def load_net_model():
parser = argparse.ArgumentParser()
parser.add_argument('--seg_model', type=str,
default='D:/DenseFusion_1.0_20210308/Seg_Pose/Seg/trained_models/model_2_0.0033125885542725133.pth',
help='resume Seg model')
parser.add_argument('--model', type=str,
default='D:/DenseFusion_1.0_20210308/Seg_Pose/Pose/trained_models/pose_model_2_0.09233990000864985.pth',
help='resume PoseNet model')
parser.add_argument('--refine_model', type=str,
default='D:/DenseFusion_1.0_20210308/Seg_Pose/Pose/trained_models/pose_refine_model_4_0.06547849291308346.pth',
help='resume PoseRefineNet model')
opt = parser.parse_args()
global estimator
estimator = PoseNet(num_points=num_points, num_obj=num_objects)
estimator.cuda()
global refiner
refiner = PoseRefineNet(num_points=num_points, num_obj=num_objects)
refiner.cuda()
estimator.load_state_dict(torch.load(opt.model))
refiner.load_state_dict(torch.load(opt.refine_model))
estimator.eval()
refiner.eval()
global testdataset
testdataset = sp_Dataset(opt.seg_model, num_points, False, 0.0, True)
def main(args):
seg_model = segnet()
seg_model.cuda()
#seg_model.load_state_dict(torch.load('./segschaltgabel.pth')) #uncomment if we are using the original segnet
#seg_model.load_state_dict(torch.load('./schaltgabel_pruned.pth'))
#seg_model.load_state_dict(torch.load('./stift_pruned.pth'))
#seg_model.load_state_dict(torch.load('./flansch_pruned.pth'))
if opt.model == 'flansch':
seg_model.load_state_dict(torch.load('./segflansch.pth'))
#seg_model.load_state_dict(torch.load('./flansch_pruned.pth'))
idx = 0
scaled = np.array([[59, -42, 59], [59, -42, -59], [59, 20, -59],
[59, 20, 59], [-59, -42, 59], [-59, -42, -59],
[-59, 20, -59], [-59, 20, 59]
]) / 1000 #flansch_3d_bbox
elif opt.model == 'schaltgabel':
seg_model.load_state_dict(torch.load('./segschaltgabel.pth'))
#seg_model.load_state_dict(torch.load('./schaltgabel_pruned.pth'))
idx = 1
scaled = np.array([[-54.7478, -16.7500, 23], [-54.7478, -16.7500, 0],
[54.7478, -16.7500, 0], [54.7478, -16.7500, 23],
[-54.7478, 130.85, 23], [-54.7478, 130.85, 0],
[54.7478, 130.85, 0], [54.7478, 130.85, 23]
]) / 1000 #schaltgabel_3d_bbox
else:
#seg_model.load_state_dict(torch.load('./stift_pruned.pth'))
seg_model.load_state_dict(torch.load('./segstift.pth'))
idx = 2
scaled = np.array(
[[-20, -35, 19.9878], [-20, -35, -19.9878], [20, -35, -19.9878],
[20, -35, 19.9878], [-20, 87, 19.9878], [-20, 87, -19.9878],
[20, 87, -19.9878], [20, 87, 19.9878]]) / 1000 #stift_3d_bbox
seg_model.eval()
estimator = PoseNet(num_points, num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points, num_objects)
refiner.cuda()
estimator.load_state_dict(torch.load('./pose_model_current.pth'))
refiner.load_state_dict(torch.load('./pose_refine_model_current.pth'))
estimator.eval()
refiner.eval()
pe = pose_estimation(seg_model, estimator, refiner, idx, scaled)
rospy.init_node('pose_estimation', anonymous=True)
try:
rospy.spin()
except KeyboardInterrupt:
print('Shutting down ROS pose estimation module')
cv2.destroyAllWindows()
def main():
# Globals
global refiner, estimator
# Setup upload folder and run server
if not os.path.exists(UPLOAD_FOLDER):
os.makedirs(UPLOAD_FOLDER)
# Sets up network
refiner = PoseRefineNet(num_points=num_points, num_obj=num_obj)
refiner.cuda()
refiner.load_state_dict(torch.load(opt.refine_model))
refiner.eval()
estimator = PoseNet(num_points=num_points, num_obj=num_obj)
estimator.cuda()
estimator.load_state_dict(torch.load(opt.model))
estimator.eval()
app.config['UPLOAD_FOLDER'] = UPLOAD_FOLDER
app.run(port=PORT, host='0.0.0.0', debug=False)
class DenseFusionRefine:
def __init__(self, dataset):
self.num_points = dataset.df_num_points
self.obj_list = dataset.obj_ids
self.refiner = PoseRefineNet(num_points=self.num_points,
num_obj=len(self.obj_list))
self.refiner.cuda()
self.refiner.load_state_dict(torch.load(dataset.df_model_path))
self.refiner.eval()
def refine(self, obj_id, pose, emb, cloud, iterations=1):
class_id = self.obj_list.index(obj_id)
index = torch.LongTensor([class_id])
index = Variable(index).cuda()
pose_ref = pose.copy()
for _ in range(iterations):
# transform cloud according to pose estimate
R = Variable(torch.from_numpy(pose_ref[:3, :3].astype(
np.float32))).cuda().view(1, 3, 3)
ts = Variable(torch.from_numpy(pose_ref[:3, 3].astype(np.float32))).cuda().view(1, 3)\
.repeat(self.num_points, 1).contiguous().view(1, self.num_points, 3)
new_cloud = torch.bmm((cloud - ts), R).contiguous()
# predict delta pose
pred_q, pred_t = self.refiner(new_cloud, emb, index)
pred_q = pred_q.view(1, 1, -1)
pred_q = pred_q / (torch.norm(pred_q, dim=2).view(1, 1, 1))
pred_q = pred_q.view(-1).cpu().data.numpy()
pred_t = pred_t.view(-1).cpu().data.numpy()
# apply delta to get new pose estimate
pose_delta = quaternion_matrix(pred_q)
pose_delta[:3, 3] = pred_t
pose_ref = pose_ref @ pose_delta
return pose_ref
model_points_list.append(model_points)
model = "/home/tomo/densefusion/trained_models/tomo_blisters_2/pose_model_1_0.005430417195209802.pth"
refine_model = "/home/tomo/densefusion/trained_models/tomo_blisters_2/pose_refine_model_63_0.0005920357997828468.pth"
#model = "/home/tomo/densefusion/trained_models/tomo_blisters_invert/pose_model_1_0.005256925600131684.pth"
#refine_model = "/home/tomo/densefusion/trained_models/tomo_blisters_invert/pose_refine_model_29_0.0005998273272780352.pth"
estimator = PoseNet(num_points=num_points, num_obj=num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points=num_points, num_obj=num_objects)
refiner.cuda()
estimator.load_state_dict(torch.load(model))
refiner.load_state_dict(torch.load(refine_model))
estimator.eval()
refiner.eval()
def setup_config():
model_path = "/home/tomo/densefusion/MASK_RCNN_TOMO/trained_models/model_final_new.pth"
cfg = get_cfg()
cfg.merge_from_file(
model_zoo.get_config_file(
"COCO-InstanceSegmentation/mask_rcnn_R_101_FPN_3x.yaml"))
cfg.INPUT.MIN_SIZE_TEST = 0
cfg.INPUT.MAX_SIZE_TEST = 0
cfg.MODEL.RPN.PRE_NMS_TOPK_TEST = 2000
cfg.MODEL.WEIGHTS = model_path
cfg.MODEL.ANCHOR_GENERATOR.SIZES = [[8, 16, 32, 64, 128]]
cfg.MODEL.RPN.BATCH_SIZE_PER_IMAGE = 512
cfg.MODEL.ROI_HEADS.BATCH_SIZE_PER_IMAGE = 256
def main():
opt.manualSeed = random.randint(1, 10000)
random.seed(opt.manualSeed)
torch.manual_seed(opt.manualSeed)
if opt.dataset == 'ycb':
opt.num_objects = 21 #number of object classes in the dataset
opt.num_points = 1000 #number of points on the input pointcloud
opt.outf = 'trained_models/ycb' #folder to save trained models
opt.log_dir = 'experiments/logs/ycb' #folder to save logs
opt.repeat_epoch = 1 #number of repeat times for one epoch training
elif opt.dataset == 'linemod':
opt.num_objects = 13
opt.num_points = 500
opt.outf = 'trained_models/linemod'
opt.log_dir = 'experiments/logs/linemod'
opt.repeat_epoch = 20
else:
print('Unknown dataset')
return
estimator = PoseNet(num_points=opt.num_points, num_obj=opt.num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points=opt.num_points, num_obj=opt.num_objects)
refiner.cuda()
if opt.resume_posenet != '':
estimator.load_state_dict(
torch.load('{0}/{1}'.format(opt.outf, opt.resume_posenet)))
if opt.resume_refinenet != '':
refiner.load_state_dict(
torch.load('{0}/{1}'.format(opt.outf, opt.resume_refinenet)))
opt.refine_start = True
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
else:
opt.refine_start = False
opt.decay_start = False
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
if opt.dataset == 'ycb':
dataset = PoseDataset_ycb('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'linemod':
dataset = PoseDataset_linemod('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=1,
shuffle=True,
num_workers=opt.workers)
if opt.dataset == 'ycb':
test_dataset = PoseDataset_ycb('test', opt.num_points, False,
opt.dataset_root, 0.0, opt.refine_start)
elif opt.dataset == 'linemod':
test_dataset = PoseDataset_linemod('test', opt.num_points, False,
opt.dataset_root, 0.0,
opt.refine_start)
testdataloader = torch.utils.data.DataLoader(test_dataset,
batch_size=1,
shuffle=False,
num_workers=opt.workers)
opt.sym_list = dataset.get_sym_list()
opt.num_points_mesh = dataset.get_num_points_mesh()
print(
'>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}\nsymmetry object list: {3}'
.format(len(dataset), len(test_dataset), opt.num_points_mesh,
opt.sym_list))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
best_test = np.Inf
if opt.start_epoch == 1:
for log in os.listdir(opt.log_dir):
os.remove(os.path.join(opt.log_dir, log))
st_time = time.time()
for epoch in range(opt.start_epoch, opt.nepoch):
logger = setup_logger(
'epoch%d' % epoch,
os.path.join(opt.log_dir, 'epoch_%d_log.txt' % epoch))
logger.info('Train time {0}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) +
', ' + 'Training started'))
train_count = 0
train_dis_avg = 0.0
if opt.refine_start:
estimator.eval()
refiner.train()
else:
estimator.train()
optimizer.zero_grad()
for rep in range(opt.repeat_epoch):
for i, data in enumerate(dataloader, 0):
points, choose, img, target, model_points, idx = data
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(
img, points, choose, idx)
loss, dis, new_points, new_target = criterion(
pred_r, pred_t, pred_c, target, model_points, idx, points,
opt.w, opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(
pred_r, pred_t, new_target, model_points, idx,
new_points)
dis.backward()
else:
loss.backward()
train_dis_avg += dis.item()
train_count += 1
if train_count % opt.batch_size == 0:
logger.info(
'Train time {0} Epoch {1} Batch {2} Frame {3} Avg_dis:{4}'
.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - st_time)),
epoch, int(train_count / opt.batch_size),
train_count, train_dis_avg / opt.batch_size))
optimizer.step()
optimizer.zero_grad()
train_dis_avg = 0
if train_count != 0 and train_count % 1000 == 0:
if opt.refine_start:
torch.save(
refiner.state_dict(),
'{0}/pose_refine_model_current.pth'.format(
opt.outf))
else:
torch.save(
estimator.state_dict(),
'{0}/pose_model_current.pth'.format(opt.outf))
print(
'>>>>>>>>----------epoch {0} train finish---------<<<<<<<<'.format(
epoch))
logger = setup_logger(
'epoch%d_test' % epoch,
os.path.join(opt.log_dir, 'epoch_%d_test_log.txt' % epoch))
logger.info('Test time {0}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) +
', ' + 'Testing started'))
test_dis = 0.0
test_count = 0
estimator.eval()
refiner.eval()
for j, data in enumerate(testdataloader, 0):
points, choose, img, target, model_points, idx = data
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(img, points, choose, idx)
_, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c,
target, model_points,
idx, points, opt.w,
opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(
pred_r, pred_t, new_target, model_points, idx,
new_points)
test_dis += dis.item()
logger.info('Test time {0} Test Frame No.{1} dis:{2}'.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - st_time)), test_count,
