PointCloud

MinkowskiEngine Installation

On Snellius

conda should be installed first. This part doesn't require GPU machine and only done once.

module load 2023
module load Anaconda3/2023.07-2
conda init

After conda init, the terminal should be closed. So be careful, if you allocated the GPU, you will loss your GPUs, unless you do ssh to the allocated machine. E.g. ssh gcn14.

MinkowskiEngine requires GPU. You can ask for GPU by salloc.

CUDA 11

salloc --gpus=1 --partition=gpu --time=02:00:00

# MinkowskiEngine==0.5.4
conda create -n mink2 python=3.8
python activate mink2
module load 2022
module load CUDA/11.7.0 # CUDA/11.6.0 was giving error
conda install pytorch==1.11.0 torchvision==0.12.0 torchaudio==0.11.0 cudatoolkit=11.3 -c pytorch
conda install openblas-devel -c anaconda

git clone https://github.com/NVIDIA/MinkowskiEngine.git
cd MinkowskiEngine
python setup.py install --blas_include_dirs=${CONDA_PREFIX}/include --blas=openblas

Note that CUDA is backwards compatible, so CUDA 11.1 can be also used for all packages.

pip install numpy==1.19.5
conda install pytorch=1.9.0 torchvision==0.10.0 torchaudio==0.9.0 cudatoolkit=11.1 -c pytorch -c nvidia

CUDA 12

Only runs on H100. MinkowskiEngine doesn't work before some changes in the MinkowskiEngine code. This fix is described here.

Fix: There is an issue described in here. This fix is based on this link.

• Get the code

git clone https://github.com/NVIDIA/MinkowskiEngine.git 
cd MinkowskiCu12

• Fix the code

1 - .../MinkowskiEngine/src/convolution_kernel.cuh

Add header:
#include <thrust/execution_policy.h>

2 - .../MinkowskiEngine/src/coordinate_map_gpu.cu

Add headers:

#include <thrust/unique.h>
#include <thrust/remove.h>

3 - .../MinkowskiEngine/src/spmm.cu

Add headers:

#include <thrust/execution_policy.h>
#include <thrust/reduce.h> 
#include <thrust/sort.h>

4 - .../MinkowskiEngine/src/3rdparty/concurrent_unordered_map.cuh

Add header:
#include <thrust/execution_policy.h>

• Installation

salloc --gpus=1 --partition=gpu_h100 --time=02:00:00

module load 2023
module load CUDA/12.1.1
conda create -n mink-cu12 python=3.8
conda activate mink-cu12
# https://pytorch.org/get-started/previous-versions/
conda install pytorch==2.1.2 torchvision==0.16.2 torchaudio==2.1.2 pytorch-cuda=12.1 -c pytorch -c nvidia
conda install openblas-devel -c anaconda

cd ~/dev/MinkowskiCu12
# Before this command apply the Fix. 
python setup.py install --blas_include_dirs=${CONDA_PREFIX}/include --blas=openblas

Docker CUDA 12 with the Fix

This information is from here.

The base image is nvidia/cuda:12.1.1-devel-ubuntu20.04 with PyTorch 2.3.1 and CUDA 12.1.

ENV CUDA_HOME=/usr/local/cuda
ENV TORCH_CUDA_ARCH_LIST="6.0 6.1 6.2 7.0 7.2 7.5 8.0 8.6 8.9"
ENV TORCH_NVCC_FLAGS="-Xfatbin -compress-all"
RUN git clone https://github.com/NVIDIA/MinkowskiEngine.git /tmp/MinkowskiEngine \
    && cd /tmp/MinkowskiEngine \
    && sed -i '31i #include <thrust/execution_policy.h>' ./src/convolution_kernel.cuh \
    && sed -i '39i #include <thrust/unique.h>\n#include <thrust/remove.h>' ./src/coordinate_map_gpu.cu \
    && sed -i '38i #include <thrust/execution_policy.h>\n#include <thrust/reduce.h>\n#include <thrust/sort.h>' ./src/spmm.cu \
    && sed -i '38i #include <thrust/execution_policy.h>' ./src/3rdparty/concurrent_unordered_map.cuh \
    && python setup.py install --force_cuda --blas=openblas \
    && cd - \
    && rm -rf /tmp/MinkowskiEngine

