature extraction time:  6.220198392868042\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([1375, 9931, 8881,  ..., 4788, 3202, 1423], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10133075714111328\n",
      "Loss: 0.036934031833274504\n",
      "rotation error:  19.553372406467332\n",
      "translation error:  0.051186299905708776\n",
      "--- 12.797987937927246 seconds ---\n",
      "feature extraction time:  6.718592643737793\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([ 558,  320, 8022,  ..., 6548,  444, 6753], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269118309020996\n",
      "Loss: 0.018261732091890547\n",
      "rotation error:  60.86772855761633\n",
      "translation error:  0.03724744819266953\n",
      "--- 13.35562539100647 seconds ---\n",
      "feature extraction time:  6.268238544464111\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([8354, 3415, 3608,  ..., 4906, 6192, 3522], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09324908256530762\n",
      "Loss: 0.016359530117292527\n",
      "rotation error:  34.989993158857516\n",
      "translation error:  0.03153081958301766\n",
      "--- 13.00632929801941 seconds ---\n",
      "feature extraction time:  6.423894643783569\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016974687576293945\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9941, 2882, 9322,  ..., 5292, 6346, 3041], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066413879394531\n",
      "Loss: 0.06156189654123226\n",
      "rotation error:  298.62260294280617\n",
      "translation error:  0.02389067463498871\n",
      "--- 13.4984872341156 seconds ---\n",
      "feature extraction time:  6.692274570465088\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([1184, 9648, 3349,  ..., 8543, 9207, 5606], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867095947265625\n",
      "Loss: 0.03548389096919405\n",
      "rotation error:  313.2604842016137\n",
      "translation error:  0.02202093167672651\n",
      "--- 13.051211833953857 seconds ---\n",
      "Epoch: [15/20], Batch: 19, Loss: 0.03548389096919405\n",
      "feature extraction time:  6.537451267242432\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:  0.0009968280792236328\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([9401, 1060, 3505,  ..., 3292, 9744, 4858], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08597302436828613\n",
      "Loss: 0.02006999210102619\n",
      "rotation error:  35.31096211813797\n",
      "translation error:  0.02291477626027752\n",
      "--- 13.137187957763672 seconds ---\n",
      "feature extraction time:  6.41864800453186\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:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6259, 3743, 1595,  ..., 9538, 4150, 9157], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1020500659942627\n",
      "Loss: 0.017783524017426774\n",
      "rotation error:  41.193643720962676\n",
      "translation error:  0.024135387185027078\n",
      "--- 12.977943181991577 seconds ---\n",
      "feature extraction time:  6.788846969604492\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([ 654,  487, 7869,  ..., 8269, 4532, 1314], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767413139343262\n",
      "Loss: 0.05371005574098413\n",
      "rotation error:  418.2614880977568\n",
      "translation error:  0.02576967734060804\n",
      "--- 13.576210260391235 seconds ---\n",
      "feature extraction time:  6.067813873291016\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([3410, 7421, 6577,  ..., 9243, 4545, 9266], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0939340591430664\n",
      "Loss: 0.024234407487396907\n",
      "rotation error:  38.70837182549822\n",
      "translation error:  0.0358734128784801\n",
      "--- 12.504924297332764 seconds ---\n",
      "feature extraction time:  6.7027363777160645\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02093362808227539\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6003, 9689, 4435,  ..., 6033, 2438,  380], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867119789123535\n",
      "Loss: 0.01080358317733281\n",
      "rotation error:  26.19624654401277\n",
      "translation error:  0.04082555732623806\n",
      "--- 13.178532600402832 seconds ---\n",
      "Epoch: [15/20], Batch: 24, Loss: 0.01080358317733281\n",
      "feature extraction time:  6.804474353790283\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:  0.0009968280792236328\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([5735, 3056, 1227,  ..., 9348, 9695, 3572], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269094467163086\n",
      "Loss: 0.02120276300841701\n",
      "rotation error:  26.915467515947924\n",
      "translation error:  0.052333257659995185\n",
      "--- 13.350773572921753 seconds ---\n",
      "feature extraction time:  6.350889444351196\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([ 857,  621,   17,  ..., 5147, 4656, 6525], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863780975341797\n",
      "Loss: 0.043084435498362786\n",
      "rotation error:  41.072708687987316\n",
      "translation error:  0.04507370892384921\n",
      "--- 12.779157876968384 seconds ---\n",
      "feature extraction time:  6.751485109329224\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([6099, 9044, 6848,  ..., 1696, 6742, 5375], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08361172676086426\n",
      "Loss: 0.013885331121288333\n",
      "rotation error:  67.05476996458579\n",
      "translation error:  0.038997463753429114\n",
      "--- 13.628443479537964 seconds ---\n",
      "feature extraction time:  6.6966681480407715\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([3357, 9465, 8360,  ..., 9822, 6604, 5511], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767460823059082\n",
      "Loss: 0.0476667614564984\n",
      "rotation error:  79.19001673538929\n",
      "translation error:  0.02569544165258436\n",
      "--- 13.398529291152954 seconds ---\n",
      "feature extraction time:  6.7814812660217285\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 80%|████████  | 16/20 [1:46:13<26:33, 398.27s/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([ 811,  598, 3860,  ..., 9140, 3680, 1127], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0954594612121582\n",
      "Loss: 0.022521945392092155\n",
      "rotation error:  163.07283757060202\n",
      "translation error:  0.023518942690128962\n",
      "--- 13.069441080093384 seconds ---\n",
      "Epoch: [15/20], Batch: 29, Loss: 0.022521945392092155\n",
      "loss epoch [0.02604088750815914, 0.030707292406077513, 0.01696351607758962, 0.027207370750909073, 0.009541423250043118, 0.018171706780779083, 0.011517289424227379, 0.021830687917886466, 0.016424819522128972, 0.03331069959952723, 0.04388710702939548, 0.03973297307963378, 0.054151679321463, 0.048110293361269076, 0.04461092853437123, 0.036934031833274504, 0.018261732091890547, 0.016359530117292527, 0.06156189654123226, 0.03548389096919405, 0.02006999210102619, 0.017783524017426774, 0.05371005574098413, 0.024234407487396907, 0.01080358317733281, 0.02120276300841701, 0.043084435498362786, 0.013885331121288333, 0.0476667614564984, 0.022521945392092155]\n",
      "epoch #16\n",
      "feature extraction time:  6.3090903759002686\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([1664, 2363, 8360,  ..., 6561, 6661, 7698], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877077579498291\n",
      "Loss: 0.025348771196000906\n",
      "rotation error:  322.2254971197889\n",
      "translation error:  0.01035998831216224\n",
      "--- 12.687092065811157 seconds ---\n",
      "feature extraction time:  6.742550611495972\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([5930, 3729, 6429,  ..., 2176, 8680,  805], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09196758270263672\n",