dis))
test_count += 1
test_dis = test_dis / test_count
logger.info('Test time {0} Epoch {1} TEST FINISH Avg dis: {2}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)),
epoch, test_dis))
if test_dis <= best_test:
best_test = test_dis
if opt.refine_start:
torch.save(
refiner.state_dict(),
'{0}/pose_refine_model_{1}_{2}.pth'.format(
opt.outf, epoch, test_dis))
else:
torch.save(
estimator.state_dict(),
'{0}/pose_model_{1}_{2}.pth'.format(
opt.outf, epoch, test_dis))
print(epoch,
'>>>>>>>>----------BEST TEST MODEL SAVED---------<<<<<<<<')
if best_test < opt.decay_margin and not opt.decay_start:
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
if best_test < opt.refine_margin and not opt.refine_start:
opt.refine_start = True
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
if opt.dataset == 'ycb':
dataset = PoseDataset_ycb('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'linemod':
dataset = PoseDataset_linemod('train', opt.num_points, True,
opt.dataset_root,
opt.noise_trans,
opt.refine_start)
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=1,
shuffle=True,
num_workers=opt.workers)
if opt.dataset == 'ycb':
test_dataset = PoseDataset_ycb('test', opt.num_points, False,
opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'linemod':
test_dataset = PoseDataset_linemod('test', opt.num_points,
False, opt.dataset_root,
0.0, opt.refine_start)
testdataloader = torch.utils.data.DataLoader(
test_dataset,
batch_size=1,
shuffle=False,
num_workers=opt.workers)
opt.sym_list = dataset.get_sym_list()
opt.num_points_mesh = dataset.get_num_points_mesh()
print(
'>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}\nsymmetry object list: {3}'
.format(len(dataset), len(test_dataset), opt.num_points_mesh,
opt.sym_list))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
class DenseFusionEstimator(object):
def __init__(self,
num_points,
num_obj,
estimator_weights_file,
refiner_weights_file=None,
batch_size=1):
self.num_points = num_points
self.bs = batch_size
self.estimator = PoseNet(num_points=num_points, num_obj=num_obj)
if (torch.cuda.is_available()):
self.estimator.cuda()
self.estimator.load_state_dict(torch.load(estimator_weights_file))
else:
self.estimator.load_state_dict(
torch.load(estimator_weights_file,
map_location=lambda storage, loc: storage))
self.estimator.eval()
if (refiner_weights_file is not None):
self.refiner = PoseRefineNet(num_points=num_points,
num_obj=num_obj)
if (torch.cuda.is_available()):
self.refiner.cuda()
self.refiner.load_state_dict(torch.load(refiner_weights_file))
self.refiner.eval()
else:
self.refiner = None
def __call__(self, img, depth, mask, bbox, object_label, return_all=False):
object_label = Variable(torch.LongTensor([object_label]))
if (torch.cuda.is_available()):
object_label = object_label.cuda()
data = preprocessData(img,
depth,
mask,
bbox,
num_points=self.num_points)
if (data is None):
return None, None
img_masked, cloud, choose = data
max_r, max_t, max_c, pred_r, pred_t, pred_c, emb = self.estimatePose(
img_masked, cloud, choose, object_label, return_all=True)
if (self.refiner is not None):
refined_r, refined_t = self.refinePose(emb, cloud, object_label,
max_r, max_t)
return refined_r, refined_t
if (return_all):
return max_r, max_t, max_c, pred_r, pred_t, pred_c, emb
return max_r, max_t
def globalFeature(self, img_masked, cloud, choose, object_label):
feat = self.estimator.globalFeature(img_masked, cloud, choose,
object_label)
return feat
def estimatePose(self,
img_masked,
cloud,
choose,
object_label,
return_all=True):
pred_r, pred_t, pred_c, emb = self.estimator(img_masked, cloud, choose,
object_label)
pred_r = pred_r / torch.norm(pred_r, dim=2).view(1, self.num_points, 1)
pred_c = pred_c.view(self.bs, self.num_points)
max_c, which_max = torch.max(pred_c, 1)
pred_t = pred_t.view(self.bs * self.num_points, 1, 3)
points = cloud.view(self.bs * self.num_points, 1, 3)
max_r = pred_r[0][which_max[0]].view(-1) #.cpu().data.numpy()
max_t = (points + pred_t)[which_max[0]].view(-1) #.cpu().data.numpy()
#max_c = max_c.cpu().data.numpy()
if (return_all):
return max_r, max_t, max_c, pred_r, pred_t, pred_c, emb
return max_r, max_t, max_c
def refinePose(self,
emb,
cloud,
object_label,
init_t,
init_r,
iterations=2):
init_t = init_t.cpu().data.numpy()
init_r = init_r.cpu().data.numpy()
for ite in range(0, iteration):
T = Variable(torch.from_numpy(
init_t.astype(np.float32))).cuda().view(1, 3).repeat(
num_points, 1).contiguous().view(1, self.num_points, 3)
init_mat = quaternion_matrix(init_r)
R = Variable(torch.from_numpy(init_mat[:3, :3].astype(
np.float32))).cuda().view(1, 3, 3)
init_mat[0:3, 3] = init_t
new_cloud = torch.bmm((cloud - T), R).contiguous()
pred_r, pred_t = self.refiner(new_cloud, emb, object_label)
pred_r = pred_r.view(1, 1, -1)
pred_r = pred_r / (torch.norm(pred_r, dim=2).view(1, 1, 1))
delta_r = pred_r.view(-1).cpu().data.numpy()
delta_t = pred_t.view(-1).cpu().data.numpy()
delta_mat = quaternion_matrix(delta_r)
delta_mat[0:3, 3] = delta_t
refined_mat = np.dot(init_mat, delta_mat)
refined_r = copy.deepcopy(refined_mat)
refined_r[0:3, 3] = 0
refined_r = quaternion_from_matrix(refined_r, True)
refined_t = np.array(
[refined_mat[0][3], refined_mat[1][3], refined_mat[2][3]])
init_r = r_final
init_t = t_final
return refined_t, refined_t
class Inference:
def __init__(self,
model,
model_with_refinement,
width,
height,
fx,
fy,
cx,
cy,
number_points=1000,
number_iterations=2):
self.width = width
self.height = height
self.fx = fx
self.fy = fy
self.cx = cx
self.cy = cy
self.number_iterations = number_iterations
self.norm = transforms.Normalize(mean=[0.485, 0.456, 0.406],
std=[0.229, 0.224, 0.225])
self.border_list = [
-1, 40, 80, 120, 160, 200, 240, 280, 320, 360, 400, 440, 480, 520,
560, 600, 640, 680
]
self.xmap = numpy.array([[j for i in range(self.width)]
for j in range(self.height)])
self.ymap = numpy.array([[i for i in range(self.width)]
for j in range(self.height)])
self.number_points = number_points
self.estimator = PoseNet(num_points=self.number_points, num_obj=21)
self.estimator.cuda()
self.estimator.load_state_dict(torch.load(model))
self.estimator.eval()
self.refiner = PoseRefineNet(num_points=self.number_points, num_obj=21)
self.refiner.cuda()
self.refiner.load_state_dict(torch.load(model_with_refinement))
self.refiner.eval()
def evaluate_bbox(self, mask):
points = cv2.findNonZero(mask)
x, y, w, h = cv2.boundingRect(points)
rmin = y
rmax = y + h
cmin = x
cmax = x + w
r_b = rmax - rmin
for tt in range(len(self.border_list)):
if r_b > self.border_list[tt] and r_b < self.border_list[tt + 1]:
r_b = self.border_list[tt + 1]
break
c_b = cmax - cmin
for tt in range(len(self.border_list)):
if c_b > self.border_list[tt] and c_b < self.border_list[tt + 1]:
c_b = self.border_list[tt + 1]
break
center = [int((rmin + rmax) / 2), int((cmin + cmax) / 2)]
rmin = center[0] - int(r_b / 2)
rmax = center[0] + int(r_b / 2)
cmin = center[1] - int(c_b / 2)
cmax = center[1] + int(c_b / 2)
if rmin < 0:
delt = -rmin
rmin = 0
rmax += delt
if cmin < 0:
delt = -cmin
cmin = 0
cmax += delt
if rmax > self.height:
delt = rmax - self.height
rmax = self.height
rmin -= delt
if cmax > self.width:
delt = cmax - self.width
cmax = self.width
cmin -= delt
return rmin, rmax, cmin, cmax
def inference(self, object_id, img, depth, mask):
try:
rmin, rmax, cmin, cmax = self.evaluate_bbox(mask)
mask_depth = numpy_ma.getmaskarray(
numpy_ma.masked_not_equal(depth, 0))
mask_label = (mask == 255)
mask = mask_label * mask_depth
choose = mask[rmin:rmax, cmin:cmax].flatten().nonzero()[0]
if len(choose) > self.number_points:
c_mask = numpy.zeros(len(choose), dtype=int)
c_mask[:self.number_points] = 1
numpy.random.shuffle(c_mask)
choose = choose[c_mask.nonzero()]
else:
choose = numpy.pad(choose,
(0, self.number_points - len(choose)),
'wrap')
depth_masked = depth[
rmin:rmax, cmin:cmax].flatten()[choose][:,
numpy.newaxis].astype(
numpy.float32)
xmap_masked = self.xmap[
rmin:rmax, cmin:cmax].flatten()[choose][:,
numpy.newaxis].astype(
numpy.float32)
ymap_masked = self.ymap[
rmin:rmax, cmin:cmax].flatten()[choose][:,
numpy.newaxis].astype(
numpy.float32)
choose = numpy.array([choose])
pt2 = depth_masked
pt0 = (ymap_masked - self.cx) * pt2 / self.fx
pt1 = (xmap_masked - self.cy) * pt2 / self.fy
cloud = numpy.concatenate((pt0, pt1, pt2), axis=1)
img_masked = numpy.array(img)[:, :, :3]
img_masked = numpy.transpose(img_masked, (2, 0, 1))
img_masked = img_masked[:, rmin:rmax, cmin:cmax]
cloud = torch.from_numpy(cloud.astype(numpy.float32))
choose = torch.LongTensor(choose.astype(numpy.int32))
img_masked = self.norm(
torch.from_numpy(img_masked.astype(numpy.float32)))
index = torch.LongTensor([object_id - 1])
cloud = Variable(cloud).cuda()
choose = Variable(choose).cuda()
img_masked = Variable(img_masked).cuda()
index = Variable(index).cuda()
cloud = cloud.view(1, self.number_points, 3)
img_masked = img_masked.view(1, 3,
img_masked.size()[1],
img_masked.size()[2])
pred_r, pred_t, pred_c, emb = self.estimator(
img_masked, cloud, choose, index)
pred_r = pred_r / torch.norm(pred_r, dim=2).view(
1, self.number_points, 1)
pred_c = pred_c.view(1, self.number_points)
how_max, which_max = torch.max(pred_c, 1)
pred_t = pred_t.view(1 * self.number_points, 1, 3)
points = cloud.view(1 * self.number_points, 1, 3)
my_r = pred_r[0][which_max[0]].view(-1).cpu().data.numpy()
my_t = (points + pred_t)[which_max[0]].view(-1).cpu().data.numpy()
my_pred = numpy.append(my_r, my_t)
for ite in range(0, self.number_iterations):
T = Variable(torch.from_numpy(my_t.astype(
numpy.float32))).cuda().view(1, 3).repeat(
self.number_points,
1).contiguous().view(1, self.number_points, 3)
my_mat = quaternion_matrix(my_r)
R = Variable(
torch.from_numpy(my_mat[:3, :3].astype(
numpy.float32))).cuda().view(1, 3, 3)
my_mat[0:3, 3] = my_t
new_cloud = torch.bmm((cloud - T), R).contiguous()
pred_r, pred_t = self.refiner(new_cloud, emb, index)
pred_r = pred_r.view(1, 1, -1)
pred_r = pred_r / (torch.norm(pred_r, dim=2).view(1, 1, 1))
my_r_2 = pred_r.view(-1).cpu().data.numpy()
my_t_2 = pred_t.view(-1).cpu().data.numpy()
my_mat_2 = quaternion_matrix(my_r_2)
my_mat_2[0:3, 3] = my_t_2
my_mat_final = numpy.dot(my_mat, my_mat_2)
my_r_final = copy.deepcopy(my_mat_final)
my_r_final[0:3, 3] = 0
my_r_final_copy = copy.deepcopy(my_r_final)
my_r_final = quaternion_from_matrix(my_r_final, True)
my_t_final = numpy.array([
my_mat_final[0][3], my_mat_final[1][3], my_mat_final[2][3]
])
my_pred = numpy.append(my_r_final, my_t_final)
my_r_final_alt = Quaternion(matrix=my_r_final_copy[0:3, 0:3])
my_r_final_alt_aa = numpy.append(my_r_final_alt.axis.squeeze(),
my_r_final_alt.angle)
my_pred_alt = numpy.append(my_t_final, my_r_final_alt_aa)
my_r = my_r_final
my_t = my_t_final
return my_pred_alt
except ValueError:
print(
"Inference::inference. Error: an error occured at inference time."
