Proper Installation Guide for this Pose_Net

This is just the Implementation of Posenet

As described in the ICCV 2015 paper PoseNet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization Alex Kendall, Matthew Grimes and Roberto Cipolla [http://mi.eng.cam.ac.uk/projects/relocalisation/]

Reference: https://github.com/alexgkendall/caffe-posenet

Requirements:

Ubuntu > 16.04

Cuda = 10.1

CUdnn 7.5 For Cuda = 10.1

For Posenet Caffe Installation:

Steps: Install Dependencies

sudo apt-get update sudo apt-get upgrade

sudo apt-get install libprotobuf-dev libleveldb-dev libsnappy-dev libopencv-dev libhdf5-serial-dev protobuf-compiler

sudo apt-get install --no-install-recommends libboost-all-dev sudo apt-get install libatlas-base-dev

sudo apt-get install libopenblas-dev sudo apt-get install the python-dev

sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev sudo apt install python-pip

pip install --upgrade pip

mkdir .local/install cd .local/install

git clone https://github.com/BVLC/caffe.git

cd caffe-posenet

cd python

for req in $(cat requirements.txt); do sudo -H pip install $req; done Copy the Makefile.config or make it

If want to make from scratch Makefile.config file Or just copy makefile.config from this repository

cp Makefile.config.example Makefile.config

gedit Makefile.config

The Makefile.config should contain the following lines, so find them and fill them in.

PYTHON_INCLUDE := /usr/include/python2.7
/usr/lib/python2.7/dist-packages/numpy/core/include

(for some Ubuntu 16.04 users, the path may be different)

PYTHON_INCLUDE := /usr/include/python2.7
/usr/local/lib/python2.7/dist-packages/numpy/core/include WITH_PYTHON_LAYER := 1
LIBRARY_DIRS := $(PYTHON_LIB) /usr/local/lib /usr/lib /usr/lib/x86_64-linux-gnu
/usr/lib/x86_64-linux-gnu/hdf5/serial

Finish file Makefile.config now test the caffe

make all If get error (make: *** [.build_release/tools/upgrade_net_proto_binary.bin] Error 1)

make clean

Uncomment if you're using OpenCV 3 OPENCV_VERSION := 3

make test

make runtest

make pycaffe

make pytest

Final test

_python _

import sys

_sys.path.append('/home/ahmad/Desktop/caffe-posenet/python') _

import caffe

All done…

Getting Started with posenet now

pip install lmdb pip install opencv-python sudo apt-get install python-sklearn sudo apt-get install python-tk

cd /home/ahmad/Desktop/caffe-posenet/posenet/scripts Create an LMDB localisation dataset with

caffe-posenet/posenet/scripts/create_posenet_lmdb_dataset.py

Change lines 1, 11 & 12 to the appropriate directories. Test PoseNet with (do according to your path)

caffe_root = '/home/ahmad/Desktop/caffe-posenet/' # Change to your directory to caffe-posenet

directory = '/home/ahmad/Desktop/caffe-posenet/posenet/dataset/KingsCollege/' dataset = 'dataset_train.txt'

Replace ./include/caffe/util/cudnn.hpp with the latest version of cudnn in caffe, the corresponding cudnn.hpp. All files in ./include/caffe/layers that start with cudnn, such as cudnn_conv_layer.hpp. Replaced with the corresponding file of the same name in the latest version of caffe. Replace all files starting with cudnn, such as cudnn_lrn_layer.cu, cudnn_pooling_layer.cpp, cudnn_sigmoid_layer.cu, in ./src/caffe/layer with the corresponding file of the same name in the latest version of caffe.

Switch Pycaffe environment # Because I have two caffes, the official ones and the posenets, which are compiled separately. # import caffe needs to specify which one to import. Sudo gedit ~/.bashrc # Change the caffe path or caffe-posenet path Source ~/.bashrc

Data set introduction Take KingsCollege as an example. The following contains a sequence of 8 scene images. 2, 3, 7 are used as test sets (dataset_test.txt), 1, 4, 5, 6, 8 as training sets (dataset_train.txt).

