YOLOPoint

Joint Keypoint and Object Detection

This is a complimentary repository to our paper YOLOPoint. The code is built on top of pytorch-superpoint and YOLOv5.

Installation

Requirements

• python >= 3.8
• pytorch >= 1.10
• accelerate >= 1.14 (needed only for training)
• rospy (only for deployment with ROS)

$ pip install -r requirements.txt

Huggingface accelerate is a wrapper used mainly for multi-gpu and half-precision training. Prior to training, you must configure accelerate with:

$ accelerate config

Data Organization

To save time during data loading, images are resized and saved such that height or width are divisible by 32.

YOLOPoint/
├── datasets/
│   ├── coco/
│   │   ├── images480/
│   │   │    ├── train/
│   │   │    └── val/
│   │   └── labels/
│   │        ├── train/
│   │        └── val/

Training

1. Adjust your config files as needed before launching the training script.
2. Use provided weights to generate pseudo-ground truth keypoint labels:

$ python export_homography.py

3. The following command will train YOLOPointS and save weights to logs/my_experiment/checkpoints.

$ accelerate launch train.py --config configs/coco.yaml --exper_name my_experiment --model YOLOPoint --version s

4. Broadcast Tensorboard logs.

$ sh logs/my_experiment/run_th.sh

Inference

You will first want to configure your config.yaml file.

Example if you're not using ROS:

$ cd src
$ python demo.py --config configs/inference.yaml

Example if you are using ROS:

First build the package and start a roscore:

$ catkin build yolopoint
$ roscore

You can either choose to stream images from a directory or subscribe to a topic. To visualize object bounding boxes and tracked points, set the --visualize flag.

$ rosrun yolopoint demo_ROS.py src/configs/kitti_inference.yaml directory '/path/to/image/folder' --visualize

Alternatively, you can publish bounding boxes and points and visualize them in another node. Before publishing, the keypoint descriptor vectors get flattened into a single vector and then unflattened in a listener node.

$ rosrun yolopoint demo_ROS.py src/configs/kitti_inference.yaml ros '/image/message/name' --publish
$ rosrun yolopoint demo_ROS_listener.py '/image/message/name'

Evaluation HPatches

Example for evaluating homography estimation:

$ python export_homography.py --config configs/hpatches.yaml
$ python evaluation_hpatches.py path/to/weights.pt -homo