Test MinkowskiEngine

import torch
import torch.nn as nn
import MinkowskiEngine as ME
import sys
sys.path.insert(0,"~/dev/MinkowskiEngine/tests/python")
from common import data_loader

class ExampleNetwork(ME.MinkowskiNetwork):
    def __init__(self, in_feat, out_feat, D):
        super(ExampleNetwork, self).__init__(D)
        self.conv1 = nn.Sequential(
            ME.MinkowskiConvolution(
                in_channels=in_feat,
                out_channels=64,
                kernel_size=3,
                stride=2,
                dilation=1,
                bias=False,
                dimension=D),
            ME.MinkowskiBatchNorm(64),
            ME.MinkowskiReLU())
        self.conv2 = nn.Sequential(
            ME.MinkowskiConvolution(
                in_channels=64,
                out_channels=128,
                kernel_size=3,
                stride=2,
                dimension=D),
            ME.MinkowskiBatchNorm(128),
            ME.MinkowskiReLU())
        self.pooling = ME.MinkowskiGlobalPooling()
        self.linear = ME.MinkowskiLinear(128, out_feat)
    def forward(self, x):
        out = self.conv1(x)
        out = self.conv2(out)
        out = self.pooling(out)
        return self.linear(out)

criterion = nn.CrossEntropyLoss()
net = ExampleNetwork(in_feat=3, out_feat=5, D=2)
print(net)

# a data loader must return a tuple of coords, features, and labels.
coords, feat, label = data_loader()
input = ME.SparseTensor(feat, coordinates=coords)
# Forward
output = net(input)

# Loss
loss = criterion(output.F, label)

Install other packages For SegmentAnyTree

# open3d, torch-sparse, torch-spline-conv: very slow
# torch-points-kernels: different version of numpy, sklearn
# Issue with pip install torch-scatter, torch-sparse, torch-cluster, torch-geometric. 
# I use it from: https://github.com/prs-eth/PanopticSegForLargeScalePointCloud
pip install torch-scatter==2.0.8 -f https://data.pyg.org/whl/torch-1.9.0+cu111.html
pip install torch-sparse==0.6.12 -f https://data.pyg.org/whl/torch-1.9.0+cu111.html
pip install torch-cluster==1.5.9 -f https://data.pyg.org/whl/torch-1.9.0+cu111.html
pip install torch-cluster==1.2.1 -f https://data.pyg.org/whl/torch-1.9.0+cu111.html 
pip install torch-geometric==1.7.2

pip install -U pip
pip install hydra-core wandb tqdm gdown types-six types-requests h5py
pip install numpy scikit-image numba 
pip install matplotlib
pip install plyfile
pip install torchnet tensorboard
pip install open3d
pip install torch-scatter torch-sparse torch-cluster torch-geometric pytorch_metric_learning torch-points-kernels
TORCH_CUDA_ARCH_LIST="6.0;7.0;7.5;8.0;8.6;9.0" FORCE_CUDA=1
pip install cython
pip install torch-spline-conv
pip install git+https://github.com/mit-han-lab/torchsparse.git # failed to install

Install TreeLearn

This content is adapted from the TreeLearn Pipeline Notebook.

# Note that newer version laspy[lazrs] gives error 
# spconv-cu120 comes with warnings and then Floating point exception (core dumped).
conda create -n treelearn python=3.9
conda activate treelearn
pip install torch torch-scatter timm laspy[lazrs]==2.5.1 munch pandas plyfile pyyaml scikit-learn six tqdm open3d-cpu jakteristics shapely geopandas alphashape spconv-cu114 tensorboard tensorboardX
cd ~/dev
git clone https://github.com/ecker-lab/TreeLearn.git
cd TreeLearn
pip install -e .

mkdir -p ~/Downloads/tree/treelearn/checkpoints
cd ~/Downloads/tree/treelearn
mkdir -p pipeline/forests

wget https://data.goettingen-research-online.de/api/access/datafile/:persistentId?persistentId=doi:10.25625/VPMPID/1JMEQV -O checkpoints/model_weights.pth
# https://data.goettingen-research-online.de/api/access/datafile/:persistentId?persistentId=doi:10.25625/VPMPID/C1AHQW for model_weights_diverse_training_data.pth

wget https://data.goettingen-research-online.de/api/access/datafile/:persistentId?persistentId=doi:10.25625/VPMPID/0WDXL6 -O pipeline/forests/plot_7_cut.laz

cd ~/dev/TreeLearn
python

For Snellius with CUDA11:

module load 2022
module load Anaconda3/2022.05
conda init
# exit and ssh again then conda will be in .bashrc

module load 2022
module load CUDA/11.7.0

conda install pytorch==1.11.0 torchvision==0.12.0 torchaudio==0.11.0 cudatoolkit=11.3 -c pytorch
# pytorch 1.11 has issue with new numpy
pip install numpy==1.26
# I install torch-scatter first to see if there is an issue. 
pip install torch-scatter
# Install the rest as above

