Calibration with more verbose & better NVCaffe doc

CMakeLists.txt

@@ -173,23 +173,26 @@ endif (WIN32)
 ### PROJECT OPTIONS
 # Select the DL Framework
 set(DL_FRAMEWORK CAFFE CACHE STRING "Select Deep Learning Framework.")
-set_property(CACHE DL_FRAMEWORK PROPERTY STRINGS CAFFE)
-# set_property(CACHE DL_FRAMEWORK PROPERTY STRINGS CAFFE CAFFE2 TENSORFLOW)
+if (WIN32)
+  set_property(CACHE DL_FRAMEWORK PROPERTY STRINGS CAFFE)
+else (WIN32)
+  set_property(CACHE DL_FRAMEWORK PROPERTY STRINGS CAFFE NV_CAFFE)
+  # set_property(CACHE DL_FRAMEWORK PROPERTY STRINGS CAFFE NV_CAFFE PYTORCH TENSORFLOW)
+endif (WIN32)
 
 # Suboptions for Caffe DL Framework
 include(CMakeDependentOption)
-if (${DL_FRAMEWORK} MATCHES "CAFFE")
+if (${DL_FRAMEWORK} MATCHES "CAFFE" OR ${DL_FRAMEWORK} MATCHES "NV_CAFFE")
   CMAKE_DEPENDENT_OPTION(BUILD_CAFFE "Build Caffe as part of OpenPose." ON
     "DL_FRAMEWORK" ON)
   # OpenPose flags
   add_definitions(-DUSE_CAFFE)
-endif (${DL_FRAMEWORK} MATCHES "CAFFE")
-
-OPTION (NV_CAFFE "Use NVCaffe instead of normal Caffe." OFF)
-if (NV_CAFFE)
-    MESSAGE("-- Using NVIDIA NVCaffe")
-    add_definitions(-DNV_CAFFE)
-endif (NV_CAFFE)
+  # Nvidia NVCaffe
+  if (${DL_FRAMEWORK} MATCHES "NV_CAFFE")
+      MESSAGE(STATUS "Using NVIDIA NVCaffe")
+      add_definitions(-DNV_CAFFE)
+  endif (${DL_FRAMEWORK} MATCHES "NV_CAFFE")
+endif (${DL_FRAMEWORK} MATCHES "CAFFE" OR ${DL_FRAMEWORK} MATCHES "NV_CAFFE")
 
 # Set the acceleration library
 if (APPLE)
@@ -684,11 +687,9 @@ if (WIN32)
 endif (WIN32)
 
 
-### CAFFE
+### CAFFE/NVCAFFE in Ubuntu
 if (UNIX OR APPLE)
-
-  if (${DL_FRAMEWORK} MATCHES "CAFFE")
-
+  if (${DL_FRAMEWORK} MATCHES "CAFFE" OR ${DL_FRAMEWORK} MATCHES "NV_CAFFE")
     # Check if the user specified caffe paths
     if (Caffe_INCLUDE_DIRS AND Caffe_LIBS AND NOT BUILD_CAFFE)
       message(STATUS "\${Caffe_INCLUDE_DIRS} set by the user to " ${Caffe_INCLUDE_DIRS})
@@ -827,9 +828,7 @@ if (UNIX OR APPLE)
       message(FATAL_ERROR "Caffe not found. Either turn on the BUILD_CAFFE option or specify the path of Caffe includes
         and libs using -DCaffe_INCLUDE_DIRS and -DCaffe_LIBS.")
     endif (NOT Caffe_FOUND AND NOT BUILD_CAFFE)
-
-  endif (${DL_FRAMEWORK} MATCHES "CAFFE")
-
+  endif (${DL_FRAMEWORK} MATCHES "CAFFE" OR ${DL_FRAMEWORK} MATCHES "NV_CAFFE")
 endif (UNIX OR APPLE)
 