      "Loss: 0.005411869638293071\n",
      "rotation error:  10.373312762553933\n",
      "translation error:  0.006752792431786312\n",
      "--- 13.525173664093018 seconds ---\n",
      "feature extraction time:  6.057982444763184\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([8071, 5682, 3288,  ..., 7451, 1509, 5264], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10376763343811035\n",
      "Loss: 0.02878697310323378\n",
      "rotation error:  332.47317062286015\n",
      "translation error:  0.007797108908004263\n",
      "--- 13.240112543106079 seconds ---\n",
      "feature extraction time:  6.2941553592681885\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([9440, 1491, 2621,  ...,  570,  884, 4161], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.036242078641102494\n",
      "rotation error:  69.45965554135269\n",
      "translation error:  0.011547927437925156\n",
      "--- 12.347949981689453 seconds ---\n",
      "feature extraction time:  6.240148544311523\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([1469, 1905, 1792,  ..., 1898, 6688, 1148], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667706489562988\n",
      "Loss: 0.015594022702629225\n",
      "rotation error:  30.466890676683484\n",
      "translation error:  0.01511658015327834\n",
      "--- 13.358478784561157 seconds ---\n",
      "Epoch: [16/20], Batch: 4, Loss: 0.015594022702629225\n",
      "feature extraction time:  6.832287549972534\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([6772, 2895, 4394,  ..., 3349,  517, 5139], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09317159652709961\n",
      "Loss: 0.016314281473579804\n",
      "rotation error:  55.564218860021555\n",
      "translation error:  0.018100756221667253\n",
      "--- 13.58822751045227 seconds ---\n",
      "feature extraction time:  6.84624457359314\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([4621, 5504, 5310,  ..., 2714, 8674, 2925], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571434020996094\n",
      "Loss: 0.02068078444749469\n",
      "rotation error:  33.77504333389595\n",
      "translation error:  0.01747225497050642\n",
      "--- 13.42485237121582 seconds ---\n",
      "feature extraction time:  6.832170248031616\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([1400, 6895, 8967,  ..., 6309, 8797, 2958], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08371996879577637\n",
      "Loss: 0.03496032568481725\n",
      "rotation error:  79.93985408234873\n",
      "translation error:  0.011772232531611549\n",
      "--- 13.830210208892822 seconds ---\n",
      "feature extraction time:  6.901937484741211\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([ 677, 8462, 9316,  ..., 7024,  744, 8741], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10120177268981934\n",
      "Loss: 0.006317828492929233\n",
      "rotation error:  6.975206710177202\n",
      "translation error:  0.006544871290131181\n",
      "--- 13.717834234237671 seconds ---\n",
      "feature extraction time:  6.323871612548828\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([ 901, 6304, 5437,  ..., 5966,  202, 5386], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877070426940918\n",
      "Loss: 0.024662870488012908\n",
      "rotation error:  75.35923718218696\n",
      "translation error:  0.0092315397957987\n",
      "--- 13.432640314102173 seconds ---\n",
      "Epoch: [16/20], Batch: 9, Loss: 0.024662870488012908\n",
      "feature extraction time:  6.8052978515625\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([3751, 9828, 2401,  ..., 9447, 7795, 2529], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10863757133483887\n",
      "Loss: 0.015349691138671982\n",
      "rotation error:  258.1145201115454\n",
      "translation error:  0.018577958836008934\n",
      "--- 13.225054264068604 seconds ---\n",
      "feature extraction time:  6.536475896835327\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([6939, 3380, 4228,  ..., 6551, 2098,  569], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169363975524902\n",
      "Loss: 0.018804062068884665\n",
      "rotation error:  41.62943241056358\n",
      "translation error:  0.02916512744864192\n",
      "--- 13.340739727020264 seconds ---\n",
      "feature extraction time:  6.725350856781006\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([2055, 7396, 3027,  ..., 8407, 8641, 8078], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066366195678711\n",
      "Loss: 0.04580968029880959\n",
      "rotation error:  154.96507525187957\n",
      "translation error:  0.019831200330037668\n",
      "--- 13.37265157699585 seconds ---\n",
      "feature extraction time:  6.357758045196533\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([4011, 4677,  652,  ...,  277, 2776, 3226], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0979146957397461\n",
      "Loss: 0.02195077471649327\n",
      "rotation error:  54.88454325916523\n",
      "translation error:  0.02055723133751876\n",
      "--- 13.310811996459961 seconds ---\n",
      "feature extraction time:  6.461408853530884\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:  0.0009968280792236328\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([6031, 4595, 3909,  ..., 8933,   84, 6236], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10764026641845703\n",
      "Loss: 0.021676462529851604\n",
      "rotation error:  85.26934969362306\n",
      "translation error:  0.022014427734958455\n",
      "--- 13.208594560623169 seconds ---\n",
      "Epoch: [16/20], Batch: 14, Loss: 0.021676462529851604\n",
      "feature extraction time:  6.575999736785889\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([2287, 6321, 2572,  ..., 1191, 5278, 4233], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269070625305176\n",
      "Loss: 0.019623562704894154\n",
      "rotation error:  39.10182191650652\n",
      "translation error:  0.013028883735041661\n",
      "--- 12.819425582885742 seconds ---\n",
      "feature extraction time:  6.66373610496521\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016944169998168945\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.000995635986328125\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([ 209,   64, 4047,  ..., 2561, 4665, 1934], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870410919189453\n",
      "Loss: 0.01686891490089564\n",
      "rotation error:  47.68231302217929\n",
      "translation error:  0.01034669342709939\n",
      "--- 13.323482751846313 seconds ---\n",
      "feature extraction time:  6.6537675857543945\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([6471, 4361, 9272,  ..., 2477, 5678, 1052], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465049743652344\n",
      "Loss: 0.009412577354974666\n",
      "rotation error:  21.873163476383194\n",
      "translation error:  0.009725732488194552\n",
      "--- 13.16999363899231 seconds ---\n",
      "feature extraction time:  6.730510950088501\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014951944351196289\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8709, 2990, 5051,  ..., 6615, 7238,  899], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07973313331604004\n",
      "Loss: 0.009819282661123939\n",
      "rotation error:  39.94682044056555\n",
      "translation error:  0.012915288844779434\n",
      "--- 13.616245985031128 seconds ---\n",
      "feature extraction time:  6.7127768993377686\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:  0.0009968280792236328\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([6034, 5710, 7402,  ..., 6880, 2991, 8410], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0932009220123291\n",
      "Loss: 0.019521239615892257\n",
      "rotation error:  39.45315476316352\n",
      "translation error:  0.020182989102116414\n",