# for python path
sys.path.append("/home/dkissling/dev/TreeLearn/tools/pipeline")
config_path = "/home/dkissling/dev/TreeLearn/configs/pipeline/pipeline.yaml"
config.forest_path = "/home/dkissling/data/tree/treelearn/pipeline/forests/plot_7_cut.laz"
config.dataset_test.data_root = "/home/dkissling/data/tree/treelearn/pipeline/forests/tiles"
config.pretrain = "/home/dkissling/data/tree/treelearn/checkpoints/model_weights.pth"

import sys
sys.path.append("/home/fatemeh/dev/TreeLearn/tools/pipeline")
from pipeline import run_treelearn_pipeline
import argparse, pprint
from tree_learn.util import get_config

config_path = "/home/fatemeh/dev/TreeLearn/configs/pipeline/pipeline.yaml"
config = get_config(config_path)

# adjust config
config.forest_path = "/home/fatemeh/Downloads/tree/treelearn/pipeline/forests/plot_7_cut.laz"
config.dataset_test.data_root = "/home/fatemeh/Downloads/tree/treelearn/pipeline/forests/tiles"
config.pretrain = "/home/fatemeh/Downloads/tree/treelearn/checkpoints/model_weights.pth"
config.tile_generation = True
config.sample_generation.stride = 0.9 # small overlap of tiles
config.shape_cfg.outer_remove = False # default value = 13.5
config.save_cfg.save_treewise = False
config.save_cfg.return_type = "voxelized_and_filtered"
print(pprint.pformat(config.toDict(), indent=2))

import logging
logger = logging.getLogger("TreeLearn")
for handler in logger.handlers[:]:
    logger.removeHandler(handler)
logging.basicConfig()
ch = logging.StreamHandler(sys.stdout)
formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s')
ch.setFormatter(formatter)
logger.addHandler(ch)
logger.setLevel(logging.INFO)

run_treelearn_pipeline(config)

Install ForAINet

Follow the rest of the installation guide. However, a few changes need to be made. Follow the steps below:

• The guide mentions that requirements.txt should be installed, but the file is not provided. Additionally, torch-cluster should be installed from a separate file.
• MinkowskiEngine should be installed locally.

# make requirements.txt from https://github.com/nicolas-chaulet/torch-points3d/blob/master/requirements.txt
# remove: omegaconf, hydra-core and replace by hydra-core>=1.0.0,<1.1.0
# remove: torch-scatter, torch-sparse, torch-cluster, torch-geometric, torch, torchvision, numpy
pip install torch-scatter==2.0.8 -f https://data.pyg.org/whl/torch-1.9.0+cu111.html
pip install torch-sparse==0.6.12 -f https://data.pyg.org/whl/torch-1.9.0+cu111.html
pip install torch-cluster==1.5.9 -f https://data.pyg.org/whl/torch-1.9.0+cu111.html
pip install torch-geometric==1.7.2

# Don't do: export CUDA_HOME=/usr/local/cuda-11
# Don't do: pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps --install-option="--blas_include_dirs=${CONDA_PREFIX}/include" –install-option="--blas=openblas"
module load 2022
module load CUDA/11.7.0 # CUDA/11.6.0 was giving error
git clone https://github.com/NVIDIA/MinkowskiEngine.git
cd MinkowskiEngine
python setup.py install --blas_include_dirs=${CONDA_PREFIX}/include --blas=openblas

Tools

labelCloud is installed both on python 3.9, 3.10 but run with errors.

point cloud annotation tools: https://chatgpt.com/share/67adeacf-bef8-8011-ba02-c59ae671126c

• cloudcompare for visualization: sudo snap install cloudcompare. Note that sudo apt install cloudcompare can't open .laz file.