 ### PROJECT INCLUDES
@@ -915,9 +914,9 @@ elseif (WIN32)
       debug ${GLOG_LIBRARY_DEBUG} optimized ${GLOG_LIBRARY_RELEASE})
 endif (UNIX OR APPLE)
 # Deep net Framework
-if (${DL_FRAMEWORK} MATCHES "CAFFE")
+if (${DL_FRAMEWORK} MATCHES "CAFFE" OR ${DL_FRAMEWORK} MATCHES "NV_CAFFE")
   set(OpenPose_3rdparty_libraries ${OpenPose_3rdparty_libraries} ${Caffe_LIBS} ${GFLAGS_LIBRARY})
-endif (${DL_FRAMEWORK} MATCHES "CAFFE")
+endif (${DL_FRAMEWORK} MATCHES "CAFFE" OR ${DL_FRAMEWORK} MATCHES "NV_CAFFE")
 # CPU vs. GPU
 if (USE_MKL)
   set(OpenPose_3rdparty_libraries ${OpenPose_3rdparty_libraries} ${MKL_LIBS})

doc/installation.md

@@ -367,11 +367,19 @@ For Windows, simply replace the OpenCV DLLs and include folder for your custom o
 
 
 #### Custom NVIDIA NVCaffe
-This has been tested with the official Nvidia Docker image [nvcr.io/nvidia/caffe:18.12-py2](https://ngc.nvidia.com/catalog/containers/nvidia:caffe).
+This functionality was added by the community, and we do not officially support it. New pull requests with additional functionality or fixing any bug are welcome!
 
-This functionality was added by the community, and we do not officially support it. For questions and issues, please only post on the related [Pull Request #1169](https://github.com/CMU-Perceptual-Computing-Lab/openpose/pull/1169). New GitHub issues about this topic (i.e., outside PR #1169) will be automatically closed with no answer.
+It has been tested with the official Nvidia Docker image [nvcr.io/nvidia/caffe:18.12-py2](https://ngc.nvidia.com/catalog/containers/nvidia:caffe).
 
-To use a NVIDIA's NVCaffe docker image instead of the standard Caffe, 1) set the `NV_CAFFE` variable in CMake, 2) set the `BUILD_CAFFE` variable to `OFF`, and 3) set the correct `Caffe_INCLUDE_DIRS` and `Caffe_LIBS` paths following [Custom Caffe](#custom-caffe).
+For questions and issues, please only post on the related [Pull Request #1169](https://github.com/CMU-Perceptual-Computing-Lab/openpose/pull/1169). New GitHub issues about this topic (i.e., outside PR #1169) will be automatically closed with no answer.
+
+Windows support has not been added. Replace `set_property(CACHE DL_FRAMEWORK PROPERTY STRINGS CAFFE)` by `set_property(CACHE DL_FRAMEWORK PROPERTY STRINGS CAFFE NV_CAFFE)` in `CMakeLists.txt` if you intend to use it for Windows, and feel free to do a pull request of it working!
+
+To use a NVIDIA's NVCaffe docker image instead of the standard Caffe, set the following CMake flags:
+
+1. Set the `DL_FRAMEWORK` variable to `NV_CAFFE`.
+2. Set the `BUILD_CAFFE` variable to `OFF`.
+3. Set the correct `Caffe_INCLUDE_DIRS` and `Caffe_LIBS` paths following [Custom Caffe](#custom-caffe).
 
 
 

doc/release_notes.md

@@ -368,6 +368,7 @@ OpenPose Library - Release Notes
 ## Current version - future OpenPose 1.5.1
 1. Main improvements:
     1. Highly improved 3D triangulation for >3 cameras by fixing some small bugs.
+    2. Added community-based support for Nvidia NVCaffe.
 2. Functions or parameters renamed:
     1. `--3d_min_views` default value (-1) no longer means that all camera views are required. Instead, it will be equal to max(2, min(4, #cameras-1)). This should provide a good trade-off between recall and precission.
 3. Main bugs fixed:

src/openpose/calibration/cameraParameterEstimation.cpp

@@ -273,7 +273,8 @@ namespace op
 
                 // Sanity check
                 if (angles.empty())
-                    error("Variables `angles` is empty.", __LINE__, __FUNCTION__, __FILE__);
+                    error("Variables `angles` is empty when calling estimateAverageAngle().",
+                        __LINE__, __FUNCTION__, __FILE__);
 
                 // angles in range (-pi, pi]
                 auto anglesNormalized = angles;
@@ -840,6 +841,12 @@ namespace op
         }
     }
 
