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update to pytorch 1.0 on public (RobotLocomotion#78)
* Update to pytorch 1.0 (RobotLocomotion#74) * fix normalization in neural network * normalize descriptors notebooks * keypoint labeling and visualizing * towards nice online visualization * use RGB heatmap instead of grayscale * add useful print statements to heatmap vis * online descriptor learning plotting * first visualization demo * visualization setup for one at a time * minor updates * code cleanup * modularize code * Update mesh_descriptors.md * update documentation * remove director as a submodule * revert changes to documentation * Create pose_estimation.md * Update pose_estimation.md * updates to pose estimation module * fix typo in comment * tweaks to annotating keypoints * initial work on keypoint detection * keypoint detection is now working * path fixes * use new environment variables for paths * update paths to new format * use new function for expanding data paths * useful eval file * update to use new paths with entrypoint, dockerfile * use eval file with updated paths * update paths in training tutorial * fix paths expansion in training.py * remove debugging print statements * Create image_convention.md * update documentation and image conversion utilities * add backwards compatibility for data path * Create labeled_data.md * cross instance quantitative eval * Update install_pytorch.sh * Update labeled_data.md * Delete webResources.xml * Update live_heatmap_visualization.py * Update mesh_descriptors.md * Update mesh_descriptors.md * improve documentation * Update change_detection.md * change default behavior for loading foreground mesh * remove debug code * Update utils.py * update documentation * new shoe logs * add new shoes config file * work on class consistent shoes network * add convenience functions for finding first image in scene * update config fi;es * fix paths issue in evaluation * disable keypoint visualizer in training * improvements to keypoint annotation * move files to different directory * bug fix * fixes for renaming folders * Update labeled_data.md * Update labeled_data.md * move folder into module, bug fixes * Update README.md * Update README.md * Update README.md * add convenience functions, allow multiple configs for single object * bug fixes for correspondence labeler * Update README.md * Update README.md * more work on keypoint annotation and evaluation * bug fixes * add some helpful notebooks * bug fix when storing object_id * Update remote_workflow.md * Update remote_workflow.md * allow for evaluating specific iteration of model * optionally toggle backbone architecture * helper notebook * helper notebook * Update shoe_green_nike_close_up.yaml * update documentation * update documentation * add assert statement * update documentation * remove unused uv_a, uv_b variables * pin tensorboard to 1.8.0 * add notebooks for benchmarking * bug fix * more bug fixes in benchmarking notebooks * fix keypoint visualizer to work with new format * add miscellaenous shoes dataset config * remove debugging print statement * qualitative evaluation for keypoints * qualitative keypoint eval notebook * add eval config for dev work * add unique identifier file to model folder * code to render all descriptor images for a given scene * add unique identifier to network, save it during training * helper script for copying dataset * integrate unet * move pytorch-segmentation-detection location * update docstring * removed submdoule unet-pytorch so can add correctly * properly add unet-pytorch submodule * fix network loading * precompute all descriptor images * Update evaluation.py * The dependency stript * add poser submodule * change to another file * Create poser.md * Update poser.md * build in docker * update document * hotfix for loading network * Update poser.md * update poser to master * update documentation * Update poser.md * initial work on poser client * add build script for poser * Update poser.md * Update poser.md * update to poser master * update document * more work on poser client * more updates * more work on poser interface * poser interface is working * update poser * add option for visualizing with poser visualizer * turn of poser visualization by default * add maskrcnn-benchmark submodule * Create maskrcnn_benchmark.md * more work on maskrcnn_benchmark integration * Code for creating coco dataset from SpartanDataset * Create coco_dataset.md * cleanup name of file * Update poser.md * add pytorch 1 virtualenv * pin opencv version to fix API breaking change * add install_coco_api script * more work on maskrcnn-benchmark integration * add notebook for shoes training * add coco api install file * python3 virtualenv, maskrcnn integration * bug fixes * code cleanup * Update maskrcnn_benchmark.md * code cleanup * bump maskrcnn-benchmark * Update maskrcnn_benchmark.md * updates for pytorch 1.0 compatibility * bug fixes * maskrcnn inference working with pytorch 1.0 * add scratch to gitignore * improve comments * Update docker_build_instructions.md * minor fixes * add open3d for 3d visualization * add keypoint detection * update instruction on mankey * more document * update bug fixing * update document with network weight * add use_mankey function to entrypoint * bug fix * Update poser.md * keypoint annotation tool (RobotLocomotion#68) * keypoint annotation tool * Create annotation.md * Update annotation.md * remove unused file * switch keybinding * use existsing date time string generator * delete unused file * Create shoe_tall_brown_boot.yaml * Update shoe_tall_brown_boot.yaml * Update poser.md * Fix a bug in image cropping (RobotLocomotion#69) * update mankey submodule * update document * Create special.yaml * Update special.yaml * Update mugs.yaml * minor updates (RobotLocomotion#70) * Update special.yaml * Update poser.md * remove mankey and poser * bug fix * Update docker_build_instructions.md * Update docker_build_instructions.md * don't install poser * Update tutorial_getting_started.md * switch to pytorch 1.1 * use Resnet34 as default instead of 101 * clean up print statements * Add check to see if have cross-scene data * add check for whether correspondence finder found any matches * allow for specifying the output directory * Update tutorial_getting_started.md * remove unused networks from evaluation config * revert to default evaluation.yaml in heatmap tool * add upright caterpillar dataset config * label caterpillar_17 scenes with pose of caterpillar * remove print statements * remove unused print statement * update model path for training tutorial * Update tutorial_getting_started.md * Update tutorial_getting_started.md * update data download script to match training dataset * remove unused documentation * remove unused files * remove unused files * clean up docker build * remove unet and maskrcnn submodules * delete unet and maskrcnn-benchmark submodules * remove unused files * update dataset config
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‎.gitignore

