This is the source code for PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation (PDF, Video).

• Install CUDA9.0/CUDA10.0
• Set up python environment from requirement.txt:

  pip3 install -r requirement.txt 

• Install tkinter through sudo apt install python3-tk
• Install python-pcl.
• Install PointNet++:

  python3 setup.py build_ext

• Download the YCB-Video Dataset from PoseCNN. Unzip it and link the unzippedYCB_Video_Dataset to pvn3d/datasets/ycb/YCB_Video_Dataset:

  ln -s path_to_unziped_YCB_Video_Dataset pvn3d/datasets/ycb
  

• Preprocess the validation set to speed up training:

  cd pvn3d
  python3 -m datasets.ycb.preprocess_testset

• Start training on the YCB-Video Dataset by:

  chmod +x ./train_ycb.sh
  ./train_ycb

  The trained model checkpoints are stored in train_log/ycb/checkpoints/

• Start evaluating by:

  chmod +x ./eval_ycb.sh
  ./eval_ycb.sh

  You can evaluate different checkpoint by revising the tst_mdl in eval_ycb.sh to path of your target model.
• We provide our pre-trained models here. Download the ycb pre-trained model, move it to train_log/ycb/checkpoints/ and modify tst_mdl in eval_ycb.sh for testing.

• Scripts for synthesis data in LineMOD dataset.
• Training code and pre-trained models for the LineMOD dataset.

Please cite PVN3D if you use this repository in your publications:

@article{he2019pvn3d,
  title={PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation},
  author={He, Yisheng and Sun, Wei and Huang, Haibin and Liu, Jianran and Fan, Haoqiang and Sun, Jian},
  journal={arXiv preprint arXiv:1911.04231},
  year={2019}
}