)
return []
def main():
opt.manualSeed = random.randint(1, 10000)
random.seed(opt.manualSeed)
torch.manual_seed(opt.manualSeed)
opt.num_objects = 21 #number of object classes in the dataset
opt.num_points = 1000 #number of points on the input pointcloud
opt.outf = 'trained_models/ycb_global_mnorm' #folder to save trained models
opt.log_dir = 'experiments/logs/ycb_global_mnorm' #folder to save logs
opt.repeat_epoch = 1 #number of repeat times for one epoch training
if not os.path.exists(opt.outf):
os.makedirs(opt.outf)
if not os.path.exists(opt.log_dir):
os.makedirs(opt.log_dir)
estimator = PoseNetGlobal(num_points = opt.num_points, num_obj = opt.num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points = opt.num_points, num_obj = opt.num_objects)
refiner.cuda()
if opt.resume_posenet != '':
estimator.load_state_dict(torch.load('{0}/{1}'.format(opt.outf, opt.resume_posenet)))
if opt.resume_refinenet != '':
refiner.load_state_dict(torch.load('{0}/{1}'.format(opt.outf, opt.resume_refinenet)))
opt.refine_start = True
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
else:
opt.refine_start = False
opt.decay_start = False
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
object_list = list(range(1,22))
output_format = [otypes.DEPTH_POINTS_MASKED_AND_INDEXES,
otypes.IMAGE_CROPPED,
otypes.MODEL_POINTS_TRANSFORMED,
otypes.MODEL_POINTS,
otypes.OBJECT_LABEL,
]
dataset = YCBDataset(opt.dataset_root, mode='train_syn_grid',
object_list = object_list,
output_data = output_format,
resample_on_error = True,
preprocessors = [YCBOcclusionAugmentor(opt.dataset_root),
ColorJitter(),
InplaneRotator()],
postprocessors = [ImageNormalizer(), PointMeanNormalizer(0)], #PointShifter()],
refine = opt.refine_start,
image_size = [640, 480], num_points=1000)
dataloader = torch.utils.data.DataLoader(dataset, batch_size=1, shuffle=True, num_workers=opt.workers-1)
test_dataset = YCBDataset(opt.dataset_root, mode='valid',
object_list = object_list,
output_data = output_format,
resample_on_error = True,
preprocessors = [],
postprocessors = [ImageNormalizer(), PointMeanNormalizer(0)],
refine = opt.refine_start,
image_size = [640, 480], num_points=1000)
testdataloader = torch.utils.data.DataLoader(test_dataset, batch_size=1, shuffle=False, num_workers=1)
opt.sym_list = [12, 15, 18, 19, 20]
opt.num_points_mesh = dataset.num_pt_mesh_small
print('>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}\nsymmetry object list: {3}'.format(len(dataset), len(test_dataset), opt.num_points_mesh, opt.sym_list))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
best_test = np.Inf
if opt.start_epoch == 1:
for log in os.listdir(opt.log_dir):
os.remove(os.path.join(opt.log_dir, log))
st_time = time.time()
for epoch in range(opt.start_epoch, opt.nepoch):
logger = setup_logger('epoch%d' % epoch, os.path.join(opt.log_dir, 'epoch_%d_log.txt' % epoch))
logger.info('Train time {0}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) + ', ' + 'Training started'))
train_count = 0
train_dis_avg = 0.0
if opt.refine_start:
estimator.eval()
refiner.train()
else:
estimator.train()
optimizer.zero_grad()
for rep in range(opt.repeat_epoch):
for i, data in enumerate(dataloader, 0):
points, choose, img, target, model_points, idx = data
idx = idx - 1
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(img, points, choose, idx)
loss, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c, target, model_points, idx, points, opt.w, opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_target, model_points, idx, new_points)
dis.backward()
else:
loss.backward()
train_dis_avg += dis.item()
train_count += 1
if train_count % opt.batch_size == 0:
logger.info('Train time {0} Epoch {1} Batch {2} Frame {3} Avg_dis:{4}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, int(train_count / opt.batch_size), train_count, train_dis_avg / opt.batch_size))
optimizer.step()
optimizer.zero_grad()
train_dis_avg = 0
if train_count != 0 and train_count % 1000 == 0:
if opt.refine_start:
torch.save(refiner.state_dict(), '{0}/pose_refine_model_current.pth'.format(opt.outf))
else:
torch.save(estimator.state_dict(), '{0}/pose_model_current.pth'.format(opt.outf))
print('>>>>>>>>----------epoch {0} train finish---------<<<<<<<<'.format(epoch))
logger = setup_logger('epoch%d_test' % epoch, os.path.join(opt.log_dir, 'epoch_%d_test_log.txt' % epoch))
logger.info('Test time {0}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) + ', ' + 'Testing started'))
test_dis = 0.0
test_count = 0
estimator.eval()
refiner.eval()
for j, data in enumerate(testdataloader, 0):
points, choose, img, target, model_points, idx = data
idx = idx - 1
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(img, points, choose, idx)
_, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c, target, model_points, idx, points, opt.w, opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_target, model_points, idx, new_points)
test_dis += dis.item()
logger.info('Test time {0} Test Frame No.{1} dis:{2}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), test_count, dis))
test_count += 1
test_dis = test_dis / test_count
logger.info('Test time {0} Epoch {1} TEST FINISH Avg dis: {2}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, test_dis))
if test_dis <= best_test:
best_test = test_dis
if opt.refine_start:
torch.save(refiner.state_dict(), '{0}/pose_refine_model_{1}_{2}.pth'.format(opt.outf, epoch, test_dis))
else:
torch.save(estimator.state_dict(), '{0}/pose_model_{1}_{2}.pth'.format(opt.outf, epoch, test_dis))
print(epoch, '>>>>>>>>----------BEST TEST MODEL SAVED---------<<<<<<<<')
if best_test < opt.decay_margin and not opt.decay_start:
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
if best_test < opt.refine_margin and not opt.refine_start:
opt.refine_start = True
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
dataset = YCBDataset(opt.dataset_root, mode='train_syn_grid',
object_list = object_list,
output_data = output_format,
resample_on_error = True,
preprocessors = [YCBOcclusionAugmentor(opt.dataset_root),
ColorJitter(),
InplaneRotator()],
postprocessors = [ImageNormalizer(), PointShifter()],
refine = opt.refine_start,
image_size = [640, 480], num_points=1000)
dataloader = torch.utils.data.DataLoader(dataset, batch_size=1, shuffle=True, num_workers=opt.workers)
test_dataset = YCBDataset(opt.dataset_root, mode='valid',
object_list = object_list,
output_data = output_format,
resample_on_error = True,
preprocessors = [],
postprocessors = [ImageNormalizer()],
refine = opt.refine_start,
image_size = [640, 480], num_points=1000)
testdataloader = torch.utils.data.DataLoader(test_dataset, batch_size=1, shuffle=False, num_workers=opt.workers)
opt.num_points_mesh = dataset.num_pt_mesh_large
print('>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}\nsymmetry object list: {3}'.format(len(dataset), len(test_dataset), opt.num_points_mesh, opt.sym_list))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
class DenseFusion_YW(object):
def __init__(self, posecnn):
# posecnn
self.posecnn = posecnn
# df
#camera paras
self.cam_cx = 312.9869 #???
self.cam_cy = 241.3109 #???
self.cam_fx = 1066.778 #x方向焦距，水平
self.cam_fy = 1067.487 #y方向焦距，垂直
self.cam_scale = 10000.0 # scale ????
#main
self.num_points = 1000 # default
self.num_obj = 21 # ycb 已经训练好了，含有21个类，不能改。
self.xmap = np.array([[j for i in range(640)] for j in range(480)
]) # [0000...,1111...,222] 480,640
self.ymap = np.array([
[i for i in range(640)] for j in range(480)
]) # [0 1 2 3..., 0 1 2 3 ..., 0 1 2 3 ...] 480,640
self.norm = transforms.Normalize(mean=[0.485, 0.456, 0.406],
std=[0.229, 0.224, 0.225
]) # For img transform in the df
self.bs = 1
self.iteration = 2
self.esti_model_file = "src/pose_model_26_0.012863246640872631.pth"
self.refine_model_file = "src/pose_refine_model_69_0.009449292959118935.pth"
self.estimator = PoseNet(num_points=self.num_points,
num_obj=self.num_obj)
self.estimator.cuda()
self.estimator.load_state_dict(torch.load(self.esti_model_file))
self.estimator.eval()
self.refiner = PoseRefineNet(num_points=self.num_points,
num_obj=self.num_obj)
self.refiner.cuda()
self.refiner.load_state_dict(torch.load(self.refine_model_file))
self.refiner.eval()
self.lst = [
1
] # assume only banana. This is designed for multi-label task, if multi label detected in one img,
#they may allocated with different id, id==1.it means the label is 1, id==2, it means the label is 2; so with known the
#label, we can know label1 is banana ,label2 is apple like this.
self.my_result_wo_refine = [] # ???
