fix the download script

README.md

@@ -26,7 +26,7 @@ This repository is the implementation code of the paper "DenseFusion: 6D Object
 
 ## Requirements
 
-* Python 2.7/3.5/3.6 (No strict requirements for the Python version. Small changes of some print functions might be enough to switch between different versions.)
+* Python 2.7/3.5/3.6 (If you want use Python2.7 to run this repo, please rebuild the `lib/knn/` (with PyTorch 0.4.1).)
 * [PyTorch 0.4.1](https://pytorch.org/)
 * PIL
 * scipy

download.sh

 # Download the datasets and checkpoints
 
+if [ ! -d datasets/ycb/YCB_Video_Dataset ];then
 echo 'Downloading the YCB-Video Dataset'
+wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1if4VoEXNx9W3XCn0Y7Fp15B4GpcYbyYi' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1if4VoEXNx9W3XCn0Y7Fp15B4GpcYbyYi" -O YCB_Video_Dataset.zip && rm -rf /tmp/cookies.txt \
+&& unzip YCB_Video_Dataset.zip \
+&& mv YCB_Video_Dataset/ datasets/ycb/ \
+&& rm YCB_Video_Dataset.zip
+fi
 
-wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1if4VoEXNx9W3XCn0Y7Fp15B4GpcYbyYi' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1if4VoEXNx9W3XCn0Y7Fp15B4GpcYbyYi" -O YCB_Video_Dataset.zip && rm -rf /tmp/cookies.txt
-unzip YCB_Video_Dataset.zip
-mv YCB_Video_Dataset/ datasets/ycb/
-rm YCB_Video_Dataset.zip
-
+if [ ! -d datasets/linemod/Linemod_preprocessed ];then
 echo 'Downloading the preprocessed LineMOD dataset'
+wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1YFUra533pxS_IHsb9tB87lLoxbcHYXt8' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1YFUra533pxS_IHsb9tB87lLoxbcHYXt8" -O Linemod_preprocessed.zip && rm -rf /tmp/cookies.txt \
+&& unzip Linemod_preprocessed.zip \
+&& mv Linemod_preprocessed/ datasets/linemod/ \
+&& rm Linemod_preprocessed.zip
+fi
 
-wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1YFUra533pxS_IHsb9tB87lLoxbcHYXt8' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1YFUra533pxS_IHsb9tB87lLoxbcHYXt8" -O Linemod_preprocessed.zip && rm -rf /tmp/cookies.txt
-unzip Linemod_preprocessed.zip
-mv Linemod_preprocessed/ datasets/linemod/
-rm Linemod_preprocessed.zip
-
+if [ ! -d trained_checkpoints ];then
 echo 'Downloading the trained checkpoints...'
-
-wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1bQ9H-fyZplQoNt1qRwdIUX5_3_1pj6US' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1bQ9H-fyZplQoNt1qRwdIUX5_3_1pj6US" -O trained_checkpoints.zip && rm -rf /tmp/cookies.txt
-unzip trained_checkpoints.zip
-echo 'Copying trained checkpoints to trained_models/'
-cp trained_checkpoints/ycb/*.pth trained_models/ycb/
-cp trained_checkpoints/linemod/*.pth trained_models/linemod/
-rm trained_checkpoints.zip
-rm -r trained_checkpoints/
+wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1bQ9H-fyZplQoNt1qRwdIUX5_3_1pj6US' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1bQ9H-fyZplQoNt1qRwdIUX5_3_1pj6US" -O trained_checkpoints.zip && rm -rf /tmp/cookies.txt \
+&& unzip trained_checkpoints.zip -x "__MACOSX/*" "*.DS_Store" "*.gitignore" -d trained_checkpoints \
+&& mv trained_checkpoints/trained*/ycb trained_checkpoints/ycb \
+&& mv trained_checkpoints/trained*/linemod trained_checkpoints/linemod \
+&& rm -r trained_checkpoints/trained*/ \
+&& rm trained_checkpoints.zip
+fi
 
 echo 'done'
\ No newline at end of file

experiments/scripts/eval_linemod.sh

@@ -6,6 +6,6 @@ set -e
 export PYTHONUNBUFFERED="True"
 export CUDA_VISIBLE_DEVICES=0
 
