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Real Time 3D Pose detection

Pose proposal network provides the 2D pose using a single image, similarly to OpenPose, but much faster reaching real time speed on embedded CPU (see original work, running on a Raspberry Pi Zero).

This project integrates the ZED SDK into the 2D pose estimation to provides a real time 3D pose estimation, similarly to ZED OpenPose, but lighter, royalty free (see original work license) and in Python.

Using the ZED stereo camera

While the network can be run on CPU or GPU and doesn't require CUDA, the ZED SDK does. Therefore, this sample requires an Nvidia graphics card with CUDA, the detection is also obviously much faster on GPU.

  1. Install the required dependencies:

    1. ZED SDK and the Python API
    2. Chainer + Cupy (Make sure the cuda version match yours)
pip3 install chainer cupy-cuda100 chainercv # Optionnaly : ideep4py

  1. Download a pretrained model from Idein here, or retrain one (see below).

  2. Run high_speed_zed.py, for instance using resnet18 :

    python3 high_speed_zed.py result/resnet18_384x384_coco/

Original Repo :

Please cite the paper in your publications if it helps your research:

@InProceedings{Sekii_2018_ECCV,
  author = {Sekii, Taiki},
  title = {Pose Proposal Networks},
  booktitle = {The European Conference on Computer Vision (ECCV)},
  month = {September},
  year = {2018}
  }

License

Copyright (c) 2018 Idein Inc. & Aisin Seiki Co., Ltd. All rights reserved.

This project is licensed under the terms of the license.

Demo: Realtime Pose Estimation

We tested on an Ubuntu 16.04 machine with GPU GTX1080(Ti)

Build Docker Image for Demo

We will build OpenCV from source to visualize the result on GUI.

$ cd docker/gpu
$ cat build.sh
docker build -t ppn .
$ sudo bash build.sh

Run using a webcam

  • Set your USB camera that can recognize from OpenCV.

  • Using the feature of Static Subgraph Optimizations to accelerate inference speed, (requires Chainer 5.y.z and CuPy 5.y.z e.g. 5.0.0 or 5.1.0)

  • Run high_speed.py

$ python high_speed.py ./trained

Training

Prepare Dataset

MPII

  • If you train with COCO dataset you can skip.
  • Access MPII Human Pose Dataset and jump to Download page. Then download and extract both Images (12.9 GB) and Annotations (12.5 MB) at ~/work/dataset/mpii_dataset for example.
Create mpii.json

We need decode mpii_human_pose_v1_u12_1.mat to generate mpii.json. This will be used on training or evaluating test dataset of MPII.

$ sudo docker run --rm -v $(pwd):/work -v path/to/dataset:mpii_dataset -w /work idein/chainer:4.5.0 python3 convert_mpii_dataset.py mpii_dataset/mpii_human_pose_v1_u12_2/mpii_human_pose_v1_u12_1.mat mpii_dataset/mpii.json

It will generate mpii.json at path/to/dataset. Where path/to/dataset is the root directory of MPII dataset, for example, ~/work/dataset/mpii_dataset. For those who hesitate to use Docker, you may edit config.ini as necessary.

COCO

  • If you train with MPII dataset you can skip.
  • Access COCO dataset and jump to Dataset -> download. Then download and extract 2017 Train images [118K/18GB], 2017 Val images [5K/1GB] and 2017 Train/Val annotations [241MB] at ~/work/dataset/coco_dataset:/coco_dataset for example.

Running Training Scripts

OK let's begin!

$ cat begin_train.sh
cat config.ini
docker run --rm \
-v $(pwd):/work \
-v ~/work/dataset/mpii_dataset:/mpii_dataset \
-v ~/work/dataset/coco_dataset:/coco_dataset \
--name ppn_idein \
-w /work \
idein/chainer:5.1.0 \
python3 train.py
$ sudo bash begin_train.sh
  • Optional argument --runtime=nvidia maybe require for some environment.
  • It will train a model the base network is MobileNetV2 with MPII dataset located in path/to/dataset on host machine.
  • If we would like to train with COCO dataset, edit a part of config.ini as follow:

before

# parts of config.ini
[dataset]
type = mpii

after

# parts of config.ini
[dataset]
type = coco
  • We can choice ResNet based network as the original paper adopts. Edit a part of config.ini as follow:

before

[model_param]
model_name = mv2

after

[model_param]
# you may also choice resnet34 and resnet50
model_name = resnet18

Prediction

  • Very easy, all we have to do is, for example:
$ sudo bash run_predict.sh ./trained
  • If you would like to configure parameter or hide bounding box, edit a part of config.ini as follow:
[predict]
# If `False` is set, hide bbox of annotation other than human instance.
visbbox = True
# detection_thresh
detection_thresh = 0.15
# ignore human its num of keypoints is less than min_num_keypoints
min_num_keypoints= 1