self.my_result = []
def DenseFusion(self, img, depth, posecnn_res):
my_result_wo_refine = []
itemid = 1 # this is simplified for single label decttion, if multi-label used, check DFYW3.py for more
depth = np.array(depth)
# img = img
seg_res = posecnn_res
x1, y1, x2, y2 = seg_res["box"]
banana_bbox_draw = self.posecnn.get_box_rcwh(seg_res["box"])
rmin, rmax, cmin, cmax = int(x1), int(x2), int(y1), int(y2)
depth = depth[:, :,
1] # because depth has 3 dimensions RGB but they are the all the same with each other
mask_depth = ma.getmaskarray(ma.masked_not_equal(depth, 0)) # ok
label_banana = np.squeeze(seg_res["mask"])
label_banana = ma.getmaskarray(ma.masked_greater(label_banana, 0.5))
label_banana_nonzeros = label_banana.flatten().nonzero()
mask_label = ma.getmaskarray(ma.masked_equal(
label_banana, itemid)) # label from banana label
mask = mask_label * mask_depth
mask_nonzeros = mask[:].flatten().nonzero()
choose = mask[rmin:rmax, cmin:cmax].flatten().nonzero()[0]
if len(choose) > self.num_points:
c_mask = np.zeros(len(choose), dtype=int)
c_mask[:self.num_points] = 1
np.random.shuffle(c_mask)
choose = choose[c_mask.nonzero()]
else:
print("len of choose is 0, check error")
choose = np.pad(choose, (0, self.num_points - len(choose)), 'wrap')
depth_masked = depth[rmin:rmax,
cmin:cmax].flatten()[choose][:,
np.newaxis].astype(
np.float32)
xmap_masked = self.xmap[
rmin:rmax,
cmin:cmax].flatten()[choose][:, np.newaxis].astype(np.float32)
ymap_masked = self.ymap[
rmin:rmax,
cmin:cmax].flatten()[choose][:, np.newaxis].astype(np.float32)
choose = np.array([choose])
pt2 = depth_masked / self.cam_scale
pt0 = (ymap_masked - self.cam_cx) * pt2 / self.cam_fx
pt1 = (xmap_masked - self.cam_cy) * pt2 / self.cam_fy
cloud = np.concatenate((pt0, pt1, pt2), axis=1)
img_np = np.array(img)
img_masked = np.array(img)[:, :, :3]
img_masked = np.transpose(img_masked, (2, 0, 1))
img_masked = img_masked[:, rmin:rmax, cmin:cmax]
cloud = torch.from_numpy(cloud.astype(np.float32))
choose = torch.LongTensor(choose.astype(np.int32))
img_masked = self.norm(torch.from_numpy(img_masked.astype(np.float32)))
index = torch.LongTensor([itemid - 1])
cloud = Variable(cloud).cuda()
choose = Variable(choose).cuda()
img_masked = Variable(img_masked).cuda()
index = Variable(index).cuda()
cloud = cloud.view(1, self.num_points, 3)
img_masked = img_masked.view(1, 3,
img_masked.size()[1],
img_masked.size()[2])
pred_r, pred_t, pred_c, emb = self.estimator(img_masked, cloud, choose,
index)
pred_r = pred_r / torch.norm(pred_r, dim=2).view(1, self.num_points, 1)
pred_c = pred_c.view(self.bs, self.num_points)
how_max, which_max = torch.max(pred_c, 1)
pred_t = pred_t.view(self.bs * self.num_points, 1, 3)
points = cloud.view(self.bs * self.num_points, 1, 3)
my_r = pred_r[0][which_max[0]].view(-1).cpu().data.numpy()
my_t = (points + pred_t)[which_max[0]].view(-1).cpu().data.numpy()
my_pred = np.append(my_r, my_t)
my_result_wo_refine.append(my_pred.tolist())
my_result = []
for ite in range(0, self.iteration):
T = Variable(torch.from_numpy(
my_t.astype(np.float32))).cuda().view(1, 3).repeat(
self.num_points,
1).contiguous().view(1, self.num_points, 3)
my_mat = quaternion_matrix(my_r)
R = Variable(torch.from_numpy(my_mat[:3, :3].astype(
np.float32))).cuda().view(1, 3, 3)
my_mat[0:3, 3] = my_t
new_cloud = torch.bmm((cloud - T), R).contiguous()
pred_r, pred_t = self.refiner(new_cloud, emb, index)
pred_r = pred_r.view(1, 1, -1)
pred_r = pred_r / (torch.norm(pred_r, dim=2).view(1, 1, 1))
my_r_2 = pred_r.view(-1).cpu().data.numpy()
my_t_2 = pred_t.view(-1).cpu().data.numpy()
my_mat_2 = quaternion_matrix(my_r_2)
my_mat_2[0:3, 3] = my_t_2
my_mat_final = np.dot(my_mat, my_mat_2)
my_r_final = copy.deepcopy(my_mat_final)
my_r_final[0:3, 3] = 0
my_r_final = quaternion_from_matrix(my_r_final, True)
my_t_final = np.array(
[my_mat_final[0][3], my_mat_final[1][3], my_mat_final[2][3]])
my_pred = np.append(my_r_final, my_t_final)
my_result.append(my_pred.tolist())
my_result_np = np.array(my_result)
my_result_mean = np.mean(my_result, axis=0)
my_r = my_result_mean[:4]
my_t = my_result_mean[4:]
my_r_quaternion = my_r
return my_r_quaternion, my_t
def main():
# g13: parameter setting -------------------
batch_id = 1
opt.dataset ='linemod'
opt.dataset_root = './datasets/linemod/Linemod_preprocessed'
estimator_path = 'trained_checkpoints/linemod/pose_model_9_0.01310166542980859.pth'
refiner_path = 'trained_checkpoints/linemod/pose_refine_model_493_0.006761023565178073.pth'
opt.resume_posenet = estimator_path
opt.resume_posenet = refiner_path
dataset_config_dir = 'datasets/linemod/dataset_config'
output_result_dir = 'experiments/eval_result/linemod'
bs = 1 #fixed because of the default setting in torch.utils.data.DataLoader
opt.iteration = 2 #default is 4 in eval_linemod.py
t1_idx = 0
t1_total_eval_num = 3
axis_range = 0.1 # the length of X, Y, and Z axis in 3D
vimg_dir = 'verify_img'
if not os.path.exists(vimg_dir):
os.makedirs(vimg_dir)
#-------------------------------------------
if opt.dataset == 'ycb':
opt.num_objects = 21 #number of object classes in the dataset
opt.num_points = 1000 #number of points on the input pointcloud
opt.outf = 'trained_models/ycb' #folder to save trained models
opt.log_dir = 'experiments/logs/ycb' #folder to save logs
opt.repeat_epoch = 1 #number of repeat times for one epoch training
elif opt.dataset == 'linemod':
opt.num_objects = 13
opt.num_points = 500
opt.outf = 'trained_models/linemod'
opt.log_dir = 'experiments/logs/linemod'
opt.repeat_epoch = 20
else:
print('Unknown dataset')
return
estimator = PoseNet(num_points = opt.num_points, num_obj = opt.num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points = opt.num_points, num_obj = opt.num_objects)
refiner.cuda()
if opt.resume_posenet != '':
estimator.load_state_dict(torch.load(estimator_path))
if opt.resume_refinenet != '':
refiner.load_state_dict(torch.load(refiner_path))
opt.refine_start = True
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
else:
opt.refine_start = False
opt.decay_start = False
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
if opt.dataset == 'ycb':
test_dataset = PoseDataset_ycb('test', opt.num_points, False, opt.dataset_root, 0.0, opt.refine_start)
elif opt.dataset == 'linemod':
test_dataset = PoseDataset_linemod('test', opt.num_points, False, opt.dataset_root, 0.0, opt.refine_start)
testdataloader = torch.utils.data.DataLoader(test_dataset, batch_size=1, shuffle=False, num_workers=opt.workers)
print('complete loading testing loader\n')
opt.sym_list = test_dataset.get_sym_list()
opt.num_points_mesh = test_dataset.get_num_points_mesh()
print('>>>>>>>>----------Dataset loaded!---------<<<<<<<<\n\
length of the testing set: {0}\nnumber of sample points on mesh: {1}\n\
symmetry object list: {2}'\
.format( len(test_dataset), opt.num_points_mesh, opt.sym_list))
#load pytorch model
estimator.eval()
refiner.eval()
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
fw = open('{0}/t1_eval_result_logs.txt'.format(output_result_dir), 'w')
#Pose estimation
for j, data in enumerate(testdataloader, 0):
# g13: modify this part for evaluation target--------------------
if j == t1_total_eval_num:
break
#----------------------------------------------------------------
points, choose, img, target, model_points, idx = data
if len(points.size()) == 2:
print('No.{0} NOT Pass! Lost detection!'.format(j))
fw.write('No.{0} NOT Pass! Lost detection!\n'.format(j))
continue
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(img, points, choose, idx)
_, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c, target, model_points, idx, points, opt.w, opt.refine_start)
#if opt.refine_start: #iterative poserefinement
# for ite in range(0, opt.iteration):
# pred_r, pred_t = refiner(new_points, emb, idx)
# dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_target, model_points, idx, new_points)
pred_r = pred_r / torch.norm(pred_r, dim=2).view(1, opt.num_points, 1)
pred_c = pred_c.view(bs, opt.num_points)
how_max, which_max = torch.max(pred_c, 1)
pred_t = pred_t.view(bs * opt.num_points, 1, 3)
my_r = pred_r[0][which_max[0]].view(-1).cpu().data.numpy()
my_t = (points.view(bs * opt.num_points, 1, 3) + pred_t)[which_max[0]].view(-1).cpu().data.numpy()
my_pred = np.append(my_r, my_t)
for ite in range(0, opt.iteration):
T = Variable(torch.from_numpy(my_t.astype(np.float32))).cuda().view(1, 3).repeat(opt.num_points, 1).contiguous().view(1, opt.num_points, 3)
my_mat = quaternion_matrix(my_r)
R = Variable(torch.from_numpy(my_mat[:3, :3].astype(np.float32))).cuda().view(1, 3, 3)
my_mat[0:3, 3] = my_t
new_points = torch.bmm((points - T), R).contiguous()
pred_r, pred_t = refiner(new_points, emb, idx)
pred_r = pred_r.view(1, 1, -1)
pred_r = pred_r / (torch.norm(pred_r, dim=2).view(1, 1, 1))
my_r_2 = pred_r.view(-1).cpu().data.numpy()
my_t_2 = pred_t.view(-1).cpu().data.numpy()
my_mat_2 = quaternion_matrix(my_r_2)
my_mat_2[0:3, 3] = my_t_2
my_mat_final = np.dot(my_mat, my_mat_2)
my_r_final = copy.deepcopy(my_mat_final)
my_r_final[0:3, 3] = 0
my_r_final = quaternion_from_matrix(my_r_final, True)
my_t_final = np.array([my_mat_final[0][3], my_mat_final[1][3], my_mat_final[2][3]])
my_pred = np.append(my_r_final, my_t_final)
my_r = my_r_final
my_t = my_t_final
# g13: start drawing pose on image------------------------------------
# pick up image
print("index {0}: {1}".format(j, test_dataset.list_rgb[j]))
img = Image.open(test_dataset.list_rgb[j])
# pick up center position by bbox
meta_file = open('{0}/data/{1}/gt.yml'.format(opt.dataset_root, '%02d' % test_dataset.list_obj[j]), 'r')
meta = {}
meta = yaml.load(meta_file)
which_item = test_dataset.list_rank[j]
bbx = meta[which_item][0]['obj_bb']
draw = ImageDraw.Draw(img)
# draw box (ensure this is the right object)
draw.line((bbx[0],bbx[1], bbx[0], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
draw.line((bbx[0],bbx[1], bbx[0]+bbx[2], bbx[1]), fill=(255,0,0), width=5)
draw.line((bbx[0],bbx[1]+bbx[3], bbx[0]+bbx[2], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
draw.line((bbx[0]+bbx[2],bbx[1], bbx[0]+bbx[2], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
#get center
c_x = bbx[0]+int(bbx[2]/2)
c_y = bbx[1]+int(bbx[3]/2)
draw.point((c_x,c_y), fill=(255,255,0))
#get the 3D position of center
cam_intrinsic = np.zeros((3,3))
cam_intrinsic.itemset(0, test_dataset.cam_fx)
cam_intrinsic.itemset(4, test_dataset.cam_fy)
cam_intrinsic.itemset(2, test_dataset.cam_cx)
cam_intrinsic.itemset(5, test_dataset.cam_cy)
cam_intrinsic.itemset(8, 1)
cam_extrinsic = my_mat_final[0:3, :]
cam2d_3d = np.matmul(cam_intrinsic, cam_extrinsic)
cen_3d = np.matmul(np.linalg.pinv(cam2d_3d), [[c_x],[c_y],[1]])
# replace img.show() with plt.imshow(img)
#transpose three 3D axis point into 2D
x_3d = cen_3d + [[axis_range],[0],[0],[0]]
y_3d = cen_3d + [[0],[axis_range],[0],[0]]
z_3d = cen_3d + [[0],[0],[axis_range],[0]]
x_2d = np.matmul(cam2d_3d, x_3d)
y_2d = np.matmul(cam2d_3d, y_3d)
z_2d = np.matmul(cam2d_3d, z_3d)
#draw the axis on 2D
draw.line((c_x, c_y, x_2d[0], x_2d[1]), fill=(255,255,0), width=5)
draw.line((c_x, c_y, y_2d[0], y_2d[1]), fill=(0,255,0), width=5)
draw.line((c_x, c_y, z_2d[0], z_2d[1]), fill=(0,0,255), width=5)
#g13: show image
#img.show()
#save file under file
img_file_name = '{0}/pred_obj{1}_pic{2}.png'.format(vimg_dir, test_dataset.list_obj[j], which_item)
img.save( img_file_name, "PNG" )
img.close()
def main():
# g13: parameter setting -------------------
'''
posemodel is trained_checkpoints/linemod/pose_model_9_0.01310166542980859.pth
refine model is trained_checkpoints/linemod/pose_refine_model_493_0.006761023565178073.pth
'''
objlist = [1, 2, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15]