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*.jupyter
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*.nv
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*.ssh/
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data
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data
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build
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sandbox
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tmp
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‎.gitmodules

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[submodule "pytorch-segmentation-detection"]
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path = pytorch-segmentation-detection
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path = external/pytorch-segmentation-detection
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url = https://github.com/warmspringwinds/pytorch-segmentation-detection.git

‎config/defaults.yaml

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manuelli:
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cuda_visible_devices: [] # this means use all gpus
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iiwa-workstation:
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manulli:
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cuda_visible_devices: [0]
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‎config/dense_correspondence/dataset/composite/4_shoes_all.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- shoe_brown_boot.yaml

‎config/dense_correspondence/dataset/composite/baymax_1_train.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- baymax_1_train.yaml

‎config/dense_correspondence/dataset/composite/baymax_front_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- baymax_front.yaml

‎config/dense_correspondence/dataset/composite/baymax_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- baymax.yaml

‎config/dense_correspondence/dataset/composite/brown_boot_shoe_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- shoe_brown_boot.yaml

‎config/dense_correspondence/dataset/composite/caterpillar_baymax.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- caterpillar_17_scenes.yaml

‎config/dense_correspondence/dataset/composite/caterpillar_baymax_starbot_all.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- caterpillar_9_train.yaml

‎config/dense_correspondence/dataset/composite/caterpillar_baymax_starbot_all_front.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- caterpillar_9_train.yaml

‎config/dense_correspondence/dataset/composite/caterpillar_baymax_starbot_all_front_single_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- caterpillar_9_train.yaml

‎config/dense_correspondence/dataset/composite/caterpillar_baymax_starbot_onlymulti.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files: []
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‎config/dense_correspondence/dataset/composite/caterpillar_baymax_starbot_onlymulti_front.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files: []
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‎config/dense_correspondence/dataset/composite/caterpillar_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- caterpillar_17_scenes.yaml

‎config/dense_correspondence/dataset/composite/caterpillar_only_9.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- caterpillar_9_train.yaml

‎config/dense_correspondence/dataset/composite/caterpillar_single_scene_test.yaml

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logs_root_path: code/data_volume/pdc/logs_test
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single_object_scenes_config_files:
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- caterpillar_single_scene_test.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/caterpillar_upright.yaml

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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- caterpillar_upright.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/entire_dataset.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- entire_dataset.yaml # this also contains multi-object-scenes, but keeps in one file

‎config/dense_correspondence/dataset/composite/gray_nike_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- shoe_gray_nike.yaml

‎config/dense_correspondence/dataset/composite/green_nike_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- shoe_green_nike.yaml

‎config/dense_correspondence/dataset/composite/hat_mit_black_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- hat_mit_black.yaml

‎config/dense_correspondence/dataset/composite/hat_mit_red_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- hat_mit_red.yaml

‎config/dense_correspondence/dataset/composite/hat_princeton_orange_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- hat_princeton_orange.yaml

‎config/dense_correspondence/dataset/composite/hat_train_6.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- hat_banjo_camp_north.yaml

‎config/dense_correspondence/dataset/composite/mugs_all.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- mugs.yaml
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- white_plastic_mug.yaml
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- blue_plastic_mug.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/red_bowl_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- red_bowl.yaml

‎config/dense_correspondence/dataset/composite/red_nike_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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- shoe_red_nike.yaml
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multi_object_scenes_config_files:
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- "code/data_volume/pdc/evaluation_labeled_data/shoe_red_nike.yaml"
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- "evaluation_labeled_data/shoe_red_nike.yaml"
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‎config/dense_correspondence/dataset/composite/shoe_train_1_brown_boot.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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single_object_scenes_config_files:
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- shoe_brown_boot.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/shoe_train_1_gray_nike.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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single_object_scenes_config_files:
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- shoe_gray_nike.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/shoe_train_1_green_nike.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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single_object_scenes_config_files:
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- shoe_green_nike.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/shoe_train_1_red_nike.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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single_object_scenes_config_files:
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- shoe_red_nike.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/shoe_train_4_shoes.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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- shoe_brown_boot.yaml