      "--- 13.415837049484253 seconds ---\n",
      "Epoch: [16/20], Batch: 19, Loss: 0.019521239615892257\n",
      "feature extraction time:  6.766392946243286\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01996445655822754\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0009951591491699219\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3430, 7977, 1086,  ..., 1869, 1747,   59], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09704852104187012\n",
      "Loss: 0.04511773379800012\n",
      "rotation error:  65.04692108169428\n",
      "translation error:  0.01500230343725932\n",
      "--- 13.591971635818481 seconds ---\n",
      "feature extraction time:  6.4002110958099365\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([2738, 1126, 4178,  ..., 2352, 9893, 8257], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667730331420898\n",
      "Loss: 0.010992718373557865\n",
      "rotation error:  30.444262693635423\n",
      "translation error:  0.018572310535324377\n",
      "--- 13.160092115402222 seconds ---\n",
      "feature extraction time:  6.377919912338257\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([6473, 4261, 5669,  ..., 7232, 8434, 2516], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10465073585510254\n",
      "Loss: 0.015270207909511868\n",
      "rotation error:  39.79852514440618\n",
      "translation error:  0.01613903588363399\n",
      "--- 13.194242238998413 seconds ---\n",
      "feature extraction time:  6.751506567001343\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:  0.000997304916381836\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([3130, 1518, 1172,  ..., 9537, 7988, 1786], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09567999839782715\n",
      "Loss: 0.03774734077041317\n",
      "rotation error:  304.4895973602377\n",
      "translation error:  0.01835910955572474\n",
      "--- 13.719399452209473 seconds ---\n",
      "feature extraction time:  6.77264404296875\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([1397, 3193,  469,  ..., 4480, 5341, 4704], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09940695762634277\n",
      "Loss: 0.01652167991512136\n",
      "rotation error:  239.9829558095912\n",
      "translation error:  0.023443413310850217\n",
      "--- 13.539971590042114 seconds ---\n",
      "Epoch: [16/20], Batch: 24, Loss: 0.01652167991512136\n",
      "feature extraction time:  6.500401020050049\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([1386, 9766, 6225,  ..., 1032, 1979, 8593], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877068042755127\n",
      "Loss: 0.02165419582211362\n",
      "rotation error:  31.398103397160433\n",
      "translation error:  0.034762121342698356\n",
      "--- 13.538875102996826 seconds ---\n",
      "feature extraction time:  6.56903600692749\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([2815, 3203, 3718,  ...,  533, 3160, 6218], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265660285949707\n",
      "Loss: 0.03931385071428532\n",
      "rotation error:  68.53293001393352\n",
      "translation error:  0.03843287033220895\n",
      "--- 12.959033966064453 seconds ---\n",
      "feature extraction time:  6.664804220199585\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01993393898010254\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9399, 5268, 1959,  ..., 3691, 1047, 5728], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.02420985280675194\n",
      "rotation error:  25.151913232272623\n",
      "translation error:  0.05899070706669175\n",
      "--- 13.434215068817139 seconds ---\n",
      "feature extraction time:  6.554298639297485\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([7970, 9988, 5365,  ..., 5775,  815, 5008], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169411659240723\n",
      "Loss: 0.018518758251569237\n",
      "rotation error:  50.36890401421003\n",
      "translation error:  0.058531034066327724\n",
      "--- 13.22834062576294 seconds ---\n",
      "feature extraction time:  6.612889051437378\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 85%|████████▌ | 17/20 [1:52:53<19:56, 398.72s/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([ 560, 8633, 1355,  ..., 5870, 5538, 4492], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08308577537536621\n",
      "Loss: 0.014325641424865544\n",
      "rotation error:  34.309911101513315\n",
      "translation error:  0.060076482529901276\n",
      "--- 13.16728162765503 seconds ---\n",
      "Epoch: [16/20], Batch: 29, Loss: 0.014325641424865544\n",
      "loss epoch [0.025348771196000906, 0.005411869638293071, 0.02878697310323378, 0.036242078641102494, 0.015594022702629225, 0.016314281473579804, 0.02068078444749469, 0.03496032568481725, 0.006317828492929233, 0.024662870488012908, 0.015349691138671982, 0.018804062068884665, 0.04580968029880959, 0.02195077471649327, 0.021676462529851604, 0.019623562704894154, 0.01686891490089564, 0.009412577354974666, 0.009819282661123939, 0.019521239615892257, 0.04511773379800012, 0.010992718373557865, 0.015270207909511868, 0.03774734077041317, 0.01652167991512136, 0.02165419582211362, 0.03931385071428532, 0.02420985280675194, 0.018518758251569237, 0.014325641424865544]\n",
      "epoch #17\n",
      "feature extraction time:  6.203542709350586\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([7328, 1100, 5301,  ..., 8735, 3863, 9888], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767365455627441\n",
      "Loss: 0.017988467901074924\n",
      "rotation error:  19.155503142831517\n",
      "translation error:  0.04522186760747111\n",
      "--- 12.726863145828247 seconds ---\n",
      "feature extraction time:  6.484398603439331\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([8536, 1669, 4160,  ..., 5361, 5658, 9866], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870387077331543\n",
      "Loss: 0.014929597536992812\n",
      "rotation error:  11.033852378371838\n",
      "translation error:  0.0504723524758349\n",
      "--- 13.191027641296387 seconds ---\n",
      "feature extraction time:  6.3736865520477295\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([7455, 1147,  539,  ..., 8936,  565, 6412], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08023762702941895\n",
      "Loss: 0.014051644811355814\n",
      "rotation error:  13.640919535524983\n",
      "translation error:  0.02796030738117171\n",
      "--- 12.827578067779541 seconds ---\n",
      "feature extraction time:  6.03980565071106\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([7887, 3308, 5295,  ..., 7010, 2511, 8718], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09568023681640625\n",
      "Loss: 0.01346862373606823\n",
      "rotation error:  33.2374138274842\n",
      "translation error:  0.01963241937241879\n",
      "--- 12.808274269104004 seconds ---\n",
      "feature extraction time:  6.488375186920166\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:  0.0009963512420654297\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([2953, 5923, 8923,  ..., 4359,  550, 8992], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07807230949401855\n",
      "Loss: 0.014149149689632297\n",
      "rotation error:  69.998388124498\n",
      "translation error:  0.014329064520920774\n",
      "--- 13.252297163009644 seconds ---\n",
      "Epoch: [17/20], Batch: 4, Loss: 0.014149149689632297\n",
      "feature extraction time:  6.533228158950806\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:  0.0009965896606445312\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([4928, 7349, 5489,  ..., 2029, 2606,  597], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09069705009460449\n",
      "Loss: 0.033352138252149\n",
      "rotation error:  57.96446239957026\n",
      "translation error:  0.023052569822000785\n",
      "--- 13.33600926399231 seconds ---\n",