-python ./tools/eval_linemod.py --dataset_root ./datasets/linemod/Linemod_preprocessed\
-  --model pose_model_9_0.01310166542980859.pth\
-  --refine_model pose_refine_model_493_0.006761023565178073.pth
\ No newline at end of file
+python3 ./tools/eval_linemod.py --dataset_root ./datasets/linemod/Linemod_preprocessed\
+  --model trained_checkpoints/linemod/pose_model_9_0.01310166542980859.pth\
+  --refine_model trained_checkpoints/linemod/pose_refine_model_493_0.006761023565178073.pth
\ No newline at end of file

experiments/scripts/eval_ycb.sh

@@ -15,6 +15,6 @@ if [ ! -d YCB_Video_toolbox ];then
     cp replace_ycb_toolbox/*.m YCB_Video_toolbox/
 fi
 
-python ./tools/eval_ycb.py --dataset_root ./datasets/ycb/YCB_Video_Dataset\
-  --model pose_model_26_0.012863246640872631.pth\
-  --refine_model pose_refine_model_69_0.009449292959118935.pth
\ No newline at end of file
+python3 ./tools/eval_ycb.py --dataset_root ./datasets/ycb/YCB_Video_Dataset\
+  --model trained_checkpoints/ycb/pose_model_26_0.012863246640872631.pth\
+  --refine_model trained_checkpoints/ycb/pose_refine_model_69_0.009449292959118935.pth
\ No newline at end of file

experiments/scripts/train_linemod.sh

@@ -6,5 +6,5 @@ set -e
 export PYTHONUNBUFFERED="True"
 export CUDA_VISIBLE_DEVICES=0
 
-python ./tools/train.py --dataset linemod\
+python3 ./tools/train.py --dataset linemod\
   --dataset_root ./datasets/linemod/Linemod_preprocessed
\ No newline at end of file

experiments/scripts/train_ycb.sh

@@ -6,5 +6,5 @@ set -e
 export PYTHONUNBUFFERED="True"
 export CUDA_VISIBLE_DEVICES=0
 
-python ./tools/train.py --dataset ycb\
+python3 ./tools/train.py --dataset ycb\
   --dataset_root ./datasets/ycb/YCB_Video_Dataset
\ No newline at end of file

tools/eval_linemod.py

@@ -30,7 +30,6 @@ objlist = [1, 2, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15]
 num_points = 500
 iteration = 2
 dataset_config_dir = 'datasets/linemod/dataset_config'
-trained_models_dir = 'trained_models/linemod'
 output_result_dir = 'experiments/eval_result/linemod'
 
 
@@ -38,8 +37,8 @@ estimator = PoseNet(num_points = num_points, num_obj = num_objects)
 estimator.cuda()
 refiner = PoseRefineNet(num_points = num_points, num_obj = num_objects)
 refiner.cuda()
-estimator.load_state_dict(torch.load('{0}/{1}'.format(trained_models_dir, opt.model)))
-refiner.load_state_dict(torch.load('{0}/{1}'.format(trained_models_dir, opt.refine_model)))
+estimator.load_state_dict(torch.load(opt.model))
+refiner.load_state_dict(torch.load(opt.refine_model))
 estimator.eval()
 refiner.eval()
 

tools/eval_ycb.py

@@ -50,7 +50,6 @@ dataset_config_dir = 'datasets/ycb/dataset_config'
 ycb_toolbox_dir = 'YCB_Video_toolbox'
 result_wo_refine_dir = 'experiments/eval_result/ycb/Densefusion_wo_refine_result'
 result_refine_dir = 'experiments/eval_result/ycb/Densefusion_iterative_result'
-trained_models_dir = 'trained_models/ycb'
 
 def get_bbox(posecnn_rois):
     rmin = int(posecnn_rois[idx][3]) + 1
@@ -92,12 +91,12 @@ def get_bbox(posecnn_rois):
 
 estimator = PoseNet(num_points = num_points, num_obj = num_obj)
 estimator.cuda()
-estimator.load_state_dict(torch.load('{0}/{1}'.format(trained_models_dir, opt.model)))
+estimator.load_state_dict(torch.load(opt.model))
 estimator.eval()
 
 refiner = PoseRefineNet(num_points = num_points, num_obj = num_obj)
 refiner.cuda()
-refiner.load_state_dict(torch.load('{0}/{1}'.format(trained_models_dir, opt.refine_model)))
+refiner.load_state_dict(torch.load(opt.refine_model))
 refiner.eval()
 
 testlist = []