Make build system better

README.md

@@ -27,14 +27,9 @@ If you find PoseCNN useful in your research, please consider citing:
 
 1. Install [TensorFlow](https://www.tensorflow.org/get_started/os_setup). I usually compile the source code of tensorflow locally.
 
-2. Compile the new layers under $ROOT/lib we introduce in PoseCNN.
-    ```Shell
-    cd $ROOT/lib
-    sh make.sh
-    ```
-3. Download the VGG16 weights from [here](https://drive.google.com/open?id=1UdmOKrr9t4IetMubX-y-Pcn7AVaWJ2bL) (528M). Put the weight file vgg16.npy to $ROOT/data/imagenet_models.
+2. Download the VGG16 weights from [here](https://drive.google.com/open?id=1UdmOKrr9t4IetMubX-y-Pcn7AVaWJ2bL) (528M). Put the weight file vgg16.npy to $ROOT/data/imagenet_models.
 
-4. Compile lib/synthesize with cmake (optional). This package contains a few useful tools such as generating synthetic image and ICP.
+3. Compile lib/synthesize with cmake. This package contains a few useful tools such as generating synthetic image and ICP.
 
    Install dependencies:
    - [Pangolin](https://github.com/stevenlovegrove/Pangolin)
@@ -51,7 +46,7 @@ If you find PoseCNN useful in your research, please consider citing:
     make
     ```
 
-    Compile the Cython interface for lib/synthesize
+    Compile the Cython interface for lib/synthesize and custom layers
     ```Shell
     cd $ROOT/lib
     python setup.py build_ext --inplace

lib/.gitignore

@@ -0,0 +1 @@
+build/

lib/hough_voting_gpu_layer/hough_voting_gpu_op.cu.cc → lib/hough_voting_gpu_layer/hough_voting_gpu_op_cc.cu

@@ -6,7 +6,8 @@
 #include <cfloat>
 #include <time.h>
 #include <thrust/extrema.h>
-#include <Eigen/Geometry> 
+#include <thrust/execution_policy.h>
+#include <Eigen/Geometry>
 #include <cublas_v2.h>
 #include "hough_voting_gpu_op.h"
 

lib/kinect_fusion/.gitignore

@@ -0,0 +1 @@
+build/

lib/kinect_fusion/src/transform/nonrigid.cu

@@ -94,7 +94,7 @@ __global__ void warpMeshKernel(DeviceTensor<DTensor, Eigen::UnalignedVec3<Scalar
 
 //            const NNVec nearestNeighborIndices = nearestNeighborGrid(nearestNeighborVoxel);
 
-            DualQuaternion blendedTransform;
+            DualQuaternion blendedTransform(deformationGraphTransforms(0));
 
             const bool initialized = blendDualQuaternions(blendedTransform, unwarpedVertexGridCoords,
                                                           unwarpedVertexWorldCoords, deformationGraphVertices,
@@ -755,19 +755,17 @@ __global__ void initializeNewBaseLevelVertexTransformsKernel(const DeviceTensor1
 
         const Vec3 newVertexInGridCoords = nearestNeighborGrid.worldToGrid(newVertexInWorldCoords);
 
-        DualQuaternion<Scalar,Eigen::DontAlign> blendedTransform;
 
-        const bool initialized = blendDualQuaternions(blendedTransform,newVertexInGridCoords,newVertexInWorldCoords,
+        const bool initialized = blendDualQuaternions(baseLevelTransforms(index),
+                                                      newVertexInGridCoords,newVertexInWorldCoords,
                                                       baseLevelVertices, baseLevelTransforms, nearestNeighborGrid,
                                                       oneOverBlendingSigmaSquared);
 
         if (initialized) {
 
             printf("initialized %d\n",index);
 
-            blendedTransform.normalize();
-
-            baseLevelTransforms(index) = blendedTransform;
+            baseLevelTransforms(index).normalize();
 
         }
 

lib/nms/.gitignore

@@ -0,0 +1 @@
+gpu_nms.cpp

lib/normals/.gitignore

@@ -0,0 +1 @@
+gpu_normals.cpp

lib/setup.py

@@ -11,6 +11,8 @@
 from distutils.core import setup
 from distutils.extension import Extension
 from Cython.Distutils import build_ext
+import tensorflow as tf
+import subprocess
 
 def find_in_path(name, path):
     "Find a file in a search path"
@@ -104,7 +106,80 @@ def build_extensions(self):
         customize_compiler_for_nvcc(self.compiler)
         build_ext.build_extensions(self)
 
