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<h1 align="center"> UKPGAN: A General Self-Supervised Keypoint Detector </h1> <p align='center'> <img align="center" src='images/teaser.jpg' width='70%'> </img> </p> <div align="center"> <h3> <a href="https://qq456cvb.github.io">Yang You</a>, Wenhai Liu, Yanjie Ze, Yong-Lu Li, Weiming Wang, Cewu Lu <br> <br> CVPR 2022 <br> <br> <a href='https://arxiv.org/pdf/2011.11974.pdf'> <img src='https://img.shields.io/badge/Paper-PDF-orange?style=flat&logo=arxiv&logoColor=orange' alt='Paper PDF'> </a> <a href='https://qq456cvb.github.io/projects/ukpgan'> <img src='https://img.shields.io/badge/Project-Page-green?style=flat&logo=googlechrome&logoColor=green' alt='Project Page'> </a> <a href='https://youtu.be/IyGzkdR5MLU'> <img src='https://img.shields.io/badge/Youtube-Video-red?style=flat&logo=youtube&logoColor=red' alt='Video'/> </a> <br> </h3> </div>

UKPGAN is a self-supervised 3D keypoint detector on both rigid/non-rigid objects and real scenes. Note that our keypoint detector solely depends on local features and is both translational and rotational invariant.

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Overview

This repo is a TensorFlow implementation of our work UKPGAN.

Installation

<details> <summary><b>Create Conda Environments</b></summary>
conda env create -f environment.yml
</details> <details> <summary><b>Compile smoothed density value (SDV) source files</b></summary>

First install Pybind11 and PCL C++ dependencies. Then run the following command to build the SDV feature extractor:

cd sdv_src
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
cd ../..
</details>

If you want to visualize keypoint results, you will need to install open3d.

Train on ShapeNet Models

<details> <summary><b>Prepare Data</b></summary>

Download ShapeNet point clouds from KeypointNet and unzip pcds folder to the root.

</details> <details> <summary><b>Category Configuration</b></summary>

Change the category name cat_name to what you want in config/config.yaml.

</details> <details> <summary><b>Start Training</b></summary>

Open a separate terminal to monitor training process:

visdom -port 1080

Then run (e.g., chair):

python train.py cat_name=chair
</details>

Test on ShapeNet Models

<details> <summary><b>Evaluate IoU</b></summary>

Once trained, to evaluate the IoU with human annotations, first download KeypointNet data (you may only download the category that you wish to evaluate), then run

python eval_iou.py --kpnet_root /your/kpnet/root
</details> <details> <summary><b>Visualization</b></summary>

To test and visualize on ShapeNet models, run:

python visualize.py --type shapenet --nms --nms_radius 0.1
</details>

Train on SMPL Models

<details> <summary><b>Prepare Data</b></summary>

You should register on SMPL website and download the model. We follow this repo to pre-process the model to generate model.pkl. Place model.pkl into data/model.pkl.

</details> <details> <summary><b>Start Training</b></summary>

The following command start training on SMPL models on the fly:

python train.py cat_name=smpl symmetry_factor=0
</details>

Test on SMPL Models

<details> <summary><b>Visualization</b></summary>

To test and visualize on SMPL models, run:

python visualize.py --type smpl --nms --nms_radius 0.2 --kp_num 10
</details>

Test on Real-world Scenes

For this task, we use the model that is trained on a large collection of ShapeNet models (across 10+ categories), called universal.

<details> <summary><b>Prepare Data</b></summary>

You will need to download data from 3DMatch. We also provide a demo scene for visualization.

</details> <details> <summary><b>Visualization</b></summary>

To test and visualize on 3DMatch, run:

python visualize.py --type 3dmatch --nms --nms_radius 0.05
</details>

Pretrained Models

We provide pretrained models on Google Drive.

Pytorch Version

We have now implemented the Pytorch version of UKPGAN, and can be trained with SHOT descriptors, which are much faster than the PerfectMatch descriptors!

<details> <summary><b>Training on ShapeNet</b></summary> Directly clone the repo and run `git checkout pytorch` to switch to the pytorch version. Then run `python train.py`. You would get the following results when trained on ShapeNet chairs: <p align='center'> <img align="center" src='images/plotchair.png' width='50%'> </img> </p> </details>

Related Projects

Citation

If you find our algorithm useful in your research, please consider citing:

@inproceedings{you2022ukpgan,
  title={UKPGAN: A General Self-Supervised Keypoint Detector},
  author={You, Yang and Liu, Wenhai and Ze, Yanjie and Li, Yong-Lu and Wang, Weiming and Lu, Cewu},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year={2022}
}