      "feature extraction time:  6.491365909576416\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([4576, 9469, 8577,  ..., 5963, 8015,  721], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08770632743835449\n",
      "Loss: 0.04334540281837509\n",
      "rotation error:  49.283549778436374\n",
      "translation error:  0.035281233417359746\n",
      "--- 13.46216630935669 seconds ---\n",
      "feature extraction time:  6.307727575302124\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([ 336, 3735, 3778,  ..., 9135, 9431, 7142], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09605669975280762\n",
      "Loss: 0.02447982354359341\n",
      "rotation error:  319.1927425152277\n",
      "translation error:  0.03965835751368464\n",
      "--- 13.317637920379639 seconds ---\n",
      "feature extraction time:  6.30790901184082\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020964622497558594\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([9055, 8738, 6953,  ...,  230, 9741, 7326], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08770585060119629\n",
      "Loss: 0.012078266919527172\n",
      "rotation error:  17.358658334692812\n",
      "translation error:  0.041711608673978266\n",
      "--- 13.05984354019165 seconds ---\n",
      "feature extraction time:  6.730493545532227\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([3965, 6130, 4965,  ..., 9435, 2566, 7771], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08969998359680176\n",
      "Loss: 0.021429760345037893\n",
      "rotation error:  30.720352331689465\n",
      "translation error:  0.03940923763556116\n",
      "--- 13.474940776824951 seconds ---\n",
      "Epoch: [17/20], Batch: 9, Loss: 0.021429760345037893\n",
      "feature extraction time:  6.331924676895142\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([8416, 4264, 8106,  ..., 6183, 9184, 2868], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11265063285827637\n",
      "Loss: 0.013378007828669979\n",
      "rotation error:  331.2159195157759\n",
      "translation error:  0.03132865874778644\n",
      "--- 13.17624020576477 seconds ---\n",
      "feature extraction time:  6.553086757659912\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([3021, 3315, 4758,  ..., 1749, 7559, 3249], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571338653564453\n",
      "Loss: 0.01737637031775681\n",
      "rotation error:  32.80598358512466\n",
      "translation error:  0.02245678862188598\n",
      "--- 13.543808460235596 seconds ---\n",
      "feature extraction time:  6.113734722137451\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([1728, 6679, 5811,  ..., 7792, 2637, 3423], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966683387756348\n",
      "Loss: 0.011026565920312516\n",
      "rotation error:  41.52879410729235\n",
      "translation error:  0.015902415149305165\n",
      "--- 13.188586950302124 seconds ---\n",
      "feature extraction time:  6.485313415527344\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([9902,  168, 8474,  ..., 6594, 2837, 9743], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10265684127807617\n",
      "Loss: 0.022637305354800692\n",
      "rotation error:  266.3768239131429\n",
      "translation error:  0.005842541998806218\n",
      "--- 13.400400161743164 seconds ---\n",
      "feature extraction time:  6.7904276847839355\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([5062, 4406,  565,  ..., 4497, 1561, 9021], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.028261344196979732\n",
      "rotation error:  301.662791860864\n",
      "translation error:  0.013211674478421365\n",
      "--- 13.860961437225342 seconds ---\n",
      "Epoch: [17/20], Batch: 14, Loss: 0.028261344196979732\n",
      "feature extraction time:  6.588119983673096\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([2625, 2312, 3070,  ..., 2808, 9917, 6678], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1007847785949707\n",
      "Loss: 0.01623319267742608\n",
      "rotation error:  63.39315636253428\n",
      "translation error:  0.024263048932706338\n",
      "--- 13.68673300743103 seconds ---\n",
      "feature extraction time:  6.588075399398804\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([2516, 7048, 6814,  ..., 4269, 1027, 9331], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09667658805847168\n",
      "Loss: 0.0188045682163005\n",
      "rotation error:  48.527479991939266\n",
      "translation error:  0.032216279897042795\n",
      "--- 13.439399242401123 seconds ---\n",
      "feature extraction time:  6.313358545303345\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.02092909812927246\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([7370, 9774, 8704,  ..., 6159, 5746, 6048], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468340873718262\n",
      "Loss: 0.015341042675578197\n",
      "rotation error:  76.43023345058778\n",
      "translation error:  0.03266599274384489\n",
      "--- 13.314945459365845 seconds ---\n",
      "feature extraction time:  6.644920587539673\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([1950, 7865, 9490,  ..., 2228, 9595, 6658], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169340133666992\n",
      "Loss: 0.022103298123521246\n",
      "rotation error:  49.59880853193752\n",
      "translation error:  0.027439033659717935\n",
      "--- 13.114279985427856 seconds ---\n",
      "feature extraction time:  6.399592876434326\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01694631576538086\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([2710, 1021, 3975,  ..., 4596, 3409, 5382], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10464930534362793\n",
      "Loss: 0.023889053390875443\n",
      "rotation error:  44.50525237226841\n",
      "translation error:  0.023548865803087512\n",
      "--- 13.189066171646118 seconds ---\n",
      "Epoch: [17/20], Batch: 19, Loss: 0.023889053390875443\n",
      "feature extraction time:  6.370689153671265\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([2004, 6004, 7343,  ..., 6803,  172, 8880], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1036534309387207\n",
      "Loss: 0.022076558541255113\n",
      "rotation error:  56.37013765060101\n",
      "translation error:  0.024644889284966567\n",
      "--- 12.984763860702515 seconds ---\n",
      "feature extraction time:  6.4425764083862305\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([3913, 1217, 6799,  ...,  199, 2137, 5045], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09779834747314453\n",
      "Loss: 0.054923371912123924\n",
      "rotation error:  342.4810400421488\n",
      "translation error:  0.019170455809516297\n",
      "--- 12.756584644317627 seconds ---\n",
      "feature extraction time:  6.303991794586182\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([7104, 6495, 6002,  ..., 6392, 2644, 1752], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0915372371673584\n",
      "Loss: 0.0179071934368644\n",
      "rotation error:  21.844058783087696\n",
      "translation error:  0.011790577505592198\n",
      "--- 13.032330989837646 seconds ---\n",
      "feature extraction time:  6.8960771560668945\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([7349,  931, 4968,  ..., 5123, 2017, 9889], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09096217155456543\n",
      "Loss: 0.003577991196724511\n",
      "rotation error:  7.2687980743746055\n",
      "translation error:  0.010553038821265525\n",
      "--- 13.14853835105896 seconds ---\n",
      "feature extraction time:  6.512215852737427\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([4786, 4769, 6670,  ..., 4809, 3168, 9275], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10434150695800781\n",
      "Loss: 0.008516674563972959\n",
      "rotation error:  329.1592474508411\n",
