DarkGeekMS / PVN3D

Code for "PVN3D: A Deep Point-wise 3D Keypoints Hough Voting Network for 6DoF Pose Estimation", CVPR 2020

PVN3D

This is the source code for PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation, CVPR 2020. (PDF, Video_bilibili, Video_youtube).

Installation

• Remove Old NVIDIA installation.

  sudo apt-get purge nvidia*
  sudo apt-get autoremove
  sudo apt-get autoclean
  sudo rm -rf /usr/local/cuda*
  sudo rm /etc/apt/sources.list.d/cuda*

• Install the NVIDIA driver version 440.

  sudo add-apt-repository ppa:graphics-drivers/ppa
  sudo apt update
  sudo apt install nvidia-driver-440
  # reboot
  shutdown -r now

• Install CUDA10.2 from the NIVIDA website. Remove other versions as explained in the NVIDIA installation guide. For Ubuntu 18.04 & 20.04 the instruction for "deb (network)" work well:

  wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
  sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
  sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
  sudo add-apt-repository "deb http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /"
  sudo apt-get update
  sudo apt-get -y install cuda-10-2
  sudo apt install libcudnn7

• Create and activate a python3 virtual environment and install the requirements (python 3.6 required).

  python3 -m venv venv
  source venv/bin/activate
  # Cython an numpy must be installed before requirements.txt
  pip3 install Cython numpy --user
  pip3 install -r requirements.txt

• Install tkinter through sudo apt install python3-tk

• Install python-pcl.

  # install dependencies
  sudo apt install libpcl-dev libvtk6-dev
  # pip install works for python3.6 on Ubuntu 18.04 & 20.04
  pip install python-pcl

• Install PointNet++ (refer from Pointnet2_PyTorch):

  git clone https://github.com/erikwijmans/Pointnet2_PyTorch
  cd Pointnet2_PyTorch
  pip3 install -r requirements.txt
  cd ..
  python3 setup.py build_ext

Datasets

• LineMOD: Download the preprocessed LineMOD dataset from here (refer from DenseFusion). Unzip it and link the unzipped Linemod_preprocessed/ to pvn3d/datasets/linemod/Linemod_preprocessed:

  ln -s path_to_unzipped_Linemod_preprocessed pvn3d/dataset/linemod/

• YCB-Video: Download the YCB-Video Dataset from PoseCNN. Unzip it and link the unzippedYCB_Video_Dataset to pvn3d/datasets/ycb/YCB_Video_Dataset:

  ln -s path_to_unzipped_YCB_Video_Dataset pvn3d/datasets/ycb/

Training and evaluating

Training on the LineMOD Dataset

• First, generate synthesis data for each object using scripts from raster triangle.
• Train the model for the target object. Take object ape for example:

  cd pvn3d
  python3 -m train.train_linemod_pvn3d --cls ape

  The trained checkpoints are stored in train_log/linemod/checkpoints/{cls}/, train_log/linemod/checkpoints/ape/ in this example.

Evaluating on the LineMOD Dataset

• Start evaluation by:

  # commands in eval_linemod.sh
  cls='ape'
  tst_mdl=train_log/linemod/checkpoints/${cls}/${cls}_pvn3d_best.pth.tar
  python3 -m train.train_linemod_pvn3d -checkpoint $tst_mdl -eval_net --test --cls $cls

  You can evaluate different checkpoint by revising tst_mdl to the path of your target model.
• We provide our pre-trained models for each object at onedrive link, baiduyun link (access code(提取码): 8kmp). Download them and move them to their according folders. For example, move the ape_pvn3d_best.pth.tar to train_log/linemod/checkpoints/ape/. Then revise tst_mdl=train_log/linemod/checkpoints/ape/ape_pvn3d_best.path.tar for testing.

Demo/visualizaion on the LineMOD Dataset

• After training your models or downloading the pre-trained models, you can start the demo by:

  # commands in demo_linemod.sh
  cls='ape'
  tst_mdl=train_log/linemod/checkpoints/${cls}/${cls}_pvn3d_best.pth.tar
  python3 -m demo -dataset linemod -checkpoint $tst_mdl -cls $cls

  The visualization results will be stored in train_log/linemod/eval_results/{cls}/pose_vis

Training on the YCB-Video Dataset

• Preprocess the validation set to speed up training:

  cd pvn3d
  python3 -m datasets.ycb.preprocess_testset

• Start training on the YCB-Video Dataset by:

  python3 -m train.train_ycb_pvn3d

  The trained model checkpoints are stored in train_log/ycb/checkpoints/

Evaluating on the YCB-Video Dataset

• Start evaluating by:

  # commands in eval_ycb.sh
  tst_mdl=train_log/ycb/checkpoints/pvn3d_best.pth.tar
  python3 -m train.train_ycb_pvn3d -checkpoint $tst_mdl -eval_net --test

  You can evaluate different checkpoint by revising the tst_mdl to the path of your target model.
• We provide our pre-trained models at onedrive link, baiduyun link (access code(提取码): h2i5). Download the ycb pre-trained model, move it to train_log/ycb/checkpoints/ and modify tst_mdl for testing.

Demo/visualizaion on the LineMOD Dataset

• After training your model or downloading the pre-trained model, you can start the demo by:

  # commands in demo_ycb.sh
  tst_mdl=train_log/ycb/checkpoints/pvn3d_best.pth.tar
  python3 -m demo -checkpoint $tst_mdl -dataset ycb

  The visualization results will be stored in train_log/ycb/eval_results/pose_vis

Results

• Evaluation result on the LineMOD dataset:
• Evaluation result on the YCB-Video dataset:
• Visualization of some predicted poses on YCB-Video dataset:
• Joint training for distinguishing objects with similar appearance but different in size:

Citations

Please cite PVN3D if you use this repository in your publications:

@InProceedings{He_2020_CVPR,
author = {He, Yisheng and Sun, Wei and Huang, Haibin and Liu, Jianran and Fan, Haoqiang and Sun, Jian},
title = {PVN3D: A Deep Point-Wise 3D Keypoints Voting Network for 6DoF Pose Estimation},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2020}
}