【复现笔记】PoseCNN-PyTorch
PoseCNN-PyTorch: A PyTorch Implementation of the PoseCNN Framework for 6D Object Pose Estimation
代码github：https://github.com/NVlabs/PoseCNN-PyTorch
目录
PoseCNN-PyTorch: A PyTorch Implementation of the PoseCNN Framework for 6D Object Pose Estimation
1、下载代码
2、安装pytorch、Eigen、Sophus
3、pip install
4、Initialize the submodules
5、Compile the new layers under $ROOT/lib/layers introduced in PoseCNN
6、Compile cython components
7、Compile the ycb_render
8、下载数据集和预训练权重
9、运行demo
10、用YCB对象的合成数据训练自己的模型
11、Training and testing on the YCB-Video dataset
12、Training and testing on the DexYCB dataset
13、Running with ROS on a Realsense Camera for real-world pose estimation
环境：ubuntu 20.04 + cuda-10.2 + python3.6.7
1、下载代码
git clone https://github.com/NVlabs/PoseCNN-PyTorch.git2、安装pytorch、Eigen、Sophus
（1）pytorch：Start Locally | PyTorch
（2）EIgen 3：
作者给的eigen库链接，安装后查看版本是3.3.90：GitHub - eigenteam/eigen-git-mirror: THIS MIRROR IS DEPRECATED -- New url: https://gitlab.com/libeigen/eigen
（3）Sophus：
作者给的sophus库链接：https://github.com/yuxng/Sophus
3、pip install
cd PoseCNN-PyTorch
pip install -r requirement.txt4、Initialize the submodules
cd ycb_rendergit submodule update --init --recursive过程：这一步需要下载pybind11，但它的git仓库下载很慢，所以我先下载了pybind11，再执行，如下所示
~/3dTracking/PoseCNN-PyTorch/ycb_render$ git clone https://github.com/pybind/pybind11.git
Cloning into 'pybind11'...
remote: Enumerating objects: 24975, done.
remote: Counting objects: 100% (183/183), done.
remote: Compressing objects: 100% (116/116), done.
remote: Total 24975 (delta 91), reused 109 (delta 52), pack-reused 24792
Receiving objects: 100% (24975/24975), 9.48 MiB | 440.00 KiB/s, done.
Resolving deltas: 100% (17492/17492), done.
~/3dTracking/PoseCNN-PyTorch/ycb_render$ git submodule update --init --recursive
Submodule path 'pybind11': checked out '028812ae7eee307dca5f8f69d467af7b92cc41c8'5、Compile the new layers under $ROOT/lib/layers introduced in PoseCNN
cd ../lib/layers
sudo /home/r*/anaconda3/envs/posecnn/bin/python setup.py install报错1：
hough_voting_kernel.cu:14:10: fatal error: Eigen/Geometry: No such file or directory14 | #include <Eigen/Geometry>| ^~~~~~~~~~~~~~~~
compilation terminated.
error: command '/usr/local/cuda-11.2/bin/nvcc' failed with exit code 1说是找不到Eigen/Geometry，查看Eigen/Geometry文件在/usr/include/eigen3/Eigen文件夹内
/usr/include/eigen3/Eigen$ ls
Cholesky IterativeLinearSolvers QtAlignedMalloc StdDeque
CholmodSupport Jacobi Sparse StdList
Core LU SparseCholesky StdVector
Dense MetisSupport SparseCore SuperLUSupport
Eigen OrderingMethods SparseLU SVD
Eigenvalues PardisoSupport SparseQR UmfPackSupport
Geometry PaStiXSupport SPQRSupport
Householder QR src于是参考https://www.cnblogs.com/long5683/p/13406666.html
建立软连接：
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen报错2：fatal error: math_functions.hpp: No such file or directory
参考PoseCNN代码复现CMake编译找不到math_functions.hpp_不完美的上帝的博客-CSDN博客_posecnn 复现
报错3：could not find ninja
sudo apt install ninja-build重新编译，详细日志如下：
(posecnn) r****@r****-MS-7D42:~/3dTracking/PoseCNN-PyTorch/lib/layers$ sudo /home/r****/anaconda3/envs/posecnn/bin/python setup.py install
[sudo] password for r****:
running install
running bdist_egg
running egg_info
writing posecnn.egg-info/PKG-INFO
writing dependency_links to posecnn.egg-info/dependency_links.txt
writing top-level names to posecnn.egg-info/top_level.txt
/home/r****/anaconda3/envs/posecnn/lib/python3.6/site-packages/torch/utils/cpp_extension.py:381: UserWarning: Attempted to use ninja as the BuildExtension backend but we could not find ninja.. Falling back to using the slow distutils backend.warnings.warn(msg.format('we could not find ninja.'))