Create an lmdb data set Modify the create_posenet_lmdb_dataset.py file under caffe-posenet/posenet/scripts. There are three places, which are 1, 11, 12 lines; Write a picture description here Install lmdb; Sudo pip install lmdb

Create a dataset: python posenet/scripts/create_posenet_lmdb_dataset.py. Write a picture description here The created data set is generated in the caffe-posenet directory, the posenet_dataset_lmdb folder in the following figure;

Create a mean file Create a new file called "create_posenet_mean.sh";

#!/usr/bin/env sh 
set -e
PATH=./data
DATA=./data
DBTYPE=lmdb
echo "Computing image mean..."
./build/tools/compute_image_mean -backend=$DBTYPE \
  $PATH/posenet_dataset_$DBTYPE $PATH/imagemean.binaryproto
echo "Done."

Put the lmdb dataset generated in the previous step into the caffe-posenet/data directory;

Run create_posenet_mean.sh to get the mean.binaryproto file.

python ./posenet/scripts/create_posenet_lmdb_dataset.py

Add executable permissions

_chmod 777 posenet/scripts/create_posenet_mean.sh _ _./posenet/scripts/create_posenet_mean.sh _

Modify network configuration

Modify the path of the source and mean_file of the layer whose name is data, phase is TEST and TRAIN in "train_kingscollege.prototxt":

Direct test input the command:

_PYTHONPATH=/home/ahmad/Desktop/caffe-posenet/python:$PYTHONPATH _

python ./posenet/scripts/test_posenet.py --model \ posenet/models/train_posenet.prototxt --weights posenet/models/weights_kingscollege.caffemodel --iter 346

Test Results:

Some common issues (Skip these if u dont face it)

ls /home/ahmad/.local/lib/python2.7/ find /home/ahmad/.local/lib/python2.7/site-packages -name numpy /home/ahmad/.local/lib/python2.7/site-packages/numpy/core/include

if error fatal error: hdf5.h: No such file or directory find /usr/lib -name hdf5 ( you will see /usr/lib/x86_64-linux-gnu/hdf5 ) copy these lines in gksudo gedit Makefile.config

Whatever else you find you need goes here.

INCLUDE_DIRS := $(PYTHON_INCLUDE) /usr/local/include /usr/include/hdf5/serial/ LIBRARY_DIRS := $(PYTHON_LIB) /usr/local/lib /usr/lib /usr/lib/x86_64-linux-gnu/hdf5/serial/ ## ImportError: No module named pydot find /home/ahmad/.local/lib/ -name "pydot*" python import pydot

ImportError: No module named pydot cd .local/install/caffe

gedit Makefile.config cd .local/install/caffe/python vi requirements.txt /pydot: :q sudo -H pip install pydot make pytest

make: *** [pytest] Error 1 sudo apt-get install graphviz python

import pydot exit() make pytest cd .local/install/caffe/python ls caffe The build process will fail in Ubuntu 16.04. Edit the Makefile with an editor such as kate ./Makefile or gksudo gedit Makefile and replace this line: NVCCFLAGS += -ccbin=$(CXX) -Xcompiler -fPIC $(COMMON_FLAGS) with the following line NVCCFLAGS += -D_FORCE_INLINES -ccbin=$(CXX) -Xcompiler -fPIC $(COMMON_FLAGS)

Also, open the file CMakeLists.txt and add the following line:

---[ Includes

set(${CMAKE_CXX_FLAGS} "-D_FORCE_INLINES ${CMAKE_CXX_FLAGS}")

if you encounter a missing CUDA error with CUDA version 8.0, find this line in the Makefile.config: CUDA_DIR := /usr/local/cuda Add Matlab path if you want,

This is required only if you will compile the matlab interface. # MATLAB directory should contain the mex binary in /bin.

MATLAB_DIR := /usr/local/MATLAB/R2016a/ # MATLAB_DIR := /Applications/R2016a.app