+def includes_from_flags(flags):
+    return [f[2:] for f in flags if f.startswith('-I')]
+
+def lib_libdir_from_flags(flags):
+    return [f[2:] for f in flags if f.startswith('-L')], [f[2:] for f in flags if f.startswith('-l')]
+
+tf_compile_flags = [f for f in tf.sysconfig.get_compile_flags() if not f.startswith('-I')]
+tf_include_dirs = includes_from_flags(tf.sysconfig.get_compile_flags())
+
+opencv_cflags = subprocess.check_output(['pkg-config', '--cflags', 'opencv-3.3.1-dev']).split()
+opencv_includes = includes_from_flags(opencv_cflags)
+opencv_libs = subprocess.check_output(['pkg-config', '--libs', 'opencv-3.3.1-dev']).split()
+opencv_libdirs, opencv_libs = lib_libdir_from_flags(opencv_libs)
+
+def custom_tf_op(name, sources, use_opencv=False):
+    ext = Extension(name, sources,
+        library_dirs=[CUDA['lib64'], tf.sysconfig.get_lib()],
+        libraries=['cudart', 'tensorflow_framework'],
+        language='c++',
+        runtime_library_dirs=[CUDA['lib64']],
+        extra_compile_args={'gcc': ['-std=c++11',
+                                    '-D GOOGLE_CUDA=1']+tf_compile_flags,
+                            'nvcc': ['-std=c++11',
+                                     '-D GOOGLE_CUDA=1',
+                                     '-D_MWAITXINTRIN_H_INCLUDED']
+                            +tf_compile_flags+
+                                     ['-Xcompiler',
+                                      '-fPIC',
+                                      '-arch=sm_50']},
+        include_dirs = tf_include_dirs+[CUDA['include'], '/usr/include/eigen3']
+        )
+    if use_opencv:
+        ext.include_dirs += opencv_includes
+        ext.libraries += opencv_libs
+        ext.library_dirs += opencv_libdirs
+    return ext
+
 ext_modules = [
+    custom_tf_op('average_distance_loss.average_distance_loss',
+        ['average_distance_loss/average_distance_loss_op_gpu.cu',
+         'average_distance_loss/average_distance_loss_op.cc']),
+    custom_tf_op('hough_voting_gpu_layer.hough_voting_gpu',
+        ['hough_voting_gpu_layer/hough_voting_gpu_op_cc.cu',
+         'hough_voting_gpu_layer/hough_voting_gpu_op.cc'],
+        use_opencv=True),
+    custom_tf_op('hough_voting_layer.houg_voting',
+        ['hough_voting_layer/Hypothesis.cpp',
+         'hough_voting_layer/thread_rand.cpp',
+         'hough_voting_layer/hough_voting_op.cc'],
+        use_opencv = True),
+    custom_tf_op('roi_pooling_layer.roi_pooling_layer',
+        ['roi_pooling_layer/roi_pooling_op_gpu.cu',
+         'roi_pooling_layer/roi_pooling_op.cc']),
+    custom_tf_op('triplet_loss.triplet_loss',
+        ['triplet_loss/triplet_loss_op_gpu.cu',
+         'triplet_loss/triplet_loss_op.cc']),
+    custom_tf_op('lifted_structured_loss.lifted_structured_loss',
+        ['lifted_structured_loss/lifted_structured_loss_op_gpu.cu',
+         'lifted_structured_loss/lifted_structured_loss_op.cc']),
+    custom_tf_op('computing_flow_layer.computing_flow_layer',
+        ['computing_flow_layer/computing_flow_op_gpu.cu',
+         'computing_flow_layer/computing_flow_op.cc']),
+    custom_tf_op('backprojecting_layer.backprojecting',
+        ['backprojecting_layer/backprojecting_op_gpu.cu',
+         'backprojecting_layer/backprojecting_op.cc']),
+    custom_tf_op('projecting_layer.projecting',
+        ['projecting_layer/projecting_op_gpu.cu',
+         'projecting_layer/projecting_op.cc']),
+    custom_tf_op('computing_label_layer.computing_label',
+        ['computing_label_layer/computing_label_op_gpu.cu',
+         'computing_label_layer/computing_label_op.cc']),
+    custom_tf_op('gradient_reversal_layer.gradient_reversal',
+        ['gradient_reversal_layer/gradient_reversal_op_gpu.cu',
+         'gradient_reversal_layer/gradient_reversal_op.cc']),
     Extension('normals.gpu_normals',
         ['normals/compute_normals.cu', 'normals/gpu_normals.pyx'],
         library_dirs=[CUDA['lib64']],
@@ -120,7 +195,7 @@ def build_extensions(self):
                                      '-c',
                                      '--compiler-options',
                                      "'-fPIC'"]},
-        include_dirs = [numpy_include, CUDA['include'], '/usr/local/include/eigen3']
+        include_dirs = [numpy_include, CUDA['include'], '/usr/include/eigen3']
     ),
     Extension(
         "utils.cython_bbox",

lib/synthesize/.gitignore

@@ -0,0 +1 @@
+synthesizer.cpp

lib/synthesize/CMakeLists.txt

@@ -1,6 +1,8 @@
 project("synthesizer")
 cmake_minimum_required(VERSION 2.8)
 
+cmake_policy(SET CMP0015 NEW)
+
 if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -28,7 +30,7 @@ if (OPENMP_FOUND)
     set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 endif()
 
-set(xFusion_ROOT "/home/yuxiang/Projects/Deep_Pose/lib/kinect_fusion")
+set(xFusion_ROOT "../kinect_fusion")
 set(xFusion_INCLUDE_DIRS ${xFusion_ROOT}/include)
 set(xFusion_LIBRARY_DIRS ${xFusion_ROOT}/build)
 set(xFusion_LIBRARIES kfusion)