3D Human Pose Machines with Self-supervised Learning

Keze Wang, Liang Lin, Chenhan Jiang, Chen Qian, and Pengxu Wei, “3D Human Pose Machines with Self-supervised Learning”. To appear in IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2019.

This repository implements a 3D human pose machine to resolve 3D pose sequence generation for monocular frames, and includes a concise self-supervised correction mechanism to enhance our model by retaining the 3D geometric consistency. A mainly part is written in C++ and powered by Caffe deep learning toolbox. Another is written in Python and powered by Tensorflow.

Results

We proposed results on the Human3.6M, KTH Football II and MPII dataset.

License

This project is released for Adamic Research Use only.

Get Started

Clone the repo:

git clone https://github.com/chanyn/3Dpose_ssl.git

Our code is orgamized as follows:

caffe-3dssl/: support caffe
models/: pretrained models and results
prototxt/: network architecture definitions
tensorflow/: code for online refine 
test/: script that run results split by action 
tools/: python and matlab code 

Requirements

1. NVIDIA GPU and cuDNN are required to have fast speeds. For now, CUDA 8.0 with cuDNN 6.0 has been tested. The other versions should be working.
2. Caffe Python wrapper is required.
3. Tensorflow 1.1.0
4. python 2.7.13
5. MATLAB
6. Opencv-python

Installation

1. Build 3Dssl Caffe

   cd $ROOT/caffe-3dssl
   # Follow the Caffe installation instructions here:
   #   http://caffe.berkeleyvision.org/installation.html
   
   # If you're experienced with Caffe and have all of the requirements installed
   # and your Makefile.config in place, then simply do:
   make all -j 8
   
   make pycaffe
   

2. Install Tensorflow

Datasets

• Human3.6m

  We change annotation of Human3.6m to hold 16 points ( 'RFoot' 'RKnee' 'RHip' 'LHip' 'LKnee' 'LFoot' 'Hip' 'Spine' 'Thorax' 'Head' 'RWrist' 'RElbow' 'RShoulder' 'LShoulder' 'LElbow' 'LWrist') in keeping with MPII.

  We have provided count mean file and protocol #I & protocol #III split list of Human3.6m. Follow Human3.6m website to download videos and API. We split each video per 5 frames. And list format of 16skel_train/test_* is [img_path] [P1_2dx, P1_2dy, P2_2dx, P2_2dy,..., P1_3dx, P1_3dy, P1_3dz, P2_3dx, P2_3dy, P2_3dz,...] clip. Clip = 0 denote reset lstm.

  # files construction
  h36m
  |_gt # 2d and 3d annotations splited by actions
  |_hg2dh36m # 2d estimation predicted by *Hourglass*, 'square' denotes prediction of square image. 
  |_ours_2d # 2d prediction from our model
  |_ours_3d # 3d coarse prediction of *Model Extension: mask3d*
  |_16skel_train_2d3d_clip.txt # train list of *Protocol I*
  |_16skel_test_2d3d_clip.txt
  |_16skel_train_2d3d_p3_clip.txt # train list of *Protocol III*
  |_16skel_test_2d3d_p3_clip.txt
  |_16point_mean_limb_scaled_max_min.csv #16 points normalize by (x-min) / (max-min)

  After set up Human3.6m dataset following its illustration and download above training/testing list. You should update “root_folder” paths in CAFFE_ROOT/examples/.../*.prototxt for images and annotation director.

• MPII

  We crop and square single person from all images and update 2d annotation in train_h36m.txt (resort points according to order of Human3.6m points).

  mkdir data/MPII
  cd data/MPII
  wget -v https://drive.google.com/open?id=16gQJvf4wHLEconStLOh5Y7EzcnBUhoM-
  tar -xzvf MPII_square.tar.gz
  rm -f MPII_square.tar.gz
  

Training

Offline Phase

Our model consists of two cascade modules, so training phase can be divided into the following setps:

cd CAFFE_ROOT

1. Pre-train the 2D pose sub-network with MPII. You can follow CPM or Hourglass or other 2D pose estimation method. We provide pretrained CPM-caffemodel. Please put it into CAFFE_ROOT/models/.

2. Train 2D-to-3D pose transformer module with Human3.6M. And we fix the parameters of the 2D pose sub-network. The corresponding prototxt file is in examples/2D_to_3D/bilstm.prototxt.

   sh examples/2D_to_3D/train.sh
   

3. To train 3D-to-2D pose projector module, we fix above module weights. And we need in the wild 2D Pose dataset to help training (we choose MPII).

   sh examples/3D_to_2D/train.sh

4. Fine-tune the whole model jointly. We provide trained model and coarse prediction of Protocol I and Protocol III.

   sh examples/finetune_whole/train.sh

5. Model extension: Add rand mask to relieve model bias. We provide corresponding model files in examples/mask3d.

   sh examples/mask3d/train.sh

Model Inference

3D-to-2D project module are initialized from the well trained model, and they will be updated by minimizing the difference between the predicted 2D pose and projected 2D pose.

• Inference with provided models

  # Step1: Download the trained model
  cd PROJECT_ROOT
  mkdir models
  cd models
  wget -v https://drive.google.com/open?id=1dMuPuD_JdHuMIMapwE2DwgJ2IGK04xhQ
  unzip model_extension_mask3d.zip
  rm -r model_extension_mask3d.zip
  cd ../
  
  # Step2: save coarse 3D prediction
  cd test
  # change 'data_root' in test_human16.sh 
  # change 'root_folder' in template_16_merge.prototxt
  # test_human16.sh [$1 deploy.prototxt] [$2 trained model] [$3 save dir] [$4 batchsize]
  sh test_human16.sh . ../models/model_extension_mask3d/mask3d_iter_400000.caffemodel mask3d 5
  
  # Step3: online refine 3D pose prediction
  # protocal: 1/3 , default is 1
  # pose2d: ours/hourglass/gt, default is ours
  # coarse_3d: saved results in Sept2
  python pred_v2.py --trained_model ../models/model_extension_mask3d/mask3d-400000.pkl --protocol 1 --data_dir /data/h36m/ --coarse_3d ../test/mask3d --save srr_results --pose2d hourglass

• Inference with yourself

  Only difference is that you should transfer caffemodel of 3D-to-2D project module to pkl file. We provide gen_refinepkl.py in tools/.

  # Follow above Step1~2 to produce coarse 3d prediction and 2d pose.
  # transfer caffemodel of SRR module to python .pkl file
  python tools/gen_refinepkl.py CAFFE_ROOT CAFFEMODEL_DIR --pkl_dir model.pkl
  
  # online refine 3D pose prediction
  python pred_v2.py --trained_model model.pkl

• Evaluation

  run tools/eval_h36m.m
  

Citation

@article{wang20193d,
  title={3D Human Pose Machines with Self-supervised Learning},
  author={Wang, Keze and Lin, Liang and Jiang, Chenhan and Qian, Chen and Wei, Pengxu},
  journal={IEEE transactions on pattern analysis and machine intelligence},
  year={2019},
  publisher={IEEE}
}