knn = KNearestNeighbor(1)
opt.dataset ='linemod'
opt.dataset_root = './datasets/linemod/Linemod_preprocessed'
estimator_path = 'trained_checkpoints/linemod/pose_model_9_0.01310166542980859.pth'
refiner_path = 'trained_checkpoints/linemod/pose_refine_model_493_0.006761023565178073.pth'
opt.model = estimator_path
opt.refine_model = refiner_path
dataset_config_dir = 'datasets/linemod/dataset_config'
output_result_dir = 'experiments/eval_result/linemod'
opt.refine_start = True
bs = 1 #fixed because of the default setting in torch.utils.data.DataLoader
opt.iteration = 2 #default is 4 in eval_linemod.py
t1_start = True
t1_idx = 0
t1_total_eval_num = 3
t2_start = False
t2_target_list = [22, 30, 172, 187, 267, 363, 410, 471, 472, 605, 644, 712, 1046, 1116, 1129, 1135, 1263]
#t2_target_list = [0, 1]
axis_range = 0.1 # the length of X, Y, and Z axis in 3D
vimg_dir = 'verify_img'
diameter = []
meta_file = open('{0}/models_info.yml'.format(dataset_config_dir), 'r')
meta_d = yaml.load(meta_file)
for obj in objlist:
diameter.append(meta_d[obj]['diameter'] / 1000.0 * 0.1)
print(diameter)
if not os.path.exists(vimg_dir):
os.makedirs(vimg_dir)
#-------------------------------------------
if opt.dataset == 'ycb':
opt.num_objects = 21 #number of object classes in the dataset
opt.num_points = 1000 #number of points on the input pointcloud
opt.outf = 'trained_models/ycb' #folder to save trained models
opt.log_dir = 'experiments/logs/ycb' #folder to save logs
opt.repeat_epoch = 1 #number of repeat times for one epoch training
elif opt.dataset == 'linemod':
opt.num_objects = 13
opt.num_points = 500
opt.outf = 'trained_models/linemod'
opt.log_dir = 'experiments/logs/linemod'
opt.repeat_epoch = 20
else:
print('Unknown dataset')
return
estimator = PoseNet(num_points = opt.num_points, num_obj = opt.num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points = opt.num_points, num_obj = opt.num_objects)
refiner.cuda()
estimator.load_state_dict(torch.load(estimator_path))
refiner.load_state_dict(torch.load(refiner_path))
opt.refine_start = True
test_dataset = PoseDataset_linemod('test', opt.num_points, False, opt.dataset_root, 0.0, opt.refine_start)
testdataloader = torch.utils.data.DataLoader(test_dataset, batch_size=1, shuffle=False, num_workers=opt.workers)
opt.sym_list = test_dataset.get_sym_list()
opt.num_points_mesh = test_dataset.get_num_points_mesh()
print('>>>>>>>>----------Dataset loaded!---------<<<<<<<<\n\
length of the testing set: {0}\nnumber of sample points on mesh: {1}\n\
symmetry object list: {2}'\
.format( len(test_dataset), opt.num_points_mesh, opt.sym_list))
#load pytorch model
estimator.eval()
refiner.eval()
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
fw = open('{0}/t1_eval_result_logs.txt'.format(output_result_dir), 'w')
#Pose estimation
for j, data in enumerate(testdataloader, 0):
# g13: modify this part for evaluation target--------------------
if t1_start and j == t1_total_eval_num:
break
if t2_start and not (j in t2_target_list):
continue
#----------------------------------------------------------------
points, choose, img, target, model_points, idx = data
if len(points.size()) == 2:
print('No.{0} NOT Pass! Lost detection!'.format(j))
fw.write('No.{0} NOT Pass! Lost detection!\n'.format(j))
continue
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(img, points, choose, idx)
_, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c, target, model_points, idx, points, opt.w, opt.refine_start)
#if opt.refine_start: #iterative poserefinement
# for ite in range(0, opt.iteration):
# pred_r, pred_t = refiner(new_points, emb, idx)
# dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_target, model_points, idx, new_points)
pred_r = pred_r / torch.norm(pred_r, dim=2).view(1, opt.num_points, 1)
pred_c = pred_c.view(bs, opt.num_points)
how_max, which_max = torch.max(pred_c, 1)
pred_t = pred_t.view(bs * opt.num_points, 1, 3)
my_r = pred_r[0][which_max[0]].view(-1).cpu().data.numpy()
my_t = (points.view(bs * opt.num_points, 1, 3) + pred_t)[which_max[0]].view(-1).cpu().data.numpy()
my_pred = np.append(my_r, my_t)
for ite in range(0, opt.iteration):
T = Variable(torch.from_numpy(my_t.astype(np.float32))).cuda().view(1, 3).repeat(opt.num_points, 1).contiguous().view(1, opt.num_points, 3)
my_mat = quaternion_matrix(my_r)
R = Variable(torch.from_numpy(my_mat[:3, :3].astype(np.float32))).cuda().view(1, 3, 3)
my_mat[0:3, 3] = my_t
new_points = torch.bmm((points - T), R).contiguous()
pred_r, pred_t = refiner(new_points, emb, idx)
pred_r = pred_r.view(1, 1, -1)
pred_r = pred_r / (torch.norm(pred_r, dim=2).view(1, 1, 1))
my_r_2 = pred_r.view(-1).cpu().data.numpy()
my_t_2 = pred_t.view(-1).cpu().data.numpy()
my_mat_2 = quaternion_matrix(my_r_2)
my_mat_2[0:3, 3] = my_t_2
my_mat_final = np.dot(my_mat, my_mat_2)
my_r_final = copy.deepcopy(my_mat_final)
my_r_final[0:3, 3] = 0
my_r_final = quaternion_from_matrix(my_r_final, True)
my_t_final = np.array([my_mat_final[0][3], my_mat_final[1][3], my_mat_final[2][3]])
my_pred = np.append(my_r_final, my_t_final)
my_r = my_r_final
my_t = my_t_final
# Here 'my_pred' is the final pose estimation result after refinement ('my_r': quaternion, 'my_t': translation)
#g13: checking the dis value
success_count = [0 for i in range(opt.num_objects)]
num_count = [0 for i in range(opt.num_objects)]
model_points = model_points[0].cpu().detach().numpy()
my_r = quaternion_matrix(my_r)[:3, :3]
pred = np.dot(model_points, my_r.T) + my_t
target = target[0].cpu().detach().numpy()
if idx[0].item() in opt.sym_list:
pred = torch.from_numpy(pred.astype(np.float32)).cuda().transpose(1, 0).contiguous()
target = torch.from_numpy(target.astype(np.float32)).cuda().transpose(1, 0).contiguous()
inds = knn(target.unsqueeze(0), pred.unsqueeze(0))
target = torch.index_select(target, 1, inds.view(-1) - 1)
dis = torch.mean(torch.norm((pred.transpose(1, 0) - target.transpose(1, 0)), dim=1), dim=0).item()
else:
dis = np.mean(np.linalg.norm(pred - target, axis=1))
if dis < diameter[idx[0].item()]:
success_count[idx[0].item()] += 1
print('No.{0} Pass! Distance: {1}'.format(j, dis))
fw.write('No.{0} Pass! Distance: {1}\n'.format(j, dis))
else:
print('No.{0} NOT Pass! Distance: {1}'.format(j, dis))
fw.write('No.{0} NOT Pass! Distance: {1}\n'.format(j, dis))
num_count[idx[0].item()] += 1
# g13: start drawing pose on image------------------------------------
# pick up image
print('{0}:\nmy_r is {1}\nmy_t is {2}\ndis:{3}'.format(j, my_r, my_t, dis.item()))
print("index {0}: {1}".format(j, test_dataset.list_rgb[j]))
img = Image.open(test_dataset.list_rgb[j])
# pick up center position by bbox
meta_file = open('{0}/data/{1}/gt.yml'.format(opt.dataset_root, '%02d' % test_dataset.list_obj[j]), 'r')
meta = {}
meta = yaml.load(meta_file)
which_item = test_dataset.list_rank[j]
which_obj = test_dataset.list_obj[j]
which_dict = 0
dict_leng = len(meta[which_item])
#print('get meta[{0}][{1}][obj_bb]'.format(which_item, which_obj))
k_idx = 0
while 1:
if meta[which_item][k_idx]['obj_id'] == which_obj:
which_dict = k_idx
break
k_idx = k_idx+1
bbx = meta[which_item][which_dict]['obj_bb']
draw = ImageDraw.Draw(img)
# draw box (ensure this is the right object)
draw.line((bbx[0],bbx[1], bbx[0], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
draw.line((bbx[0],bbx[1], bbx[0]+bbx[2], bbx[1]), fill=(255,0,0), width=5)
draw.line((bbx[0],bbx[1]+bbx[3], bbx[0]+bbx[2], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
draw.line((bbx[0]+bbx[2],bbx[1], bbx[0]+bbx[2], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
#get center
c_x = bbx[0]+int(bbx[2]/2)
c_y = bbx[1]+int(bbx[3]/2)
draw.point((c_x,c_y), fill=(255,255,0))
print('center:({0},{1})'.format(c_x, c_y))
#get the 3D position of center
cam_intrinsic = np.zeros((3,3))
cam_intrinsic.itemset(0, test_dataset.cam_fx)
cam_intrinsic.itemset(4, test_dataset.cam_fy)
cam_intrinsic.itemset(2, test_dataset.cam_cx)
cam_intrinsic.itemset(5, test_dataset.cam_cy)
cam_intrinsic.itemset(8, 1)
cam_extrinsic = my_mat_final[0:3, :]
cam2d_3d = np.matmul(cam_intrinsic, cam_extrinsic)
cen_3d = np.matmul(np.linalg.pinv(cam2d_3d), [[c_x],[c_y],[1]])
# replace img.show() with plt.imshow(img)
#transpose three 3D axis point into 2D
x_3d = cen_3d + [[axis_range],[0],[0],[0]]
y_3d = cen_3d + [[0],[axis_range],[0],[0]]
z_3d = cen_3d + [[0],[0],[axis_range],[0]]
x_2d = np.matmul(cam2d_3d, x_3d)
y_2d = np.matmul(cam2d_3d, y_3d)
z_2d = np.matmul(cam2d_3d, z_3d)
#draw the axis on 2D
draw.line((c_x, c_y, x_2d[0], x_2d[1]), fill=(255,255,0), width=5)
draw.line((c_x, c_y, y_2d[0], y_2d[1]), fill=(0,255,0), width=5)
draw.line((c_x, c_y, z_2d[0], z_2d[1]), fill=(0,0,255), width=5)
#g13: draw the estimate pred obj
for pti in pred:
pti.transpose()
pti_2d = np.matmul(cam_intrinsic, pti)
#print('({0},{1})\n'.format(int(pti_2d[0]),int(pti_2d[1])))
draw.point([int(pti_2d[0]),int(pti_2d[1])], fill=(255,255,0))
#g13: show image
#img.show()
#save file under file
img_file_name = '{0}/batch{1}_pred_obj{2}_pic{3}.png'.format(vimg_dir, j, test_dataset.list_obj[j], which_item)
img.save( img_file_name, "PNG" )
img.close()
# plot ground true ----------------------------
img = Image.open(test_dataset.list_rgb[j])
draw = ImageDraw.Draw(img)
draw.line((bbx[0],bbx[1], bbx[0], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
draw.line((bbx[0],bbx[1], bbx[0]+bbx[2], bbx[1]), fill=(255,0,0), width=5)
draw.line((bbx[0],bbx[1]+bbx[3], bbx[0]+bbx[2], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
draw.line((bbx[0]+bbx[2],bbx[1], bbx[0]+bbx[2], bbx[1]+bbx[3]), fill=(255,0,0), width=5)
target_r = np.resize(np.array(meta[which_item][k_idx]['cam_R_m2c']), (3, 3))
target_t = np.array(meta[which_item][k_idx]['cam_t_m2c'])
target_t = target_t[np.newaxis, :]
cam_extrinsic_GT = np.concatenate((target_r, target_t.T), axis=1)
#get center 3D
cam2d_3d_GT = np.matmul(cam_intrinsic, cam_extrinsic_GT)
cen_3d_GT = np.matmul(np.linalg.pinv(cam2d_3d_GT), [[c_x],[c_y],[1]])
#transpose three 3D axis point into 2D
x_3d = cen_3d_GT + [[axis_range],[0],[0],[0]]
y_3d = cen_3d_GT + [[0],[axis_range],[0],[0]]
z_3d = cen_3d_GT + [[0],[0],[axis_range],[0]]
x_2d = np.matmul(cam2d_3d_GT, x_3d)
y_2d = np.matmul(cam2d_3d_GT, y_3d)
z_2d = np.matmul(cam2d_3d_GT, z_3d)
#draw the axis on 2D
draw.line((c_x, c_y, x_2d[0], x_2d[1]), fill=(255,255,0), width=5)
draw.line((c_x, c_y, y_2d[0], y_2d[1]), fill=(0,255,0), width=5)
draw.line((c_x, c_y, z_2d[0], z_2d[1]), fill=(0,0,255), width=5)
print('pred:\n{0}\nGT:\n{1}\n'.format(cam_extrinsic,cam_extrinsic_GT))
print('pred 3D:{0}\nGT 3D:{1}\n'.format(cen_3d, cen_3d_GT))
img_file_name = '{0}/batch{1}_pred_obj{2}_pic{3}_gt.png'.format(vimg_dir, j, test_dataset.list_obj[j], which_item)
img.save( img_file_name, "PNG" )
img.close()
meta_file.close()
print('\nplot_result_img.py completed the task\n')
def main():
if opt.dataset == 'linemod':
opt.num_obj = 1
opt.list_obj = [1, 2, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15]
opt.occ_list_obj = [1, 5, 6, 8, 9, 10, 11, 12]
opt.list_name = ['ape', 'benchvise', 'cam', 'can', 'cat', 'driller', 'duck', 'eggbox', 'glue', 'holepuncher', 'iron', 'lamp', 'phone']
obj_name = opt.list_name[opt.list_obj.index(opt.obj_id)]
opt.sym_list = [10, 11]
opt.num_points = 500
meta_file = open('{0}/models/models_info.yml'.format(opt.dataset_root), 'r')
meta = yaml.load(meta_file)
diameter = meta[opt.obj_id]['diameter'] / 1000.0 * 0.1
if opt.render:
opt.repeat_num = 1
elif opt.fuse:
opt.repeat_num = 1
else:
opt.repeat_num = 5
writer = SummaryWriter('experiments/runs/linemod/{}{}'.format(obj_name, opt.experiment_name))
opt.outf = 'trained_models/linemod/{}{}'.format(obj_name, opt.experiment_name)