      "translation error:  0.023448525772018246\n",
      "--- 13.231433629989624 seconds ---\n",
      "Epoch: [17/20], Batch: 24, Loss: 0.008516674563972959\n",
      "feature extraction time:  6.44743275642395\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([9462, 8879, 4242,  ..., 4672, 7098, 4674], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09314131736755371\n",
      "Loss: 0.039237413278255855\n",
      "rotation error:  68.73492026529478\n",
      "translation error:  0.030262905100254794\n",
      "--- 13.044950246810913 seconds ---\n",
      "feature extraction time:  6.532149076461792\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([7249, 4244, 3336,  ..., 9687, 5601, 2136], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0966787338256836\n",
      "Loss: 0.022341659760696304\n",
      "rotation error:  32.02516345677524\n",
      "translation error:  0.035195276839998846\n",
      "--- 13.6108877658844 seconds ---\n",
      "feature extraction time:  6.263402700424194\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([6086, 2921, 6629,  ..., 4605, 5531, 3201], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0841059684753418\n",
      "Loss: 0.049245121603041536\n",
      "rotation error:  278.691761166338\n",
      "translation error:  0.03207863377384342\n",
      "--- 12.898630380630493 seconds ---\n",
      "feature extraction time:  6.857130289077759\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([1962, 1262, 6072,  ..., 5633,  886, 9743], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0867917537689209\n",
      "Loss: 0.01913968779367076\n",
      "rotation error:  26.295057689989786\n",
      "translation error:  0.023538310197727633\n",
      "--- 13.549890756607056 seconds ---\n",
      "feature extraction time:  6.437532424926758\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 90%|█████████ | 18/20 [1:59:30<13:16, 398.26s/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([7523, 8474,  733,  ..., 7223, 3953, 9460], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08597040176391602\n",
      "Loss: 0.007787480133105397\n",
      "rotation error:  14.748453978097801\n",
      "translation error:  0.015778939050414314\n",
      "--- 13.296915054321289 seconds ---\n",
      "Epoch: [17/20], Batch: 29, Loss: 0.007787480133105397\n",
      "loss epoch [0.017988467901074924, 0.014929597536992812, 0.014051644811355814, 0.01346862373606823, 0.014149149689632297, 0.033352138252149, 0.04334540281837509, 0.02447982354359341, 0.012078266919527172, 0.021429760345037893, 0.013378007828669979, 0.01737637031775681, 0.011026565920312516, 0.022637305354800692, 0.028261344196979732, 0.01623319267742608, 0.0188045682163005, 0.015341042675578197, 0.022103298123521246, 0.023889053390875443, 0.022076558541255113, 0.054923371912123924, 0.0179071934368644, 0.003577991196724511, 0.008516674563972959, 0.039237413278255855, 0.022341659760696304, 0.049245121603041536, 0.01913968779367076, 0.007787480133105397]\n",
      "epoch #18\n",
      "feature extraction time:  6.3768274784088135\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([ 933, 3988, 9018,  ..., 4155, 3666, 1168], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09468436241149902\n",
      "Loss: 0.01108912998780085\n",
      "rotation error:  47.56842042115011\n",
      "translation error:  0.011646819713828936\n",
      "--- 13.057822465896606 seconds ---\n",
      "feature extraction time:  6.568156480789185\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([9453, 8263, 6962,  ..., 4133,  551, 7037], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269118309020996\n",
      "Loss: 0.01053433839196433\n",
      "rotation error:  36.45025071845991\n",
      "translation error:  0.008233385144394515\n",
      "--- 13.231140613555908 seconds ---\n",
      "feature extraction time:  6.332996368408203\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:  0.0009965896606445312\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([3547, 1218, 9703,  ...,  654, 5201, 8531], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10066461563110352\n",
      "Loss: 0.02100991841767452\n",
      "rotation error:  259.42429632969726\n",
      "translation error:  0.01170221424951353\n",
      "--- 13.176173448562622 seconds ---\n",
      "feature extraction time:  6.562114000320435\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([6719, 3726, 9224,  ..., 4007, 2949, 7285], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10365438461303711\n",
      "Loss: 0.014903463949402711\n",
      "rotation error:  19.219755270238196\n",
      "translation error:  0.009813676163286926\n",
      "--- 13.574129581451416 seconds ---\n",
      "feature extraction time:  6.4817187786102295\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([4161, 5129, 4298,  ..., 5901, 1548, 1796], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0906977653503418\n",
      "Loss: 0.039447512794041774\n",
      "rotation error:  71.6946960115272\n",
      "translation error:  0.01732680636977257\n",
      "--- 13.304101705551147 seconds ---\n",
      "Epoch: [18/20], Batch: 4, Loss: 0.039447512794041774\n",
      "feature extraction time:  5.87939190864563\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([9649,  559, 3414,  ..., 5097,  549, 2400], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11440873146057129\n",
      "Loss: 0.02762999840900294\n",
      "rotation error:  46.644466500242636\n",
      "translation error:  0.015055495852693362\n",
      "--- 12.570968866348267 seconds ---\n",
      "feature extraction time:  6.624991178512573\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([7580, 7400, 4957,  ..., 3192, 1410, 5177], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09211182594299316\n",
      "Loss: 0.027356327533015146\n",
      "rotation error:  52.975430518703824\n",
      "translation error:  0.022657057887171317\n",
      "--- 13.657356023788452 seconds ---\n",
      "feature extraction time:  6.171600580215454\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([5475,  360,  606,  ..., 9449,  488, 7029], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966826438903809\n",
      "Loss: 0.02218421463246936\n",
      "rotation error:  40.61433305516787\n",
      "translation error:  0.02618032159796041\n",
      "--- 12.791183471679688 seconds ---\n",
      "feature extraction time:  6.724241495132446\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([3319, 3729, 3499,  ..., 5388,  541, 1209], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269094467163086\n",
      "Loss: 0.01296949571962638\n",
      "rotation error:  30.38287649411917\n",
      "translation error:  0.0276958577297027\n",
      "--- 13.398980379104614 seconds ---\n",
      "feature extraction time:  6.422686815261841\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([4127, 6294, 2368,  ..., 8035, 5268, 3074], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09269070625305176\n",
      "Loss: 0.02678747499545726\n",
      "rotation error:  64.64917072630016\n",
      "translation error:  0.028027166482249462\n",
      "--- 13.51715874671936 seconds ---\n",
      "Epoch: [18/20], Batch: 9, Loss: 0.02678747499545726\n",
      "feature extraction time:  6.445539474487305\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([8405, 7927, 9030,  ..., 2422, 1503,  419], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09938430786132812\n",
      "Loss: 0.01164322707938738\n",
      "rotation error:  15.417654070241472\n",
      "translation error:  0.02759948615339444\n",
      "--- 13.102116346359253 seconds ---\n",
      "feature extraction time:  6.687875509262085\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([3635, 1547, 8256,  ..., 8203, 2201, 6572], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11661124229431152\n",
      "Loss: 0.015927034019823726\n",
      "rotation error:  37.839373002230246\n",
