Prerequisite

• I have searched Issues and Discussions but cannot get the expected help.
• I have read the FAQ documentation but cannot get the expected help.
• The bug has not been fixed in the latest version (dev-1.x) or latest version (dev-1.0).

Task

I'm using the official example scripts/configs for the officially supported tasks/models/datasets.

Branch

main branch https://github.com/open-mmlab/mmdetection3d

Environment

System environment:
sys.platform: linux
Python: 3.8.20 (default, Oct 3 2024, 15:24:27) [GCC 11.2.0]
CUDA available: True
MUSA available: False
numpy_random_seed: 1278117654
GPU 0: NVIDIA A100-PCIE-40GB
CUDA_HOME: /usr/local/cuda
NVCC: Cuda compilation tools, release 11.3, V11.3.58
GCC: gcc (Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0
PyTorch: 1.11.0
PyTorch compiling details: PyTorch built with:

• GCC 7.3

• C++ Version: 201402

• Intel(R) oneAPI Math Kernel Library Version 2023.1-Product Build 20230303 for Intel(R) 64 architecture applications

• Intel(R) MKL-DNN v2.5.2 (Git Hash a9302535553c73243c632ad3c4c80beec3d19a1e)

• OpenMP 201511 (a.k.a. OpenMP 4.5)

• LAPACK is enabled (usually provided by MKL)

• NNPACK is enabled

• CPU capability usage: AVX2

• CUDA Runtime 11.3

• NVCC architecture flags: -gencode;arch=compute_37,code=sm_37;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86;-gencode;arch=compute_37,code=compute_37

• CuDNN 8.2

• Magma 2.5.2

• Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=11.3, CUDNN_VERSION=8.2.0, CXX_COMPILER=/opt/rh/devtoolset-7/root/usr/bin/c++, CXX_FLAGS= -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -DSYMBOLICATE_MOBILE_DEBUG_HANDLE -DEDGE_PROFILER_USE_KINETO -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-unused-function -Wno-unused-result -Wno-unused-local-typedefs -Wno-strict-overflow -Wno-strict-aliasing -Wno-error=deprecated-declarations -Wno-stringop-overflow -Wno-psabi -Wno-error=pedantic -Wno-error=redundant-decls -Wno-error=old-style-cast -fdiagnostics-color=always -faligned-new -Wno-unused-but-set-variable -Wno-maybe-uninitialized -fno-math-errno -fno-trapping-math -Werror=format -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.11.0, USE_CUDA=ON, USE_CUDNN=ON, USE_EXCEPTION_PTR=1, USE_GFLAGS=OFF, USE_GLOG=OFF, USE_MKL=ON, USE_MKLDNN=OFF, USE_MPI=OFF, USE_NCCL=ON, USE_NNPACK=ON, USE_OPENMP=ON, USE_ROCM=OFF,

  TorchVision: 0.12.0
  OpenCV: 4.10.0
  MMEngine: 0.10.5

Reproduces the problem - code sample

python tools/test.py configs/grounding/mv-grounding_8xb12_embodiedscan-vg-9dof.py work_dirs/mv-grounding/epoch_12.pth 

Reproduces the problem - command or script

python tools/test.py configs/grounding/mv-grounding_8xb12_embodiedscan-vg-9dof.py work_dirs/mv-grounding/epoch_12.pth 

Reproduces the problem - error message

Traceback (most recent call last):
  File "tools/test.py", line 157, in <module>
    main()
  File "tools/test.py", line 153, in main
    runner.test()
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/mmengine/runner/runner.py", line 1823, in test
    metrics = self.test_loop.run()  # type: ignore
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/mmengine/runner/loops.py", line 463, in run
    self.run_iter(idx, data_batch)
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/torch/autograd/grad_mode.py", line 27, in decorate_context
    return func(*args, **kwargs)
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/mmengine/runner/loops.py", line 487, in run_iter
    outputs = self.runner.model.test_step(data_batch)
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/mmengine/model/base_model/base_model.py", line 145, in test_step
    return self._run_forward(data, mode='predict')  # type: ignore
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/mmengine/model/base_model/base_model.py", line 361, in _run_forward
    results = self(**data, mode=mode)
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1110, in _call_impl
    return forward_call(*input, **kwargs)
  File "/root/EmbodiedScan/embodiedscan/models/detectors/sparse_featfusion_grounder.py", line 766, in forward
    return self.predict(inputs, data_samples, **kwargs)
  File "/root/EmbodiedScan/embodiedscan/models/detectors/sparse_featfusion_grounder.py", line 650, in predict
    visualizer.visualize_scene(predictions)
  File "/root/miniconda3/envs/embodiedscan/lib/python3.8/site-packages/mmengine/dist/utils.py", line 427, in wrapper
    return func(*args, **kwargs)
  File "/root/EmbodiedScan/embodiedscan/visualizer/base_visualizer.py", line 93, in visualize_scene
    assert gt["gt_labels_3d"].shape[0] == 1
AssertionError

Additional information

I'm trying to follow the README in visualizer to visualize the prediction at the time of visual grounding inference. But it fails with the above errors.

I noticed that the visualization in the README is for the multi-views detection task, does it mean that the visual grounding task cannot be visualized? If not, how can I modify it to visualize. Thanks in advance for your answer.