opt.log_dir = 'experiments/logs/linemod/{}{}'.format(obj_name, opt.experiment_name)
if not os.path.exists(opt.outf):
os.mkdir(opt.outf)
if not os.path.exists(opt.log_dir):
os.mkdir(opt.log_dir)
else:
print('Unknown dataset')
return
estimator = PoseNet(num_points = opt.num_points, num_vote = 9, num_obj = opt.num_obj)
estimator.cuda()
refiner = PoseRefineNet(num_points = opt.num_points, num_obj = opt.num_obj)
refiner.cuda()
if opt.resume_posenet != '':
estimator.load_state_dict(torch.load('{0}/{1}'.format(opt.outf, opt.resume_posenet)))
if opt.resume_refinenet != '':
refiner.load_state_dict(torch.load('{0}/{1}'.format(opt.outf, opt.resume_refinenet)))
opt.refine_start = True
opt.lr = opt.lr_refine
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
else:
opt.refine_start = False
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
dataset = PoseDataset_linemod('train', opt.num_points, opt.dataset_root, opt.real, opt.render, opt.fuse, opt.obj_id)
dataloader = torch.utils.data.DataLoader(dataset, batch_size=1, shuffle=True, num_workers=opt.workers)
test_dataset = PoseDataset_linemod('test', opt.num_points, opt.dataset_root, True, False, False, opt.obj_id)
testdataloader = torch.utils.data.DataLoader(test_dataset, batch_size=1, shuffle=False, num_workers=opt.workers)
print('>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}'.format(len(dataset), len(test_dataset), opt.num_points))
if opt.obj_id in opt.occ_list_obj:
occ_test_dataset = PoseDataset_occ('test', opt.num_points, opt.occ_dataset_root, opt.obj_id)
occtestdataloader = torch.utils.data.DataLoader(occ_test_dataset, batch_size=1, shuffle=False, num_workers=opt.workers)
print('length of the occ testing set: {}'.format(len(occ_test_dataset)))
criterion = Loss(opt.num_points, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points, opt.sym_list)
best_test = np.Inf
if opt.start_epoch == 1:
for log in os.listdir(opt.log_dir):
os.remove(os.path.join(opt.log_dir, log))
st_time = time.time()
train_scalar = 0
for epoch in range(opt.start_epoch, opt.nepoch):
logger = setup_logger('epoch%d' % epoch, os.path.join(opt.log_dir, 'epoch_%d_log.txt' % epoch))
logger.info('Train time {0}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) + ', ' + 'Training started'))
train_count = 0
train_loss_avg = 0.0
train_loss = 0.0
train_dis_avg = 0.0
train_dis = 0.0
if opt.refine_start:
estimator.eval()
refiner.train()
else:
estimator.train()
optimizer.zero_grad()
for rep in range(opt.repeat_num):
for i, data in enumerate(dataloader, 0):
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = data
if len(points.size()) == 2:
print('pass')
continue
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = points.cuda(), choose.cuda(), img.cuda(), target.cuda(), model_points.cuda(), model_kp.cuda(), vertex_gt.cuda(), idx.cuda(), target_r.cuda(), target_t.cuda()
vertex_pred, c_pred, emb = estimator(img, points, choose, idx)
vertex_loss, pose_loss, dis, new_points, new_target = criterion(vertex_pred, vertex_gt, c_pred, points, target, model_points, model_kp, opt.obj_id, target_r, target_t)
loss = 10 * vertex_loss + pose_loss
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_points, new_target, model_points, opt.obj_id)
dis.backward()
else:
loss.backward()
train_loss_avg += loss.item()
train_loss += loss.item()
train_dis_avg += dis.item()
train_dis += dis.item()
train_count += 1
train_scalar += 1
if train_count % opt.batch_size == 0:
logger.info('Train time {0} Epoch {1} Batch {2} Frame {3} Avg_loss:{4} Avg_diss:{5}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, int(train_count / opt.batch_size), train_count, train_loss_avg / opt.batch_size, train_dis_avg / opt.batch_size))
writer.add_scalar('linemod training loss', train_loss_avg / opt.batch_size, train_scalar)
writer.add_scalar('linemod training dis', train_dis_avg / opt.batch_size, train_scalar)
optimizer.step()
optimizer.zero_grad()
train_loss_avg = 0
train_dis_avg = 0
if train_count != 0 and train_count % 1000 == 0:
if opt.refine_start:
torch.save(refiner.state_dict(), '{0}/pose_refine_model_current.pth'.format(opt.outf))
else:
torch.save(estimator.state_dict(), '{0}/pose_model_current.pth'.format(opt.outf))
print('>>>>>>>>----------epoch {0} train finish---------<<<<<<<<'.format(epoch))
train_loss = train_loss / train_count
train_dis = train_dis / train_count
logger.info('Train time {0} Epoch {1} TRAIN FINISH Avg loss: {2} Avg dis: {3}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, train_loss, train_dis))
logger = setup_logger('epoch%d_test' % epoch, os.path.join(opt.log_dir, 'epoch_%d_test_log.txt' % epoch))
logger.info('Test time {0}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) + ', ' + 'Testing started'))
test_loss = 0.0
test_vertex_loss = 0.0
test_pose_loss = 0.0
test_dis = 0.0
test_count = 0
success_count = 0
estimator.eval()
refiner.eval()
for j, data in enumerate(testdataloader, 0):
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = data
if len(points.size()) == 2:
logger.info('Test time {0} Lost detection!'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time))))
continue
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = points.cuda(), choose.cuda(), img.cuda(), target.cuda(), model_points.cuda(), model_kp.cuda(), vertex_gt.cuda(), idx.cuda(), target_r.cuda(), target_t.cuda()
vertex_pred, c_pred, emb = estimator(img, points, choose, idx)
vertex_loss, pose_loss, dis, new_points, new_target = criterion(vertex_pred, vertex_gt, c_pred, points, target, model_points, model_kp, opt.obj_id, target_r, target_t)
loss = 10 * vertex_loss + pose_loss
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_points, new_target, model_points, opt.obj_id)
test_loss += loss.item()
test_vertex_loss += vertex_loss.item()
test_pose_loss += pose_loss.item()
test_dis += dis.item()
logger.info('Test time {0} Test Frame No.{1} loss:{2} dis:{3}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), test_count, loss, dis))
if dis.item() < diameter:
success_count += 1
test_count += 1
test_loss = test_loss / test_count
test_vertex_loss = test_vertex_loss / test_count
test_pose_loss = test_pose_loss / test_count
test_dis = test_dis / test_count
success_rate = float(success_count) / test_count
logger.info('Test time {0} Epoch {1} TEST FINISH Avg loss: {2} Avg dis: {3} Success rate: {4}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, test_loss, test_dis, success_rate))
writer.add_scalar('linemod test loss', test_loss, epoch)
writer.add_scalar('linemod test vertex loss', test_vertex_loss, epoch)
writer.add_scalar('linemod test pose loss', test_pose_loss, epoch)
writer.add_scalar('linemod test dis', test_dis, epoch)
writer.add_scalar('linemod success rate', success_rate, epoch)
writer.add_scalar('lr', optimizer.param_groups[0]['lr'], epoch)
if test_dis <= best_test:
best_test = test_dis
if opt.refine_start:
torch.save(refiner.state_dict(), '{0}/pose_refine_model_{1}_{2}.pth'.format(opt.outf, epoch, test_dis))
else:
torch.save(estimator.state_dict(), '{0}/pose_model_{1}_{2}.pth'.format(opt.outf, epoch, test_dis))
print(epoch, '>>>>>>>>----------MODEL SAVED---------<<<<<<<<')
if opt.obj_id in opt.occ_list_obj:
logger = setup_logger('epoch%d_occ_test' % epoch, os.path.join(opt.log_dir, 'epoch_%d_occ_test_log.txt' % epoch))
logger.info('Occ test time {0}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) + ', ' + 'Testing started'))
occ_test_dis = 0.0
occ_test_count = 0
occ_success_count = 0
estimator.eval()
refiner.eval()
for j, data in enumerate(occtestdataloader, 0):
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = data
if len(points.size()) == 2:
logger.info('Occ test time {0} Lost detection!'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time))))
continue
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = points.cuda(), choose.cuda(), img.cuda(), target.cuda(), model_points.cuda(), model_kp.cuda(), vertex_gt.cuda(), idx.cuda(), target_r.cuda(), target_t.cuda()
vertex_pred, c_pred, emb = estimator(img, points, choose, idx)
vertex_loss, pose_loss, dis, new_points, new_target = criterion(vertex_pred, vertex_gt, c_pred, points, target, model_points, model_kp, opt.obj_id, target_r, target_t)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_points, new_target, model_points, opt.obj_id)
occ_test_dis += dis.item()
logger.info('Occ test time {0} Test Frame No.{1} dis:{2}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), occ_test_count, dis))
if dis.item() < diameter:
occ_success_count += 1
occ_test_count += 1
occ_test_dis = occ_test_dis / occ_test_count
occ_success_rate = float(occ_success_count) / occ_test_count
logger.info('Occ test time {0} Epoch {1} TEST FINISH Avg dis: {2} Success rate: {3}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, occ_test_dis, occ_success_rate))
writer.add_scalar('occ test dis', occ_test_dis, epoch)
writer.add_scalar('occ success rate', occ_success_rate, epoch)
if best_test < opt.refine_margin and not opt.refine_start:
opt.refine_start = True
opt.lr = opt.lr_refine
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
print('>>>>>>>>----------Refine started---------<<<<<<<<')
writer.close()
def main():
if opt.dataset == 'ycb':
opt.num_obj = 21
opt.sym_list = [12, 15, 18, 19, 20]
opt.num_points = 1000
writer = SummaryWriter('experiments/runs/ycb/{0}'.format(opt.experiment_name))
opt.outf = 'trained_models/ycb/{0}'.format(opt.experiment_name)
opt.log_dir = 'experiments/logs/ycb/{0}'.format(opt.experiment_name)
opt.repeat_num = 1
if not os.path.exists(opt.outf):
os.mkdir(opt.outf)
if not os.path.exists(opt.log_dir):
os.mkdir(opt.log_dir)
else:
print('Unknown dataset')
return
estimator = PoseNet(num_points = opt.num_points, num_vote = 9, num_obj = opt.num_obj)
estimator.cuda()
refiner = PoseRefineNet(num_points = opt.num_points, num_obj = opt.num_obj)
refiner.cuda()
if opt.resume_posenet != '':
estimator.load_state_dict(torch.load('{0}/{1}'.format(opt.outf, opt.resume_posenet)))
if opt.resume_refinenet != '':
refiner.load_state_dict(torch.load('{0}/{1}'.format(opt.outf, opt.resume_refinenet)))
opt.refine_start = True
opt.lr = opt.lr_refine
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
else:
opt.refine_start = False
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
dataset = PoseDataset_ycb('train', opt.num_points, True, opt.dataset_root)
dataloader = torch.utils.data.DataLoader(dataset, batch_size=1, shuffle=True, num_workers=opt.workers)
test_dataset = PoseDataset_ycb('test', opt.num_points, False, opt.dataset_root)
testdataloader = torch.utils.data.DataLoader(test_dataset, batch_size=1, shuffle=False, num_workers=opt.workers)
print('>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}'.format(len(dataset), len(test_dataset), opt.num_points))
criterion = Loss(opt.num_points, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points, opt.sym_list)
best_test = np.Inf
if opt.start_epoch == 1:
for log in os.listdir(opt.log_dir):
os.remove(os.path.join(opt.log_dir, log))
st_time = time.time()
train_scalar = 0
for epoch in range(opt.start_epoch, opt.nepoch):
logger = setup_logger('epoch%d' % epoch, os.path.join(opt.log_dir, 'epoch_%d_log.txt' % epoch))
logger.info('Train time {0}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) + ', ' + 'Training started'))
train_count = 0
train_loss_avg = 0.0
train_loss = 0.0
train_dis_avg = 0.0
train_dis = 0.0
if opt.refine_start:
estimator.eval()
refiner.train()
else:
estimator.train()
optimizer.zero_grad()
for rep in range(opt.repeat_num):
for i, data in enumerate(dataloader, 0):
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = data