      "translation error:  0.029918621812710756\n",
      "--- 13.778348684310913 seconds ---\n",
      "feature extraction time:  6.522267818450928\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020930767059326172\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  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, 2321, 8027,  ...,  478, 1627, 7141], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11561441421508789\n",
      "Loss: 0.03128199522034543\n",
      "rotation error:  68.18128601679169\n",
      "translation error:  0.02719132404236403\n",
      "--- 13.604769229888916 seconds ---\n",
      "feature extraction time:  6.380719423294067\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([4746, 7673,  211,  ..., 6257, 4456, 2099], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.12458467483520508\n",
      "Loss: 0.01515188123501748\n",
      "rotation error:  14.84558132907215\n",
      "translation error:  0.03236121613386231\n",
      "--- 13.003630876541138 seconds ---\n",
      "feature extraction time:  6.687777280807495\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([2304, 5169, 1179,  ..., 6382, 9983,  557], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09767389297485352\n",
      "Loss: 0.02879241551955447\n",
      "rotation error:  243.07224875864566\n",
      "translation error:  0.016991768702282656\n",
      "--- 13.52995753288269 seconds ---\n",
      "Epoch: [18/20], Batch: 14, Loss: 0.02879241551955447\n",
      "feature extraction time:  6.5134289264678955\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([4362,   28, 6845,  ..., 7269, 6748, 3041], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09099864959716797\n",
      "Loss: 0.00530612015458646\n",
      "rotation error:  18.04570201070266\n",
      "translation error:  0.01999174426576824\n",
      "--- 13.152600526809692 seconds ---\n",
      "feature extraction time:  6.529408931732178\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020965576171875\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([5332, 4112, 4750,  ..., 1547, 2888, 3686], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169435501098633\n",
      "Loss: 0.030246563203156857\n",
      "rotation error:  281.44289823059745\n",
      "translation error:  0.013686322670283886\n",
      "--- 13.27632188796997 seconds ---\n",
      "feature extraction time:  6.303975343704224\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.014950037002563477\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([6554, 8211, 7643,  ..., 8751, 3091, 7434], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970069885253906\n",
      "Loss: 0.013640715957048763\n",
      "rotation error:  49.123527856065486\n",
      "translation error:  0.013143124888272429\n",
      "--- 12.583231449127197 seconds ---\n",
      "feature extraction time:  6.460573673248291\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([6569,  636, 3340,  ..., 2181,  838,  661], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09171485900878906\n",
      "Loss: 0.00951324159605807\n",
      "rotation error:  32.466226172164326\n",
      "translation error:  0.009441508281339835\n",
      "--- 12.681849002838135 seconds ---\n",
      "feature extraction time:  6.771533489227295\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([2410, 5995, 5126,  ..., 2906, 7805, 5344], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09508347511291504\n",
      "Loss: 0.011438359897282143\n",
      "rotation error:  32.73756813220671\n",
      "translation error:  0.012258920590935628\n",
      "--- 13.536576509475708 seconds ---\n",
      "Epoch: [18/20], Batch: 19, Loss: 0.011438359897282143\n",
      "feature extraction time:  6.2605814933776855\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:  0.0009965896606445312\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([3773, 1130,  565,  ..., 6622,  919,  556], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09579777717590332\n",
      "Loss: 0.032720652508936784\n",
      "rotation error:  70.01336632191902\n",
      "translation error:  0.024632769681432198\n",
      "--- 12.918455123901367 seconds ---\n",
      "feature extraction time:  6.349782466888428\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([2597, 6769, 3985,  ..., 6921, 2594, 6600], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11461734771728516\n",
      "Loss: 0.02854683879649061\n",
      "rotation error:  45.74948242092986\n",
      "translation error:  0.020521995765195807\n",
      "--- 12.997072458267212 seconds ---\n",
      "feature extraction time:  6.367802143096924\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([1363, 9288, 3869,  ..., 2082, 5360, 5760], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08571434020996094\n",
      "Loss: 0.018003663658514975\n",
      "rotation error:  44.73225634339058\n",
      "translation error:  0.018821651168279274\n",
      "--- 13.332791090011597 seconds ---\n",
      "feature extraction time:  6.621929168701172\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016945838928222656\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([3269, 3342,  807,  ..., 5829, 1261,   89], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169340133666992\n",
      "Loss: 0.023204737121457354\n",
      "rotation error:  50.87435639027209\n",
      "translation error:  0.017677435868751416\n",
      "--- 13.325846910476685 seconds ---\n",
      "feature extraction time:  6.582005977630615\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([9459, 1079, 5991,  ..., 9129, 6103, 2935], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11365771293640137\n",
      "Loss: 0.021334583142505865\n",
      "rotation error:  36.34888057392693\n",
      "translation error:  0.017685935037457058\n",
      "--- 13.411285638809204 seconds ---\n",
      "Epoch: [18/20], Batch: 24, Loss: 0.021334583142505865\n",
      "feature extraction time:  6.761548757553101\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.020932674407958984\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1524, 8593, 3474,  ..., 1736, 2224, 9693], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11339068412780762\n",
      "Loss: 0.0199283397365531\n",
      "rotation error:  29.32446857599693\n",
      "translation error:  0.010878893358099903\n",
      "--- 13.877169370651245 seconds ---\n",
      "feature extraction time:  6.163675546646118\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:  0.0009965896606445312\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([4916, 1292, 8773,  ..., 6185, 7382, 3429], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867000579833984\n",
      "Loss: 0.035066093049379715\n",
      "rotation error:  299.95281915793794\n",
      "translation error:  0.010433317541869644\n",
      "--- 12.543477296829224 seconds ---\n",
      "feature extraction time:  6.5970282554626465\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:  0.0009968280792236328\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([ 522, 4126,  269,  ..., 8063, 3735, 9629], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10328102111816406\n",
      "Loss: 0.03751153731334929\n",
      "rotation error:  332.0182678049649\n",
      "translation error:  0.017732437688507886\n",
      "--- 13.521654605865479 seconds ---\n",
      "feature extraction time:  6.223205089569092\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([8834, 9797, 5047,  ..., 5615, 8277, 7178], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07973337173461914\n",
      "Loss: 0.020051617163434416\n",
      "rotation error:  118.93079376729105\n",
      "translation error:  0.021304521463571164\n",
      "--- 13.171060800552368 seconds ---\n",
