Betapose: Estimating 6D Pose From Localizing Designated Surface Keypoints

上交这份code质量堪忧啊，缺斤少两的还一堆bug，文档写的也是愁死人。等我配通了再来填坑。

1.from utils import output_pointcloud ImportError: cannot import name 'output_pointcloud'

需要修改utils/model.py

    from utils import output_pointcloud
    
    代码解读

改为：

    from utils.utils import output_pointcloud
    
    代码解读

2.Traceback (most recent call last): File "src/train.py", line 14, in from evaluation import prediction File "...\betapose\3_6Dpose_estimator\train_KPD\src\evaluation.py", line 9, in from predict.annot.coco_minival import Mscoco_minival ModuleNotFoundError: No module named 'predict.annot'

删去这一行：

     from predict.annot.coco_minival import Mscoco_minival 
    
    代码解读

3.

os.mkdir("../exp/{}/{}".format(opt.dataset, opt.expID))
FileNotFoundError: [Errno 2] No such file or directory: '../exp/coco/seq5_Nov_1_1'
File "src/train.py", line 129, in main
os.mkdir("../exp/{}".format(opt.dataset))
FileNotFoundError: [Errno 2] No such file or directory: '../exp/coco'

在betapose/3_6Dpose_esitimator目录下面创建exp/coco文件夹

4.OSError: Unable to open file (unable to open file: name = './data/05/annot_train.h5', errno = 2, error message = 'No such file or directory', flags = 0, o_flags = 0)

在betapose/3_6Dpose_esitimator/trian_KPD/下创建data/05/并将步骤二中产生的annot_train.h5，annot_eval.h5，trian等一堆文件复制到这里

5.昨天又解决一个问题，老师亲自跑了下才弄懂为啥。

Prepare data as AlexeyAB/darknet's instructions. Refer to folder ./scripts for more help

这句话本来一直没看懂作者的意思，卡了快两个星期了，issues也没人回。原来就是跑一下./scripts文件夹下的gt_single_object.py，然后也不能直接运行Run train_single.sh。打开train_single.sh，把命令改成

    ./darknet detector train data_linemod_gt/02/bvise.data cfg/yolo-linemod-single.cfg backup_linemod_no_neg/02/darknet53.conv.74
    
    代码解读

backup_linemod_no_neg/02/这个文件夹自己建一下，darknet53.conv.74作者给了地址下载。data_linemod_gt/02/bvise.data这个是gt_single_object.py跑通之后生成的。自己建文件夹bvise.data扔进去。还没完，建一个backup_linemod_gt/02文件夹保存结果。醉了，这么多事，作者就这么几句话一带而过.....