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = points.cuda(), choose.cuda(), img.cuda(), target.cuda(), model_points.cuda(), model_kp.cuda(), vertex_gt.cuda(), idx.cuda(), target_r.cuda(), target_t.cuda()
vertex_pred, c_pred, emb = estimator(img, points, choose, idx)
vertex_loss, pose_loss, dis, new_points, new_target = criterion(vertex_pred, vertex_gt, c_pred, points, target, model_points, model_kp, idx, target_r, target_t)
loss = 10 * vertex_loss + pose_loss
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_points, new_target, model_points, idx)
dis.backward()
else:
loss.backward()
train_loss_avg += loss.item()
train_loss += loss.item()
train_dis_avg += dis.item()
train_dis += dis.item()
train_count += 1
train_scalar += 1
if train_count % opt.batch_size == 0:
logger.info('Train time {0} Epoch {1} Batch {2} Frame {3} Avg_loss:{4} Avg_diss:{5}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, int(train_count / opt.batch_size), train_count, train_loss_avg / opt.batch_size, train_dis_avg / opt.batch_size))
writer.add_scalar('ycb training loss', train_loss_avg / opt.batch_size, train_scalar)
writer.add_scalar('ycb training dis', train_dis_avg / opt.batch_size, train_scalar)
optimizer.step()
optimizer.zero_grad()
train_loss_avg = 0
train_dis_avg = 0
if train_count != 0 and train_count % 1000 == 0:
if opt.refine_start:
torch.save(refiner.state_dict(), '{0}/pose_refine_model_current.pth'.format(opt.outf))
else:
torch.save(estimator.state_dict(), '{0}/pose_model_current.pth'.format(opt.outf))
print('>>>>>>>>----------epoch {0} train finish---------<<<<<<<<'.format(epoch))
train_loss = train_loss / train_count
train_dis = train_dis / train_count
logger.info('Train time {0} Epoch {1} TRAIN FINISH Avg loss: {2} Avg dis: {3}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, train_loss, train_dis))
logger = setup_logger('epoch%d_test' % epoch, os.path.join(opt.log_dir, 'epoch_%d_test_log.txt' % epoch))
logger.info('Test time {0}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) + ', ' + 'Testing started'))
test_loss = 0.0
test_vertex_loss = 0.0
test_pose_loss = 0.0
test_dis = 0.0
test_count = 0
success_count = 0
estimator.eval()
refiner.eval()
for j, data in enumerate(testdataloader, 0):
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = data
points, choose, img, target, model_points, model_kp, vertex_gt, idx, target_r, target_t = points.cuda(), choose.cuda(), img.cuda(), target.cuda(), model_points.cuda(), model_kp.cuda(), vertex_gt.cuda(), idx.cuda(), target_r.cuda(), target_t.cuda()
vertex_pred, c_pred, emb = estimator(img, points, choose, idx)
vertex_loss, pose_loss, dis, new_points, new_target = criterion(vertex_pred, vertex_gt, c_pred, points, target, model_points, model_kp, idx, target_r, target_t)
loss = 10 * vertex_loss + pose_loss
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(pred_r, pred_t, new_points, new_target, model_points, idx)
test_loss += loss.item()
test_vertex_loss += vertex_loss.item()
test_pose_loss += pose_loss.item()
test_dis += dis.item()
logger.info('Test time {0} Test Frame No.{1} loss:{2} dis:{3}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), test_count, loss, dis))
test_count += 1
if dis.item() < 0.02:
success_count += 1
test_loss = test_loss / test_count
test_vertex_loss = test_vertex_loss / test_count
test_pose_loss = test_pose_loss / test_count
test_dis = test_dis / test_count
logger.info('Test time {0} Epoch {1} TEST FINISH Avg loss: {2} Avg dis: {3}'.format(time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)), epoch, test_loss, test_dis))
logger.info('Success rate: {}'.format(float(success_count) / test_count))
writer.add_scalar('ycb test loss', test_loss, epoch)
writer.add_scalar('ycb test vertex loss', test_vertex_loss, epoch)
writer.add_scalar('ycb test pose loss', test_pose_loss, epoch)
writer.add_scalar('ycb test dis', test_dis, epoch)
writer.add_scalar('ycb success rate', float(success_count) / test_count, epoch)
writer.add_scalar('lr', optimizer.param_groups[0]['lr'], epoch)
if test_dis <= best_test:
best_test = test_dis
if opt.refine_start:
torch.save(refiner.state_dict(), '{0}/pose_refine_model_{1}_{2}.pth'.format(opt.outf, epoch, test_dis))
else:
torch.save(estimator.state_dict(), '{0}/pose_model_{1}_{2}.pth'.format(opt.outf, epoch, test_dis))
print(epoch, '>>>>>>>>----------MODEL SAVED---------<<<<<<<<')
if best_test < opt.refine_margin and not opt.refine_start:
opt.refine_start = True
opt.lr = opt.lr_refine
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
print('>>>>>>>>----------Refine started---------<<<<<<<<')
writer.close()
def main():
opt.manualSeed = random.randint(1, 10000)
random.seed(opt.manualSeed)
torch.manual_seed(opt.manualSeed)
if opt.dataset == 'linemod':
opt.num_objects = 13
opt.num_points = 500
opt.outf = 'trained_models/linemod'
opt.log_dir = 'experiments/logs/linemod'
output_results = 'check_linemod.txt'
opt.repeat_epoch = 20
elif opt.dataset == 'ycb':
opt.num_objects = 21 #number of object classes in the dataset
opt.num_points = 1000 #number of points on the input pointcloud
opt.outf = 'trained_models/ycb' #folder to save trained models
opt.log_dir = 'experiments/logs/ycb' #folder to save logs
opt.repeat_epoch = 1 #number of repeat times for one epoch training
elif opt.dataset == 'ycb-syn':
opt.num_objects = 31 # number of object classes in the dataset
opt.num_points = 1000 # number of points on the input pointcloud
opt.dataset_root = '/data/Akeaveny/Datasets/ycb_syn'
opt.outf = 'trained_models/ycb_syn/ycb_syn2' # folder to save trained models
opt.log_dir = 'experiments/logs/ycb_syn/ycb_syn2' # folder to save logs
output_results = 'check_ycb_syn.txt'
opt.w = 0.05
opt.refine_margin = 0.01
elif opt.dataset == 'arl':
opt.num_objects = 10 # number of object classes in the dataset
opt.num_points = 1000 # number of points on the input pointcloud
opt.dataset_root = '/data/Akeaveny/Datasets/arl_dataset'
opt.outf = 'trained_models/arl/clutter/arl_finetune_syn_2' # folder to save trained models
opt.log_dir = '/home/akeaveny/catkin_ws/src/object-rpe-ak/DenseFusion/experiments/logs/arl/clutter/arl_finetune_syn_2' # folder to save logs
output_results = 'check_arl_syn.txt'
opt.nepoch = 750
opt.w = 0.05
opt.refine_margin = 0.0045
# TODO
opt.repeat_epoch = 20
opt.start_epoch = 0
opt.resume_posenet = 'pose_model_1_0.012397416144377301.pth'
opt.resume_refinenet = 'pose_refine_model_153_0.004032851301599294.pth'
elif opt.dataset == 'arl1':
opt.num_objects = 5 # number of object classes in the dataset
opt.num_points = 1000 # number of points on the input pointcloud
opt.dataset_root = '/data/Akeaveny/Datasets/arl_dataset'
opt.outf = 'trained_models/arl1/clutter/arl_real_2' # folder to save trained models
opt.log_dir = '/home/akeaveny/catkin_ws/src/object-rpe-ak/DenseFusion/experiments/logs/arl1/clutter/arl_real_2' # folder to save logs
output_results = 'check_arl_syn.txt'
opt.nepoch = 750
opt.w = 0.05
opt.refine_margin = 0.015
# opt.start_epoch = 120
# opt.resume_posenet = 'pose_model_current.pth'
# opt.resume_refinenet = 'pose_refine_model_115_0.008727498716640046.pth'
elif opt.dataset == 'elevator':
opt.num_objects = 1 # number of object classes in the dataset
opt.num_points = 1000 # number of points on the input pointcloud
opt.dataset_root = '/data/Akeaveny/Datasets/elevator_dataset'
opt.outf = 'trained_models/elevator/elevator_2' # folder to save trained models
opt.log_dir = '/home/akeaveny/catkin_ws/src/object-rpe-ak/DenseFusion/experiments/logs/elevator/elevator_2' # folder to save logs
output_results = 'check_arl_syn.txt'
opt.nepoch = 750
opt.w = 0.05
opt.refine_margin = 0.015
opt.nepoch = 750
opt.w = 0.05
opt.refine_margin = 0.015
# TODO
opt.repeat_epoch = 40
# opt.start_epoch = 47
# opt.resume_posenet = 'pose_model_current.pth'
# opt.resume_refinenet = 'pose_refine_model_46_0.007581770288279472.pth'
else:
print('Unknown dataset')
return
estimator = PoseNet(num_points=opt.num_points, num_obj=opt.num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points=opt.num_points, num_obj=opt.num_objects)
refiner.cuda()
if opt.resume_posenet != '':
estimator.load_state_dict(
torch.load('{0}/{1}'.format(opt.outf, opt.resume_posenet)))
if opt.resume_refinenet != '':
refiner.load_state_dict(
torch.load('{0}/{1}'.format(opt.outf, opt.resume_refinenet)))
opt.refine_start = False
opt.decay_start = False
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
else:
opt.refine_start = False
opt.decay_start = False
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
if opt.dataset == 'ycb':
dataset = PoseDataset_ycb('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'linemod':
dataset = PoseDataset_linemod('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'ycb-syn':
dataset = PoseDataset_ycb_syn('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'arl':
dataset = PoseDataset_arl('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'arl1':
dataset = PoseDataset_arl1('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'elevator':
dataset = PoseDataset_elevator('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=1,
shuffle=True,
num_workers=opt.workers)
if opt.dataset == 'ycb':
test_dataset = PoseDataset_ycb('test', opt.num_points, False,
opt.dataset_root, 0.0, opt.refine_start)
elif opt.dataset == 'linemod':
test_dataset = PoseDataset_linemod('test', opt.num_points, False,
opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'ycb-syn':
test_dataset = PoseDataset_ycb_syn('test', opt.num_points, True,
opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'arl':
test_dataset = PoseDataset_arl('test', opt.num_points, True,
opt.dataset_root, 0.0, opt.refine_start)
elif opt.dataset == 'arl1':
test_dataset = PoseDataset_arl1('test', opt.num_points, True,
opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'elevator':
test_dataset = PoseDataset_elevator('test', opt.num_points, True,
opt.dataset_root, 0.0,
opt.refine_start)
testdataloader = torch.utils.data.DataLoader(test_dataset,
batch_size=1,
shuffle=False,
num_workers=opt.workers)
opt.sym_list = dataset.get_sym_list()
opt.num_points_mesh = dataset.get_num_points_mesh()
print(
'>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}\nsymmetry object list: {3}'
.format(len(dataset), len(test_dataset), opt.num_points_mesh,
opt.sym_list))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
best_test = np.Inf
if opt.start_epoch == 1:
for log in os.listdir(opt.log_dir):
os.remove(os.path.join(opt.log_dir, log))
st_time = time.time()
######################
######################
# TODO (ak): set up tensor board
# if not os.path.exists(opt.log_dir):
# os.makedirs(opt.log_dir)
#
# writer = SummaryWriter(opt.log_dir)
######################
######################
for epoch in range(opt.start_epoch, opt.nepoch):
logger = setup_logger(
'epoch%d' % epoch,
os.path.join(opt.log_dir, 'epoch_%d_log.txt' % epoch))
logger.info('Train time {0}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) +
', ' + 'Training started'))
train_count = 0
train_dis_avg = 0.0
if opt.refine_start:
estimator.eval()
refiner.train()
else:
estimator.train()
optimizer.zero_grad()
for rep in range(opt.repeat_epoch):
##################
# train
##################
for i, data in enumerate(dataloader, 0):
points, choose, img, target, model_points, idx = data
# TODO: txt file
# fw = open(test_folder + output_results, 'w')
# fw.write('Points\n{0}\n\nchoose\n{1}\n\nimg\n{2}\n\ntarget\n{3}\n\nmodel_points\n{4}'.format(points, choose, img, target, model_points))
# fw.close()
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(
img, points, choose, idx)
loss, dis, new_points, new_target = criterion(
pred_r, pred_t, pred_c, target, model_points, idx, points,
opt.w, opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(
