Pk/pipenv and additional fixes docs (Draft - not yet meant to merge)

.vscode/launch.json

@@ -0,0 +1,24 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: test_images",
+            "type": "python",
+            "request": "launch",
+            "program": "${workspaceFolder}/tools/test_images.py",
+            "console": "integratedTerminal",
+            "args": [
+                "--gpu=0", "--imgdir=data/demo/", "--meta=data/demo/meta.yml", "--color=*color.png",
+                "--network=posecnn", "--pretrained=data/checkpoints/ycb_object/vgg16_ycb_object_self_supervision_epoch_8.checkpoint.pth",
+                "--dataset=ycb_object_test", "--cfg=experiments/cfgs/ycb_object.yml"
+            ],
+            "env": {
+                "PYTHONUNBUFFERED":"True",
+                "CUDA_VISIBLE_DEVICES":"0"
+            }
+        }
+    ]
+}

Pipfile

@@ -0,0 +1,24 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+pyassimp = "==4.1.3"
+progressbar2 = "*"
+opencv-python = "==4.2.0.34"
+transforms3d = "*"
+ipython = "*"
+matplotlib = "*"
+easydict = "*"
+future = "*"
+scipy = "*"
+PyOpenGL = ">=3.1.0"
+Pillow = "*"
+PyYAML = "*"
+Cython = "*"
+
+[dev-packages]
+
+[requires]
+python_version = "3.8"

README.md

@@ -40,8 +40,12 @@ Use python3. If ROS is needed, compile with python2.
 1. Install [PyTorch](https://pytorch.org/)
 
 2. Install Eigen from the Github source code [here](https://github.com/eigenteam/eigen-git-mirror)
+   - I installed not from github but using command 'sudo apt install libeigen3-dev'. This resulted in package getting installed at '/usr/include/eigen3' instead of '/usr/local/eigen3'. So I had to change the include_dirs value in $ROOT/lib/layers/setup.py accordingly.
+   - For newbies, I found the path of eigen3 on my system using 'dpkg -L libeigen3-dev' command.
 
 3. Install Sophus from the Github source code [here](https://github.com/yuxng/Sophus)
+   - I followed this link 'https://chowdera.com/2021/06/20210602213411499x.html' to help with installing from github. This does install the package into '/usr/local/sophus', so I kept the second value for include_dirs in the $ROOT/lib/layers/setup.py file as is.
+   - Also, when trying to run the above setup.py file (as instructions below suggested), I got an error failing to include fmt/core.h. So I ended up installing fmt as well from Github (luckily the web link above actually has instructions for that too). And this is probably the reason $ROOT/lib/layers/setup.py uses '/usr/local/include' instead of '/usr/local/include/sophus'.
 
 4. Install python packages
    ```Shell

lib/fcn/config.py

@@ -373,8 +373,9 @@ def _merge_a_into_b(a, b):
 def cfg_from_file(filename):
     """Load a config file and merge it into the default options."""
     import yaml
+
     with open(filename, 'r') as f:
-        yaml_cfg = edict(yaml.load(f))
+        yaml_cfg = edict(yaml.load(f, Loader=yaml.FullLoader))
 
     _merge_a_into_b(yaml_cfg, __C)
 
@@ -383,5 +384,5 @@ def yaml_from_file(filename):
     """Load a config file and merge it into the default options."""
     import yaml
     with open(filename, 'r') as f:
-        yaml_cfg = edict(yaml.load(f))
+        yaml_cfg = edict(yaml.load(f, Loader=yaml.FullLoader))
     return yaml_cfg

lib/layers/setup.py

@@ -19,7 +19,7 @@
             'roi_pooling_kernel.cu',
             'ROIAlign_cuda.cu',
             'point_matching_loss_kernel.cu'],
-            include_dirs = ['/usr/local/include/eigen3', '/usr/local/include'])
+            include_dirs = ['/usr/include/eigen3', '/usr/local/include'])
     ],
     cmdclass={
         'build_ext': BuildExtension