reading manifest file 'posecnn.egg-info/SOURCES.txt'
writing manifest file 'posecnn.egg-info/SOURCES.txt'
installing library code to build/bdist.linux-x86_64/egg
running install_lib
running build_ext
creating build/bdist.linux-x86_64/egg
copying build/lib.linux-x86_64-3.6/posecnn_cuda.cpython-36m-x86_64-linux-gnu.so -> build/bdist.linux-x86_64/egg
creating stub loader for posecnn_cuda.cpython-36m-x86_64-linux-gnu.so
byte-compiling build/bdist.linux-x86_64/egg/posecnn_cuda.py to posecnn_cuda.cpython-36.pyc
creating build/bdist.linux-x86_64/egg/EGG-INFO
copying posecnn.egg-info/PKG-INFO -> build/bdist.linux-x86_64/egg/EGG-INFO
copying posecnn.egg-info/SOURCES.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying posecnn.egg-info/dependency_links.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
copying posecnn.egg-info/top_level.txt -> build/bdist.linux-x86_64/egg/EGG-INFO
writing build/bdist.linux-x86_64/egg/EGG-INFO/native_libs.txt
zip_safe flag not set; analyzing archive contents...
__pycache__.posecnn_cuda.cpython-36: module references __file__
creating 'dist/posecnn-0.0.0-py3.6-linux-x86_64.egg' and adding 'build/bdist.linux-x86_64/egg' to it
removing 'build/bdist.linux-x86_64/egg' (and everything under it)
Processing posecnn-0.0.0-py3.6-linux-x86_64.egg
removing '/home/r****/anaconda3/envs/posecnn/lib/python3.6/site-packages/posecnn-0.0.0-py3.6-linux-x86_64.egg' (and everything under it)
creating /home/r****/anaconda3/envs/posecnn/lib/python3.6/site-packages/posecnn-0.0.0-py3.6-linux-x86_64.egg
Extracting posecnn-0.0.0-py3.6-linux-x86_64.egg to /home/r****/anaconda3/envs/posecnn/lib/python3.6/site-packages
posecnn 0.0.0 is already the active version in easy-install.pthInstalled /home/r****/anaconda3/envs/posecnn/lib/python3.6/site-packages/posecnn-0.0.0-py3.6-linux-x86_64.egg
Processing dependencies for posecnn==0.0.0
Finished processing dependencies for posecnn==0.0.06、Compile cython components
cd ../utils
python setup.py build_ext --inplace日志：
(posecnn) r***@r***-MS-7D42:~/3dTracking/PoseCNN-PyTorch/lib/utils$ python setup.py build_ext --inplace
running build_ext
cythoning bbox.pyx to bbox.c
/home/r***/anaconda3/envs/posecnn/lib/python3.6/site-packages/Cython/Compiler/Main.py:369: FutureWarning: Cython directive 'language_level' not set, using 2 for now (Py2). This will change in a later release! File: /home/r***/3dTracking/PoseCNN-PyTorch/lib/utils/bbox.pyxtree = Parsing.p_module(s, pxd, full_module_name)
building 'cython_bbox' extension
creating build
creating build/temp.linux-x86_64-3.6
gcc -pthread -B /home/r***/anaconda3/envs/posecnn/compiler_compat -Wl,--sysroot=/ -Wsign-compare -DNDEBUG -g -fwrapv -O3 -Wall -Wstrict-prototypes -fPIC -I/home/r***/anaconda3/envs/posecnn/lib/python3.6/site-packages/numpy/core/include -I/home/r***/anaconda3/envs/posecnn/include/python3.6m -c bbox.c -o build/temp.linux-x86_64-3.6/bbox.o -Wno-cpp -Wno-unused-function
gcc -pthread -shared -B /home/r***/anaconda3/envs/posecnn/compiler_compat -L/home/r***/anaconda3/envs/posecnn/lib -Wl,-rpath=/home/r***/anaconda3/envs/posecnn/lib -Wl,--no-as-needed -Wl,--sysroot=/ build/temp.linux-x86_64-3.6/bbox.o -o /home/r***/3dTracking/PoseCNN-PyTorch/lib/utils/cython_bbox.cpython-36m-x86_64-linux-gnu.so
/home/r***/anaconda3/envs/posecnn/compiler_compat/ld: warning: /home/r***/anaconda3/envs/posecnn/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010001
/home/r***/anaconda3/envs/posecnn/compiler_compat/ld: warning: /home/r***/anaconda3/envs/posecnn/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010002
