readme

README.md

@@ -1 +1,55 @@
-# 3D is awesome
+# Stereo Pose Machines
+
+![demo](./demo/poster.jpg)
+
+[Video Demo](tbd)
+
+## Dependencies:
++ A Pair of Pylon Cameras
++ Eigen3
++ OpenCV
++ [tensorpack](https://github.com/ppwwyyxx/tensorpack)
++ PyYaml
++ PyOpenGL
+
+## Compile:
+```
+cd src/cpp && make
+```
+
+## Test Cameras:
+```
+cd src/cpp && ./main.bin
+```
+Stereo cameras may be detected in any order. To make things consistent, `src/cpp/pylon_camera.cc`
+assumes that the camera whose name contains "711" is the first camera. You'll need to change it
+for your case.
+
+## Calibrate Cameras:
+Use `main.bin` to take images and Kalibr to produce a yaml with the same format in `calibr-1211`.
+Change the path in `main.py` to your own calibration results. Also change the undistortion
+coefficients in `cpp/camera.hh`.
+
+## Test CPM is working:
+Download model to `data/cpm.npy`.
+```
+cd src/cpp && python2 main.py -t 'cpm-viewer'
+```
+It will use 2 GPU to run 2 CPMs in parallel.
+
+## Test Visualization is working:
+```
+cd visualization && python2 main.py ../data/final-demo.npy
+```
+Its OpenGL bindings doesn't work on some systems (e.g. Ubuntu). Don't know why.
+
+## Run Stereo CPM:
+```
+cd src/cpp && python2 main.py -t 'cpm3d'
+```
+This will send 3d point coordinates to `0.0.0.0:8888`. You can use `-h <ip address>` to change the IP.
+
+To start a server (maybe on some other computers) to receive points and visualize:
+```
+cd visualization && python main-server.py
+```

src/background.py

@@ -25,17 +25,7 @@ def segment(self, im):
         mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, self.kernel)
         mask = cv2.dilate(mask, self.dilate_k)
         mask = mask.astype('uint8')
-
-        #flags = 8 | cv2.FLOODFILL_FIXED_RANGE
-        #bfsmask = np.zeros((mask.shape[0]+2,mask.shape[1]+2), dtype='uint8')
-        #cv2.floodFill(mask, bfsmask, (20,20), 100, 5,5, flags)
-        #cv2.floodFill(mask, bfsmask, (mask.shape[0]-20,mask.shape[1]-20), 100, 5,5, flags)
-        #cv2.floodFill(mask, bfsmask, (mask.shape[0]-20,20), 100, 5,5, flags)
-        #cv2.floodFill(mask, bfsmask, (20,mask.shape[1]-20), 100, 5,5, flags)
-        #mask = cv2.dilate(mask, self.dilate_k)
-        #return mask.astype('float32')
         return (mask > 10).astype('float32') *255
-        #return mask.astype('float32') * 255
 
 
 if __name__ == '__main__':

src/main.py

@@ -113,7 +113,8 @@ def final():
 
     ctx = zmq.Context()
     sok = ctx.socket(zmq.PUSH)
-    sok.connect('tcp://172.22.45.86:8888')
+    global args
+    sok.connect('tcp://{}:8888'.format(args.host))
 
     def cpp_matcher(m1, m2, o1, o2):
         o1 = libcpm.Mat(o1)
@@ -163,6 +164,7 @@ def cpp_matcher(m1, m2, o1, o2):
     parser.add_argument('-t', '--task',
             choices=['camera-viewer', 'cpm-viewer', 'cpm3d'],
             default='cpm-viewer')
+    parser.add_argument('-h', '--host', default='0.0.0.0')
     args = parser.parse_args()
     if args.task == 'camera-viewer':
         test_cpp_viewer()

src/model.py

@@ -15,8 +15,7 @@
 from tensorpack.tfutils.summary import *
 import matplotlib.pyplot as plt
 
-__all__ = ['colorize', 'colorize_all',
-        'argmax_2d', 'argmean_2d']
+__all__ = ['colorize', 'colorize_all', 'argmax_2d', 'argmean_2d']
 
 _CM = plt.get_cmap('jet')
 def colorize(img, heatmap):

src/patchmatch.py

@@ -47,10 +47,6 @@ def take_patch(im, y, x, size):
         IPython.embed(config=IPython.terminal.ipapp.load_default_config())
     return canvas
 
-def patch_match(small, large):
-    pass
-
-
 BG0 = None
 BG1 = None