Miscellaneous

GPU Compute Capability

You can define from the below code or from GPU Compute Capability.

import torch
torch.cuda.get_device_capability()

H100: 9.0, A100: 8.6

CUDA modules available on Snellius

# module load 2024
CUDA/12.6.0
cuDNN/9.5.0.50-CUDA-12.6.0

# module load 2023
CUDA/12.1.1 
CUDA/12.4.0
cuDNN/8.9.2.26-CUDA-12.1.1

# module load 2022
CUDA/11.6.0    
CUDA/11.7.0
CUDA/11.8.0
cuDNN/8.4.1.50-CUDA-11.7.0
cuDNN/8.6.0.163-CUDA-11.8.0

CUDA modules paths on Snellius

To get the path information such as CUDA_HOME, CUDA_PATH, PAHT, LIBRARY_PATH, LD_LIBRARY_PATH use:

module load CUDA/12.6.0
module display CUDA/12.6.0

Tried but failed

These are my previos attemps to solve issues encountered. But resolvinig issues didn't install MinkowskiEngine. But it is worth mentioning them here.

pip DEPRECATION: --build-option and --global-option

This option doesn't work, even with the --no-build-isolation fix.

export CXX=g++
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine --no-build-isolation -v --config-settings=build_option=--force_cuda --config-settings=blas_include_dirs=${CONDA_PREFIX}/include --config-settings=blas=openblas

MinkowskiEngine requires torch at build time, pip’s default build isolation can cause “Pytorch not found” errors. --no-build-isolation tells pip not to create a temporary/isolated environment at build time and instead to use the packages in your current conda/pip environment (where you have PyTorch installed).

Distutil issue with Numpy

numpy.distutils removed after numpy=1.24.

conda install "numpy=1.23.*" setuptools pip wheel

Find openbals

OPENBLAS=$(find ~/.conda/envs/test -name "libopenblas.so" | head -n 1)
export LD_LIBRARY_PATH=$(dirname $OPENBLAS):$LD_LIBRARY_PATH
pip install --no-cache-dir --force-reinstall numpy

# >>> np.__config__.show()
  "Build Dependencies": {
    "blas": {
      "name": "scipy-openblas",
      "found": true,
      "version": "0.3.28",
      "detection method": "pkgconfig",
      "include directory": "/opt/_internal/cpython-3.10.15/lib/python3.10/site-packages/scipy_openblas64/include",
      "lib directory": "/opt/_internal/cpython-3.10.15/lib/python3.10/site-packages/scipy_openblas64/lib",
      "openblas configuration": "OpenBLAS 0.3.28  USE64BITINT DYNAMIC_ARCH NO_AFFINITY Haswell MAX_THREADS=64",
      "pc file directory": "/project/.openblas"
    },
    "lapack": {
      "name": "scipy-openblas",
      "found": true,
      "version": "0.3.28",
      "detection method": "pkgconfig",
      "include directory": "/opt/_internal/cpython-3.10.15/lib/python3.10/site-packages/scipy_openblas64/include",
      "lib directory": "/opt/_internal/cpython-3.10.15/lib/python3.10/site-packages/scipy_openblas64/lib",
      "openblas configuration": "OpenBLAS 0.3.28  USE64BITINT DYNAMIC_ARCH NO_AFFINITY Haswell MAX_THREADS=64",
      "pc file directory": "/project/.openblas"
    }
  }

CUDA installation in Docker

# docker pull or From
# nvidia/cuda:12.6.0-runtime-ubuntu22.04
# nvidia/cuda:12.6.0-devel-ubuntu22.04
# nvidia/cuda:11.1.1-cudnn8-devel-ubuntu20.04

# https://developer.nvidia.com/cuda-downloads
wget https://developer.download.nvidia.com/compute/cuda/11.1.1/local_installers/cuda_11.1.1_455.32.00_linux.run
sh cuda_11.1.1_455.32.00_linux.run --silent --toolkit

export PATH=/usr/local/cuda-11.1/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda-11.1/lib64:$LD_LIBRARY_PATH
export CUDA_HOME=/usr/local/cuda-11.1

References

• TreeLearn: ~30M parameters github, paper
• SegmentAnyTree: ~12M parameters, paper
• ForAINet: paper, github

TreeLearn, SegmentAnyTree, and ForAINet are based on PointGroup model.