      "feature extraction time:  6.697678565979004\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      " 95%|█████████▌| 19/20 [2:06:07<06:37, 397.91s/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([3590, 7228, 6686,  ..., 7190,  289,   86], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1110990047454834\n",
      "Loss: 0.033061196890197\n",
      "rotation error:  294.74161455485097\n",
      "translation error:  0.0238951847704778\n",
      "--- 13.19560718536377 seconds ---\n",
      "Epoch: [18/20], Batch: 29, Loss: 0.033061196890197\n",
      "loss epoch [0.01108912998780085, 0.01053433839196433, 0.02100991841767452, 0.014903463949402711, 0.039447512794041774, 0.02762999840900294, 0.027356327533015146, 0.02218421463246936, 0.01296949571962638, 0.02678747499545726, 0.01164322707938738, 0.015927034019823726, 0.03128199522034543, 0.01515188123501748, 0.02879241551955447, 0.00530612015458646, 0.030246563203156857, 0.013640715957048763, 0.00951324159605807, 0.011438359897282143, 0.032720652508936784, 0.02854683879649061, 0.018003663658514975, 0.023204737121457354, 0.021334583142505865, 0.0199283397365531, 0.035066093049379715, 0.03751153731334929, 0.020051617163434416, 0.033061196890197]\n",
      "epoch #19\n",
      "feature extraction time:  6.679999113082886\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:  0.0009965896606445312\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([1004, 7546,  794,  ...,  689, 4560, 4828], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169387817382812\n",
      "Loss: 0.019930899763159\n",
      "rotation error:  281.9015473735552\n",
      "translation error:  0.03133608913832983\n",
      "--- 13.57595705986023 seconds ---\n",
      "feature extraction time:  6.377735137939453\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([ 241, 2194, 5055,  ..., 5286, 9739, 1900], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970022201538086\n",
      "Loss: 0.018847588280161913\n",
      "rotation error:  41.68618701615788\n",
      "translation error:  0.03542819080067228\n",
      "--- 13.478009223937988 seconds ---\n",
      "feature extraction time:  6.888412714004517\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([4340, 8654, 6899,  ..., 1529, 3790, 4847], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0877070426940918\n",
      "Loss: 0.022835652000832582\n",
      "rotation error:  60.49123764618886\n",
      "translation error:  0.032987792069830005\n",
      "--- 13.387837648391724 seconds ---\n",
      "feature extraction time:  6.298032522201538\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([5733, 1492, 9236,  ..., 3652, 9826,  961], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08777165412902832\n",
      "Loss: 0.02876474134440855\n",
      "rotation error:  268.7561661020253\n",
      "translation error:  0.0254009597298161\n",
      "--- 12.97774362564087 seconds ---\n",
      "feature extraction time:  6.621876001358032\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([9487, 6252, 3962,  ...,  936, 6843, 2480], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08870410919189453\n",
      "Loss: 0.03217326517464673\n",
      "rotation error:  70.64674546223702\n",
      "translation error:  0.029502165448400147\n",
      "--- 13.314512491226196 seconds ---\n",
      "Epoch: [19/20], Batch: 4, Loss: 0.03217326517464673\n",
      "feature extraction time:  6.54753565788269\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([6232, 9704, 8891,  ..., 8294, 1604, 9502], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0850529670715332\n",
      "Loss: 0.017569888328435722\n",
      "rotation error:  31.133390159851484\n",
      "translation error:  0.027093052553361214\n",
      "--- 13.280893325805664 seconds ---\n",
      "feature extraction time:  6.666891813278198\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([6850, 2555, 3937,  ..., 5327, 6022, 1216], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0847172737121582\n",
      "Loss: 0.015523842212944151\n",
      "rotation error:  18.320742361268536\n",
      "translation error:  0.03528414776231238\n",
      "--- 13.661107778549194 seconds ---\n",
      "feature extraction time:  6.722716808319092\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([9379, 4496, 2865,  ..., 6072, 4068, 4475], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670973777770996\n",
      "Loss: 0.010062925407132235\n",
      "rotation error:  24.170839785429454\n",
      "translation error:  0.03177052097557323\n",
      "--- 13.512030363082886 seconds ---\n",
      "feature extraction time:  6.7584168910980225\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([ 223, 1094, 6417,  ..., 5614, 5194, 7888], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970141410827637\n",
      "Loss: 0.029266787283699768\n",
      "rotation error:  64.64003784719625\n",
      "translation error:  0.028765427871021085\n",
      "--- 13.71616792678833 seconds ---\n",
      "feature extraction time:  6.334831714630127\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([1571, 1263, 2094,  ..., 6028, 2318, 4432], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09368705749511719\n",
      "Loss: 0.020479908945930863\n",
      "rotation error:  54.077676639304165\n",
      "translation error:  0.03320898486224581\n",
      "--- 13.33854079246521 seconds ---\n",
      "Epoch: [19/20], Batch: 9, Loss: 0.020479908945930863\n",
      "feature extraction time:  6.603057146072388\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([ 993, 5193, 9114,  ..., 3222, 5497, 5593], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09867024421691895\n",
      "Loss: 0.015226771188028633\n",
      "rotation error:  298.12400867200586\n",
      "translation error:  0.03308260162568089\n",
      "--- 13.101924180984497 seconds ---\n",
      "feature extraction time:  6.141679048538208\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:  0.0009965896606445312\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([2182, 7306, 1761,  ..., 9332, 5873, 6141], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09169387817382812\n",
      "Loss: 0.026073182897309914\n",
      "rotation error:  88.60127141553174\n",
      "translation error:  0.020520988771623186\n",
      "--- 12.898232460021973 seconds ---\n",
      "feature extraction time:  6.6747682094573975\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.016924142837524414\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([8838, 7552, 6709,  ..., 4932, 2438, 6234], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08670997619628906\n",
      "Loss: 0.020838413084548285\n",
      "rotation error:  37.64477676308524\n",
      "translation error:  0.020320751882439873\n",
      "--- 13.278989315032959 seconds ---\n",
      "feature extraction time:  6.586105823516846\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:  0.0009970664978027344\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([4781, 1398, 3085,  ..., 9993, 7617, 1974], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10564684867858887\n",
      "Loss: 0.016122840347331045\n",
      "rotation error:  41.248859569097334\n",
      "translation error:  0.017207260732450987\n",
      "--- 13.612609386444092 seconds ---\n",
      "feature extraction time:  6.844715595245361\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([1246, 4609, 3898,  ..., 4848, 1340, 6339], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09209561347961426\n",
      "Loss: 0.013217706228020838\n",
      "rotation error:  29.732062958943562\n",
      "translation error:  0.010305242774811\n",
      "--- 13.47708249092102 seconds ---\n",
      "Epoch: [19/20], Batch: 14, Loss: 0.013217706228020838\n",
      "feature extraction time:  6.78159761428833\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([4826, 4524, 1939,  ..., 1481, 7184, 3812], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0890359878540039\n",
      "Loss: 0.010255050661525617\n",
      "rotation error:  48.221513405993285\n",