‎config/dense_correspondence/dataset/composite/shoe_train_all_shoes.yaml

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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- shoe_gray_nike.yaml
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- shoe_green_nike_close_up.yaml
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- shoe_red_nike_close_up.yaml
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- shoe_green_nike.yaml
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- shoe_fashion_or_sport_white.yaml
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- shoe_red_nike.yaml
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- shoe_brown_boot.yaml
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- shoe_globalwin_light_brown.yaml
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- shoe_tesla_maroon.yaml
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- shoe_globalwin_blue_grey.yaml
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- shoe_tall_brown_boot.yaml
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multi_object_scenes_config_files: []

‎config/dense_correspondence/dataset/composite/shoes_all.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- shoes.yaml

‎config/dense_correspondence/dataset/composite/six_objects_and_multi.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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- caterpillar_17_scenes.yaml

‎config/dense_correspondence/dataset/composite/star_bot_front_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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- star_bot_front.yaml

‎config/dense_correspondence/dataset/composite/star_bot_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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single_object_scenes_config_files:
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- star_bot.yaml

‎config/dense_correspondence/dataset/composite/starbot_1_train.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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- starbot_1_train.yaml

‎config/dense_correspondence/dataset/multi_object/4_shoes.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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object_id_list: ["shoe_gray_nike", "shoe_green_nike", "shoe_red_nike", "shoe_brown_boot"]
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train:
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- "2018-05-17-00-46-45"

‎config/dense_correspondence/dataset/multi_object/caterpillar_baymax_starbot.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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object_id_list: ["star_bot", "caterpillar", "baymax"]
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train:
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- "2018-05-04-20-12-25"

‎config/dense_correspondence/dataset/multi_object/caterpillar_baymax_starbot_front_only.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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object_id_list: ["star_bot", "caterpillar", "baymax"]
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train:
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- "2018-05-04-20-12-25" # singulated (mostly)
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- "2018-05-04-20-22-22"
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- "2018-05-04-20-35-49"
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evaluation_labeled_data_path:
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- "code/data_volume/pdc/evaluation_labeled_data/caterpillar_starbot_baymax_multi_cross_scene_labels.yaml"
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- "evaluation_labeled_data/caterpillar_starbot_baymax_multi_cross_scene_labels.yaml"

‎config/dense_correspondence/dataset/multi_object/multi_object.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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train:
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- "2018-04-24-18-10-31"
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- "2018-04-24-18-14-35"
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- "2018-04-24-18-33-20"
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- "2018-04-24-18-36-29"
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evaluation_labeled_data_path:
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- "code/data_volume/pdc/evaluation_labeled_data/caterpillar_cross_scene_labels.yaml"
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- "evaluation_labeled_data/caterpillar_cross_scene_labels.yaml"

‎config/dense_correspondence/dataset/single_object/10_caterpillar_scenes.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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object_id: "caterpillar"
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train:
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- "2018-04-10-16-02-59"

‎config/dense_correspondence/dataset/single_object/10_drill_scenes.yaml

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logs_root_path: code/data_volume/pdc/logs_proto
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logs_root_path: logs_proto
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object_id: "drill"
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train:
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- "05_drill_long_downsampled"

‎config/dense_correspondence/dataset/single_object/baymax.yaml

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
logs_root_path: code/data_volume/pdc/logs_proto
1+
logs_root_path: logs_proto
22
object_id: "baymax"
33
train:
44
- "2018-04-24-17-16-40"
@@ -13,4 +13,4 @@ test:
1313
- "2018-04-24-17-40-34"
1414
- "2018-04-24-17-42-27"
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evaluation_labeled_data_path:
16-
- "code/data_volume/pdc/evaluation_labeled_data/baymax_cross_scene_labels.yaml"
16+
- "evaluation_labeled_data/baymax_cross_scene_labels.yaml"

‎config/dense_correspondence/dataset/single_object/baymax_1_train.yaml

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
1-
logs_root_path: code/data_volume/pdc/logs_proto
1+
logs_root_path: logs_proto
22
object_id: "baymax"
33
train:
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- "2018-04-24-17-16-40"
55
test:
66
- "2018-04-24-17-40-34"
77
- "2018-04-24-17-42-27"
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evaluation_labeled_data_path:
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- "code/data_volume/pdc/evaluation_labeled_data/baymax_cross_scene_labels.yaml"
9+
- "evaluation_labeled_data/baymax_cross_scene_labels.yaml"

‎config/dense_correspondence/dataset/single_object/baymax_front.yaml

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
qlogs_root_path: code/data_volume/pdc/logs_proto
1+
qlogs_root_path: logs_proto
22
object_id: "baymax"
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train:
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- "2018-04-24-17-16-40" # head pointed down left
@@ -13,4 +13,4 @@ test:
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- "2018-04-24-17-42-27" # head pointed up and right
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- "2018-04-24-17-30-08" # head pointed down
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evaluation_labeled_data_path:
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- "code/data_volume/pdc/evaluation_labeled_data/baymax_front_cross_scene_labels.yaml"
16+
- "evaluation_labeled_data/baymax_front_cross_scene_labels.yaml"

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