/home/r***/anaconda3/envs/posecnn/compiler_compat/ld: warning: /home/r***/anaconda3/envs/posecnn/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010001
/home/r***/anaconda3/envs/posecnn/compiler_compat/ld: warning: /home/r***/anaconda3/envs/posecnn/lib/libgcc_s.so.1: unsupported GNU_PROPERTY_TYPE (5) type: 0xc0010002
第二次运行时日志是这样的
~/3dTracking/PoseCNN-PyTorch/lib/utils$ python setup.py build_ext --inplace
running build_ext
skipping 'bbox.c' Cython extension (up-to-date)7、Compile the ycb_render
cd ../../ycb_render
python setup.py develop报错1：fatal error: X11/Xlib.h: No such file or directory
sudo apt-get install libghc-x11-dev报错2：fatal error: GL/gl.h: No such file or directory
sudo apt-get install libgl1-mesa-dev成功运行的日志：
(posecnn) rakuli@rakuli-MS-7D42:~/3dTracking/PoseCNN-PyTorch/ycb_render$ sudo /home/rakuli/anaconda3/envs/posecnn/bin/python setup.py develop
running develop
running egg_info
writing CppYCBRenderer.egg-info/PKG-INFO
writing dependency_links to CppYCBRenderer.egg-info/dependency_links.txt
writing top-level names to CppYCBRenderer.egg-info/top_level.txt
reading manifest file 'CppYCBRenderer.egg-info/SOURCES.txt'
writing manifest file 'CppYCBRenderer.egg-info/SOURCES.txt'
running build_ext
CMake Warning (dev) at CMakeLists.txt:2 (project):Policy CMP0048 is not set: project() command manages VERSION variables.Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policycommand to set the policy and suppress this warning.The following variable(s) would be set to empty:CMAKE_PROJECT_VERSIONCMAKE_PROJECT_VERSION_MAJORCMAKE_PROJECT_VERSION_MINORCMAKE_PROJECT_VERSION_PATCH
This warning is for project developers. Use -Wno-dev to suppress it.-- pybind11 v2.6.2 dev1
-- Configuring done
-- Generating done
-- Build files have been written to: /home/rakuli/3dTracking/PoseCNN-PyTorch/ycb_render/build/temp.linux-x86_64-3.6
[ 33%] Built target query_devices
[ 66%] Built target test_device
[ 75%] Building CXX object CMakeFiles/CppYCBRenderer.dir/cpp/ycb_renderer.cpp.o
[ 83%] Linking CXX shared module ../../CppYCBRenderer.cpython-36m-x86_64-linux-gnu.so
[100%] Built target CppYCBRenderer
Creating /home/rakuli/anaconda3/envs/posecnn/lib/python3.6/site-packages/CppYCBRenderer.egg-link (link to .)
Adding CppYCBRenderer 0.0.1 to easy-install.pth fileInstalled /home/rakuli/3dTracking/PoseCNN-PyTorch/ycb_render
Processing dependencies for CppYCBRenderer==0.0.1
Finished processing dependencies for CppYCBRenderer==0.0.18、下载数据集和预训练权重
3D models of YCB Objects下载并保存在PoseCNN-PyTorch/data 下：https://drive.google.com/file/d/1PTNmhd-eSq0fwSPv0nvQN8h_scR1v-UJ/view?usp=sharing
pre-trained checkpoints下载并保存在PoseCNN-PyTorch/data下：https://drive.google.com/file/d/1-ECAkkTRfa1jJ9YBTzf04wxCGw6-m5d4/view?usp=sharing
YCB-Video数据集：PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes – UW Robotics and State Estimation Lab
dexYCB：DexYCB: A Benchmark for Capturing Hand Grasping of Objects
real-world images with pose annotations for 20 YCB objects collected via robot interation：https://drive.google.com/file/d/1cQH_dnDzyrI0MWNx8st4lht_q0F6cUrE/view?usp=sharing
9、运行demo
从以下链接下载assimp库（不要用apt-get install！！）：
https://github.com/assimp/assimp/tree/v4.1.0
下载3D models和checkpoints，再运行：
./experiments/scripts/demo.sh成功运行
日志过长，故存放在以下链接：
https://blog.csdn.net/weixin_54470372/article/details/127775006?csdn_share_tail=%7B%22type%22%3A%22blog%22%2C%22rType%22%3A%22article%22%2C%22rId%22%3A%22127775006%22%2C%22source%22%3A%22weixin_54470372%22%7D
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