pred_r, pred_t, new_target, model_points, idx,
new_points)
dis.backward()
else:
loss.backward()
train_dis_avg += dis.item()
train_count += 1
if train_count % opt.batch_size == 0:
logger.info(
'Train time {} Epoch {} Batch {} Frame {}/{} Avg_dis: {:.2f} [cm]'
.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - st_time)),
epoch, int(train_count / opt.batch_size),
train_count, len(dataset.list),
train_dis_avg / opt.batch_size * 100))
optimizer.step()
optimizer.zero_grad()
# TODO: tensorboard
# if train_count != 0 and train_count % 250 == 0:
# scalar_info = {'loss': loss.item(),
# 'dis': train_dis_avg / opt.batch_size}
# for key, val in scalar_info.items():
# writer.add_scalar(key, val, train_count)
train_dis_avg = 0
if train_count != 0 and train_count % 1000 == 0:
if opt.refine_start:
torch.save(
refiner.state_dict(),
'{0}/pose_refine_model_current.pth'.format(
opt.outf))
else:
torch.save(
estimator.state_dict(),
'{0}/pose_model_current.pth'.format(opt.outf))
# TODO: tensorboard
# scalar_info = {'loss': loss.item(),
# 'dis': dis.item()}
# for key, val in scalar_info.items():
# writer.add_scalar(key, val, train_count)
print(
'>>>>>>>>----------epoch {0} train finish---------<<<<<<<<'.format(
epoch))
logger = setup_logger(
'epoch%d_test' % epoch,
os.path.join(opt.log_dir, 'epoch_%d_test_log.txt' % epoch))
logger.info('Test time {0}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) +
', ' + 'Testing started'))
test_dis = 0.0
test_count = 0
estimator.eval()
refiner.eval()
for j, data in enumerate(testdataloader, 0):
points, choose, img, target, model_points, idx = data
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(img, points, choose, idx)
_, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c,
target, model_points,
idx, points, opt.w,
opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(
pred_r, pred_t, new_target, model_points, idx,
new_points)
test_dis += dis.item()
logger.info('Test time {} Test Frame No.{} dis: {} [cm]'.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - st_time)), test_count,
dis * 100))
test_count += 1
test_dis = test_dis / test_count
logger.info(
'Test time {} Epoch {} TEST FINISH Avg dis: {} [cm]'.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - st_time)), epoch,
test_dis * 100))
# TODO: tensorboard
# scalar_info = {'test dis': test_dis}
# for key, val in scalar_info.items():
# writer.add_scalar(key, val, train_count)
if test_dis <= best_test:
best_test = test_dis
if opt.refine_start:
torch.save(
refiner.state_dict(),
'{0}/pose_refine_model_{1}_{2}.pth'.format(
opt.outf, epoch, test_dis))
else:
torch.save(
estimator.state_dict(),
'{0}/pose_model_{1}_{2}.pth'.format(
opt.outf, epoch, test_dis))
print(epoch,
'>>>>>>>>----------BEST TEST MODEL SAVED---------<<<<<<<<')
if best_test < opt.decay_margin and not opt.decay_start:
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
if best_test < opt.refine_margin and not opt.refine_start:
opt.refine_start = True
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
if opt.dataset == 'ycb':
dataset = PoseDataset_ycb('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'linemod':
dataset = PoseDataset_linemod('train', opt.num_points, True,
opt.dataset_root,
opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'ycb-syn':
dataset = PoseDataset_ycb_syn('train', opt.num_points, True,
opt.dataset_root,
opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'arl':
dataset = PoseDataset_arl('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'arl1':
dataset = PoseDataset_arl1('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
elif opt.dataset == 'elevator':
dataset = PoseDataset_elevator('train', opt.num_points, True,
opt.dataset_root,
opt.noise_trans,
opt.refine_start)
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=1,
shuffle=True,
num_workers=opt.workers)
if opt.dataset == 'ycb':
test_dataset = PoseDataset_ycb('test', opt.num_points, False,
opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'linemod':
test_dataset = PoseDataset_linemod('test', opt.num_points,
False, opt.dataset_root,
0.0, opt.refine_start)
elif opt.dataset == 'ycb-syn':
test_dataset = PoseDataset_ycb_syn('test', opt.num_points,
True, opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'arl':
test_dataset = PoseDataset_arl('test', opt.num_points, True,
opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'arl1':
test_dataset = PoseDataset_arl1('test', opt.num_points, True,
opt.dataset_root, 0.0,
opt.refine_start)
elif opt.dataset == 'elevator':
test_dataset = PoseDataset_elevator('test', opt.num_points,
True, opt.dataset_root,
0.0, opt.refine_start)
testdataloader = torch.utils.data.DataLoader(
test_dataset,
batch_size=1,
shuffle=False,
num_workers=opt.workers)
opt.sym_list = dataset.get_sym_list()
opt.num_points_mesh = dataset.get_num_points_mesh()
print(
'>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}\nsymmetry object list: {3}'
.format(len(dataset), len(test_dataset), opt.num_points_mesh,
opt.sym_list))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
def main():
opt.manualSeed = random.randint(1, 10000)
random.seed(opt.manualSeed)
torch.manual_seed(opt.manualSeed)
opt.num_objects = 3
opt.num_points = 500
opt.outf = 'trained_models'
opt.log_dir = 'experiments/logs'
opt.repeat_epoch = 20
estimator = PoseNet(num_points=opt.num_points, num_obj=opt.num_objects)
estimator.cuda()
refiner = PoseRefineNet(num_points=opt.num_points, num_obj=opt.num_objects)
refiner.cuda()
if opt.resume_posenet != '':
estimator.load_state_dict(
torch.load('{0}/{1}'.format(opt.outf, opt.resume_posenet)))
if opt.resume_refinenet != '':
refiner.load_state_dict(
torch.load('{0}/{1}'.format(opt.outf, opt.resume_refinenet)))
opt.refine_start = True
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
else:
opt.refine_start = False
opt.decay_start = False
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
dataset = PoseDataset('train', opt.num_points, True, opt.dataset_root,
opt.noise_trans, opt.refine_start)
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=1,
shuffle=True,
num_workers=opt.workers)
test_dataset = PoseDataset('test', opt.num_points, False, opt.dataset_root,
0.0, opt.refine_start)
testdataloader = torch.utils.data.DataLoader(test_dataset,
batch_size=1,
shuffle=False,
num_workers=opt.workers)
opt.sym_list = dataset.get_sym_list()
opt.num_points_mesh = dataset.get_num_points_mesh()
print(
'>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}'
.format(len(dataset), len(test_dataset), opt.num_points_mesh))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)
best_test = np.Inf
if opt.start_epoch == 1:
for log in os.listdir(opt.log_dir):
os.remove(os.path.join(opt.log_dir, log))
st_time = time.time()
for epoch in range(opt.start_epoch, opt.nepoch):
logger = setup_logger(
'epoch%d' % epoch,
os.path.join(opt.log_dir, 'epoch_%d_log.txt' % epoch))
logger.info('Train time {0}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) +
', ' + 'Training started'))
train_count = 0
train_dis_avg = 0.0
if opt.refine_start:
estimator.eval() # affects dropout and batch normalization
refiner.train()
else:
estimator.train()
optimizer.zero_grad()
for rep in range(opt.repeat_epoch):
for i, data in enumerate(dataloader, 0):
points, choose, img, target, model_points, idx = data
#points ->torch.Size([500, 3]) ->在crop出来的像素区域随机选取500个点,利用相机内参结合深度值算出来的点云cloud
#choose ->torch.Size([1, 500])
#img ->torch.Size([3, 80, 80])
#target ->torch.Size([500, 3]) ->真实模型上随机选取的mesh点进行ground truth pose变换后得到的点
#model_points ->torch.Size([500, 3]) ->真实模型上随机选取的mesh点在进行pose变换前的点
#idx ->torch.Size([1])
#tensor([4], device='cuda:0')
#img和points对应rgb和点云信息,需要在网络内部fusion
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(
img, points, choose, idx)
loss, dis, new_points, new_target = criterion(
pred_r, pred_t, pred_c, target, model_points, idx, points,
opt.w, opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(
pred_r, pred_t, new_target, model_points, idx,
new_points)
dis.backward()
else:
loss.backward()
train_dis_avg += dis.item()
train_count += 1
if train_count % opt.batch_size == 0:
logger.info(
'Train time {0} Epoch {1} Batch {2} Frame {3} Avg_dis:{4}'
.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - st_time)),
epoch, int(train_count / opt.batch_size),
train_count, train_dis_avg / opt.batch_size))
optimizer.step()
optimizer.zero_grad()
train_dis_avg = 0
if train_count != 0 and train_count % 1000 == 0:
if opt.refine_start:
torch.save(
refiner.state_dict(),
'{0}/pose_refine_model_current.pth'.format(
opt.outf))
else:
torch.save(
estimator.state_dict(),
'{0}/pose_model_current.pth'.format(opt.outf))
print(
'>>>>>>>>----------epoch {0} train finish---------<<<<<<<<'.format(
epoch))
logger = setup_logger(
'epoch%d_test' % epoch,
os.path.join(opt.log_dir, 'epoch_%d_test_log.txt' % epoch))
logger.info('Test time {0}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)) +
', ' + 'Testing started'))
test_dis = 0.0
test_count = 0
estimator.eval()
refiner.eval()
for j, data in enumerate(testdataloader, 0):
points, choose, img, target, model_points, idx = data
points, choose, img, target, model_points, idx = Variable(points).cuda(), \
Variable(choose).cuda(), \
Variable(img).cuda(), \
Variable(target).cuda(), \
Variable(model_points).cuda(), \
Variable(idx).cuda()
pred_r, pred_t, pred_c, emb = estimator(img, points, choose, idx)
_, dis, new_points, new_target = criterion(pred_r, pred_t, pred_c,
target, model_points,
idx, points, opt.w,
opt.refine_start)
if opt.refine_start:
for ite in range(0, opt.iteration):
pred_r, pred_t = refiner(new_points, emb, idx)
dis, new_points, new_target = criterion_refine(
pred_r, pred_t, new_target, model_points, idx,
new_points)
test_dis += dis.item()
logger.info('Test time {0} Test Frame No.{1} dis:{2}'.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - st_time)), test_count,
dis))
test_count += 1
test_dis = test_dis / test_count
logger.info('Test time {0} Epoch {1} TEST FINISH Avg dis: {2}'.format(
time.strftime("%Hh %Mm %Ss", time.gmtime(time.time() - st_time)),
epoch, test_dis))
if test_dis <= best_test:
best_test = test_dis
if opt.refine_start:
torch.save(
refiner.state_dict(),
'{0}/pose_refine_model_{1}_{2}.pth'.format(
opt.outf, epoch, test_dis))
else:
torch.save(
estimator.state_dict(),
'{0}/pose_model_{1}_{2}.pth'.format(
opt.outf, epoch, test_dis))
print(epoch,
'>>>>>>>>----------BEST TEST MODEL SAVED---------<<<<<<<<')
if best_test < opt.decay_margin and not opt.decay_start:
opt.decay_start = True
opt.lr *= opt.lr_rate
opt.w *= opt.w_rate
optimizer = optim.Adam(estimator.parameters(), lr=opt.lr)
if best_test < opt.refine_margin and not opt.refine_start:
opt.refine_start = True
opt.batch_size = int(opt.batch_size / opt.iteration)
optimizer = optim.Adam(refiner.parameters(), lr=opt.lr)
dataset = PoseDataset('train', opt.num_points, True,
opt.dataset_root, opt.noise_trans,
opt.refine_start)
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=1,
shuffle=True,
num_workers=opt.workers)
test_dataset = PoseDataset('test', opt.num_points, False,
opt.dataset_root, 0.0, opt.refine_start)
testdataloader = torch.utils.data.DataLoader(
test_dataset,
batch_size=1,
shuffle=False,
num_workers=opt.workers)
opt.sym_list = dataset.get_sym_list()
opt.num_points_mesh = dataset.get_num_points_mesh()
print(
'>>>>>>>>----------Dataset loaded!---------<<<<<<<<\nlength of the training set: {0}\nlength of the testing set: {1}\nnumber of sample points on mesh: {2}'
.format(len(dataset), len(test_dataset), opt.num_points_mesh))
criterion = Loss(opt.num_points_mesh, opt.sym_list)
criterion_refine = Loss_refine(opt.num_points_mesh, opt.sym_list)