+    const std::string sEmptyErrorMessage = "No chessboard was found in any of the images. Are you sure you"
+        " are using the right value for `--grid_number_inner_corners`? Remember that it corresponds to the"
+        " number of inner corners on the image (not the total number of corners!). I.e., it corresponds to"
+        " the number of squares on each side minus 1! (or the number of total corners on each side - 1)."
+        " It follows the OpenCV notation.";
+
 
 
 
@@ -903,6 +910,9 @@ namespace op
                     imagesWithCorners.emplace_back(imageToPlot);
                 }
             }
+            // Sanity check
+            if (points2DVectors.empty())
+                error(sEmptyErrorMessage, __LINE__, __FUNCTION__, __FILE__);
 
             // Run calibration
             log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
@@ -1052,9 +1062,9 @@ namespace op
                         if (coutAndImshowVerbose)
                             log("########## Projection Matrix from secondary camera to main camera ##########",
                                 Priority::High);
-                        MCam1ToCam0s.emplace_back(getMFromCam1ToCam0(RGridToMainCam0, tGridToMainCam0,
-                                                                     RGridToMainCam1, tGridToMainCam1,
-                                                                     coutAndImshowVerbose));
+                        MCam1ToCam0s.emplace_back(
+                            getMFromCam1ToCam0(RGridToMainCam0, tGridToMainCam0, RGridToMainCam1, tGridToMainCam1,
+                                coutAndImshowVerbose));
                         if (coutResults)
                         {
                             if (coutAndImshowVerbose)
@@ -1069,6 +1079,9 @@ namespace op
                             log("Invalid frame (chessboard not found).", Priority::High);
                     }
                 }
+                // Sanity check
+                if (MCam1ToCam0s.empty())
+                    error(sEmptyErrorMessage, __LINE__, __FUNCTION__, __FILE__);
                 log("Finished processing images.", Priority::High);
 
                 // Pseudo RANSAC calibration
@@ -2101,10 +2114,15 @@ namespace op
                 const cv::Size gridInnerCornersCvSize{gridInnerCorners.x, gridInnerCorners.y};
 
                 // Load parameters (distortion, intrinsics, initial extrinsics)
-                log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
+                log("Loading parameters...", Priority::High);
                 CameraParameterReader cameraParameterReader;
                 cameraParameterReader.readParameters(parameterFolder);
                 const auto cameraExtrinsicsInitial = cameraParameterReader.getCameraExtrinsicsInitial();
+                // Sanity check
+                if (cameraExtrinsicsInitial.empty())
+                    error("Camera intrinsics could not be loaded from " + parameterFolder
+                        + ". Are they in the right path? Remember than the XML must contain the right intrinsic"
+                        + " parameters before using this function. ", __LINE__, __FUNCTION__, __FILE__);
                 bool initialEmpty = false;
                 for (const auto& cameraExtrinsicInitial : cameraExtrinsicsInitial)
                 {
@@ -2114,6 +2132,7 @@ namespace op
                         break;
                     }
                 }
+                log("Parameters loaded.", Priority::High);
                 // Camera extrinsics
                 log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
                 auto cameraExtrinsics = (initialEmpty
@@ -2126,14 +2145,14 @@ namespace op
                 const auto cameraDistortions = (
                     imagesAreUndistorted
                     ? std::vector<cv::Mat>{cameraIntrinsics.size()} : cameraParameterReader.getCameraDistortions());
-
                 // Read images in folder
+                log("Reading images in folder...", Priority::High);
                 const auto numberCorners = gridInnerCorners.area();
                 std::vector<std::vector<cv::Point2f>> points2DVectorsExtrinsic(numberCameras); // camera - keypoints
                 std::vector<std::vector<unsigned int>> matchIndexes(numberCameras); // camera - indixes found
                 if (imageAndPaths.empty())
                     error("imageAndPaths.empty()!.", __LINE__, __FUNCTION__, __FILE__);
-
+                log("Images read.", Priority::High);
                 // Get 2D grid corners of each image
                 std::vector<cv::Mat> imagesWithCorners;
                 const auto imageSize = imageAndPaths.at(0).first.size();