      "translation error:  0.014809289269662318\n",
      "--- 13.246407747268677 seconds ---\n",
      "feature extraction time:  6.3597328662872314\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([ 580, 9274, 6609,  ..., 1981, 1344, 5511], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09966683387756348\n",
      "Loss: 0.023686653465880555\n",
      "rotation error:  37.75388086485933\n",
      "translation error:  0.010871205669224069\n",
      "--- 13.226917266845703 seconds ---\n",
      "feature extraction time:  6.776340961456299\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([4441, 4481, 9517,  ..., 9222, 5176, 5154], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08671021461486816\n",
      "Loss: 0.020038702524214073\n",
      "rotation error:  36.072064845139444\n",
      "translation error:  0.0138668581546112\n",
      "--- 13.873608112335205 seconds ---\n",
      "feature extraction time:  6.871026277542114\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([8602, 9169, 1862,  ..., 4337, 8348, 2853], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08881545066833496\n",
      "Loss: 0.02482146924131238\n",
      "rotation error:  285.0366904254157\n",
      "translation error:  0.022702827639424338\n",
      "--- 13.472007751464844 seconds ---\n",
      "feature extraction time:  6.516263246536255\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([8712,  358, 7859,  ..., 5045, 8897, 9191], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09108591079711914\n",
      "Loss: 0.013615765945689588\n",
      "rotation error:  25.15223882988279\n",
      "translation error:  0.023975757355194888\n",
      "--- 13.486956596374512 seconds ---\n",
      "Epoch: [19/20], Batch: 19, Loss: 0.013615765945689588\n",
      "feature extraction time:  6.6757471561431885\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([1486, 1667,  918,  ..., 1833, 2212, 5415], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.07886195182800293\n",
      "Loss: 0.012438701608713952\n",
      "rotation error:  10.386979497458103\n",
      "translation error:  0.02744325172067692\n",
      "--- 13.432469606399536 seconds ---\n",
      "feature extraction time:  6.355849027633667\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:  0.0009968280792236328\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([   1,  584,  960,  ..., 1985, 4386, 1499], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.0980229377746582\n",
      "Loss: 0.01682508606825008\n",
      "rotation error:  41.17461152892519\n",
      "translation error:  0.028287735136927866\n",
      "--- 13.355381488800049 seconds ---\n",
      "feature extraction time:  6.787433624267578\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([5325, 5043, 6379,  ..., 2611, 4858, 6101], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08970022201538086\n",
      "Loss: 0.0343984693220931\n",
      "rotation error:  84.43327342046628\n",
      "translation error:  0.03383780017150189\n",
      "--- 13.608911514282227 seconds ---\n",
      "feature extraction time:  6.671777248382568\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([9823, 7600, 8780,  ..., 4282, 8963,  211], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10031580924987793\n",
      "Loss: 0.018461748276267544\n",
      "rotation error:  5.12770159121777\n",
      "translation error:  0.0317090330630677\n",
      "--- 13.067046403884888 seconds ---\n",
      "feature extraction time:  6.898930549621582\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([7549, 2614, 9254,  ..., 2754, 9299, 1498], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.1006631851196289\n",
      "Loss: 0.036638351773751014\n",
      "rotation error:  90.83351353236458\n",
      "translation error:  0.027697672814626813\n",
      "--- 13.669665575027466 seconds ---\n",
      "Epoch: [19/20], Batch: 24, Loss: 0.036638351773751014\n",
      "feature extraction time:  6.6737587451934814\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([7147, 8461, 3880,  ..., 5305, 3401, 2931], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.10393524169921875\n",
      "Loss: 0.01133872390411535\n",
      "rotation error:  44.044157202737416\n",
      "translation error:  0.01977972489716096\n",
      "--- 13.120450735092163 seconds ---\n",
      "feature extraction time:  6.667703628540039\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([8303,  427,  674,  ..., 7575, 9977, 1335], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.09894251823425293\n",
      "Loss: 0.01660561530924419\n",
      "rotation error:  34.91963961295754\n",
      "translation error:  0.02717241014028524\n",
      "--- 13.298932075500488 seconds ---\n",
      "feature extraction time:  6.7874040603637695\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([8829, 1510, 9626,  ..., 8728, 8350, 2074], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.11579418182373047\n",
      "Loss: 0.027343001070841835\n",
      "rotation error:  37.959373384205136\n",
      "translation error:  0.02717341285941964\n",
      "--- 13.781312465667725 seconds ---\n",
      "feature extraction time:  6.256079196929932\n",
      "src_keypts_idx_unsqueezed:  torch.Size([1, 3, 64])\n",
      "src_keypts:  torch.Size([1, 64, 3])\n",
      "Grouping keypoints time:  0.01697254180908203\n",
      "B:  1\n",
      "K_topk:  64\n",
      "nsample:  32\n",
      "num_feat:  32\n",
      "get_cat_feat_src time:  0.0\n",
      "tgt_pts_xyz:  torch.Size([1, 10000, 3])\n",
      "ref_pts:  torch.Size([1, 10000, 3])\n",
      "dist_normalize:  torch.Size([1, 32, 13824])\n",
      "feat_weight_map:  torch.Size([1, 32, 32, 13824])\n",
      "idx_1_mask:  tensor([[0]])\n",
      "idx_1_mask_flatten:  tensor([0])\n",
      "idx_2_mask:  tensor([1887,  636, 9181,  ..., 9034, 5648, 6007], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08836793899536133\n",
      "Loss: 0.04634827570689612\n",
      "rotation error:  50.03254441933357\n",
      "translation error:  0.03262684712307795\n",
      "--- 13.020811557769775 seconds ---\n",
      "feature extraction time:  6.6630425453186035\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"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "100%|██████████| 20/20 [2:12:48<00:00, 398.45s/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([ 333, 8645, 2555,  ..., 2304, 2051,  859], device='cuda:0')\n",
      "get_cat_feat_tgt time:  0.08765649795532227\n",
      "Loss: 0.00925053492557177\n",
      "rotation error:  25.303267896419555\n",
      "translation error:  0.033886668592071414\n",
      "--- 13.021884679794312 seconds ---\n",
      "Epoch: [19/20], Batch: 29, Loss: 0.00925053492557177\n",
      "loss epoch [0.019930899763159, 0.018847588280161913, 0.022835652000832582, 0.02876474134440855, 0.03217326517464673, 0.017569888328435722, 0.015523842212944151, 0.010062925407132235, 0.029266787283699768, 0.020479908945930863, 0.015226771188028633, 0.026073182897309914, 0.020838413084548285, 0.016122840347331045, 0.013217706228020838, 0.010255050661525617, 0.023686653465880555, 0.020038702524214073, 0.02482146924131238, 0.013615765945689588, 0.012438701608713952, 0.01682508606825008, 0.0343984693220931, 0.018461748276267544, 0.036638351773751014, 0.01133872390411535, 0.01660561530924419, 0.027343001070841835, 0.04634827570689612, 0.00925053492557177]\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",
    "        if epoch < 3:\n",
    "            src_keypts, target_vcp = model(src, target, R_gt, t_init)\n",
    "        else:\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(), \"train2_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": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Finished Training\n"
     ]
    }
   ],
   "source": [
    "# save\n",
    "print(\"Finished Training\")"
   ]
  }
 ],
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