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PressureVision++: Estimating Fingertip Pressure from Diverse RGB Images

Patrick Grady, Jeremy A. Collins, Chengcheng Tang, Christopher D. Twigg, Kunal Aneja, James Hays, Charles C. Kemp

[Paper] [Video] [Website]

teaser

Installation

First, create a new conda environment.

conda create -n pv2 python=3.11
conda activate pv2

Install PyTorch with CUDA support. As installation is highly dependent on your setup, we refer to the official PyTorch website.

Install the segnentation-models-pytorch project. This must be done by cloning from git.

git clone https://github.com/qubvel/segmentation_models.pytorch
pip install -e segmentation_models.pytorch/

Clone this repo and install the requirements.

git clone https://github.com/pgrady3/pressurevision2.git
cd pressurevision2
pip install -r requirements.txt

To download the model checkpoint, follow this link and create a data and model folder such that the file resides in data/model/paper_29.pth

https://www.dropbox.com/scl/fi/0r2koefy7bhr66dffc8z7/paper_29.pth?rlkey=wshcxm8iy8l1qo60oo7khdqjp&dl=0

Unfortunately, our team is still working on dataset hosting. As a result, the release of the dataset is slightly delayed, and training and evaluation is not possible at this time.

Common commands

To render results from the trained model on the test set:

python -m prediction.make_network_movie --config paper

To train a model:

python -m prediction.trainer --config paper

To generate the paper's evaluation metrics:

python -m prediction.evaluator --config paper

To visualize a random sequence from the dataset

python -m recording.view_sequence

Running the webcam demo

To run the demo:

python -m prediction.demo_webcam --config paper

While simply running the demo is easy, there are a few steps recommended to achieve the best results. We recommend assembling the following parts. This specific model of webcam is well-tested, but you can use any model.

parts

Next, set up the hardware. The system works well when illuminated by indoor lighting, and the camera is mounted ~55cm above the table, pointing down at a roughly 45 degree angle, as pictured.

setup

Finally, run the demo script.

demo